Nabil Simaan - RankMe

111 papers A* 34A 9Journal 56Unranked 12

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Characterization of Constraints in Flexible Unknown Environments. CoRR Samrat Bhattacharyya, Nabil Simaan
2026	A*	`conf`	Neural-Augmented Kelvinlet for Real-Time Soft Tissue Deformation Modeling. AAAI Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman, Elaheh Akbari, Annie C. Benson, Sepehr Seifi, Xinyuan Liu, Garrison Lawrence Horswill Johnston, Jie Ying Wu, Nabil Simaan, Michael I. Miga, Soheil Kolouri
2026	J	`jnl`	SurgFormer: Scalable Learning of Organ Deformation with Resection Support and Real-Time Inference. CoRR Ashkan Shahbazi, Elaheh Akbari, Kyvia Pereira, Jon S. Heiselman, Annie C. Benson, Garrison L. H. Johnston, Jie Ying Wu, Nabil Simaan, Michael I. Miga, Soheil Kolouri
2025	J	`jnl`	A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots. CoRR Garrison L. H. Johnston, Neel Shihora, Nabil Simaan
2025	J	`jnl`	A modal-space formulation for momentum observer contact estimation and effects of uncertainty for continuum robots. Int. J. Robotics Res. Garrison L. H. Johnston, Neel Shihora, Nabil Simaan
2025	J	`jnl`	Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy. CoRR Olivia K. Richards, Keith L. Obstein, Nabil Simaan
2025	J	`jnl`	Fluoroscopic Shape and Pose Tracking of Catheters With Custom Radiopaque Markers. IEEE Robotics Autom. Lett. Jared Lawson, Rohan Chitale, Nabil Simaan
2025	J	`jnl`	Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers. CoRR Jared Lawson, Rohan Chitale, Nabil Simaan
2025	—	`conf`	Multi-Modal Gesture Recognition from Video and Surgical Tool Pose Information via Motion Invariants. ISMR Jumanh Atoum, Garrison L. H. Johnston, Nabil Simaan, Jie Ying Wu
2025	J	`jnl`	Multi-Modal Gesture Recognition from Video and Surgical Tool Pose Information via Motion Invariants. CoRR Jumanh Atoum, Garrison L. H. Johnston, Nabil Simaan, Jie Ying Wu
2025	J	`jnl`	Neural-Augmented Kelvinlet: Real-Time Soft Tissue Deformation with Multiple Graspers. CoRR Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman, Elaheh Akbari, Annie C. Benson, Sepehr Seifi, Xinyuan Liu, Garrison L. H. Johnston, Erwin Terpstra, Anne Draaisma, Jan-Jaap Severes, Jie Ying Wu, Nabil Simaan, Michael I. Miga, Soheil Kolouri
2025	J	`jnl`	Sensorless Remote Center of Motion Misalignment Estimation. CoRR Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz, Nabil Simaan, Jie Ying Wu
2024	A	`conf`	A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics. IROS Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz, Nabil Simaan
2024	J	`jnl`	A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics. CoRR Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz, Nabil Simaan
2024	A	`conf`	A Robotic Mediation Device for Skill Assessment and Training During Colonoscopy. IROS Olivia K. Richards, Elan Z. Ahronovich, Neel Shihora, Ahmet Yildiz, Jumana Atoum, Jie Ying Wu, Keith L. Obstein, Nabil Simaan
2024	J	`jnl`	Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. CoRR Jared Lawson, Madison Veliky, Colette P. Abah, Mary S. Dietrich, Rohan Chitale, Nabil Simaan
2024	J	`jnl`	Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. IEEE Trans. Biomed. Eng. Jared Lawson, Madison Veliky, Colette P. Abah, Mary S. Dietrich, Rohan Chitale, Nabil Simaan
2023	J	`jnl`	Closed Loop Static Control of Multi-Magnet Soft Continuum Robots. IEEE Robotics Autom. Lett. Giovanni Pittiglio, Andrew L. Orekhov, Tomás da Veiga, Simone Caló, James Henry Chandler, Nabil Simaan, Pietro Valdastri
2023	J	`jnl`	Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms. CoRR Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
2023	J	`jnl`	Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing. CoRR Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan
2023	A*	`conf`	Exploring An External Approach to Subretinal Drug Delivery via Robot Assistance and B-Mode OCT. ICRA Elan Z. Ahronovich, Neel Shihora, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
2023	A*	`conf`	Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation. ICRA Yeonhee Chang, Elan Z. Ahronovich, Nabil Simaan, Cheol Song
2023	A*	`conf`	Induced Vertex Motion As a Performance Measure for Surgery in Confined Spaces. ICRA Neel Shihora, Nabil Simaan
