A fast torsionally compliant kinematic model of concentric-tube robots. - Ran Xu 010; Rajni V. Patel (EMBC, 2012)

Position control of concentric-tube continuum robots using a modified Jacobian-based approach. - Ran Xu 010; Ali Asadian; Anish S. Naidu; Rajni V. Patel (ICRA, 2013)

Kinematic instability in concentric-tube robots: Modeling and analysis. - Ran Xu 010; Seyed Farokh Atashzar; Rajni V. Patel (BioRob, 2014)

Real-time trajectory tracking for externally loaded concentric-tube robots. - Ran Xu 010; Ali Asadian; Seyed Farokh Atashzar; Rajni V. Patel (ICRA, 2014)

Design of an ultra thin strain sensor using superelastic nitinol for applications in minimally invasive surgery. - Amit Srivastava; Ran Xu 010; Abelardo Escoto; Christopher Ward; Rajni V. Patel (AIM, 2016)

Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors. - Ran Xu 010; Aaron Yurkewich; Rajni V. Patel (IEEE Robotics Autom. Lett., 2016)

Development of an optical fiber-based sensor for grasping and axial force sensing. - Pouya Soltani Zarrin; Abelardo Escoto; Ran Xu 010; Rajni V. Patel; Michael D. Naish; Ana Luisa Trejos (ICRA, 2017)