Counteracting modeling errors for sensitive observer-based manipulator collision detection. - Vahid Sotoudehnejad; Amir Takhmar; Mehrdad R. Kermani; Ilia G. Polushin (IROS, 2012)

Velocity-based variable thresholds for improving collision detection in manipulators. - Vahid Sotoudehnejad; Mehrdad R. Kermani (ICRA, 2014)