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About

Ryan S. Penning is a leading researcher in the field of continuum robotics, with a primary focus on the modeling, control, and application of flexible robotic catheters for minimally invasive surgery. His major contributions lie in addressing the fundamental challenges of these highly compliant manipulators, particularly the nonlinear effects of internal device friction that compromise precise positioning. Penning pioneered a modeling approach that captures these frictional effects, enabling more accurate prediction of catheter behavior. He has been instrumental in advancing closed-loop control strategies for continuum manipulators, moving beyond unreliable open-loop methods to achieve the precision required for delicate cardiac and neurological procedures. His work has garnered significant attention, with his most cited papers—including “A modeling approach for continuum robotic manipulators: Effects of nonlinear internal device friction” (95 citations) and “An evaluation of closed-loop control options for continuum manipulators” (89 citations)—forming the foundation for subsequent research in the field. Penning also introduced the concept of interleaved continuum-rigid manipulation, an augmented approach that combines the safety of flexible catheters with the stability of rigid tools. His research directly impacts the development of safer, more effective robotic systems for treating conditions like atrial fibrillation.