Concentric agonist-antagonist robots for minimally invasive surgeries. - Kaitlin Oliver-Butler; Zane H. Epps; Daniel Caleb Rucker (Image-Guided Procedures, 2017)

Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements. - Kaitlin Oliver-Butler; John Till; Daniel Caleb Rucker (IEEE Trans. Robotics, 2019)

Concentric Push-Pull Robots: Planar Modeling and Design. - Kaitlin Oliver-Butler; Jake A. Childs; Adam Daniel; D. Caleb Rucker (IEEE Trans. Robotics, 2022)