A taxonomy of human grasping behavior suitable for transfer to robotic hands. - Fabian Heinemann; Steffen Puhlmann; Clemens Eppner; José Álvarez-Ruiz; Marianne Maertens; Oliver Brock (ICRA, 2015)

A compact representation of human single-object grasping. - Steffen Puhlmann; Fabian Heinemann; Oliver Brock; Marianne Maertens (IROS, 2016)

Surprisingly Robust In-Hand Manipulation: An Empirical Study. - Aditya Bhatt 001; Adrian Sieler; Steffen Puhlmann; Oliver Brock (Robotics: Science and Systems, 2021)

A Low-Cost, Easy-to-Manufacture, Flexible, Multi-Taxel Tactile Sensor and its Application to In-Hand Object Recognition. - Tessa J. Pannen; Steffen Puhlmann; Oliver Brock (ICRA, 2022)

RBO Hand 3: A Platform for Soft Dexterous Manipulation. - Steffen Puhlmann; Jason Harris; Oliver Brock (IEEE Trans. Robotics, 2022)

Programming Passive Fingertip Deformation for Improved Grasping and Manipulation. - Steffen Puhlmann; Lion-Constantin Weber; Hannes Höppner (IROS, 2024)