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Lynch, K. M., and T. D. Murphey, "Control of nonprehensile manipulation", Control Problems in Robotics and Automation: Springer-Verlag, pp. 39–58, 2003.  (582.83 KB)
Filippini, R., S. Sen, A. Bicchi, J. W. Hurst, A. A. Rizzi, S. K. Au, H. M. Herr, H. Vallery, J. Veneman, E. van Asseldonk, et al., "Toward Soft Robots You Can Depend On", IEEE Robotics & Automation Magazine, 2008.
Bicchi, A., M. A. Peshkin, and J. E. Colgate, "Safety for physical humanrobot interaction", Springer handbook of robotics: New York: Springer-Verlag, pp. 1335–1348, 2008.