Friction modeling in dynamic robot simulation. - Pierre E. Dupont (ICRA, 1990)

Avoiding stick-slip in position and force control through feedback. - Pierre E. Dupont (ICRA, 1991)

The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. - Pierre E. Dupont (ICRA, 1992)

The Effect of Friction on the Forward Dynamics Problem. - Pierre E. Dupont (Int. J. Robotics Res., 1993)

Jamming and Wedging in Constrained Rigid-Body Dynamics. - Pierre E. Dupont; Serge P. Yamajako (ICRA, 1994)

A survey of models, analysis tools and compensation methods for the control of machines with friction. - Brian Armstrong-Hélouvry; Pierre E. Dupont; Carlos Canudas de Wit (Autom., 1994)

Avoiding stick-slip through PD control. - Pierre E. Dupont (IEEE Trans. Autom. Control., 1994)

Stability of rigid-body dynamics with sliding frictional contacts. - Pierre E. Dupont; Serge P. Yamajako (ICRA, 1996)

Experimental identification of kinematic constraints. - Pierre E. Dupont; Timothy M. Schulteis; Robert D. Howe (ICRA, 1997)

Stability of frictional contact in constrained rigid-body dynamics. - Pierre E. Dupont; Serge P. Yamajako (IEEE Trans. Robotics Autom., 1997)

Automatic Property Identification via Parameterized Constraints. - Thomas Debus; Pierre E. Dupont; Robert D. Howe (ICRA, 1999)

Automatic Identification of Environment Haptic Properties. - Pierre E. Dupont; Timothy M. Schulteis; Paul A. Millman; Robert D. Howe (Presence Teleoperators Virtual Environ., 1999)

Elasto-plastic friction model: contact compliance and stiction. - Pierre E. Dupont; Brian Armstrong 001; Vincent Hayward (ACC, 2000)

Automatic Identification of Local Geometric Properties During Teleoperation. - Thomas Debus; Pierre E. Dupont; Robert D. Howe (ICRA, 2000)

Cooperative Human and Machine Perception in Teleoperated Assembly. - Thomas Debus; Jeffrey A. Stoll; Robert D. Howe; Pierre E. Dupont (ISER, 2000)

Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. - Shaun Selha; Pierre E. Dupont; Robert D. Howe; David F. Torchiana (MICCAI, 2001)

Multi-Channel Vibrotactile Display for Teleoperated Assembly. - Thomas Debus; Tae-Jeong Jang; Pierre E. Dupont; Robert D. Howe (ICRA, 2002)

Single state elastoplastic friction models. - Pierre E. Dupont; Vincent Hayward; Brian Armstrong 001; Friedhelm Altpeter (IEEE Trans. Autom. Control., 2002)

Port placement planning in robot-assisted coronary artery bypass. - Jeremy W. Cannon; Jeffrey A. Stoll; Shaun Selha; Pierre E. Dupont; Robert D. Howe; David F. Torchiana (IEEE Trans. Robotics Autom., 2003)

Kinematic Error Correction for Minimally Invasive Surgical Robots. - Ryan A. Beasley; Robert D. Howe; Pierre E. Dupont (ICRA, 2004)

Distinguishability and Identifiability of Contact States. - Thomas Debus; Pierre E. Dupont (ICRA, 2004)

Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models. - Thomas Debus; Pierre E. Dupont; Robert D. Howe (Int. J. Robotics Res., 2004)

Trajectory Optimization for Dynamic Needle Insertion. - Matt Heverly; Pierre E. Dupont; John K. Triedman (ICRA, 2005)

Passive Markers for Ultrasound Tracking of Surgical Instruments. - Jeffrey A. Stoll; Pierre E. Dupont (MICCAI (2), 2005)

Distinguishability and identifiability testing of contact state models. - Thomas Debus; Pierre E. Dupont; Robert D. Howe (Adv. Robotics, 2005)

Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance. - Paul M. Novotny; Daniel T. Kettler; Petr Jordan; Pierre E. Dupont; Pedro J. del Nido; Robert D. Howe (EMBC, 2006)

Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. - Jeffrey A. Stoll; Paul M. Novotny; Robert D. Howe; Pierre E. Dupont (ICRA, 2006)

A Steerable Needle Technology Using Curved Concentric Tubes. - Patrick Sears; Pierre E. Dupont (IROS, 2006)

GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. - Paul M. Novotny; Jeffrey A. Stoll; Nikolay V. Vasilyev; Pedro J. del Nido; Pierre E. Dupont; Robert D. Howe (MICCAI (1), 2006)

Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound. - Paul M. Novotny; Jeffrey A. Stoll; Pierre E. Dupont; Robert D. Howe (ICRA, 2007)

