SPHERES interact - Human-machine interaction aboard the International Space Station. - Enrico Stoll; Steffen Jaekel; Jacob Katz; Alvar Saenz-Otero; Renuganth Varatharajoo (J. Field Robotics, 2012)

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission. - Steffen Jaekel; Roberto Lampariello; Wolfgang Rackl; Marco De Stefano; Nassir W. Oumer; Alessandro M. Giordano; Oliver Porges; Markus Pietras; Bernhard Brunner; John Ratti; Quirin Muehlbauer; Markus Thiel; et al. (Frontiers Robotics AI, 2018)