Closed-loop control of rigid and flexible objects on a pneumatic active surface device. - Riko Safaric; Suzana Uran; Tobias K. Winther (IROS, 2000)

Distributed Control System for an Active Surface Device. - Peng-Jui Ku; Riko Safaric; Tobias K. Winther; Harry E. Stephanou (ICRA, 2001)

Micromanipulation Using a Friction Force Field. - Jeongsik Sin; Tobias K. Winther; Harry E. Stephanou (ICRA, 2001)