Publications

Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators
Nithin S. Kumar, Eric J. Barth
Currently under review, 2026

Task-Space Model-Based Control of Pneumatic Soft Actuators
Nithin S. Kumar, Joshua Gaston, D. Caleb Rucker, Eric J. Barth
Currently under review, 2026

Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
Mohammad Ali, Nithin S. Kumar, Eric J. Barth, Thomas Beckers
Submitted to IEEE Conference on Decision and Control (CDC), 2026

Data-Driven Dynamic Modeling and Control of Pneumatic Soft Actuators with Stability Analysis
Nithin S. Kumar, John E. Peters, Thomas Beckers, Eric J. Barth
Accepted at ASME Letters in Dynamic Systems and Control, 2026

Variable Stiffness and Impedance Control of a Soft Pneumatic Actuator With Tunable Collision Dynamics and Trajectory Following
Sung Y. Kim, Nithin S. Kumar, Eric J. Barth
Journal of Dynamic Systems, Measurement, and Control, 148(3), 031003, 2026

Constrained Lagrangian-Based, Nonholonomic Modeling and Validation of a Pneumatically Actuated Wheeled Soft Robot
Nithin S. Kumar, John E. Peters, Sung Y. Kim, Joshua Gaston, D. Caleb Rucker, Eric J. Barth
Journal of Mechanisms and Robotics, 18(4), 041002, 2026

A 3D Discrete Elastic Rod Model and Observer for Continuum Robots
Joshua B. Gaston, Nithin S. Kumar, Eric J. Barth, D. Caleb Rucker
Journal of Mechanisms and Robotics, 18(3), 031002, 2026

Toward Frequency-Addressable Resonant Valves for High Degree-of-Freedom Hydraulic Control
J. Gallentine, Nithin S. Kumar, Eric J. Barth
International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2025

Automated Segmentation of Central Airway Obstruction from Endoscopic Video Stream with Deep Learning
H. Li, J. Wang, Nithin S. Kumar, J. d'Almeida, D. Lu, A. Acar, J. Han, Q. Yang, [remaining authors]
Medical Imaging 2025: Image-Guided Procedures, Robotic Interventions, and Modeling, 2025

Touching is Believing: Contact Sensing to Enhance Situational Awareness for Concentric Tube Robots
Nithin S. Kumar, Jason A. Shrand, Susheela Sharma, S. Duke Herrell III, Nicholas L. Kavoussi, Ahmed Ghazi, Eric J. Barth, Ipek Oguz, Alan Kuntz, Robert J. Webster III
Hamlyn Symposium on Medical Robotics (HSMR), 2025

A Compact Electropermanent Magnet Valve Geometry for Switching of Magnetorheological Fluid Using Particle Jamming
J. Gallentine, Nithin S. Kumar, Eric J. Barth
Fluid Power Systems Technology, 88193, V001T01A024, 2024

Design, Modeling, and Preliminary Evaluation of a Simple Wrist-Hand Stretching Orthosis for Neurologically Impaired Patients
Elissa D. Ledoux, Nithin S. Kumar, Eric J. Barth
Wearable Technologies, 5, e19, 2024

OrthoHand Extend: Design, Modeling and Evaluation of a Simple Wrist-Hand Stretching Orthosis for Neurologically Impaired Patients
Elissa Ledoux, Nithin S. Kumar, Eric J. Barth
TechRxiv Preprint, 2023

A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical Intervention
John E. Peters, Abby M. Grillo, Daniel S. Esser, Sarah J. Garrow, Nithin S. Kumar, Tyler Ball, Robert Naftel, Dario J. Englot, Joseph Neimat, William A. Grissom, Robert J. Webster III, Eric J. Barth
Fluid Power Systems Technology, 87431, V001T01A007, 2023