Preliminary Results of an Early Clinical Experience with the AcrobotTM System for Total Knee Replacement Surgery. - Matjaz Jakopec; Simon J. Harris; Ferdinando Rodriguez y Baena; Paula Gomes; Justin Cobb; Brian L. Davies (MICCAI (1), 2002)

The Acrobot system for total knee replacement. - Matjaz Jakopec; Simon J. Harris; Ferdinando Rodriguez y Baena; Paula Gomes; Brian L. Davies (Ind. Robot, 2003)

The hands-on orthopaedic robot "acrobot": Early clinical trials of total knee replacement surgery. - Matjaz Jakopec; Ferdinando Rodriguez y Baena; Simon J. Harris; Paula Gomes; Justin Cobb; Brian L. Davies (IEEE Trans. Robotics Autom., 2003)

Hands-On Robotic Surgery: Is This the Future? - Brian L. Davies; Simon J. Harris; Ferdinando Rodriguez y Baena; Paula Gomes; Matjaz Jakopec (MIAR, 2004)

The Acrobot® System for Robotic MIS Total Knee and Uni-Condylar Arthroplasty. - Brian L. Davies; Ferdinando Rodriguez y Baena; Matjaz Jakopec; Simon J. Harris; Adrian R. W. Barrett; Paula Gomes; Johan Henckel; Justin Cobb (Int. J. Humanoid Robotics, 2006)

Active-Constraint Robotics for Surgery. - Brian L. Davies; Matjaz Jakopec; Simon J. Harris; Ferdinando Rodriguez y Baena; Adrian R. W. Barrett; A. Evangelidis; P. Gomes; Johan Henckel; Justin Cobb (Proc. IEEE, 2006)

Investigation into the Effectiveness of Vibrotactile Feedback to Improve the Haptic Realism of an Arthroscopy Training Simulator. - Yaroslav Tenzer; Brian L. Davies; Ferdinando Rodriguez y Baena (MMVR, 2008)

Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion. - Tassanai Parittotokkaporn; Luca Frasson; Andreas Schneider; S. Ejaz Huq; Brian L. Davies; Patrick Degenaar; Julian Biesenack; Ferdinando Rodriguez y Baena (ROBIO, 2008)

Two-dimensional needle steering with a "programmable bevel" inspired by nature: Modeling preliminaries. - Seong-Young Ko; Brian L. Davies; Ferdinando Rodriguez y Baena (IROS, 2010)

Early developments of a novel smart actuator inspired by nature. - Luca Frasson; Tassanai Parittotokkaporn; Brian L. Davies; Ferdinando Rodriguez y Baena (Int. J. Intell. Syst. Technol. Appl., 2010)

Programmable differential brake for passive haptics. - Yaroslav Tenzer; Brian L. Davies; Ferdinando Rodriguez y Baena (Robotics Auton. Syst., 2010)

Robotic surgery: from autonomous systems to intelligent tools. - Ferdinando Rodriguez y Baena; Brian L. Davies (Robotica, 2010)

Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes. - Vinoth Manoharan; Yaroslav Tenzer; Ferdinando Rodriguez y Baena (World Haptics, 2011)

"Sticking" aspects of a haptic device with part-locking programmable brakes. - Yaroslav Tenzer; Stuart A. Bowyer; Brian L. Davies; Ferdinando Rodriguez y Baena (World Haptics, 2011)

Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature. - Seong-Young Ko; Luca Frasson; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2011)

Smooth path planning for a biologically-inspired neurosurgical probe. - Sophia Bano; Seong-Young Ko; Ferdinando Rodriguez y Baena (EMBC, 2012)

Predicting failure in soft tissue phantoms via modeling of non-predetermined tear progression. - Matthew J. Oldfield; Daniele Dini; Ferdinando Rodriguez y Baena (EMBC, 2012)

Trajectory following for a flexible probe with state/input constraints: An approach based on model predictive control. - Seong-Young Ko; Ferdinando Rodriguez y Baena (Robotics Auton. Syst., 2012)

