Contact mechanics for soft robotic fingers: modeling and experimentation. - Sadeq H. Bakhy; Shaker S. Hassan; Somer M. Nacy; Konstantinos Dermitzakis; Alejandro Hernández Arieta (Robotica, 2013)

Modeling of contact pressure distribution and friction limit surfaces for soft fingers in robotic grasping. - Sadeq Hussein Bakhy (Robotica, 2014)