iCORE Laboratory Louisiana State University

Publications

Selected peer-reviewed contributions and preprints.

Google Scholar pages for the Co-Directors are also available: Hunter B. Gilbert, Corina Barbalata, Adrian Stein

  1. 2026
    Perera, Dulanjana M. and Arachchige, Dimuthu D. K. and Byrd, Nathan and Wang, Zhaosen and Gilbert, Hunter and Godage, Isuru S. Rolling Locomotion in Soft Robotic Snakes: Modeling, Control, and Experimental Validation IEEE Transactions on Automation Science and Engineering DOI: 10.1109/TASE.2026.3710773
  2. 2025
    Molaei, Parsa and Yavari, Setayesh and Edwards, Reed and Wells, Quade and Matthews, John and Gilbert, Hunter B. A Hand-Held Tentacle-Like Concentric Tube Robotic System for Structural Integrity Assessment Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR) DOI: 10.1115/DETC2025-169474
  3. 2025
    Amooie, Mohammad A. and Gilbert, Hunter B. and Wilson, Peyton J. and Khonsari, Michael M. Application of 2D inverse heat transfer to analyze mechanical fatigue International Journal of Fatigue DOI: 10.1016/j.ijfatigue.2025.109030
  4. 2025
    Amooie, Mohammad A. and Gilbert, Hunter B. and Wilson, Peyton J. and Khonsari, Michael M. Application of inverse heat transfer to fatigue fracture Engineering Failure Analysis DOI: 10.1016/j.engfailanal.2024.108951
  5. 2025
    Martin, Michael and Banijamali, Kasra and Gilbert, Hunter and Mascarenas, David and Kazemian, Ali LiDAR-based real-time geometrical inspection for large-scale additive manufacturing Progress in Additive Manufacturing DOI: 10.1007/s40964-024-00817-4
  6. 2024
    Molaei, Parsa and Legier, Terrilyn A. and Gilbert, Hunter B. A Continuously Variable Stiffness Mechanism for Tendon-Driven Robots Using Decoupled Stiffening Cables and Hertzian Contact Mechanics Volume 7: 48th Mechanisms and Robotics Conference (MR) DOI: 10.1115/DETC2024-143916
  7. 2024
    Lin, Jui-Te and Girerd, Cédric and Ostrander, Benjamin T. and Molaei, Parsa and Gilbert, Hunter B. and Weissbrod, Philip A. and Hwang, John T. and Morimoto, Tania K. Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery IEEE Transactions on Biomedical Engineering DOI: 10.1109/TBME.2024.3426489
  8. 2024
    Rucker, Daniel Caleb and Gilbert, Hunter B Methods for Improving stability of concentric tube steerable devices using asymmetric flexural rigidity
  9. 2024
    Godage, Isuru and Gilbert, Hunter Modeling Soft Robots Handbook on Soft Robotics DOI: 10.1007/978-3-031-68620-7_4
  10. 2023
    Arachchige, Dimuthu D. K. and Mallikarachchi, Sanjaya and Kanj, Iyad and Perera, Dulanjana M. and Chen, Yue and Gilbert, Hunter B. and Godage, Isuru S. Dynamic Modeling and Validation of Soft Robotic Snake Locomotion 2023 9th International Conference on Control, Automation and Robotics (ICCAR) DOI: 10.1109/ICCAR57134.2023.10151763
  11. 2023
    Molaei, Parsa and Pitts, Nekita A. and Gilbert, Hunter B. Independent Tendons Increase Stiffness of Continuum Robots Without Actuator Coupling IEEE/ASME Advanced Intelligent Mechatronics DOI: 10.1109/AIM46323.2023.10196272
  12. 2023
    Arachchige, Dimuthu D. K. and Varshney, Tanmay and Huzaifa, Umer and Kanj, Iyad and Nanayakkara, Thrishantha and Chen, Yue and Gilbert, Hunter B. and Godage, Isuru S. Study on Soft Robotic Pinniped Locomotion 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) DOI: 10.1109/AIM46323.2023.10196209
  13. 2022
    Molaei, Parsa and Pitts, Nekita A. and Palardy, Genevieve and Su, Ji and Mahlin, Matthew K. and Neilan, James H. and Gilbert, Hunter B. Cable Decoupling and Cable-Based Stiffening of Continuum Robots IEEE Access DOI: 10.1109/ACCESS.2022.3210120
  14. 2022
