Estimating Forces Along Continuum Robots. - Vincent A. Aloi; Khoa T. Dang; Eric J. Barth; D. Caleb Rucker (IEEE Robotics Autom. Lett., 2022)

Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. - Khoa T. Dang; Stephen Qiu; Carter Hatch; Peter Connor; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (ISMR, 2024)

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. - Khoa T. Dang; Carter Hatch; Peter Connor; Stephen Qiu; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (J. Medical Robotics Res., 2025)