Allison M. Okamura

According to our database1, Allison M. Okamura authored at least 262 papers between 1997 and 2019.

Collaborative distances:

Awards

IEEE Fellow

IEEE Fellow 2011, "For contributions to the design and control of haptic systems and medical robotics".

Timeline

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Bibliography

2019
Resonant Frequency Skin Stretch for Wearable Haptics.
IEEE Trans. Haptics, 2019

Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks.
IEEE Trans. Haptics, 2019

Understanding Continuous and Pleasant Linear Sensations on the Forearm From a Sequential Discrete Lateral Skin-Slip Haptic Device.
IEEE Trans. Haptics, 2019

Soft Haptic Device to Render the Sensation of Flying Like a Drone.
IEEE Robotics and Automation Letters, 2019

Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device.
IEEE Robotics and Automation Letters, 2019

Stiffness Control of Deformable Robots Using Finite Element Modeling.
IEEE Robotics and Automation Letters, 2019

Design and Analysis of Pneumatic 2-DoF Soft Haptic Devices for Shear Display.
IEEE Robotics and Automation Letters, 2019

A Tip Mount for Carrying Payloads using Soft Growing Robots.
CoRR, 2019

Haptic Sketches on the Arm for Manipulation in Virtual Reality.
CoRR, 2019

Effects of Haptic Feedback on the Wrist during Virtual Manipulation.
CoRR, 2019

Human-centered Control of a Growing Soft Robot for Object Manipulation.
CoRR, 2019

Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot.
CoRR, 2019

Retraction of Soft Growing Robots without Buckling.
CoRR, 2019

Learning an Action-Conditional Model for Haptic Texture Generation.
CoRR, 2019

Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment.
CoRR, 2019

How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance.
CoRR, 2019

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration.
CoRR, 2019

3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback.
Proceedings of the 2019 IEEE World Haptics Conference, 2019

Holdable Haptic Device for 4-DOF Motion Guidance.
Proceedings of the 2019 IEEE World Haptics Conference, 2019

Perception of a Wearable Haptic Feedback Device to Render the Sensation of Flight.
Proceedings of the 2019 IEEE World Haptics Conference, 2019

2018
Haptic Orientation Guidance Using Two Parallel Double-Gimbal Control Moment Gyroscopes.
IEEE Trans. Haptics, 2018

Comparison Between Force-Controlled Skin Deformation Feedback and Hand-Grounded Kinesthetic Force Feedback for Sensory Substitution.
IEEE Robotics and Automation Letters, 2018

A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas.
IEEE Robotics and Automation Letters, 2018

Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication.
CoRR, 2018

Helical actuation on a soft inflated robot body.
Proceedings of the IEEE International Conference on Soft Robotics, 2018

Gaussian Process Dynamic Programming for Optimizing Ungrounded Haptic Guidance.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

APAM: Antagonistic Pneumatic Artificial Muscle.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Scaling Inertial Forces to Alter Weight Perception in Virtual Reality.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Magnified Force Sensory Substitution for Telemanipulation via Force-Controlled Skin Deformation.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Obstacle-Aided Navigation of a Soft Growing Robot.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Avoiding Human-Robot Collisions Using Haptic Communication.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

HapWRAP: Soft Growing Wearable Haptic Device.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Comparing proprioceptive acuity in the arm between joint space and task space.
Proceedings of the 2018 IEEE Haptics Symposium, 2018

A social haptic device to create continuous lateral motion using sequential normal indentation.
Proceedings of the 2018 IEEE Haptics Symposium, 2018

2017
Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface.
IEEE Trans. Vis. Comput. Graph., 2017

Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments.
IEEE Trans. Haptics, 2017

A soft robot that navigates its environment through growth.
Sci. Robotics, 2017

Design of a Compact Actuation and Control System for Flexible Medical Robots.
IEEE Robotics and Automation Letters, 2017

Highly Articulated Robotic Needle Achieves Distributed Ablation of Liver Tissue.
IEEE Robotics and Automation Letters, 2017

Modeling of Bioinspired Apical Extension in a Soft Robot.
Proceedings of the Biomimetic and Biohybrid Systems - 6th International Conference, 2017

Design of a soft catheter for low-force and constrained surgery.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Propagation of joint space quantization error to operational space coordinates and their derivatives.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Exomuscle: An inflatable device for shoulder abduction support.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

WRAP: Wearable, restricted-aperture pneumatics for haptic guidance.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Simulating the impact of sensorimotor deficits on reaching performance.
Proceedings of the International Conference on Rehabilitation Robotics, 2017