    Phelan, Martin Francis and Tiryaki, Mehmet Efe and Lazovic, Jelena and Gilbert, Hunter and Sitti, Metin Heat‐Mitigated Design and Lorentz Force‐Based Steering of an MRI‐Driven Microcatheter toward Minimally Invasive Surgery Advanced Science DOI: 10.1002/advs.202105352
  15. 2022
    Ahmed, Shahrior and Gilbert, Hunter B. Kinestatic Modeling of a Spatial Screw-Driven Continuum Robot IEEE Robotics and Automation Letters DOI: 10.1109/lra.2022.3143896
  16. 2022
    Harmon, Brendan Alexander and Nam, Hye Yeon and Gilbert, Hunter and Iravani, Nasrin Living Typography: Robotically Printing a Living Typeface CHI Conference on Human Factors in Computing Systems Extended Abstracts DOI: 10.1145/3491101.3519894
  17. 2022
    Rucker, Caleb and Childs, Jake and Molaei, Parsa and Gilbert, Hunter B. Transverse Anisotropy Stabilizes Concentric Tube Robots IEEE Robotics and Automation Letters DOI: 10.1109/LRA.2022.3140441
  18. 2022
    Herke, Patrick and Kumar, Abhishek and Gilbert, Hunter B. Using Granular Jamming and a Parallel Compliant Mechanism to Provide a Rapidly Deployable, Custom-Fitted Cervical Collar Volume 4: Biomedical and Biotechnology; Design, Systems, and Complexity DOI: 10.1115/IMECE2022-94672
  19. 2021
    Ahmed, Shahrior and Gilbert, Hunter B. Multi-Scale Motion of Soft Continuum Robots using Tendons, Eccentric Rods, and a Cam 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft) DOI: 10.1109/RoboSoft51838.2021.9479231
  20. 2021
    Kozielski, K. L. and Jahanshahi, A. and Gilbert, H. B. and Yu, Y. and Erin, Ö. and Francisco, D. and Alosaimi, F. and Temel, Y. and Sitti, M. Nonresonant powering of injectable nanoelectrodes enables wireless deep brain stimulation in freely moving mice Science Advances DOI: 10.1126/sciadv.abc4189
  21. 2021
    Gilbert, Hunter B. On the Mathematical Modeling of Slender Biomedical Continuum Robots Frontiers in Robotics and AI DOI: 10.3389/frobt.2021.732643
  22. 2020
    Ahmed, Shahrior and Gilbert, Hunter B. Characterization of a Screw-Based Bending Actuator for Continuum Robots 2020 International Symposium on Medical Robotics (ISMR) DOI: 10.1109/ISMR48331.2020.9312936
  23. 2020
    Son, Donghoon and Gilbert, Hunter and Sitti, Metin Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy Soft Robotics DOI: 10.1089/soro.2018.0171
  24. 2020
    Alterovitz, Ron and Torres, Luis Guillermo and Swaney, Philip J. and Gilbert, Hunter B. and Webster, Robert J. and Hendrick, Richard J. Methods, systems, and computer readable media for controlling a concentric tube probe
  25. 2020
    Swaney, Philip J. and Lathrop, Ray and Burgner, Jessica and Weaver, Kyle and Gilbert, Hunter B. and Webster, Robert J. and Comber, David B. System, method, and apparatus for configuration, design, and operation of an active cannula robot
  26. 2019
    Dechenaud, Marcelline and Laidig, Daniel and Seel, Thomas and Gilbert, Hunter B. and Kuznetsov, Nikita A. Development of Adapted Guitar to Improve Motor Function After Stroke: Feasibility Study in Young Adults 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) DOI: 10.1109/EMBC.2019.8856651
  27. 2019
    Erin, Onder and Gilbert, Hunter B. and Tabak, Ahmet Fatih and Sitti, Metin Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils IEEE Transactions on Robotics DOI: 10.1109/TRO.2019.2934712
  28. 2019
    Turan, Mehmet and Almalioglu, Yasin and Gilbert, Hunter B. and Mahmood, Faisal and Durr, Nicholas J. and Araujo, Helder and Sari, Alp Eren and Ajay, Anurag and Sitti, Metin Learning to Navigate Endoscopic Capsule Robots IEEE Robotics and Automation Letters DOI: 10.1109/LRA.2019.2924846
  29. 2019
    Lathrop, Ray and Bruns, Trevor L. and Mahoney, Arthur W. and Gilbert, Hunter B. and Swaney, Philip J. and Hendrick, Richard J. and Weaver, Kyle and Russell, Paul T. and Herrell, Stanley Duke and Webster, Robert J. Modular sterilizable robotic system for endonasal surgery
