Force Estimation using a High-Fidelity Strain Wave Gear Model. - Søren G. Graabæk; Christoffer Sloth (ECC, 2023)

An Experimental Comparison of Anomaly Detection Methods for Collaborative Robot Manipulators. - Søren G. Graabæk; Emil Vincent Ancker; Andreas Rune Fugl; Anders Lyhne Christensen (IEEE Access, 2023)

Full Range Torque Estimation on Drivetrains with Strain Wave Gears. - Søren G. Graabæk; Christoffer Sloth (SII, 2025)