Sliding mode cooperative motion control of dual arm manipulators. - Woosoon Yim; Manoharan Selvarajan; William R. Wells (Artif. Life Robotics, 1999)

Grasping impact force control of a flexible robotic gripper using a piezoelectric actuator. - Woosoon Yim; William R. Wells (Artif. Life Robotics, 2000)