On sensor feedback for gripping an object within prescribed posture tolerances. - Åke Wernersson; Bengt Boberg; Bernt Nilsson; Jonas Nygårds; T. Rydberg (ICRA, 1992)

On Gripping Using Range Cameras: Sensor Noise, Task Tolerances And Feedback. - Åke Wernersson; Bengt Boberg; Bernt Nilsson; Jonas Nygårds; T. Rydberg (IROS, 1992)