A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. - Mariana E. Smith; Daniel S. Esser; Margaret Rox; Alan Kuntz; Robert J. Webster III (ISMR, 2023)

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain. - Abby M. Grillo; John E. Peters; Daniel S. Esser; Sarah J. Garrow; Tyler Ball; Robert Naftel; Dario J. Englot; Joseph S. Neimat; William A. Grissom; Eric J. Barth; Robert J. Webster III (Image-Guided Procedures, 2023)

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. - Margaret Rox; Daniel S. Esser; Mariana E. Smith; Tayfun Efe Ertop; Maxwell Emerson; Fabien Maldonado; Erin A. Gillaspie; Alan Kuntz; Robert J. Webster III (IEEE Robotics Autom. Lett., 2023)

Exploring Modal Switch in Metamaterial-Based Robots. - Britton Jordan; Daniel S. Esser; Jeonghyeon Kim; Brian Y. Cho; Robert J. Webster III; Alan Kuntz (IROS, 2024)

Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. - Daniel S. Esser; Emily M. McCabe; Tayfun Efe Ertop; Alan Kuntz; Robert J. Webster III (RoboSoft, 2024)

Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. - Emily M. McCabe; Daniel S. Esser; Tayfun Efe Ertop; Alan Kuntz; Robert J. Webster III (RoboSoft, 2024)

Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. - Brian Y. Cho; Daniel S. Esser; Jordan Thompson; Bao Thach; Robert J. Webster III; Alan Kuntz (IEEE Robotics Autom. Lett., 2024)