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A new mechanism for mesoscale legged locomotion in compliant tubular environments, , , , , and . IEEE Transactions on Robotics, 25 (5): 1047--1057 (2009)An endoscopic capsule robot: A meso-scale engineering case study, , , , , and . Journal of Micromechanics and Microengineering, 19 (10): 105007 (2009)Closed-loop control of soft continuum manipulators under tip follower actuation, , , , , , and . International Journal of Robotics Research, 40 (6-7): 923--938 (2021)Advanced technologies for gastrointestinal endoscopy, , and . Annual Review of Biomedical Engineering, (2012)Toward tetherless insufflation of the GI Tract, , , , , and . 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, page 1946--1949. Buenos Aires, Argentina, (2010)Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading., and . IEEE Trans. Robotics, 27 (6): 1033-1044 (2011)A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots., , and . IEEE Trans. Robotics, 26 (5): 769-780 (2010)Concentric Tube Robots: The State of the Art and Future Directions., , and . ISRR, volume 114 of Springer Tracts in Advanced Robotics, page 253-269. Springer, (2013)Deflection-based force sensing for continuum robots: A probabilistic approach., and . IROS, page 3764-3769. IEEE, (2011)A wrist for needle-sized surgical robots., , , and . ICRA, page 1776-1781. IEEE, (2015)