Sensing the Frictional State of a Robotic Skin via Subtractive Color Mixing. - Xi Lin 005; Michael Wiertlewski (IEEE Robotics Autom. Lett., 2019)

Curvature sensing with a spherical tactile sensor using the color-interference of a marker array. - Xi Lin 005; Laurence Willemet; Alexandre Bailleul; Michaël Wiertlewski (ICRA, 2020)

Rapid manufacturing of color-based hemispherical soft tactile fingertips. - Rob B. N. Scharff; Dirk-Jan Boonstra; Laurence Willemet; Xi Lin 005; Michaël Wiertlewski (RoboSoft, 2022)