PaintPots: Low cost, accurate, highly customizable potentiometers for position sensing. - Tarik Tosun; Daniel Edgar; Chao Liu 021; Thulani Tsabedze; Mark Yim (ICRA, 2017)

Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion. - Seongjae Jeong; Byungheon Kim; Sumin Park; Eugene Park; Alexander Spinos; Devin Carroll; Thulani Tsabedze; Yulai Weng; TaeWon Seo; Mark Yim; Frank C. Park 001; JongWon Kim 002 (UR, 2018)

Spiral Zipper Manipulator for Aerial Grasping and Manipulation. - Chao Liu 021; Abhraneel Bera; Thulani Tsabedze; Daniel Edgar; Mark Yim (IROS, 2019)

Helically Wrapped Supercoiled Polymer (HW-SCP) Artificial Muscles: Design, Characterization, and Modeling. - Thulani Tsabedze; Christopher Mullen; Ryan Coulter; Scott Wade; Jun Zhang 025 (ICRA, 2020)

TSA-BRAG: A Twisted String Actuator-powered Biomimetic Robotic Assistive Glove. - Thulani Tsabedze; Erik Hartman; Edwin Abrego; Cianan Brennan; Jun Zhang 025 (ISMR, 2020)

A Compliant Robotic Wrist Orthosis Driven by Twisted String Actuators. - Thulani Tsabedze; Erik Hartman; Cianan Brennan; Jun Zhang 025 (ISMR, 2021)

A compact, compliant, and biomimetic robotic assistive glove driven by twisted string actuators. - Thulani Tsabedze; Erik Hartman; Jun Zhang 025 (Int. J. Intell. Robotics Appl., 2021)

Design and Characterization of AWARD: an Active Wearable Assistive and Resistive Device. - Thulani Tsabedze; Jennifer Trinh; Ammar Alomran; Jennifer Clayton; Jun Zhang 025 (AIM, 2022)

Model-Based Performance Analysis of Twisted String Actuators With Comparison to Spooled Motor Tendon-Driven Actuators. - Thulani Tsabedze; Revanth Konda; David Bombara; Jun Zhang 025 (IEEE Robotics Autom. Lett., 2024)