Evaluation of nonholonomic needle steering using a robotic needle driver. - Emmanuel Wilson; Jienan Ding; Craig Carignan; Karthik Krishnan; Rick Avila; Wes Turner; Dan Stoianovici; David F. Yankelevitz; Filip Banovac; Kevin Cleary (Image-Guided Procedures, 2010)

Operational Space Formulation and Inverse Kinematics for an Arm Exoskeleton with Scapula Rotation. - Craig Carignan; Daniil Gribok; Tuvia Rappaport; Natalie Condzal (IROS, 2020)