Dynamic frictional constraints for robot assisted surgery. - Stuart A. Bowyer; Ferdinando Rodriguez y Baena (World Haptics, 2013)

Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery. - Riccardo Secoli; Ferdinando Rodriguez y Baena (ICRA, 2013)

A dynamic active constraints approach for hands-on robotic surgery. - Joshua G. Petersen; Ferdinando Rodriguez y Baena (IROS, 2013)

Deformation-as-control for a biologically inspired steerable needle. - Fangde Liu; Christopher Burrows 001; Ferdinando Rodriguez y Baena (ROBIO, 2013)

Toward a Miniaturized Needle Steering System With Path Planning for Obstacle Avoidance. - Seong-Young Ko; Ferdinando Rodriguez y Baena (IEEE Trans. Biomed. Eng., 2013)

Needle geometry, target migration and substrate interactions in high resolution. - Matthew J. Oldfield; Alexander Leibinger; Pia-Afra Kaufmann; Marine Bertucchi; Frank Beyrau; Ferdinando Rodriguez y Baena (EMBC, 2014)

Rate dependency during needle insertions with a biologically inspired steering system: An experimental study. - Riccardo Secoli; Ferdinando Rodriguez y Baena (EMBC, 2014)

Dynamic frictional constraints in translation and rotation. - Stuart A. Bowyer; Ferdinando Rodriguez y Baena (ICRA, 2014)

Mass and inertia optimization for natural motion in hands-on robotic surgery. - Joshua G. Petersen; Ferdinando Rodriguez y Baena (IROS, 2014)

Active Constraints/Virtual Fixtures: A Survey. - Stuart A. Bowyer; Brian L. Davies; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2014)

Tissue motion due to needle deflection. - Alexander Leibinger; Christopher Burrows 001; Matthew J. Oldfield; Ferdinando Rodriguez y Baena (EMBC, 2015)

Smooth on-line path planning for needle steering with non-linear constraints. - Christopher Burrows 001; Fangde Liu; Ferdinando Rodriguez y Baena (IROS, 2015)

Parallel moduli space sampling: Robust and fast surgery planning for image guided steerable needles. - Fangde Liu; Joshua G. Petersen; Ferdinando Rodriguez y Baena (ROBIO, 2015)

Dissipative Control for Physical Human-Robot Interaction. - Stuart A. Bowyer; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2015)

A reduced actuation mecanum wheel platform for pipe inspection. - William A. Blyth; David R. W. Barr; Ferdinando Rodriguez y Baena (AIM, 2016)

Adaptive path-following control for bio-inspired steerable needles. - Riccardo Secoli; Ferdinando Rodriguez y Baena (BioRob, 2016)

A hybrid constraint-penalty proxy method for six degree-of-freedom haptic display of deforming objects. - Stuart A. Bowyer; Ferdinando Rodriguez y Baena (VRST, 2016)

Intraoperative Manufacturing of Patient-Specific Instrumentation for Shoulder Arthroplasty: A Novel Mechatronic Approach. - Alastair Darwood; Riccardo Secoli; Stuart A. Bowyer; Alexander Leibinger; Robin Richards; Peter Reilly; A. Dawood; Amol Tambe; Roger J. Emery; Ferdinando Rodriguez y Baena (J. Medical Robotics Res., 2016)

Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles. - Fangde Liu; Arnau Garriga-Casanovas; Riccardo Secoli; Ferdinando Rodriguez y Baena (IEEE Robotics Autom. Lett., 2016)

Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery. - Joshua G. Petersen; Stuart A. Bowyer; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2016)

Multifilament pneumatic artificial muscles to mimic the human neck. - Arnau Garriga-Casanovas; Ahmad 'Athif Mohd Faudzi; Tatsuhiro Hiramitsu; Ferdinando Rodriguez y Baena; Koichi Suzumori (ROBIO, 2017)

Automatic Optimized 3D Path Planner for Steerable Catheters with Heuristic Search and Uncertainty Tolerance. - Alberto Favaro; Leonardo Cerri; Stefano Galvan; Ferdinando Rodriguez y Baena; Elena De Momi (ICRA, 2018)