Open source, modular, customizable, 3-D printed kinesthetic haptic devices.
Proceedings of the 2017 IEEE World Haptics Conference, 2017

Keynote speaker: Allison Okamura: Let's be flexible: Soft haptics and soft robotics.
Proceedings of the 2017 IEEE World Haptics Conference, 2017

Analysis of effective impedance transmitted to the operator in position-exchange bilateral teleoperation.
Proceedings of the 2017 IEEE World Haptics Conference, 2017

Training in divergent and convergent force fields during 6-DOF teleoperation with a robot-assisted surgical system.
Proceedings of the 2017 IEEE World Haptics Conference, 2017

Design of patient-specific concentric tube robots using path planning from 3-D ultrasound.
Proceedings of the 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2017

Fingertip Tactile Devices for Virtual Object Manipulation and Exploration.
Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, 2017

WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues.
Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, 2017

The Haptic Bridge: Towards a Theory for Haptic-Supported Learning.
Proceedings of the 2017 Conference on Interaction Design and Children, 2017

2016
Haptics.
Proceedings of the Springer Handbook of Robotics, 2016

Design of 3-D Printed Concentric Tube Robots.
IEEE Trans. Robotics, 2016

Methods for Improving the Curvature of Steerable Needles in Biological Tissue.
IEEE Trans. Biomed. Engineering, 2016

A Framework for Multilateral Manipulation in Surgical Tasks.
IEEE Trans. Automation Science and Engineering, 2016

Motor learning affects car-to-driver handover in automated vehicles.
Sci. Robotics, 2016

Noise, But Not Uncoupled Stability, Reduces Realism and Likeability of Bilateral Teleoperation.
IEEE Robotics and Automation Letters, 2016

Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping.
I. J. Robotics Res., 2016

Next Generation Robotics.
CoRR, 2016

Haptic technologies for direct touch in virtual reality.
Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference, 2016

Plane Assist: The Influence of Haptics on Ultrasound-Based Needle Guidance.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2016, 2016

Comparison of kinesthetic and skin deformation feedback for mass rendering.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Closed-loop shape control of a Haptic Jamming deformable surface.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Design and implementation of a 300% strain soft artificial muscle.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Impact of Combined Stimuli on the Perception of Transient Forces.
Proceedings of the Haptics: Perception, Devices, Control, and Applications, 2016

A dual-flywheel ungrounded haptic feedback system provides single-axis moment pulses for clear direction signals.
Proceedings of the 2016 IEEE Haptics Symposium, 2016

End Effector for a Kinesthetic Haptic Device Capable of Displaying Variable Size and Stiffness.
Proceedings of the Haptics: Perception, Devices, Control, and Applications, 2016

3-D printed haptic devices for educational applications.
Proceedings of the 2016 IEEE Haptics Symposium, 2016

Modeling and design of asymmetric vibrations to induce ungrounded pulling sensation through asymmetric skin displacement.
Proceedings of the 2016 IEEE Haptics Symposium, 2016

Surgeon design interface for patient-specific concentric tube robots.
Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

Two is not always better than one: Effects of teleoperation and haptic coupling.
Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

2015
Methods to Segment Hard Inclusions in Soft Tissue During Autonomous Robotic Palpation.
IEEE Trans. Robotics, 2015

Controllable Surface Haptics via Particle Jamming and Pneumatics.
IEEE Trans. Haptics, 2015

Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback.
IEEE Trans. Haptics, 2015

Rendered and Characterized Closed-Loop Accuracy of Impedance-Type Haptic Displays.
IEEE Trans. Haptics, 2015

Tactor-Induced Skin Stretch as a Sensory Substitution Method in Teleoperated Palpation.
IEEE Trans. Human-Machine Systems, 2015

Navigating the New RAS Publications Landscape [From the Editors' Desks].
IEEE Robot. Automat. Mag., 2015

M-Width: Stability, noise characterization, and accuracy of rendering virtual mass.
I. J. Robotics Res., 2015

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Models of human-centered automation in a debridement task.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Design and experimental evaluation of a skin-stretch haptic device for improved control of brain-computer interfaces.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Effects of master-slave tool misalignment in a teleoperated surgical robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Remote electromagnetic vibration of steerable needles for imaging in power Doppler ultrasound.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015

Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015

The effect of manipulator gripper stiffness on teleoperated task performance.
Proceedings of the 2015 IEEE World Haptics Conference, 2015

Design and evaluation of a trilateral shared-control architecture for teleoperated training robots.
Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2015

