1. Y. A. Oquendo, M. M. Coad, S. M. Wren, T. S. Lendvay, I. Nisky, A. M. Jarc, A. M. Okamura, and Z. Chua, "A Comparison of Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment" (submitted).
  2. M. Mitchell, C. McFarland, and M. M. Coad, "Soft Air Pocket Force Sensors for Large Scale Flexible Robots" (submitted).
  3. M. Doerfler, K. Schäffer, and M. M. Coad, "Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail" (submitted).
  4. C. McFarland and M. M. Coad, "Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own Weight" (submitted).
  5. K. Schäffer, Y. Ozkan-Aydin, and M. M. Coad, "Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles" (submitted). Video


  1. N. G. Badillo Perez and M. M. Coad, "Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces," in IEEE International Conference on Intelligent Robots and Systems, 2022, pp. 5409-5415. Paper Video
  2. I. Exarchos, K. Wang, B. H. Do, F. Stroppa, M. M. Coad, A. M. Okamura, and C. K. Liu, "Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints," in IEEE International Conference on Robotics and Automation, 2022, pp. 7145-7151. Paper


  1. W. E. Heap, N. D. Naclerio, M. M. Coad, S. Jeong, and E. W. Hawkes, "Soft Retraction Device and Internal Camera Mount for Everting Vine Robots," in IEEE International Conference on Intelligent Robots and Systems, 2021, pp. 4959-4965Paper Finalist for IROS 2021 Best Application Paper Award
  2. M. M. Coad, "Design, modeling, and control of vine robots for exploration of unknown environments," PhD thesis, Stanford University, 2021. Thesis Presentation
  3. A. M. Gruebele*, A. C. Zerbe*, M. M. Coad, A. M. Okamura, and M. R. Cutkosky, "Distributed Sensor Networks Deployed Using Soft Growing Robots," in IEEE International Conference on Soft Robotics, 2021, pp. 66-73. Paper Video *Indicates equal contribution Finalist for RoboSoft 2021 Best Paper Award


  1. L. H. Blumenschein, M. M. Coad, D. A. Haggerty, A. M. Okamura, and E. W. Hawkes, "Design, modeling, control, and application of everting vine robots," Frontiers in Robotics and AI, vol. 7, p. 153, 2020. Paper
  2. S. Jeong*, M. M. Coad*, L. H. Blumenschein, M. Luo, U. Mehmood, J. Kim, A. M. Okamura, and J. Ryu, "A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, pp. 8781-8788Paper Video Presentation *Indicates equal contribution Finalist for IROS 2020 Best Paper Award in Robot Mechanisms and Design
  3. F. Stroppa, M. Luo, K. Yoshida, M. M. Coad, L. H. Blumenschein, and A. M. Okamura, "Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot," in IEEE International Conference on Robotics and Automation, 2020, pp. 726-732. Paper Presentation Finalist for ICRA 2020 Best Paper Award in Human-Robot Interaction
  4. M. M. Coad, R. P. Thomasson, L. H. Blumenschein, N. S. Usevitch, E. W. Hawkes, and A. M. Okamura, "Retraction of Soft Growing Robots without Buckling," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2115-2122, 2020. Paper Video Presentation
  5. M. M. Coad, L. H. Blumenschein, S. Cutler, J. A. Reyna Zepeda, N. D. Naclerio, H. El-Hussieny, U. Mehmood, J. Ryu, E. W. Hawkes, and A. M. Okamura, "Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration," IEEE Robotics and Automation Magazine, vol. 27, no. 3, pp. 120-132, 2020. Paper Video Presentation Winner of RAM Best Paper Award for 2020


  1. F. Stroppa, M. Luo, G. Gerboni, M. M. Coad, J. Walker, and A. M. Okamura, "Human-Centered Control of a Growing Soft Robot for Object Manipulation," in IEEE World Haptics Conference Work-In-Progress, 2019. Paper
  2. Y. A. Oquendo, Z. Chua, M. M. Coad, I. Nisky, A. Jarc, S. Wren, T. S. Lendvay, and A. M. Okamura, "Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields," in Hamlyn Symposium, 2019. Paper


  1. N. Enayati, A. M. Okamura, A. Mariani, E. Pellegrini, M. M. Coad, G. Ferrigno, and E. De Momi, "Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study," in IEEE International Conference on Robotics and Automation, 2018, pp. 6631-6636Paper Video


  1. M. M. Coad, A. M. Okamura, S. Wren, Y. Mintz, T. Lendvay, A. M. Jarc, and I. Nisky, "Training in Divergent and Convergent Force Fields During 6-DOF Teleoperation with a Robot-Assisted Surgical System," in IEEE World Haptics Conference, 2017, pp. 195-200. Paper