  30. 2019
    Gilbert, Hunter B. and Godage, Isuru S. Validation of an Extensible Rod Model for Soft continuum Manipulators 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) DOI: 10.1109/ROBOSOFT.2019.8722721
  31. 2018
    Mahoney, Arthur W. and Gilbert, Hunter B. and Webster, Robert J. A REVIEW OF CONCENTRIC TUBE ROBOTS: MODELING, CONTROL, DESIGN, PLANNING, AND SENSING The Encyclopedia of Medical Robotics DOI: 10.1142/9789813232266_0007
  32. 2018
    Turan, Mehmet and Almalioglu, Yasin and Gilbert, Hunter B. and Sari, Alp Eren and Soylu, Ufuk and Sitti, Metin Endo-VMFuseNet: A Deep Visual-Magnetic Sensor Fusion Approach for Endoscopic Capsule Robots 2018 IEEE International Conference on Robotics and Automation (ICRA) DOI: 10.1109/ICRA.2018.8461129
  33. 2018
    Turan, Mehmet and Almalioglu, Yasin and Gilbert, Hunter and Araujo, Helder and Cemgil, Taylan and Sitti, Metin EndoSensorFusion: Particle Filtering-Based Multi-Sensory Data Fusion with Switching State-Space Model for Endoscopic Capsule Robots 2018 IEEE International Conference on Robotics and Automation (ICRA) DOI: 10.1109/ICRA.2018.8460472
  34. 2017
    Swaney, Philip J. and York, Peter A. and Gilbert, Hunter B. and Burgner-Kahrs, Jessica and Webster, Robert J. Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments Journal of Medical Devices DOI: 10.1115/1.4034575
  35. 2017
    Comber, David B. and Pitt, E. Bryn and Gilbert, Hunter B. and Powelson, Matthew W. and Matijevich, Emily and Neimat, Joseph S. and Webster, Robert J. and Barth, Eric J. Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy Operative Neurosurgery DOI: 10.1227/NEU.0000000000001361
  36. 2016
    Gilbert, Hunter B. and Webster, Robert J. Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots IEEE Robotics and Automation Letters DOI: 10.1109/LRA.2015.2507706
  37. 2015
    Torres, Luis G. and Kuntz, Alan and Gilbert, Hunter B. and Swaney, Philip J. and Hendrick, Richard J. and Webster, Robert J. and Alterovitz, Ron A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation 2015 IEEE International Conference on Robotics and Automation (ICRA) DOI: 10.1109/ICRA.2015.7139513
  38. 2015
    York, Peter A. and Swaney, Philip J. and Gilbert, Hunter B. and Webster, Robert J. A wrist for needle-sized surgical robots 2015 IEEE International Conference on Robotics and Automation (ICRA) DOI: 10.1109/ICRA.2015.7139428
  39. 2015
    Wirz, Raul and Torres, Luis G. and Swaney, Philip J. and Gilbert, Hunter and Alterovitz, Ron and Webster, Robert J. and Weaver, Kyle D. and Russell, Paul T. An Experimental Feasibility Study on Robotic Endonasal Telesurgery Neurosurgery DOI: 10.1227/NEU.0000000000000623
  40. 2015
    Gilbert, Hunter B. and Neimat, Joseph and Webster, Robert J. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment IEEE Transactions on Robotics DOI: 10.1109/TRO.2015.2394331
  41. 2015
    Hendrick, Richard J. and Gilbert, Hunter B. and Webster, Robert J. Designing snap-free concentric tube robots: A local bifurcation approach 2015 IEEE International Conference on Robotics and Automation (ICRA) DOI: 10.1109/ICRA.2015.7139498
  42. 2015
    Swaney, Philip and Gilbert, Hunter and Webster, Robert and Russell, Paul and Weaver, Kyle Resection of Pituitary Lesions in a Phantom Model using Concentric Tube Robots with Endoscopic Visualization Journal of Neurological Surgery Part B: Skull Base DOI: 10.1055/s-0035-1546613
  43. 2015
    Wirz, Raul and Torres, Luis and Swaney, Philip and Gilbert, Hunter and Alterovitz, Ron and Webster, Robert and Weaver, Kyle and Russell, Paul Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance? Journal of Neurological Surgery Part B: Skull Base DOI: 10.1055/s-0035-1546615