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2015

2014
Grip Force Control during Virtual ObjectInteraction: Effect of Force Feedback, Accuracy Demands, and Training.
IEEE Trans. Haptics, 2014

Augmentation Of Stiffness Perception With a 1-Degree-of-Freedom Skin Stretch Device.
IEEE Trans. Human-Machine Systems, 2014

Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance.
IEEE Trans. Biomed. Engineering, 2014

Uncontrolled Manifold Analysis of Arm Joint Angle Variability During Robotic Teleoperation and Freehand Movement of Surgeons and Novices.
IEEE Trans. Biomed. Engineering, 2014

3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue.
IEEE Trans. Biomed. Engineering, 2014

Testing models of cerebellar ataxia via dynamic simulation.
Robotica, 2014

Task-dependent impedance and implications for upper-limb prosthesis control.
I. J. Robotics Res., 2014

Real-Time 3D Curved Needle Segmentation Using Combined B-Mode and Power Doppler Ultrasound.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2014, 2014

Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Time-delayed teleoperation for interaction with moving objects in space.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Design and evaluation of duty-cycling steering algorithms for robotically-driven steerable needles.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot.
Proceedings of the Haptics: Neuroscience, Devices, Modeling, and Applications, 2014

Controllable surface haptics via particle jamming and pneumatics.
Proceedings of the IEEE Haptics Symposium, 2014

Sensory substitution using 3-degree-of-freedom tangential and normal skin deformation feedback.
Proceedings of the IEEE Haptics Symposium, 2014

Hapkit: An open-hardware haptic device for online education.
Proceedings of the IEEE Haptics Symposium, 2014

Effect of load force feedback on grip force control during teleoperation: A preliminary study.
Proceedings of the IEEE Haptics Symposium, 2014

Perception of a Haptic Jamming display: Just noticeable differences in stiffness and geometry.
Proceedings of the IEEE Haptics Symposium, 2014

Closed-loop stiffness and damping accuracy of impedance-type haptic displays.
Proceedings of the IEEE Haptics Symposium, 2014

Mapping stiffness perception in the brain with an fMRI-compatible particle-jamming haptic interface.
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Position and velocity cursor mappings contribute to distinct muscle forces in simulated isometric and movement reaching.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

Compliance Perception Using Natural and Artificial Motion Cues.
Proceedings of the Multisensory Softness, 2014

2013
Characterization and Psychophysical Studies of an Air-Jet Lump Display.
IEEE Trans. Haptics, 2013

Perception of Springs With Visual and Proprioceptive Motion Cues: Implications for Prosthetics.
IEEE Trans. Human-Machine Systems, 2013

Coaxial Needle Insertion Assistant With Enhanced Force Feedback.
IEEE Trans. Biomed. Engineering, 2013

Kinematic Analysis of Motor Performance in Robot-Assisted Surgery: A Preliminary Study.
Proceedings of the Medicine Meets Virtual Reality 20 - NextMed, 2013

3D Segmentation of Curved Needles Using Doppler Ultrasound and Vibration.
Proceedings of the Information Processing in Computer-Assisted Interventions, 2013

Tissue fixation by suction increases the accuracy of robotic needle insertion.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Sensory substitution via cutaneous skin stretch feedback.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A framework for analysis of surgeon arm posture variability in robot-assisted surgery.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Autonomous robotic palpation: Machine learning techniques to identify hard inclusions in soft tissues.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Adaptation to visuomotor rotation in isometric reaching is similar to movement adaptation.
Proceedings of the IEEE 13th International Conference on Rehabilitation Robotics, 2013

Effect of age on stiffness modulation during postural maintenance of the arm.
Proceedings of the IEEE 13th International Conference on Rehabilitation Robotics, 2013

Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming.
Proceedings of the 2013 World Haptics Conference, 2013

Sensory augmentation of stiffness using fingerpad skin stretch.
Proceedings of the 2013 World Haptics Conference, 2013

Cartesian and joint space teleoperation for nonholonomic steerable needles.
Proceedings of the 2013 World Haptics Conference, 2013

The effect of a robot-assisted surgical system on the kinematics of user movements.
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

Novel algorithm for real-time onset detection of surface electromyography in step-tracking wrist movements.
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

2012
Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue.
IEEE Trans. Biomed. Engineering, 2012

M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass.
Proceedings of the Robotics: Science and Systems VIII, 2012

Wearable haptic device for cutaneous force and slip speed display.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

HAPI Bands: A haptic augmented posture interface.
Proceedings of the 2012 IEEE Haptics Symposium, 2012