Inverse Kinematics of Concentric Tube Steerable Needles. - Patrick Sears; Pierre E. Dupont (ICRA, 2007)

GPU based real-time instrument tracking with three-dimensional ultrasound. - Paul M. Novotny; Jeffrey A. Stoll; Nikolay V. Vasilyev; Pedro J. del Nido; Pierre E. Dupont; Todd E. Zickler; Robert D. Howe (Medical Image Anal., 2007)

Torsional kinematic model for concentric tube robots. - Pierre E. Dupont; Jesse Lock; Evan J. Butler (ICRA, 2009)

Fast needle insertion to minimize tissue deformation and damage. - Mohsen Mahvash; Pierre E. Dupont (ICRA, 2009)

Discrete-Time Elasto-Plastic Friction Estimation. - Vincent Hayward; Brian Armstrong 001; Friedhelm Altpeter; Pierre E. Dupont (IEEE Trans. Control. Syst. Technol., 2009)

IN-HAPTICS: Interactive navigation using haptics. - Richard D. Walker; Sean B. Andersson; Calin Belta; Pierre E. Dupont (HAPTICS, 2010)

Real-time position control of concentric tube robots. - Pierre E. Dupont; Jesse Lock; Brandon Itkowitz (ICRA, 2010)

Quasistatic modeling of concentric tube robots with external loads. - Jesse Lock; Genevieve Laing; Mohsen Mahvash; Pierre E. Dupont (IROS, 2010)

Stiffness control of a continuum manipulator in contact with a soft environment. - Mohsen Mahvash; Pierre E. Dupont (IROS, 2010)

Mechanics of Dynamic Needle Insertion into a Biological Material. - Mohsen Mahvash; Pierre E. Dupont (IEEE Trans. Biomed. Eng., 2010)

Design and Control of Concentric-Tube Robots. - Pierre E. Dupont; Jesse Lock; Brandon Itkowitz; Evan J. Butler (IEEE Trans. Robotics, 2010)

Tubular structure enhancement for surgical instrument detection in 3D ultrasound. - Hongliang Ren 001; Pierre E. Dupont (EMBC, 2011)

Beating-heart mitral valve chordal replacement. - Genevieve Laing; Pierre E. Dupont (EMBC, 2011)

Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example. - Tomer Anor; Joseph R. Madsen; Pierre E. Dupont (ICRA, 2011)

Design optimization of concentric tube robots based on task and anatomical constraints. - Chris Bedell; Jesse Lock; Andrew H. C. Gosline; Pierre E. Dupont (ICRA, 2011)

Metal MEMS tools for beating-heart tissue approximation. - Evan J. Butler; Chris Folk; Adam Cohen; Nikolay V. Vasilyev; Richard T. Chen; Pedro J. del Nido; Pierre E. Dupont (ICRA, 2011)

Friction modeling in concentric tube robots. - Jesse Lock; Pierre E. Dupont (ICRA, 2011)

Detection of curved robots using 3D ultrasound. - Hongliang Ren 001; Nikolay V. Vasilyev; Pierre E. Dupont (IROS, 2011)

MRI-powered actuators for robotic interventions. - Panagiotis Vartholomeos; Lei Qin; Pierre E. Dupont (IROS, 2011)

Stiffness Control of Surgical Continuum Manipulators. - Mohsen Mahvash; Pierre E. Dupont (IEEE Trans. Robotics, 2011)

Tracking and position control of an MRI-powered needle-insertion robot. - Christos Bergeles; Lei Qin; Panagiotis Vartholomeos; Pierre E. Dupont (EMBC, 2012)

Metal MEMS tools for beating-heart tissue removal. - Andrew H. C. Gosline; Nikolay V. Vasilyev; Arun Veeramani; MingTing Wu; Gregory P. Schmitz; Richard T. Chen; Veaceslav Arabagi; Pedro J. del Nido; Pierre E. Dupont (ICRA, 2012)

Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound. - Hongliang Ren 001; Pierre E. Dupont (ICRA, 2012)

Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment. - Panagiotis Vartholomeos; M. Reza Akhavan-Sharif; Pierre E. Dupont (ICRA, 2012)

Robotic neuro-emdoscope with concentric tube augmentation. - Evan J. Butler; Robert Hammond-Oakley; Szymon Chawarski; Andrew H. C. Gosline; Patrick J. Codd; Tomer Anor; Joseph R. Madsen; Pierre E. Dupont; Jesse Lock (IROS, 2012)

Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. - Andrew H. C. Gosline; Nikolay V. Vasilyev; Evan J. Butler; Chris Folk; Adam Cohen; Richard T. Chen; Nora Lang; Pedro J. del Nido; Pierre E. Dupont (Int. J. Robotics Res., 2012)