Vessel Pose Estimation for Obstacle Avoidance in Needle Steering Surgery Using Multiple Forward Looking Sensors. - Vani Virdyawan; Ferdinando Rodriguez y Baena (IROS, 2018)

Experimental validation of curvature tracking with a programmable bevel-tip steerable needle. - Riccardo Secoli; Ferdinando Rodriguez y Baena (ISMR, 2018)

Cyclic Motion Control for Programmable Bevel-Tip Needle 3D Steering: A Simulation Study. - Eloise Matheson; Thomas Watts; Riccardo Secoli; Ferdinando Rodriguez y Baena (ROBIO, 2018)

Needle Steerability Measures: Definition and Application for Optimized Steering of the Programmable Bevel-Tip Needle. - Thomas Watts; Riccardo Secoli; Ferdinando Rodriguez y Baena (ROBIO, 2018)

Complete follow-the-leader kinematics using concentric tube robots. - Arnau Garriga-Casanovas; Ferdinando Rodriguez y Baena (Int. J. Robotics Res., 2018)

Model based adaptive control for a soft robotic manipulator. - Enrico Franco; Arnau Garriga-Casanovas; Ferdinando Rodriguez y Baena; Alessandro Astolfi (CDC, 2019)

Human-Robot Visual Interface for 3D Steering of a Flexible, Bioinspired Needle for Neurosurgery. - Eloise Matheson; Riccardo Secoli; Stefano Galvan; Ferdinando Rodriguez y Baena (IROS, 2019)

The Adaptive Hermite Fractal Tree (AHFT): a novel surgical 3D path planning approach with curvature and heading constraints. - Marlene Pinzi; Stefano Galvan; Ferdinando Rodriguez y Baena (Int. J. Comput. Assist. Radiol. Surg., 2019)

Stereoscopic Near-Infrared Fluorescence Imaging: A Proof of Concept Toward Real-Time Depth Perception in Surgical Robotics. - Maxwell J. Munford; Ferdinando Rodriguez y Baena; Stuart A. Bowyer (Frontiers Robotics AI, 2019)

Cyclic Motion Control for Programmable Bevel-Tip Needles to Reduce Tissue Deformation. - Eloise Matheson; Riccardo Secoli; Christopher Burrows 001; Alexander Leibinger; Ferdinando Rodriguez y Baena (J. Medical Robotics Res., 2019)

A Mechanics-Based Model for 3-D Steering of Programmable Bevel-Tip Needles. - Thomas Watts; Riccardo Secoli; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2019)

Optimal Pose Estimation Method for a Multi-Segment, Programmable Bevel-Tip Steerable Needle. - Alberto Favaro; Riccardo Secoli; Ferdinando Rodriguez y Baena; Elena De Momi (IROS, 2020)

Automatic Calibration of Commercial Optical See-Through Head-Mounted Displays for Medical Applications. - Xue Hu; Fabrizio Cutolo; Fabio Tatti; Ferdinando Rodriguez y Baena (VR Workshops, 2020)

Alignment-Free Offline Calibration of Commercial Optical See-Through Head-Mounted Displays With Simplified Procedures. - Xue Hu; Ferdinando Rodriguez y Baena; Fabrizio Cutolo (IEEE Access, 2020)

Automatic Markerless Registration and Tracking of the Bone for Computer-Assisted Orthopaedic Surgery. - He Liu; Ferdinando Rodriguez y Baena (IEEE Access, 2020)

Model-Based Robust Pose Estimation for a Multi-Segment, Programmable Bevel-Tip Steerable Needle. - Alberto Favaro; Riccardo Secoli; Ferdinando Rodriguez y Baena; Elena De Momi (IEEE Robotics Autom. Lett., 2020)

A Novel Sensing Method to Detect Tissue Boundaries During Robotic Needle Insertion Based on Laser Doppler Flowmetry. - Vani Virdyawan; Orsina Dessi; Ferdinando Rodriguez y Baena (IEEE Robotics Autom. Lett., 2020)

