A parallel wire robot for epicardial interventions. - Adam D. Costanza; Nathan A. Wood; Michael J. Passineau; Robert J. Moraca; Stephen H. Bailey; Tomo Yoshizumi; Cameron N. Riviere (EMBC, 2014)

Toward hybrid force/position control for the Cerberus epicardial robot. - Macauley S. Breault; Adam D. Costanza; Nathan A. Wood; Michael J. Passineau; Cameron N. Riviere (EMBC, 2015)

Parallel Force/Position Control of an Epicardial Parallel Wire Robot. - Adam D. Costanza; Macauley S. Breault; Nathan A. Wood; Michael J. Passineau; Robert J. Moraca; Cameron N. Riviere (IEEE Robotics Autom. Lett., 2016)

Parallel PositionForce Control of Epicardial Wire Robot Based on Ellipsoid Geodesy. - Eric Wilde; Sumit Dan; Nathan A. Wood; Michael J. Passineau; M. Scott Halbreiner; Marco A. Zenati; Cameron N. Riviere (ISMR, 2019)