A tool assembly comprising: a robotic assembly including a plurality of linear arms connected in series between a base end and a working end, adjacent ones of the plurality of arms connected via a corresponding plurality of multi-axis joints such that the working end is articulated by movement of one or more of the plurality of arms relative to one or more of the plurality of multi-axis joints; a tool mount connected to an arm or a multi-axis joint at the working end of the robotic assembly; characterized by a non-axisymmetric deep rolling tool connected to the tool mount, the non-axisymmetric deep rolling tool comprising: a spring-loaded shaft assembly disposed along a first axis; a hub connected to a distal end of the spring-loaded shaft assembly, the hub having an upper hub portion adjacent to the distal end of the spring-loaded shaft assembly aligned with the first axis, and a lower hub portion extending along a second axis, the second axis forming a nonzero angle relative to the first axis; and a roller disk joined to the lower portion of the hub, the roller disk having a working surface about its perimeter and being rotatable about the second axis parallel to the lower hub portion; wherein the working surface of the roller disk includes a profile along its width such that an effective radius of the roller disk varies along a width thereof. a robotic assembly including a plurality of linear arms connected in series between a base end and a working end, adjacent ones of the plurality of arms connected via a corresponding plurality of multi-axis joints such that the working end is articulated by movement of one or more of the plurality of arms relative to one or more of the plurality of multi-axis joints; a tool mount connected to an arm or a multi-axis joint at the working end of the robotic assembly; characterized by a non-axisymmetric deep rolling tool connected to the tool mount, the non-axisymmetric deep rolling tool comprising: a spring-loaded shaft assembly disposed along a first axis; a hub connected to a distal end of the spring-loaded shaft assembly, the hub having an upper hub portion adjacent to the distal end of the spring-loaded shaft assembly aligned with the first axis, and a lower hub portion extending along a second axis, the second axis forming a nonzero angle relative to the first axis; and a roller disk joined to the lower portion of the hub, the roller disk having a working surface about its perimeter and being rotatable about the second axis parallel to the lower hub portion; wherein the working surface of the roller disk includes a profile along its width such that an effective radius of the roller disk varies along a width thereof. a spring-loaded shaft assembly disposed along a first axis; a hub connected to a distal end of the spring-loaded shaft assembly, the hub having an upper hub portion adjacent to the distal end of the spring-loaded shaft assembly aligned with the first axis, and a lower hub portion extending along a second axis, the second axis forming a nonzero angle relative to the first axis; and a roller disk joined to the lower portion of the hub, the roller disk having a working surface about its perimeter and being rotatable about the second axis parallel to the lower hub portion; wherein the working surface of the roller disk includes a profile along its width such that an effective radius of the roller disk varies along a width thereof.