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Donat H, Lilge S, Burgner-Kahrs J, Steil JJ.  Submitted.  Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection. IEEE Transactions on Medical Robotics and Bionics.
Rayyes R, Donat H, Steil JJ.  In Press.  Efficient Online Interest-Driven Exploration for Developmental Robots. IEEE Trans. Cognitive and Developmental Systems.