2023	J	`jnl`	Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots With General String Encoder Routing. IEEE Trans. Robotics Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
2023	A*	`conf`	Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. ICRA Jared Lawson, Rohan Chitale, Nabil Simaan
2023	J	`jnl`	Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. CoRR Jared Lawson, Rohan Chitale, Nabil Simaan
2023	A	`conf`	Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. IROS Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
2023	J	`jnl`	Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. CoRR Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
2023	A*	`conf`	Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. ICRA Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
2022	J	`jnl`	Continuum Robots for Medical Interventions. Proc. IEEE Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker
2022	—	`conf`	Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots. ARK Neel Shihora, Nabil Simaan
2022	J	`jnl`	Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing. CoRR Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
2022	J	`jnl`	Surgical Robotics and Computer-Integrated Interventional Medicine [Scanning the Issue]. Proc. IEEE Russell H. Taylor, Nabil Simaan, Arianna Menciassi, Guang-Zhong Yang
2022	J	`jnl`	Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. CoRR Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
2021	J	`jnl`	A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
2021	A	`conf`	Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. IROS Neel Shihora, Rashid Yasin, Ryan Walsh, Nabil Simaan
2021	J	`jnl`	Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. CoRR Neel Shihora, Rashid M. Yasin, Ryan Walsh, Nabil Simaan
2021	—	`conf`	Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention. ISMR Colette Abah, Rohan Chitale, Nabil Simaan
2021	J	`jnl`	Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction. Int. J. Robotics Res. Rashid Yasin, Nabil Simaan
2020	A*	`conf`	Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. ICRA Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
2020	J	`jnl`	Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. CoRR Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
2020	A	`conf`	Solving Cosserat Rod Models via Collocation and the Magnus Expansion. IROS Andrew L. Orekhov, Nabil Simaan
2020	J	`jnl`	Solving Cosserat Rod Models via Collocation and the Magnus Expansion. CoRR Andrew L. Orekhov, Nabil Simaan
2019	A*	`conf`	A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping. ICRA Colette Abah, Andrew L. Orekhov, Garrison L. H. Johnston, Peng Yin, Howie Choset, Nabil Simaan
2019	J	`jnl`	Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Trans. Biomed. Eng. Nicolo Garbin, Long Wang, James Henry Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri
2019	J	`jnl`	Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations. IEEE Trans. Robotics Long Wang, Nabil Simaan
2019	J	`jnl`	Modal-based Kinematics and Contact Detection of Soft Robots. CoRR Yue Chen, Long Wang, Kevin C. Galloway, Isuru S. Godage, Nabil Simaan, Eric J. Barth
2019	J	`jnl`	Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty. IEEE Trans. Robotics Piotr R. Slawinski, Nabil Simaan, Addisu Z. Taddese, Keith L. Obstein, Pietro Valdastri
2019	J	`jnl`	Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. IEEE Robotics Autom. Lett. Piotr R. Slawinski, Nabil Simaan, Keith L. Obstein, Pietro Valdastri
2019	J	`jnl`	Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration. CoRR Long Wang, Giuseppe Del Giudice, Nabil Simaan
2019	J	`jnl`	Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries. CoRR Andrew L. Orekhov, Colette Abah, Nabil Simaan
2018	—	`conf`	A disposable continuum endoscope using piston-driven parallel bellow actuator. ISMR Nicolo Garbin, Long Wang, James Henry Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri
2018	A*	`conf`	Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots. ICRA Colette Abah, Andrew L. Orekhov, Nabil Simaan
2018	J	`jnl`	Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics. CoRR Nabil Simaan, Rashid M. Yasin, Long Wang
