Dynamic analysis of multi-arm systems manipulating large objects using grippers with multiple point contacts. - S. Y. Ho; X. Shi (IROS (2), 1995)

Reentry Anchoring at a Pair of Pulmonary Vein Ostia. - Leonhard Wieser; Gerald Fischer; Florian Hintringer; S. Y. Ho; Bernhard Tilg (FIMH, 2005)