Passive Markers for Tracking Surgical Instruments in Real-Time 3-D Ultrasound Imaging. - Jeffrey A. Stoll; Hongliang Ren 001; Pierre E. Dupont (IEEE Trans. Medical Imaging, 2012)

Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots. - Veaceslav Arabagi; Andrew H. C. Gosline; Robert J. Wood; Pierre E. Dupont (ICRA, 2013)

Closed-loop commutation control of an MRI-powered robot actuator. - Christos Bergeles; Panagiotis Vartholomeos; Lei Qin; Pierre E. Dupont (ICRA, 2013)

Planning stable paths for concentric tube robots. - Christos Bergeles; Pierre E. Dupont (IROS, 2013)

An MRI-powered and controlled actuator technology for tetherless robotic interventions. - Panagiotis Vartholomeos; Christos Bergeles; Lei Qin; Pierre E. Dupont (Int. J. Robotics Res., 2013)

Robotic implant to apply tissue traction forces in the treatment of esophageal atresia. - Dana D. Damian; Slava Arabagi; Assunta Fabozzo; Peter Ngo; Russell Jennings; Michael Manfredi; Pierre E. Dupont (ICRA, 2014)

Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots. - Beobkyoon Kim; Junhyoung Ha; Frank C. Park 001; Pierre E. Dupont (ICRA, 2014)

FBG-based shape sensing tubes for continuum robots. - Seok Chang Ryu; Pierre E. Dupont (ICRA, 2014)

Simultaneously powering and controlling many actuators with a clinical MRI scanner. - Aaron T. Becker; Ouajdi Felfoul; Pierre E. Dupont (IROS, 2014)

MRI-powered closed-loop control for multiple magnetic capsules. - Alina Eqtami; Ouajdi Felfoul; Pierre E. Dupont (IROS, 2014)

Achieving elastic stability of concentric tube robots through optimization of tube precurvature. - Junhyoung Ha; Frank Chongwoo Park; Pierre E. Dupont (IROS, 2014)

Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun. - Aaron T. Becker; Ouajdi Felfoul; Pierre E. Dupont (ICRA, 2015)

Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces. - Alina Eqtami; Pierre E. Dupont (IROS, 2015)

Real-time adaptive kinematic model estimation of concentric tube robots. - Chunwoo Kim; Seok Chang Ryu; Pierre E. Dupont (IROS, 2015)

Tissue removal inside the beating heart using a robotically delivered metal MEMS tool. - Nikolay V. Vasilyev; Andrew H. C. Gosline; Arun Veeramani; MingTing Wu; Gregory P. Schmitz; Richard T. Chen; Veaceslav Arabagi; Pedro J. del Nido; Pierre E. Dupont (Int. J. Robotics Res., 2015)

Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. - Caroline Nadeau; Hongliang Ren 001; Alexandre Krupa; Pierre E. Dupont (IEEE Trans Autom. Sci. Eng., 2015)

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. - Christos Bergeles; Andrew H. C. Gosline; Nikolay V. Vasilyev; Patrick J. Codd; Pedro J. del Nido; Pierre E. Dupont (IEEE Trans. Robotics, 2015)

Achieving Commutation Control of an MRI-Powered Robot Actuator. - Ouajdi Felfoul; Aaron T. Becker; Christos Bergeles; Pierre E. Dupont (IEEE Trans. Robotics, 2015)

Adaptive nonparametric kinematic modeling of concentric tube robots. - Georgios Fagogenis; Christos Bergeles; Pierre E. Dupont (IROS, 2016)

Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model. - Cheongjae Jang; Junhyoung Ha; Pierre E. Dupont; Frank Chongwoo Park (IROS, 2016)

Elastic Stability of Concentric Tube Robots Subject to External Loads. - Junhyoung Ha; Frank C. Park 001; Pierre E. Dupont (IEEE Trans. Biomed. Eng., 2016)

Incorporating tube-to-tube clearances in the kinematics of concentric tube robots. - Junhyoung Ha; Pierre E. Dupont (ICRA, 2017)

Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes. - Junhyoung Ha; Pierre E. Dupont (IEEE Robotics Autom. Lett., 2017)

Medical robotics - Regulatory, ethical, and legal considerations for increasing levels of autonomy. - James Cambias; Kevin Cleary; Eric Daimler; James M. Drake; Pierre E. Dupont; Nobuhiko Hata; Peter Kazanzides; Sylvain Martel; Rajni V. Patel; Veronica J. Santos; Russell H. Taylor (Sci. Robotics, 2017)

Optimizing Tube Precurvature to Enhance the Elastic Stability of Concentric Tube Robots. - Junhyoung Ha; Frank C. Park 001; Pierre E. Dupont (IEEE Trans. Robotics, 2017)

