Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. - Yasunori Toshimitsu; Benedek Forrai; Barnabas Gavin Cangan; Ulrich Steger; Manuel Knecht; Stefan Weirich; Robert K. Katzschmann (Humanoids, 2023)

A Rapid and Robust Tendon-Driven Robotic Hand for Human-Robot Interactions Playing Rock-Paper-Scissors. - Xiang Deng; Stefan Weirich; Robert K. Katzschmann; Tobi Delbruck (RO-MAN, 2024)

Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm. - Thomas Buchner; Stefan Weirich; Alexander M. Kübler; Wojciech Matusik; Robert K. Katzschmann (RoboSoft, 2024)

mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity. - Elvis Nava; Victoriano Montesinos; Erik Bauer; Benedek Forrai; Jonas Pai; Stefan Weirich; Stephan-Daniel Gravert; Philipp Wand; Stephan Polinski; Benjamin F. Grewe; Robert K. Katzschmann (CoRR, 2025)