Rotation-constrained optical see-through headset calibration with bare-hand alignment. - Xue Hu; Ferdinando Rodriguez y Baena; Fabrizio Cutolo (ISMAR, 2021)

Gesture-Based Teleoperated Grasping for Educational Robotics. - Alexander Koenig; Ferdinando Rodriguez y Baena; Riccardo Secoli (RO-MAN, 2021)

Markerless Navigation System for Orthopaedic Knee Surgery: A Proof of Concept Study. - Xue Hu; He Liu; Ferdinando Rodriguez y Baena (IEEE Access, 2021)

Accelerating Surgical Robotics Research: Reviewing 10 Years of Research with the dVRK. - Claudia D'Ettorre; Andrea Mariani; Agostino Stilli; Ferdinando Rodriguez y Baena; Pietro Valdastri; Anton Deguet; Peter Kazanzides; Russell H. Taylor; Gregory S. Fischer; Simon P. DiMaio; Arianna Menciassi; Danail Stoyanov (CoRR, 2021)

Rotation-constrained optical see-through headset calibration withbare-hand alignment. - Xue Hu; Ferdinando Rodriguez y Baena; Fabrizio Cutolo (CoRR, 2021)

Occlusion-robust Visual Markerless Bone Tracking for Computer-Assisted Orthopaedic Surgery. - Xue Hu; Anh Nguyen 003; Ferdinando Rodriguez y Baena (CoRR, 2021)

Augmented reality in robotic assisted orthopaedic surgery: A pilot study. - Hisham Iqbal; Fabio Tatti; Ferdinando Rodriguez y Baena (J. Biomed. Informatics, 2021)

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit. - Claudia D'Ettorre; Andrea Mariani; Agostino Stilli; Ferdinando Rodriguez y Baena; Pietro Valdastri; Anton Deguet; Peter Kazanzides; Russell H. Taylor; Gregory S. Fischer; Simon P. DiMaio; Arianna Menciassi; Danail Stoyanov (IEEE Robotics Autom. Mag., 2021)

Infusion Mechanisms in Brain White Matter and Their Dependence on Microstructure: An Experimental Study of Hydraulic Permeability. - Asad Jamal; Maria Teresa Mongelli; Marco Vidotto; Michael Madekurozwa; Andrea Bernardini; Darryl R. Overby; Elena De Momi; Ferdinando Rodriguez y Baena; Joseph M. Sherwood; Daniele Dini (IEEE Trans. Biomed. Eng., 2021)

Computer Assisted Planning for Curved Laser Interstitial Thermal Therapy. - Marlene Pinzi; Vejay N. Vakharia; Brian Y. Hwang; William S. Anderson; John S. Duncan; Ferdinando Rodriguez y Baena (IEEE Trans. Biomed. Eng., 2021)

Path Replanning for Orientation-Constrained Needle Steering. - Marlene Pinzi; Thomas Watts; Riccardo Secoli; Stefano Galvan; Ferdinando Rodriguez y Baena (IEEE Trans. Biomed. Eng., 2021)

Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery. - Hisham Iqbal; Ferdinando Rodriguez y Baena (IROS, 2022)

Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin. - Shen Treratanakulchai; Enrico Franco; Arnau Garriga-Casanovas; Minghao Hu; Panagiotis Kassanos; Ferdinando Rodriguez y Baena (IROS, 2022)

CathSim: An Open-source Simulator for Autonomous Cannulation. - Tudor Jianu; Baoru Huang; Mohamed E. M. K. Abdelaziz; Minh Nhat Vu; Sebastiano Fichera; Chun-Yi Lee; Pierre Berthet-Rayne; Ferdinando Rodriguez y Baena; Anh Nguyen 003 (CoRR, 2022)

Optimised Design and Performance Comparison of Soft Robotic Manipulators. - Arnau Garriga-Casanovas; Shen Treratanakulchai; Enrico Franco; Emilia Zari; Varell Ferrandy; Vani Virdyawan; Ferdinando Rodriguez y Baena (CoRR, 2022)