2018	J	`jnl`	Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics. Annu. Rev. Control. Robotics Auton. Syst. Nabil Simaan, Rashid M. Yasin, Long Wang
2018	J	`jnl`	Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics Autom. Lett. Preetham Chalasani, Long Wang, Rashid Yasin, Nabil Simaan, Russell H. Taylor
2018	A*	`conf`	Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. ICRA Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
2018	—	`conf`	Using continuum robots for force-controlled semi autonomous organ exploration and registration. ISMR Rashid Yasin, Long Wang, Colette Abah, Nabil Simaan
2017	A	`conf`	Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation. IROS Giuseppe Del Giudice, Long Wang, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
2017	A	`conf`	Minimal visual occlusion redundancy resolution of continuum robots in confined spaces. IROS Nima Sarli, Nabil Simaan
2017	J	`jnl`	Robot-assisted perception augmentation for online detection of insertion failure during cochlear implant surgery. Robotica Jason Pile, George B. Wanna, Nabil Simaan
2017	J	`jnl`	Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. CoRR Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
2017	J	`jnl`	Utility-Guided Palpation for Locating Tissue Abnormalities. IEEE Robotics Autom. Lett. Elif Ayvali, Alexander R. Ansari, Long Wang, Nabil Simaan, Howie Choset
2016	A*	`conf`	Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments. ICRA Rangaprasad Arun Srivatsan, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2016	A*	`conf`	Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation. ICRA Preetham Chalasani, Long Wang, Rajarshi Roy, Nabil Simaan, Russell H. Taylor, Marin Kobilarov
2016	J	`jnl`	Hybrid motion/force control of multi-backbone continuum robots. Int. J. Robotics Res. Andrea Bajo, Nabil Simaan
2016	A*	`conf`	Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots. ICRA Rajarshi Roy, Long Wang, Nabil Simaan
2016	J	`jnl`	Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy. IEEE Trans. Robotics Christian Di Natali, Marco Beccani, Nabil Simaan, Pietro Valdastri
2016	A*	`conf`	Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping. ICRA Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2015	A*	`conf`	Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. ICRA Nima Sarli, Tracy Marien, S. Duke Herrell, Nabil Simaan
2015	J	`jnl`	Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots. Robotica Jienan Ding, Nabil Simaan
2015	J	`jnl`	Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping. CoRR Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2014	J	`jnl`	Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing. IEEE Trans. Robotics Roger E. Goldman, Andrea Bajo, Nabil Simaan
2014	A*	`conf`	Force-based flexible path plans for robotic electrode insertion. ICRA Jason Pile, George B. Wanna, Nabil Simaan
2014	—	`conf`	Simultaneous Compliance and Registration Estimation for Robotic Surgery. Robotics: Science and Systems Siddharth Sanan, Stephen Tully, Andrea Bajo, Nabil Simaan, Howie Choset
2013	J	`jnl`	Algorithms for autonomous exploration and estimation in compliant environments. Robotica Roger E. Goldman, Andrea Bajo, Nabil Simaan
2013	A*	`conf`	Characterization of constraints in flexible unknown environments. ICRA Samrat Bhattacharyya, Nabil Simaan
2013	A*	`conf`	Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold-over. ICRA Jason Pile, Nabil Simaan
2013	A*	`conf`	Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. ICRA Andrea Bajo, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan
2013	J	`jnl`	Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention. IEEE Trans. Biomed. Eng. Roger E. Goldman, Andrea Bajo, Lara S. MacLachlan, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan
2013	A*	`conf`	Design, calibration and preliminary testing of a robotic telemanipulator for OCT guided retinal surgery. ICRA Haoran Yu, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
2013	A*	`conf`	Robotic-assisted micro-surgery of the throat: The trans-nasal approach. ICRA Andrea Bajo, Latif M. Dharamsi, James L. Netterville, C. Gaelyn Garrett, Nabil Simaan
2012	J	`jnl`	Automated recognition of robotic manipulation failures in high-throughput biodosimetry tool. Expert Syst. Appl. Youhua Chen, Hongliang Wang, Jian Zhang, Guy Garty, Nabil Simaan, Y. Lawrence Yao, David J. Brenner
