@article{realtimeprojectedadaptivecontrolforclose,
  title = {Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots},
  author = {Rana Danesh and Farrokh Janabi-Sharifi and Farhad Aghili},
  year = {2026},
  eprint = {2604.04286},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.04286},
}