{"id":446,"date":"2025-10-17T11:06:27","date_gmt":"2025-10-17T16:06:27","guid":{"rendered":"https:\/\/my.vanderbilt.edu\/dces\/?page_id=446"},"modified":"2025-10-31T11:27:14","modified_gmt":"2025-10-31T16:27:14","slug":"publications","status":"publish","type":"page","link":"https:\/\/my.vanderbilt.edu\/dces\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"<h2>Here is a list of recent publications from our research group.<\/h2>\n<h3>Journal papers (2020-current)<\/h3>\n<ul>\n<li>Kim S.Y., Kumar N.S., Barth E.J., &#8220;<a href=\"https:\/\/asmedigitalcollection.asme.org\/dynamicsystems\/article\/doi\/10.1115\/1.4070266\/1226344\/Variable-Stiffness-and-Impedance-Control-of-a-Soft\">Variable Stiffness and Impedance Control of a Soft Pneumatic Actuator with Tunable Collision Dynamics and Trajectory Following<\/a>,&#8221; Journal of Dynamic Systems, Measurement, and Control, 2025.<\/li>\n<li>Gallentine J., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/dynamicsystems\/article\/147\/5\/051010\/1217071\/Additively-Manufactured-Servopumps-for-Soft-Robots\">Additively-Manufactured Servopumps for Soft Robots<\/a>,\u201d Journal of Dynamic Systems, Measurement, and Control, 147(5): 051010, 2025.<\/li>\n<li>Esser D.S., Rox M.F., Naftel R.P., Rucker D.C., Barth E.J., Kuntz A., Webster R.J. III, \u201c<a href=\"https:\/\/ieeexplore.ieee.org\/document\/10759847\">Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots<\/a>,\u201d IEEE Transactions on Medical Robotics and Bionics, 2024.<\/li>\n<li>Ledoux E.D., Kumar N.S., Barth E.J., \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/39811478\/\">Design, Modeling, and Preliminary Evaluation of a Simple Wrist\u2013Hand Stretching Orthosis for Neurologically Impaired Patients<\/a>,\u201d Wearable Technologies, 5:e19, 2024.<\/li>\n<li>Ledoux E.D., Barth E.J., \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/39575325\/\">Design, Modeling, and Preliminary Evaluation of a 3D-Printed Wrist\u2013Hand Grasping Orthosis for Stroke Survivors<\/a>,\u201d Wearable Technologies, 5:e12, 2024.<\/li>\n<li>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, \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/38487093\/\">A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance<\/a>,\u201d IEEE Open Journal of Engineering in Medicine and Biology, 2023.<\/li>\n<li>Thomas S., Barth E.J., \u201c<a href=\"https:\/\/www.sciencedirect.com\/science\/article\/abs\/pii\/S0306261922013411\">Active Stirling Thermocompressor: Modeling and Effects of Controlled Displacer Motion Profile on Work Output<\/a>,\u201d Applied Energy, 327:120084, 2022.<\/li>\n<li>Aloi V., Dang K.T., Barth E.J., Rucker C.D., \u201c<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9816130\/\">Estimating Forces Along Continuum Robots<\/a>,\u201d IEEE Robotics and Automation Letters, 7(4):8877\u20138884, 2022.<\/li>\n<li>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, \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/35244812\/\">Targeting Epilepsy Through the Foramen Ovale: How Many Helical Needles Are Needed?<\/a>,\u201d Annals of Biomedical Engineering, 50(5):499\u2013506, 2022.<\/li>\n<li>Nimmagadda N., Ferguson J.M., Kavoussi N.L., Pitt B., Barth E.J., Granna J., Webster R.J. III, Herrell S.D., \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/34132897\/\">Patient-Specific, Touch-Based Registration During Robotic, Image-Guided Partial Nephrectomy<\/a>,\u201d World Journal of Urology, 40(3):671\u2013677, 2022.<\/li>\n<li>Li M., Slepian M.J., Chen Y., Howard J.T., Thomas B.S., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/medicaldevices\/article-abstract\/15\/2\/021009\/1094189\/Design-Modeling-and-Experimental-Characterization?redirectedFrom=fulltext\">Design, Modeling, and Experimental Characterization of a Valveless Pulsatile Flow Mechanical Circulatory Support Device<\/a>,\u201d ASME Journal of Medical Devices, 15(2):021009, 2021.<\/li>\n<li>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, \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/32808429\/\">Comparing the Accuracy of the da Vinci Xi and Si for Image Guidance and Automation<\/a>,\u201d International Journal of Medical Robotics and Computer Assisted Surgery, e2149, 2021.<\/li>\n<li>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, \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/36176345\/\">Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial Nephrectomy<\/a>,\u201d IEEE Transactions on Medical Robotics and Bionics, 2(2):196\u2013205, 2020.<\/li>\n<li>Li M., Walk R., Roka-Moiia Y., Sheriff J., Bluestein D., Barth E.J., Slepian M.J., \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/31876310\/\">Circulatory Loop Design and Components Introduce Artifacts Impacting In-Vitro Evaluation of Ventricular Assist Device Thrombogenicity<\/a>,\u201d Artificial Organs, 2020.<\/li>\n<li>Li M., Slepian M.J., Barth E.J., \u201c<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/31891373\/\">Bond Graph Modeling of Mechanical Circulatory Support\u2013Cardiovascular System Interactions<\/a>,\u201d Journal of Biomechanical Engineering, 142(8):081010, 2020.<\/li>\n<li>Chen Y., Wang L., Galloway K.C., Godage I.S., Simaan N., Barth E.J., \u201c<a href=\"https:\/\/www.liebertpub.com\/doi\/10.1089\/soro.2019.0095\">Modal-Based Kinematics and Contact Detection of Soft Robots<\/a>,\u201d Soft Robotics, 8(3):298\u2013309, 2020.