Publications

Here is a list of recent publications from our research group.

Journal papers (2020-current)

• Kim S.Y., Kumar N.S., Barth E.J., “Variable Stiffness and Impedance Control of a Soft Pneumatic Actuator with Tunable Collision Dynamics and Trajectory Following,” Journal of Dynamic Systems, Measurement, and Control, 2025.
• Gallentine J., Barth E.J., “Additively-Manufactured Servopumps for Soft Robots,” Journal of Dynamic Systems, Measurement, and Control, 147(5): 051010, 2025.
• Esser D.S., Rox M.F., Naftel R.P., Rucker D.C., Barth E.J., Kuntz A., Webster R.J. III, “Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots,” IEEE Transactions on Medical Robotics and Bionics, 2024.
• Ledoux E.D., Kumar N.S., Barth E.J., “Design, Modeling, and Preliminary Evaluation of a Simple Wrist–Hand Stretching Orthosis for Neurologically Impaired Patients,” Wearable Technologies, 5:e19, 2024.
• Ledoux E.D., Barth E.J., “Design, Modeling, and Preliminary Evaluation of a 3D-Printed Wrist–Hand Grasping Orthosis for Stroke Survivors,” Wearable Technologies, 5:e12, 2024.
• Cannon P.C., Ferguson J.M., Pitt E.B., Shrand J.A., Setia S.A., Nimmagadda N., Barth E.J., Kavoussi N.L., Galloway R.L., Herrell S.D., Webster R.J. III, “A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance,” IEEE Open Journal of Engineering in Medicine and Biology, 2023.
• Thomas S., Barth E.J., “Active Stirling Thermocompressor: Modeling and Effects of Controlled Displacer Motion Profile on Work Output,” Applied Energy, 327:120084, 2022.
• Aloi V., Dang K.T., Barth E.J., Rucker C.D., “Estimating Forces Along Continuum Robots,” IEEE Robotics and Automation Letters, 7(4):8877–8884, 2022.
• Granna J., Pitt E.B., McKay M.E., Ball T.J., Neimat J.S., Englot D.J., Naftel R.P., Barth E.J., Webster R.J. III, “Targeting Epilepsy Through the Foramen Ovale: How Many Helical Needles Are Needed?,” Annals of Biomedical Engineering, 50(5):499–506, 2022.
• Nimmagadda N., Ferguson J.M., Kavoussi N.L., Pitt B., Barth E.J., Granna J., Webster R.J. III, Herrell S.D., “Patient-Specific, Touch-Based Registration During Robotic, Image-Guided Partial Nephrectomy,” World Journal of Urology, 40(3):671–677, 2022.
• Li M., Slepian M.J., Chen Y., Howard J.T., Thomas B.S., Barth E.J., “Design, Modeling, and Experimental Characterization of a Valveless Pulsatile Flow Mechanical Circulatory Support Device,” ASME Journal of Medical Devices, 15(2):021009, 2021.
• Ferguson J.M., Pitt E.B., Kuntz A., Granna J., Kavoussi N.L., Nimmagadda N., Barth E.J., Herrell S.D., Webster R.J. III, “Comparing the Accuracy of the da Vinci Xi and Si for Image Guidance and Automation,” International Journal of Medical Robotics and Computer Assisted Surgery, e2149, 2021.
• Ferguson J.M., Pitt E.B., Remirez A.A., Siebold M.A., Kuntz A., Kavoussi N.L., Barth E.J., Herrell S.D., Webster R.J. III, “Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial Nephrectomy,” IEEE Transactions on Medical Robotics and Bionics, 2(2):196–205, 2020.
• Li M., Walk R., Roka-Moiia Y., Sheriff J., Bluestein D., Barth E.J., Slepian M.J., “Circulatory Loop Design and Components Introduce Artifacts Impacting In-Vitro Evaluation of Ventricular Assist Device Thrombogenicity,” Artificial Organs, 2020.
• Li M., Slepian M.J., Barth E.J., “Bond Graph Modeling of Mechanical Circulatory Support–Cardiovascular System Interactions,” Journal of Biomechanical Engineering, 142(8):081010, 2020.
• Chen Y., Wang L., Galloway K.C., Godage I.S., Simaan N., Barth E.J., “Modal-Based Kinematics and Contact Detection of Soft Robots,” Soft Robotics, 8(3):298–309, 2020.

Conference papers (2020-current)

• Gallentine J., Kumar N.S., Barth E.J., “Toward Frequency-Addressable Resonant Valves for High-Degree-of-Freedom Hydraulic Control,” ASME FPMC/IDETC-CIE Conference, 2025.
• Kumar N.S., Shrand J.S., Herrell S.D. III, Kavoussi, N.L., Ghazi, A., Barth E.J., Oguz, I., Kuntz, A., Webster R.J. III, “Touching is Believing: Contact Sensing to Enhance Situational Awareness for Concentric Tube Robots“, Hamlyn Symposium on Medical Robotics, 2025.
• Peters J.E., Esser D.S., Grillo A.M., Kumar N.S., Webster R.J. III, Barth E.J., “Toward In-Scanner Transforamenal Epilepsy Interventions: A Compact MR-Safe Concentric Tube Actuation System,” Hamlyn Symposium on Medical Robotics, 2024.
• Gallentine J., Kumar N.S., Barth E.J., “A Compact Electropermanent Magnet Valve Geometry for Switching of Magnetorheological Fluid Using Particle Jamming,” ASME Fluid Power Systems Technology, 2024.
• Grillo A.M., Peters J.E., Esser D.S., Garrow S.J., Ball T., Naftel R., Englot D.J., Neimat J., Grissom W.A., Barth E.J., Webster R.J. III, “Design Considerations for Robotic, MRI-Guided, Trans-Foramen Ovale Access to the Brain,” SPIE Medical Imaging: Image-Guided Procedures and Robotic Interventions, Vol. 12466, 2023.
• Van Stratum B., Clark J., Barth E.J., Shoele K., “Using Morphological Intelligence in Robotic Designs of Elongated Swimmers,” Bulletin of the American Physical Society, 2023.
• Gallentine J., Barth E.J., “3D Printed Gerotor Pump Geometries for Soft-Robot Actuation,” ASME Fluid Power Systems Technology, 2023.
• Peters J.E., Grillo A.M., Esser D.S., Garrow S.J., Kumar N.S., Ball T., Naftel R., Englot D.J., Neimat J., Grissom W.A., Webster R.J. III, Barth E.J., “A Highly Compact, Multi-Material, Fluid-Powered Actuation System for MRI-Guided Surgical Intervention,” ASME Fluid Power Systems Technology, 2023.
• Rucker C., Barth E.J., Gaston J., Gallentine J.C., “Task-Space Control of Continuum Robots Using Underactuated Discrete Rod Models,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
• Gallentine J., Barth E.J., Galloway K., Van Stratum B., Clark J., Shoele K., “A Multimodal Climbing-Swimming Soft Robotic Lamprey,” ASME Fluid Power Systems Technology, 2022.
• Howard J.T., Thomas S., Gallentine J.C., Barth E.J., “Hydraulic Test Stand to Model Circulatory System Dynamics for Artificial Heart Evaluation,” BATH/ASME Symposium on Fluid Power & Motion Control, 2021.
• Padovani D., Barth E.J., “Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth Control of Soft Robotics,” IEEE International Conference on Soft Robotics (ROBOSOFT), 2020.