Caveats on the first-generation da Vinci Research Kit: latent technical constraints and essential calibrations. - Zejian Cui; João Cartucho; Stamatia Giannarou; Ferdinando Rodriguez y Baena (CoRR, 2022)

Conversational Affective Social Robots for Ageing and Dementia Support. - Maria R. Lima; Maitreyee Wairagkar; Manish Gupta; Ferdinando Rodriguez y Baena; Payam M. Barnaghi; David J. Sharp; Ravi Vaidyanathan (IEEE Trans. Cogn. Dev. Syst., 2022)

Occlusion-Robust Visual Markerless Bone Tracking for Computer-Assisted Orthopedic Surgery. - Xue Hu; Anh Nguyen 003; Ferdinando Rodriguez y Baena (IEEE Trans. Instrum. Meas., 2022)

Head-Mounted Augmented Reality Platform for Markerless Orthopaedic Navigation. - Xue Hu; Ferdinando Rodriguez y Baena; Fabrizio Cutolo (IEEE J. Biomed. Health Informatics, 2022)

Kalman-Filter-Based, Dynamic 3-D Shape Reconstruction for Steerable Needles With Fiber Bragg Gratings in Multicore Fibers. - Abdulhamit Donder; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2022)

Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space. - Shen Treratanakulchai; Enrico Franco; Ferdinando Rodriguez y Baena (ICCAD, 2023)

Semi-autonomous robotic control of a self-shaping cochlear implant. - Daniel Bautista-Salinas; Conor Kirby; Mohamed E. M. K. Abdelaziz; Burak Temelkuran; Charlie T. Huins; Ferdinando Rodriguez y Baena (ICRA, 2023)

Discrete-time model based control of soft manipulator with FBG sensing. - Enrico Franco; Ayhan Aktas; Shen Treratanakulchai; Arnau Garriga-Casanovas; Abdulhamit Donder; Ferdinando Rodriguez y Baena (ICRA, 2023)

Model Based Position Control of Soft Hydraulic Actuators. - Mark Runciman; Enrico Franco; James Avery; Ferdinando Rodriguez y Baena; George P. Mylonas (ICRA, 2023)

Towards a Procedure Optimised Steerable Microcatheter for Deep Seated Neurosurgery. - Ayhan Aktas; A. Anil Demircali; Riccardo Secoli; Burak Temelkuran; Ferdinando Rodriguez y Baena (CoRR, 2023)

Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer. - Zhaoyang Jacopo Hu; Ziwei Wang 001; Yanpei Huang; Aran Sena; Ferdinando Rodriguez y Baena; Etienne Burdet (IEEE Robotics Autom. Lett., 2023)

3-D Path-Following Control for Steerable Needles With Fiber Bragg Gratings in Multi-Core Fibers. - Abdulhamit Donder; Ferdinando Rodriguez y Baena (IEEE Trans. Biomed. Eng., 2023)

Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator. - Varell Ferrandy; Indrawanto; Ferryanto; Arif Sugiharto; Enrico Franco; Arnau Garriga-Casanovas; Andi I. Mahyuddin; Ferdinando Rodriguez y Baena; Sandro Mihradi; Vani Virdyawan (Robotica, 2023)

A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry. - Shen Treratanakulchai; Arnau Garriga-Casanovas; Korn Borvorntanajanya; Enrico Franco; Ferdinando Rodriguez y Baena (ICARA, 2024)

Human Robot Shared Control in Surgery: A Performance Assessment. - Longrui Chen; Zhaoyang Jacopo Hu; Yanpei Huang; Etienne Burdet; Ferdinando Rodriguez y Baena (ICRA, 2024)

AiAReSeg: Catheter Detection and Segmentation in Interventional Ultrasound using Transformers. - Alex Ranne; Yordanka Velikova; Nassir Navab; Ferdinando Rodriguez y Baena (ICRA, 2024)

Development of a Low Pressure Pouch Sensor for Force Measurement in Colonoscopy Procedures. - Korn Borvorntanajanya; Jabed F. Ahmed; Mark Runciman; Enrico Franco; Nisha Patel; Ferdinando Rodriguez y Baena (IROS, 2024)

