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Steil, J. J., C. Emmerich, A. Swadzba, R. Grünberg, A. Nordmann, and S. Wrede, "Kinesthetic teaching using assisted gravity compensation for model-free trajectory generation in confined spaces", European Clearing House for Open Robotics, In Press.

Lemme, A., A. Freire, G. Barreto, and J. J. Steil, "Kinesthetic teaching of visuomotor coordination for pointing by the humanoid robot iCub", Neurocomputing, vol. 112, pp. 179–188, 2013.

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