Jessica Burgner-Kahrs
Professor
Designs, models and controls continuum robots for surgical applications.
Jessica Burgner-Kahrs's lab at Toronto works on planning, control & multi-robot systems and soft, surgical & micro robots. 38 papers since 2023, 9 at top venues, mostly RA-L and T-RO. 3 PhD students and 5 master's students. 73 alumni. Applications close .
At a glance
- papers, 2023–2026
- 10/ year
- at T1 venues
- 24%
- PhD students
- 3
- MS students
- 5
- alumni listed
- 73
Papers by yearfrom the lab homepage, 2023–2026
- 8 papers2026 · T1 2 · collecting
- 10 papers2025 · T1 3
- 11 papers2024 · T1 2
- 9 papers2023 · T1 2
T1 venuesOtherVenues: RA-L, T-RO, ICRA, RSS, IROS
Research focuspaper titles that use each topic's words
- continuum34 papers
- Soft, surgical & micro robots27 papers
- Planning, control & multi-robot systems14 papers
- controls0 papers
- surgical0 papers
Paper list
From the lab homepage.
20268 papers
- IEEE International Conference on Soft RoboticsA Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation (opens in a new tab)
- RSS (T1)Continuum Robot Localization using Distributed Time-of-Flight Sensors (opens in a new tab)
- RA-LControl and Feedback Design for Teleoperation of Continuum Robots in Obstacle-Constrained and Partially Observable Environments (opens in a new tab)
- Nature partner journal npj RoboticsCRAFT: A 3D-printed Modular Design Framework for Task-specific Continuum Robots (opens in a new tab)
- Nature ElectronicsCreating sustainable infrastructure with continuum robots (opens in a new tab)
- RSS (T1)Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots (opens in a new tab)
- IEEE International Conference on Soft Robotics, extended abstractSliding Sensors: Configurable Confidence in State Estimation for Continuum Robots (opens in a new tab)
- IEEE International Conference on Soft RoboticsUsing Clarke Transform to Create a Framework on the Manifold: From Sampling via Trajectory Generation to Control (opens in a new tab)
202510 papers
- RA-LA Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots (opens in a new tab)
- ICRA (T1)Automating Tension Calibration for Tendon-Driven Continuum Robots: A Low-Cost Approach Towards Consistent Teleoperation (opens in a new tab)
- RA-LClarke Coordinates are Generalized Improved State Parametrization for Continuum Robots (opens in a new tab)
- IEEE International Conference on Soft RoboticsClarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots (opens in a new tab)
- Journal of Medical Robotics Research, 10(03n04):2550010CRONOS: A Continuum Robot for Neurovascular Surgery - Design, Development, and Feasibility Evaluation (opens in a new tab)
- IEEE International Conference on Soft Robotics, Extended AbstractImproving Continuum Robots' Stiffness through Joining
- IEEE International Conference on Soft RoboticsParametric Design of a Tendon-Driven Continuum Robot for Industrial Applications (opens in a new tab)
- T-RO (T1)State Estimation for Continuum Multirobot Systems on SE(3) (opens in a new tab)
- IROS (T1)Toward Dynamic Control of Tendon-Driven Continuum Robots using Clarke Transform (opens in a new tab)
- Conference on Robots and VisionVision-based Autonomous Blood Suction with a Concentric Tube Continuum Robot (opens in a new tab)
202411 papers
- IEEE International Conference on Soft RoboticsA Lightweight Modular Segment Design for Tendon-Driven Continuum Robots with Pre-Programmable Stiffness (opens in a new tab)
- ICRA WorkshopActuation Constraints in Continuum Robotics Revisited - 2 Dof Manifold and Clarke Transform (opens in a new tab)
- Anniversary of the IEEE International Conference on Robotics and AutomationClarke Transform and Clarke Coordinates - A New Kid on the Block for State Representation of Continuum Robots (opens in a new tab)
- IEEE International Conference on Soft Robotics, Late Breaking ResultsComputationally Efficient Lookahead Search for Contact-aided Navigation for Tendon-driven Continuum Robots (opens in a new tab)
- RA-LMoSS - Monocular Shape Sensing for Continuum Robots. (opens in a new tab)
- ICRA (T1)On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots (opens in a new tab)
- Frontiers in Robotics and AIOpen Continuum Robotics - One Actuation Module to Create them All (opens in a new tab)
- T-RO (T1)Parallel-Continuum Robots: A Survey (opens in a new tab)
- Anniversary of the IEEE International Conference on Robotics and AutomationSpace-Time Continuum - Continuous Shape and Time State Estimation for Flexible Robots (opens in a new tab)
- IEEE Robotics & Automation Letters, 9(5):4687 - 4694Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots (opens in a new tab)
- Anniversary of the IEEE International Conference on Robotics and AutomationUniversal-jointed Tendon-driven Continuum Robot - Design, Kinematic Modeling, and Locomotion in Narrow Tubes (opens in a new tab)
20239 papers
- IEEE Robotics & Automation Letters, 8(11):7679 - 7686CIDGIKc Distance-Geometric Inverse Kinematics for Continuum Robots (opens in a new tab)
- ISMRConcentric Tube Robot Optimization and Path Planning for Epilepsy Surgeries. (opens in a new tab)
- International Journal of Mechanical Sciences, 251:108352Design of Patterns in Tubular Robots Using DNN-Metaheuristics Optimization (opens in a new tab)
- Meccanica, 58:2165-2176Investigating frictional contact behavior for soft material robot simulations (opens in a new tab)
- T-RO (T1)Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots (opens in a new tab)
- RA-LModeling and Analysis of Tendon-driven Continuum Robots for Rod-based Locking (opens in a new tab)
- Journal of Mechanisms and Robotics, 15(4), 041003 (10Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo-Rigid Body Assumptions. (opens in a new tab)
- Frontiers in Robotics and AI, 9:1082185Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links (opens in a new tab)
- T-RO (T1)Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening (opens in a new tab)
Where alumni went73 listed
Apply to TorontoFall 2027
Computer Science MSc/PhD
- Round
- Single round (Dec 1)
- Opens
- —
- GRE
- optional
- English
- TOEFL/IELTS if applicable
- Fee
- CAD 135
Confirmed on the program page.
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