Review of locomotion techniques for robotic colonoscopy. - Irwan M. Kassim; Wan S. Ng; Gong Feng; Soo J. Phee; Paolo Dario; Charles A. Mosse (ICRA, 2003)

Tendon sheath analysis for estimation of distal end force and elongation for sensorless distal end. - Soo J. Phee; S. C. Low; Paolo Dario; Arianna Menciassi (Robotica, 2010)