  44. 2014
    Gilbert, Hunter and Hendrick, Richard and Remirez, Andria and Webster, Robert A robot for transnasal surgery featuring needle-sized tentacle-like arms Expert Review of Medical Devices DOI: 10.1586/17434440.2013.854702
  45. 2014
    Burgner, Jessica and Rucker, D. Caleb and Gilbert, Hunter B. and Swaney, Philip J. and Russell, Paul T. and Weaver, Kyle D. and Webster, Robert J. A Telerobotic System for Transnasal Surgery IEEE/ASME Transactions on Mechatronics DOI: 10.1109/TMECH.2013.2265804
  46. 2014
    Swaney, Philip and Gilbert, Hunter and Webster, Robert and Russell, Paul and Weaver, Kyle Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study Journal of Neurological Surgery Part B: Skull Base DOI: 10.1055/s-0034-1390401
  47. 2014
    Burgner-Kahrs, Jessica and Gilbert, Hunter B. and Granna, Josephine and Swaney, Philip J. and Webster, Robert J. Workspace characterization for concentric tube continuum robots 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems DOI: 10.1109/IROS.2014.6942720
  48. 2013
    Swaney, P. J. and Burgner, J. and Gilbert, H. B. and Webster, R. J. A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage IEEE Transactions on Biomedical Engineering DOI: 10.1109/TBME.2012.2230001
  49. 2013
    Gilbert, Hunter B. and Webster, Robert J. Can concentric tube robots follow the leader? 2013 IEEE International Conference on Robotics and Automation DOI: 10.1109/ICRA.2013.6631274
  50. 2013
    Celik, Ozkan and Gilbert, Hunter B. and O’Malley, Marcia K. Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers IEEE/ASME Transactions on Mechatronics DOI: 10.1109/TMECH.2012.2195326
  51. 2013
    Swaney, Philip J. and Burgner, Jessica and Lathrop, Ray A. and Gilbert, Hunter B. and Weaver, Kyle D. and Webster, Robert J. Minimally-invasive intracerebral hemorrhage removal using an active cannula 2013 IEEE International Conference on Robotics and Automation DOI: 10.1109/ICRA.2013.6630579
  52. 2013
    Burgner, Jessica and Gilbert, Hunter B. and Webster, Robert J. On the computational design of concentric tube robots: Incorporating volume-based objectives 2013 IEEE International Conference on Robotics and Automation DOI: 10.1109/ICRA.2013.6630723
  53. 2013
    Rucker, D. Caleb and Das, Jadav and Gilbert, Hunter B. and Swaney, Philip J. and Miga, Michael I. and Sarkar, Nilanjan and Webster, Robert J. Sliding Mode Control of Steerable Needles IEEE Transactions on Robotics DOI: 10.1109/TRO.2013.2271098
  54. 2013
    Weaver, Kyle and Webster, Robert and Swaney, Philip and Burgner, Jessica and Russell, Paul and Gilbert, Hunter and Bekeny, James and Hendrick, Richard The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery Journal of Neurological Surgery Part B: Skull Base DOI: 10.1055/s-0033-1336249
  55. 2012
    Swaney, Philip J. and Croom, Jordan M. and Burgner, Jessica and Gilbert, Hunter B. and Rucker, D. Caleb and Webster, Robert J. and Weaver, Kyle D. and Russell, Paul T. Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; DOI: 10.1115/DSCC2012-MOVIC2012-8536
  56. 2011
    Burgner, J. and Swaney, P. J. and Rucker, D. C. and Gilbert, H. B. and Nill, S. T. and Russell, P. T. and Weaver, K. D. and Webster, R. J. A bimanual teleoperated system for endonasal skull base surgery 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems DOI: 10.1109/IROS.2011.6094722
  57. 2010
    Gilbert, Hunter B. and Celik, Ozkan and O’Malley, Marcia K. Long-term double integration of acceleration for position sensing and frequency domain system identification 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics DOI: 10.1109/AIM.2010.5695927