Custom soft robotic gripper sensor skins for haptic object visualization. - Benjamin Shih; Dylan Drotman; Caleb Christianson; Zhaoyuan Huo; Ruffin White; Henrik I. Christensen; Michael Thomas Tolley (IROS, 2017)

3D printed resistive soft sensors. - Benjamin Shih; Jason Mayeda; Zhaoyuan Huo; Caleb Christianson; Michael Thomas Tolley (RoboSoft, 2018)

Design Considerations for 3D Printed, Soft, Multimaterial Resistive Sensors for Soft Robotics. - Benjamin Shih; Caleb Christianson; Kyle Gillespie; Sebastian David Lee; Jason Mayeda; Zhaoyuan Huo; Michael Thomas Tolley (Frontiers Robotics AI, 2019)