Hybrid System Modeling and Control of Multi-contact Hand Manipulation. - Yingjie Yin; Takayuki Sugimoto; Shigeyuki Hosoe; Fumihiko Asano; Zhi Wei Luo (ROBIO, 2004)

MLD Modeling and MPC of Hand Manipulation. - Yingjie Yin; Takayuki Sugimoto; Shigeyuki Hosoe (IEICE Trans. Fundam. Electron. Commun. Comput. Sci., 2005)