Conveying the configuration of a virtual human hand using vibrotactile feedback.
Proceedings of the 2012 IEEE Haptics Symposium, 2012

Haptic footstep display.
Proceedings of the 2012 IEEE Haptics Symposium, 2012

Design and control of an air-jet lump display.
Proceedings of the 2012 IEEE Haptics Symposium, 2012

Discrimination of Springs with Vision, Proprioception, and Artificial Skin Stretch Cues.
Proceedings of the Haptics: Perception, Devices, Mobility, and Communication, 2012

2011
Haptics in Medicine and Clinical Skill Acquisition.
IEEE Trans. Haptics, 2011

Robot-Assisted Needle Steering.
IEEE Robot. Automat. Mag., 2011

Coaxial needle insertion assistant for epidural puncture.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Task-dependent impedance improves user performance with a virtual prosthetic arm.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Gradual anisometric-isometric transition for human-machine interfaces.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Design and evaluation of a multi-modal haptic skin stimulation apparatus.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Assessing the quality of force feedback in soft tissue simulation.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Characterization of an air jet haptic lump display.
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

2010
Identifying the role of proprioception in upper-limb prosthesis control: Studies on targeted motion.
TAP, 2010

Medical and Health-Care Robotics.
IEEE Robot. Automat. Mag., 2010

Mechanics of Flexible Needles Robotically Steered through Soft Tissue.
I. J. Robotics Res., 2010

Estimation of model parameters for steerable needles.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Evaluation of robotic needle steering in ex vivo tissue.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010


Design of a haptic simulator for osteosynthesis screw insertion.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Human vs. robotic tactile sensing: Detecting lumps in soft tissue.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Defining performance tradeoffs for multi-degree-of-freedom bilateral teleoperators with LQG control.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Modeling and Control of Needles With Torsional Friction.
IEEE Trans. Biomed. Engineering, 2009

Feedback control for steering needles through 3D deformable tissue using helical paths.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Tissue property estimation and graphical display for teleoperated robot-assisted surgery.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Controlling a robotically steered needle in the presence of torsional friction.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Observations and models for needle-tissue interactions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Effects of haptic and graphical force feedback on teleoperated palpation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Design considerations and human-machine performance of moving virtual fixtures.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Force & torque feedback vs force only feedback.
Proceedings of the World Haptics 2009, 2009

Quantifying perception of nonlinear elastic tissue models using multidimensional scaling.
Proceedings of the World Haptics 2009, 2009

Haptics as an aid to copying for people with Williams Syndrome.
Proceedings of the World Haptics 2009, 2009

Stiffness discrimination with visual and proprioceptive cues.
Proceedings of the World Haptics 2009, 2009

2008
Haptics.
Proceedings of the Springer Handbook of Robotics, 2008

Modeling the Forces of Cutting With Scissors.
IEEE Trans. Biomed. Engineering, 2008

Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial].
IEEE Robot. Automat. Mag., 2008

Surgical and interventional robotics: part III [Tutorial].
IEEE Robot. Automat. Mag., 2008

Surgical and interventional robotics: Part II.
IEEE Robot. Automat. Mag., 2008

Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review.
Presence, 2008

Physically Valid Surgical Simulators: Linear Versus Nonlinear Tissue Models.
Proceedings of the Medicine Meets Virtual Reality 16, 2008

A Simulator to Explore the Role of Haptic Feedback in Cataract Surgery Training.
Proceedings of the Medicine Meets Virtual Reality 16, 2008

Control methods for guidance virtual fixtures in compliant human-machine interfaces.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

Haptic Simulation of Elbow Joint Spasticity.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

2007
Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission.
IEEE Trans. Robotics, 2007

Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures.
I. J. Robotics Res., 2007

Haptics for Robot-Assisted Minimally Invasive Surgery.
Proceedings of the Robotics Research - The 13th International Symposium, 2007

Teleoperation of Steerable Needles.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Dynamic Guidance with Pseudoadmittance Virtual Fixtures.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Virtual Fixture Control for Compliant Human-Machine Interfaces.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Evaluation of Human Performance with Kinematic and Haptic Errors.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Enhancing Transparency of a Position-Exchange Teleoperator.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Human Performance in a Knob-Turning Task.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Educational Haptics.
Proceedings of the Robots and Robot Venues: Resources for AI Education, 2007

