Berthold, R.; Burgner‑Kahrs, J.; Wangenheim, M.; Kahms, S. (2023): Investigating frictional contact behavior for soft material robot simulations,  Meccanica (2023) 58:2165–2176
DOI: https://doi.org/10.1007/s11012-023-01719-5

Wiese, M.; Berthold, R.; Wangenheim, M.; Raatz, A. (2023): Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation,  IEEE Robotics and Automation Letters, VOL. 9, NO. 2
DOI: 10.1109/LRA.2023.3346272

Banerjee, S. S.; Arief, I.; Berthold, R.; Wiese, M.; Bartholdt, M.; Ganguli, D.; Mitra, S.; Mandal, S.; Wallaschek, J.; Raatz, A.; Heinrich, G.; Das, A (2019): Super-elastic ultrasoft natural rubber-based piezoresistive sensors for active sensing interface embedded on soft robotic actuator,  Applied Materials Today, Volume 25
DOI: https://doi.org/10.1016/j.apmt.2021.101219

Berthold, R. (2024): Implementing and experimentally validating penalty contact in cosserat rod models to effectively model contact scenarios in the field soft material robotics,  World Congress on Computational Mechanics, July 21-26, Vancouver, Canada, 2024

Berthold, R.; Wiese, M; Raatz, A. (2022): Investigation of Lateral Compression Effects in Fiber Reinforced Soft Pneumatic Actuators,  2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)
DOI: 10.1109/ICECCME55909.2022.9988565

Berthold, R.; Bartholdt, M. N.; Wiese, M.; Kahms, S.; Spindeldreier S.; Raatz, A. (2021): A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model,  9th International Conference on Control, Mechatronics and Automation (ICCMA)
DOI: doi: 10.1109/ICCMA54375.2021.9646194

Berthold, R.; Kahms, S. (2022): Weiche Robotersysteme: Chancen und Herausforderungen,  VDI Mechatroniktagung 2022

Berthold, R.; Kahms, S. (2022): Dynamic modeling of a soft pneumatic acutator,  8th European Congress on Computational Methods in Applied Sciences and Engineering ECCOMAS Congress 2022

Berthold, R.; Kahms, S. (2020): DEVELOPMENT OF A FINITE ELEMENT MODEL FOR SIMULATION OF A SOFT ROBOT ACTUATOR WITH EXTERNAL LOADS,  4th World Congress on Computational Mechanics (WCCM)