Hoffmann M., Straka Z., Farkas I., Vavrecka M., Metta G..  2017.  'Robotic homunculus: Learning of artificial skin representation in a humanoid robot motivated by primary somatosensory cortex'..  IEEE Transactions on Cognitive and Developmental Systems. 

Roncone A., Hoffmann M., Pattacini U., Fadiga L., Metta G..  2016.  Peripersonal space and margin of safety around the body: learning tactile-visual associations in a humanoid robot with artificial skin.. PLoS ONE 11(10)  e0163713.