2006
Nonholonomic Modeling of Needle Steering.
I. J. Robotics Res., 2006

Toward Active Cannulas: Miniature Snake-Like Surgical Robots.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Friction Compensation for a Force-feedback Telerobotic System.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Portability and Applicability of Virtual Fixtures across Medical and Manufacturing Tasks.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Effects of Haptic Feedback on Exploration.
Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2006), 2006

Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback.
Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2006), 2006

Environment Parameter Estimation during Bilateral Telemanipulation.
Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2006), 2006

Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces.
Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2006), 2006

Human-Machine Collaborative Systems: Intelligent Virtual Fixtures and Space Applications.
Proceedings of the To Boldly Go Where No Human-Robot Team Has Gone Before, 2006

2005
Effects of Gripping and Translational Forces on Teleoperation.
Proceedings of the Multi-point Interaction with Real and Virtual Objects, 2005

Effects of position quantization and sampling rate on virtual-wall passivity.
IEEE Trans. Robotics, 2005

A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments.
TAP, 2005

Human-Machine Collaborative Systems for Microsurgical Applications.
I. J. Robotics Res., 2005

Automatic Detection and Segmentation of Robot-Assisted Surgical Motions.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2005

A Velocity-Dependent Model for Needle Insertion in Soft Tissue.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2005

Haptic Virtual Fixtures for Robot-Assisted Manipulation.
Proceedings of the Robotics Research: Results of the 12th International Symposium, 2005

Steering flexible needles under Markov motion uncertainty.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Design Considerations for Robotic Needle Steering.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Effects of Velocity on Human Force Control.
Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

The Snaptic Paddle: A Modular Haptic Device.
Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors.
Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

2004
Vision-assisted control for manipulation using virtual fixtures.
IEEE Trans. Robotics, 2004

Force modeling for needle insertion into soft tissue.
IEEE Trans. Biomed. Engineering, 2004

Methods for haptic feedback in teleoperated robot-assisted surgery.
Industrial Robot, 2004

Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures With Variable Admittance.
Human Factors, 2004

Vision-Based Assistance for Ophthalmic Micro-Surgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004, 2004

Nonholonomic Modeling of Needle Steering.
Proceedings of the Experimental Robotics IX, 2004

Impedance-reflecting teleoperation with a real-time evolving neural network controller.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Teleoperation with Sensor/Actuator Asymmetry: Task Performance with Partial Force Feedback.
Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2004), 2004

Performance Analysis of Steady-Hand Teleoperation versus Cooperative Manipulation.
Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2004), 2004

2003
VisHap: augmented reality combining haptics and vision.
Proceedings of the IEEE International Conference on Systems, 2003

Methods for intelligent localization and mapping during haptic exploration.
Proceedings of the IEEE International Conference on Systems, 2003

A Modular 2-DOF Force-Sensing Instrument For Laparoscopic Surgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2003

Virtual Remote Center of Motion Control for Needle Placement Robots.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2003

Erratum: Human-Machine Collaborative Systems for Microsurgical Applications.
Proceedings of the Robotics Research, The Eleventh International Symposium, 2003

Analysis of virtual fixture contact stability for telemanipulation.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

The haptic scissors: cutting in virtual environments.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Robotic needle insertion: effects of friction and needle geometry.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Virtual fixture architectures for telemanipulation.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Activation Cues and Force Scaling Methods for Virtual Fixture.
Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 2003

Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures.
Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 2003

2002
Measurement, Analysis and Display of Haptic Signals During Surgical Cutting.
Presence, 2002

Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2002

Measurement of the Tip and Friction Force Acting on a Needle during Penetration.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2002

The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2002

Effect of virtual fixture compliance on human-machine cooperative manipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Vision Assisted Control for Manipulation using Virtual Fixtures: Experiments at Macro and Micro Scales.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Building a Task Language for Segmentation and Recognition of User Input to Cooperative Manipulation Systems.
Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002

On the Display of Haptic Recordings for Cutting Biological Tissues.
Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002

2001
Feature Detection for Haptic Exploration with Robotic Fingers.
I. J. Robotics Res., 2001

Comprehensive access to printed materials (CAPM).
Proceedings of the ACM/IEEE Joint Conference on Digital Libraries, 2001

Uniting Haptic Exploration and Display.
Proceedings of the Robotics Research, The Tenth International Symposium, 2001

Vision assisted control for manipulation using virtual fixtures.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Feature-Guided Exploration with a Robotic Finger.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
An Overview of Dexterous Manipulation.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Haptic Surface Exploration.
Proceedings of the Experimental Robotics VI, 1999

Haptic Exploration of Fine Surface Features.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
Vibration Feedback Models for Virtual Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
Haptic exploration of objects with rolling and sliding.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997


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