Varying ultrasound power level to distinguish surgical instruments and tissue. - Hongliang Ren 001; Banani Anuraj; Pierre E. Dupont (Medical Biol. Eng. Comput., 2018)

The grand challenges of Science Robotics. - James G. Bellingham; Pierre E. Dupont; Peer Fischer; Luciano Floridi; Robert J. Full; Neil Jacobstein; Vijay Kumar 001; Marcia McNutt; Robert D. Merrifield; Bradley J. Nelson; Brian Scassellati; Mariarosaria Taddeo; et al. (Sci. Robotics, 2018)

In vivo tissue regeneration with robotic implants. - Karl Price; Slava Arabagi; Ignacio Berra; Zurab Machaidze; Sunil Manjila; Shogo Shimada; Assunta Fabozzo; Gustavo Arnal; David Van Story; Jeffrey D. Goldsmith; Agoston T. Agoston; Chunwoo Kim; et al. (Sci. Robotics, 2018)

Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes. - Jiaole Wang; Junhyoung Ha; Pierre E. Dupont (ICRA, 2019)

Autonomous robotic intracardiac catheter navigation using haptic vision. - Georgios Fagogenis; Margherita Mencattelli; Zurab Machaidze; Benoit Rosa; Karl Price; Fei-Yi Wu; V. Weixler; Mossab Saeed; John E. Mayer; Pierre E. Dupont (Sci. Robotics, 2019)

Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics. - Junhyoung Ha; Georgios Fagogenis; Pierre E. Dupont (IEEE Trans. Robotics, 2019)

Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal. - Junhyoung Ha; Abhijit Mondal; Zhanyue Zhao; Aditya K. Kaza; Pierre E. Dupont (IEEE Trans. Biomed. Eng., 2020)

A decade retrospective of medical robotics research from 2010 to 2020. - Pierre E. Dupont; Bradley J. Nelson; Michael Goldfarb; Blake Hannaford; Arianna Menciassi; Marcia K. O'Malley; Nabil Simaan; Pietro Valdastri; Guang-Zhong Yang (Sci. Robotics, 2021)

Continuum Robots for Medical Interventions. - Pierre E. Dupont; Nabil Simaan; Howie Choset; D. Caleb Rucker (Proc. IEEE, 2022)

What we look for at Science Robotics. - Bradley J. Nelson; Pierre E. Dupont; Dario Floreano; Ken Goldberg; Hongri Gu; Neil Jacobstein; Cecilia Laschi; Hod Lipson (Sci. Robotics, 2022)

Eccentric Tube Robots as Multiarmed Steerable Sheaths. - Jiaole Wang; Joseph Peine; Pierre E. Dupont (IEEE Trans. Robotics, 2022)

Magnetic Ball Chain Robots for Endoluminal Interventions. - Giovanni Pittiglio; Margherita Mencattelli; Pierre E. Dupont (ICRA, 2023)

Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions. - Giovanni Pittiglio; Margherita Mencattelli; Abdulhamit Donder; Yash Chitalia; Pierre E. Dupont (IROS, 2023)

Modeling Tendon-actuated Concentric Tube Robots. - Yash Chitalia; Abdulhamit Donder; Pierre E. Dupont (ISMR, 2023)

Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots. - Giovanni Pittiglio; Margherita Mencattelli; Pierre E. Dupont (ISMR, 2023)

Using robotics to move a neurosurgeon's hands to the tip of their endoscope. - Karl Price; Joseph Peine; Margherita Mencattelli; Yash Chitalia; David Pu; Thomas Looi; Scellig S. Stone; James M. Drake; Pierre E. Dupont (Sci. Robotics, 2023)

Continuum Robot Shape Estimation Using Magnetic Ball Chains. - Giovanni Pittiglio; Abdulhamit Donder; Pierre E. Dupont (IROS, 2024)

Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots. - Yuan Wang; Max McCandless; Abdulhamit Donder; Giovanni Pittiglio; Behnam Moradkhani; Yash Chitalia; Pierre E. Dupont (ISMR, 2024)

Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment. - Giovanni Pittiglio; Fabio Leuenberger; Margherita Mencattelli; Max McCandless; Edward O'Leary; Pierre E. Dupont (CoRR, 2024)

Medical robots learn to be autonomous. - Pierre E. Dupont (Sci. Robotics, 2025)

The grand challenges of learning medical robot autonomy. - Pierre E. Dupont; Alperen Degirmenci (Sci. Robotics, 2025)

Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-Tendon Catheter Kinematics. - Yuan Wang 061; Pierre E. Dupont (IEEE Robotics Autom. Lett., 2025)