W. McMahan, V. Chitrakaran, M. Csencsits, D. Dawson, I. D. Walker, B. A. Jones, M. Pritts, D. Dienno, M. Grissom, C. D. Rahn, "Field trials and testing of the OctArm continuum manipulator," Proceedings of the IEEE International Conference on Robotics and Automation, pp.2336-2341, May 2006