BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications. - Thomas Lens; Jürgen Kunz; Oskar von Stryk; Christian Trommer; Andreas Karguth (ISR/ROBOTIK, 2010)

Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control. - Thomas Lens; Jürgen Kunz; Oskar von Stryk (SIMPAR, 2010)

Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness. - Katayon Radkhah; Stefan Kurowski; Thomas Lens; Oskar von Stryk (SIMPAR, 2010)

Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity. - Thomas Lens; Katayon Radkhah; Oskar von Stryk (ICAR, 2011)

The musculoskeletal system of the human arm - More than the sum of its parts. - Sebastian Klug; Thomas Lens; Michael Nogler; Oskar von Stryk (ROBIO, 2011)

Dynamic modeling of elastic tendon actuators with tendon slackening. - Thomas Lens; Jérôme Kirchhoff; Oskar von Stryk (Humanoids, 2012)

Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm. - Thomas Lens; Oskar von Stryk (IROS, 2012)

Detailed dynamics modeling of BioBiped's monoarticular and biarticular tendon-driven actuation system. - Katayon Radkhah; Thomas Lens; Oskar von Stryk (IROS, 2012)

Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation. - Thomas Lens; Oskar von Stryk; Andreas Karguth (ROBOTIK, 2012)

Design and dynamics model of a lightweight series elastic tendon-driven robot arm. - Thomas Lens; Oskar von Stryk (ICRA, 2013)