Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. - Ahmad Ataka; Peng Qi 001; Ali Shiva; Ali Shafti; Helge A. Wurdemann; Prokar Dasgupta; Kaspar Althoefer (BioRob, 2016)

A geometry deformation model for compound continuum manipulators with external loading. - S. M. Hadi Sadati; Ali Shiva; Ahmad Ataka; S. Elnaz Naghibi; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (ICRA, 2016)

Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments. - Ahmad Ataka; Peng Qi 001; Ali Shiva; Ali Shafti; Helge A. Wurdemann; Hongbin Liu 001; Kaspar Althoefer (IROS, 2016)

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. - Ali Shiva; Agostino Stilli; Yohan Noh; Angela Faragasso; Iris De Falco; Giada Gerboni; Matteo Cianchetti; Arianna Menciassi; Kaspar Althoefer; Helge A. Wurdemann (IEEE Robotics Autom. Lett., 2016)

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments. - S. M. Hadi Sadati; Seyedeh Elnaz Naghibi; Ali Shiva; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (TAROS, 2017)

A Geometry Deformation Model for Braided Continuum Manipulators. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ali Shiva; Yohan Noh; Aditya Gupta; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (Frontiers Robotics AI, 2017)

Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator. - Ahmad Ataka; Ali Shiva; Hak-Keung Lam; Kaspar Althoefer (IROS, 2018)

Real-time Robot-assisted Ergonomics. - Ali Shafti; Ahmad Ataka; Beatriz Urbistondo Lazpita; Ali Shiva; Helge A. Würdemann; Kaspar Althoefer (ICRA, 2019)

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. - Seyedmohammadhadi Sadati; Ali Shiva; Seyedeh Elnaz Naghibi; D. Caleb Rucker; Ludovic Renson; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Helmut Hauser; Ian D. Walker (Robotics: Science and Systems, 2019)

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. - S. M. Hadi Sadati; Ali Shiva; Nicolas Herzig; D. Caleb Rucker; Helmut Hauser; Ian D. Walker; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator. - Jialei Shi; Julio C. Frantz; Azadeh Shariati; Ali Shiva; Jian S. Dai 001; Daniel Martins; Helge A. Wurdemann (ICRA, 2021)

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ali Shiva; Brendan Michael; Ludovic Renson; Matthew Howard 001; D. Caleb Rucker; Kaspar Althoefer; Thrishantha Nanayakkara; Steffen Zschaler; Christos Bergeles; Helmut Hauser; et al. (Int. J. Robotics Res., 2021)