CathFlow: Self-Supervised Segmentation of Catheters in Interventional Ultrasound Using Optical Flow and Transformers. - Alex Ranne; Liming Kuang; Yordanka Velikova; Nassir Navab; Ferdinando Rodriguez y Baena (IROS, 2024)

A Reinforced Light-Responsive Hydrogel for Soft Robotics Actuation. - Emilia Zari; Davide Grillo; Zhengchu Tan; Natalia Swiatek; Joshua D. Linfoot; Korn Borvorntanajanya; Luciana Nasca; Elena Pierro; Larisa Florea; Daniele Dini; Ferdinando Rodriguez y Baena (RoboSoft, 2024)

CathAction: A Benchmark for Endovascular Intervention Understanding. - Baoru Huang; Tuan Van Vo; Chayun Kongtongvattana; Giulio Dagnino; Dennis Kundrat; Wenqiang Chi; Mohamed E. M. K. Abdelaziz; Trevor M. Y. Kwok; Tudor Jianu; Tuong Do; Hieu Le; Minh Nguyen; et al. (CoRR, 2024)

Real-time active constraint generation and enforcement for surgical tools using 3D detection and localisation network. - Spyridon Souipas; Anh Nguyen 003; Stephen G. Laws; Brian L. Davies; Ferdinando Rodriguez y Baena (Frontiers Robotics AI, 2024)

A review of bioinspired locomotion in lower GI endoscopy. - Jabed F. Ahmed; Enrico Franco; Ferdinando Rodriguez y Baena; Ara Darzi; Nisha Patel (Robotica, 2024)

A novel morphing soft robot design to minimize deviations. - Varell Ferrandy; Arnau Garriga-Casanovas; Enrico Franco; Indrawanto; Ferdinando Rodriguez y Baena; Andi Isra Mahyuddin; Vani Virdyawan (Robotica, 2024)

Artificial Intelligence-Driven Framework for Augmented Reality Markerless Navigation in Knee Surgery. - Xue Hu; Fabrizio Cutolo; Hisham Iqbal; Johann Henckel; Ferdinando Rodriguez y Baena (IEEE Trans. Artif. Intell., 2024)

Hybrid Manipulator With Force Estimation for Lower Gastrointestinal Interventions. - Fung Flora Leung; Korn Borvorntanajanya; Kaiwen Chen; Emilia Zari; Arnau Garriga-Casanovas; Enrico Franco; Ferdinando Rodriguez y Baena; Philip Wai Yan Chiu; Yeung Yam (IEEE Robotics Autom. Lett., 2024)

Design, Control, and Evaluation of a Novel Soft Everting Robot for Colonoscopy. - Jialei Shi; Korn Borvorntanajanya; Kaiwen Chen; Enrico Franco; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2025)

Force interaction, modeling and soft tissue deformation during reciprocating insertion of multi-part probe. - Tassanai Parittotokkaporn; Matthew J. Oldfield; Luca Frasson; Ferdinando Rodriguez y Baena (CoRR, 2025)

Forbidden Region Dynamic Active Constraints in Robot-Assisted Minimally Invasive Surgery. - Zejian Cui; Ferdinando Rodriguez y Baena (IEEE Robotics Autom. Lett., 2025)

Confidence-based Intent Prediction for Teleoperation in Bimanual Robotic Suturing. - Zhaoyang Jacopo Hu; Haozheng Xu; Sion Kim; Yanan Li 001; Ferdinando Rodriguez y Baena; Etienne Burdet (CoRR, 2025)

Towards Markerless Intraoperative Tracking of Deformable Spine Tissue. - Connor Daly; Elettra Marconi; Marco Riva; Jinendra Ekanayake; Daniel S. Elson; Ferdinando Rodriguez y Baena (CoRR, 2025)

Caveats on the First-Generation da Vinci Research Kit: Latent Technical Constraints and Essential Calibrations [Survey]. - Zejian Cui; João Cartucho; Stamatia Giannarou; Ferdinando Rodriguez y Baena (IEEE Robotics Autom. Mag., 2025)