2012	A*	`conf`	Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. ICRA Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan
2012	—	`conf`	Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging. Image-Guided Procedures H. Tutkun Sen, Nishikant P. Deshmukh, Roger E. Goldman, Peter Kazanzides, Russell H. Taylor, Emad Boctor, Nabil Simaan
2012	A*	`conf`	Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery. ICRA Andrea Bajo, Roger E. Goldman, Long Wang, Dennis L. Fowler, Nabil Simaan
2012	J	`jnl`	Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots. IEEE Trans. Robotics Andrea Bajo, Nabil Simaan
2011	A	`conf`	A learning algorithm for visual pose estimation of continuum robots. IROS Austin Reiter, Roger E. Goldman, Andrea Bajo, Konstantinos Iliopoulos, Nabil Simaan, Peter K. Allen
2011	—	`conf`	A pilot investigation of continuum robots as a design alternative for upper extremity exoskeletons. ROBIO Kai Xu, Dong Qiu, Nabil Simaan
2011	A*	`conf`	Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays. ICRA Jason Pile, Mei Yi Cheung, Jian Zhang, Nabil Simaan
2011	A*	`conf`	Compliant motion control for continuum robots with intrinsic actuation sensing. ICRA Roger E. Goldman, Andrea Bajo, Nabil Simaan
2011	A*	`conf`	Configuration and joint feedback for enhanced performance of multi-segment continuum robots. ICRA Andrea Bajo, Roger E. Goldman, Nabil Simaan
2010	A*	`conf`	Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery. ICRA Jienan Ding, Kai Xu, Roger E. Goldman, Peter K. Allen, Dennis L. Fowler, Nabil Simaan
2010	A*	`conf`	Finding lost wrenches: Using continuum robots for contact detection and estimation of contact location. ICRA Andrea Bajo, Nabil Simaan
2010	J	`jnl`	Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots. IEEE Trans. Robotics Kai Xu, Nabil Simaan
2009	J	`jnl`	Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. Int. J. Robotics Res. Nabil Simaan, Kai Xu, Wei Wei, Ankur Kapoor, Peter Kazanzides, Russell H. Taylor, Paul Flint
2009	A*	`conf`	Design and synthesis of wire-actuated universal-joint wrists for surgical applications. ICRA Saleem Abdul Hamid, Nabil Simaan
2009	A*	`conf`	Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays. ICRA Jian Zhang, Samrat Bhattacharyya, Nabil Simaan
2009	J	`jnl`	Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs. IEEE Trans. Robotics Wei Wei, Roger E. Goldman, Howard F. Fine, Stanley Chang, Nabil Simaan
2009	A	`conf`	System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery. IROS Kai Xu, Roger E. Goldman, Jienan Ding, Peter K. Allen, Dennis L. Fowler, Nabil Simaan
2008	J	`jnl`	An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots. IEEE Trans. Robotics Kai Xu, Nabil Simaan
2008	—	`conf`	Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery. MICCAI (2) Jian Zhang, Wei Wei, Spiros Manolidis, J. Thomas Roland, Nabil Simaan
2007	—	`conf`	Design Considerations for a Minimally Invasive High-Throughput Automation System for Radiation Biodosimetry. CASE Alessio Salerno, Jian Zhang, Anubha Bhatla, Oleksandra V. Lyulko, Aparajita Dutta, Guy Garty, Nabil Simaan, Gerhard Randers Pehrson, Y. Lawrence Yao, David J. Brenner, Jing Nie
2007	A*	`conf`	Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity. ICRA Wei Wei, Roger E. Goldman, Nabil Simaan, Howard F. Fine, Stanley Chang
2006	—	`conf`	A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays. MICCAI (1) Jian Zhang, Kai Xu, Nabil Simaan, Spiros Manolidis
2006	A*	`conf`	Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation. ICRA Kai Xu, Nabil Simaan
2005	A*	`conf`	Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization. ICRA Nabil Simaan
2004	A*	`conf`	A Dexterous System for Laryngeal Surgery. ICRA Nabil Simaan, Russell H. Taylor, Paul Flint
2004	—	`conf`	High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway. MICCAI (2) Nabil Simaan, Russell H. Taylor, Paul Flint
2003	J	`jnl`	Stiffness Synthesis of a Variable Geometry Six-Degrees-of-Freedom Double Planar Parallel Robot. Int. J. Robotics Res. Nabil Simaan, Moshe Shoham
2001	J	`jnl`	Singularity analysis of a class of composite serial in-parallel robots. IEEE Trans. Robotics Autom. Nabil Simaan, Moshe Shoham