<\/li>\n<\/ul>\n<h3>Conference papers (2020-current)<\/h3>\n<ul>\n<li>Gallentine J., Kumar N.S., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/IDETC-CIE\/proceedings\/IDETC-CIE2025\/89268\/V006T12A010\/1226146\">Toward Frequency-Addressable Resonant Valves for High-Degree-of-Freedom Hydraulic Control<\/a>,\u201d ASME FPMC\/IDETC-CIE Conference, 2025.<\/li>\n<li>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, &#8220;<a href=\"https:\/\/www.hamlynsymposium.org\/wp-content\/uploads\/2025\/10\/HSMR25-Proceedings-Final-Reduced.pdf\">Touching is Believing: Contact Sensing to Enhance Situational Awareness for Concentric Tube Robots<\/a>&#8220;, Hamlyn Symposium on Medical Robotics, 2025.<\/li>\n<li>Peters J.E., Esser D.S., Grillo A.M., Kumar N.S., Webster R.J. III, Barth E.J., \u201c<a href=\"https:\/\/www.hamlynsymposium.org\/wp-content\/uploads\/2024\/06\/HSMR24-Proceedings-v2.pdf\">Toward In-Scanner Transforamenal Epilepsy Interventions: A Compact MR-Safe Concentric Tube Actuation System<\/a>,\u201d Hamlyn Symposium on Medical Robotics, 2024.<\/li>\n<li>Gallentine J., Kumar N.S., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/FPST\/proceedings-abstract\/FPMC2024\/88193\/V001T01A024\/1207699\">A Compact Electropermanent Magnet Valve Geometry for Switching of Magnetorheological Fluid Using Particle Jamming<\/a>,\u201d ASME Fluid Power Systems Technology, 2024.<\/li>\n<li>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, \u201c<a href=\"https:\/\/www.spiedigitallibrary.org\/conference-proceedings-of-spie\/12466\/124661E\/Design-considerations-for-robotic-MRI-guided-trans-foramen-ovale-access\/10.1117\/12.2655533.short\">Design Considerations for Robotic, MRI-Guided, Trans-Foramen Ovale Access to the Brain<\/a>,\u201d SPIE Medical Imaging: Image-Guided Procedures and Robotic Interventions, Vol. 12466, 2023.<\/li>\n<li>Van Stratum B., Clark J., Barth E.J., Shoele K., \u201c<a href=\"https:\/\/meetings.aps.org\/Meeting\/DFD23\/Session\/J08.8\">Using Morphological Intelligence in Robotic Designs of Elongated Swimmers<\/a>,\u201d Bulletin of the American Physical Society, 2023.<\/li>\n<li>Gallentine J., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/FPST\/proceedings-abstract\/FPMC2023\/87431\/V001T01A019\/1170215\">3D Printed Gerotor Pump Geometries for Soft-Robot Actuation<\/a>,\u201d ASME Fluid Power Systems Technology, 2023.<\/li>\n<li>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., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/FPST\/proceedings-abstract\/FPMC2023\/87431\/V001T01A007\/1170194\">A Highly Compact, Multi-Material, Fluid-Powered Actuation System for MRI-Guided Surgical Intervention<\/a>,\u201d ASME Fluid Power Systems Technology, 2023.<\/li>\n<li>Rucker C., Barth E.J., Gaston J., Gallentine J.C., \u201c<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9982271\">Task-Space Control of Continuum Robots Using Underactuated Discrete Rod Models<\/a>,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.<\/li>\n<li>Gallentine J., Barth E.J., Galloway K., Van Stratum B., Clark J., Shoele K., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/FPST\/proceedings-abstract\/FPMC2022\/86335\/V001T01A040\/1150187\">A Multimodal Climbing-Swimming Soft Robotic Lamprey<\/a>,\u201d ASME Fluid Power Systems Technology, 2022.<\/li>\n<li>Howard J.T., Thomas S., Gallentine J.C., Barth E.J., \u201c<a href=\"https:\/\/asmedigitalcollection.asme.org\/FPST\/proceedings-abstract\/FPMC2021\/85239\/V001T01A052\/1129298\">Hydraulic Test Stand to Model Circulatory System Dynamics for Artificial Heart Evaluation<\/a>,\u201d BATH\/ASME Symposium on Fluid Power &amp; Motion Control, 2021.<\/li>\n<li>Padovani D., Barth E.J., \u201c<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9116049\">Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth Control of Soft Robotics<\/a>,\u201d IEEE International Conference on Soft Robotics (ROBOSOFT), 2020.<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Here is a list of recent publications from our research group. Journal papers (2020-current) Kim S.Y., Kumar N.S., Barth E.J., &#8220;Variable Stiffness and Impedance Control of a Soft Pneumatic Actuator with Tunable Collision Dynamics and Trajectory Following,&#8221; Journal of Dynamic Systems, Measurement, and Control, 2025. Gallentine J., Barth E.J., \u201cAdditively-Manufactured Servopumps for Soft Robots,\u201d Journal&#8230;<\/p>\n","protected":false},"author":10999,"featured_media":0,"parent":0,"menu_order":5,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"tags":[],"class_list":["post-446","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/446","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/users\/10999"}],"replies":[{"embeddable":true,"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/comments?post=446"}],"version-history":[{"count":6,"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/446\/revisions"}],"predecessor-version":[{"id":469,"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/pages\/446\/revisions\/469"}],"wp:attachment":[{"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/media?parent=446"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/my.vanderbilt.edu\/dces\/wp-json\/wp\/v2\/tags?post=446"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}