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Publications

2022

Conference / Journal Papers

Kinematic Modeling and Jacobian-Based Control of the COAST Guidewire Robot
A Sarma, TA Brumfiel, Y Chitalia, JP Desai
IEEE Transactions on Medical Robotics and Bionics. 2022.

Modeling Telescoping Tendon-Actuated Continuum Robots
Y Chitalia, A Donder, P Dupont
EasyChair 2022.

Steerable and flexible robotic endoscopic tools for minimally invasive procedures
JP Desai, Y Chitalia, S Jeong, JJ Chern
US Patent App. 17/433,165.

Non-Surgical Removal of Partially Absorbable Bionic Implants
V Del Bono, J Peine, M Finocchiaro, KD Price, M Mencattelli, Y Chitalia, VH Ko, L Yu, J Secor, A Pan, Z Machaidze, M Puder, A Artoni, P Dupont
IEEE Transactions on Medical Robotics and Bionics. 2022.

2021

Conference / Journal Papers

Systems and Methods for Steering Guidewires
JP Desai, Y Chitalia
US Patent App. 16/491,680.

Towards a Robotically Steerable System for High Dose Rate Brachytherapy
NJ Deaton, Y Chitalia, P Patel, JP Desai
Experimental Robotics: The 17th International Symposium. 2021.

2020

Conference / Journal Papers

Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire
A Sarma, GC Collins, N Nayar, Y Chitalia, S Jeong, BD Lindsey, JP Desai
2020 International Symposium on Medical Robotics (ISMR). 2020.

Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery
Y Chitalia, S Jeong, KK Yamamoto, JJ Chern, JP Desai
IEEE Transactions on Robotics. 2020.

Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot
S Jeong, Y Chitalia, JP Desai
IEEE Robotics and Automation Letters. 2020.

Miniature Force Sensor Based on Dual-Photointerrupter With High Linearity and Disturbance Compensation
S Jeong, Y Chitalia, JP Desai
IEEE Sensors Journal. 2020.

Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection
Y Chitalia, NJ Deaton, S Jeong, N Rahman, JP Desai
IEEE robotics and automation letters. 2020.

Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body
Y Chitalia, S Jeong, N Deaton, JJ Chern, JP Desai
IEEE/ASME Transactions on Mechatronics. 2020.

Design and Analysis of a Bidirectional Notch Joint for a Robotic Pediatric Neuroendoscope
Y Chitalia, X Wang, V Nguyen, S Melkote, J Chern, JP Desai
Proceedings of the 2018 International Symposium on Experimental Robotics. 2020.

2019

Conference / Journal Papers

Towards the design and development of a pediatric neuroendoscope tool
Y Chitalia, S Jeong, J Bok, V Nguyen, S Melkote, JJ Chern, JP Desai
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019.

A system for bedside assistance that integrates a robotic bed and a mobile manipulator
AS Kapusta, PM Grice, HM Clever, Y Chitalia, D Park, CC Kemp
Plos one. 2019.

2018

Conference / Journal Papers

3D Human Pose Estimation on a Configurable Bed from a Pressure Image
HM Clever, A Kapusta, D Park, Z Erickson, Y Chitalia, CC Kemp
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018.

Design, modeling and control of a 2-dof robotic guidewire
Y Chitalia, X Wang, JP Desai
2018 IEEE International Conference on Robotics and Automation (ICRA). 2018.

2016

Conference / Journal Papers

Data-driven thermal recognition of contact with people and objects
T Bhattacharjee, J Wade, Y Chitalia, CC Kemp
2016 IEEE Haptics Symposium (HAPTICS). 2016.

Autobed: Open hardware for accessible web-based control of an electric bed
PM Grice, Y Chitalia, M Rich, HM Clever, CC Kemp
Georgia Institute of Technology. 2016.

Autobed: A Web-Controlled Robotic Bed
PM Grice, Y Chitalia, M Rich, H Clever, H Evans, J Evans, CC Kemp
Georgia Institute of Technology. 2016.

Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities
A Kapusta, Y Chitalia, D Park, CC Kemp
Georgia Institute of Technology. 2016.

2014

Conference / Journal Papers

A revisit-based mixed-initiative nested classification scheme for Unmanned Aerial Vehicles
Y Chitalia, W Zhang, B Hyun, A Girard
2014 American Control Conference. 2014.

2013

Conference / Journal Papers

Prioritization schemes for reference and command governors
U Kalabić, Y Chitalia, J Buckland, I Kolmanovsky
2013 European Control Conference (ECC). 2013.