Designing Concentric Tube Manipulators for Stability Using Topology Optimization. - Kevin Ai Xin Jue Luo; Thomas Looi; Saba Sabetian; James M. Drake (IROS, 2018)

Design Optimization for the Stability of Concentric Tube Robots. - Kevin Ai Xin Jue Luo; Jongwoo Kim; Thomas Looi; James M. Drake (IEEE Robotics Autom. Lett., 2021)