Blake Hannaford

According to our database1, Blake Hannaford authored at least 160 papers between 1986 and 2019.

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Awards

IEEE Fellow

IEEE Fellow 2006, "For contributions to haptic interfaces and telerobotic systems.".

Timeline

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Bibliography

2019
A Model-Based Recurrent Neural Network With Randomness for Efficient Control With Applications.
IEEE Trans. Industrial Informatics, 2019

IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree.
J. Artif. Intell. Res., 2019

Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position.
CoRR, 2019

Hidden Markov Models derived from Behavior Trees.
CoRR, 2019

Raven: Open Surgical Robotic Platforms.
CoRR, 2019

Automatic Sinus Surgery Skill Assessment Based on Instrument Segmentation and Tracking in Endoscopic Video.
Proceedings of the Multiscale Multimodal Medical Imaging - First International Workshop, 2019

Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Camera Grouping and Pair Sequencing.
Proceedings of the International Symposium on Medical Robotics, 2019

Augmented Reality Application for Aiding Tumor Resection in Skull-Base Surgery.
Proceedings of the International Symposium on Medical Robotics, 2019

Surgical Instrument Segmentation for Endoscopic Vision with Data Fusion of rediction and Kinematic Pose.
Proceedings of the International Conference on Robotics and Automation, 2019

Autonomous Neurosurgical Instrument Segmentation Using End-To-End Learning.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019

2018
Behavior Trees as a Representation for Medical Procedures.
CoRR, 2018

Behavior Trees as a Representation for Medical Procedures.
CoRR, 2018

Real-time vision-based surgical tool segmentation with robot kinematics prior.
Proceedings of the International Symposium on Medical Robotics, 2018

Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Learned Hand Gesture Classification Through Synthetically Generated Training Samples.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Soft-obstacle Avoidance for Redundant Manipulators with Recurrent Neural Network.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

A Novel Recurrent Neural Network for Improving Redundant Manipulator Motion Planning Completeness.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments.
IEEE Robotics and Automation Letters, 2017

Utilizing Elasticity of Cable-Driven Surgical Robot to Estimate Cable Tension and External Force.
IEEE Robotics and Automation Letters, 2017

IKBT: solving closed-form Inverse Kinematics with Behavior Tree.
CoRR, 2017

Towards real-time surface tracking and motion compensation integration for robotic surgery.
Proceedings of the IEEE/SICE International Symposium on System Integration, 2017

Toward real-time tumor margin identification in image-guided robotic brain tumor resection.
Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

Improving control precision and motion adaptiveness for surgical robot with recurrent neural network.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Integrated asymmetric stop operator based model for strain stress hysteresis characteristics of cable driven robots loaded longitudinally.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

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

Simulation Results on Selector Adaptation in Behavior Trees.
CoRR, 2016

Hysteresis model of longitudinally loaded cable for cable driven robots and identification of the parameters.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Dynamic modeling of cable driven elongated surgical instruments for sensorless grip force estimation.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Unscented Kalman Filter and 3D vision to improve cable driven surgical robot joint angle estimation.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery.
IEEE Trans. Robotics, 2015

Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model.
Proceedings of the Medical Imaging 2015: Image-Guided Procedures, 2015

Atlas and feature based 3D pathway visualization enhancement for skull base pre-operative fast planning from head CT.
Proceedings of the Medical Imaging 2015: Image-Guided Procedures, 2015

Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Path planning for semi-automated simulated robotic neurosurgery.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Multi-finger Haptic Displays for Characterization of Hand Response.
Proceedings of the Human Hand as an Inspiration for Robot Hand Development, 2014

Forbidden region virtual fixtures from streaming point clouds.
Advanced Robotics, 2014

Raven Surgical Robot Training in Preparation for da Vinci® Use: A Randomized Prospective Trial.
Proceedings of the Medicine Meets Virtual Reality 21 - NextMed, 2014

Mapping surgical fields by moving a laser-scanning multimodal scope attached to a robot arm.
Proceedings of the Medical Imaging 2014: Image-Guided Procedures, 2014

Experimental evaluation of guidance and forbidden region virtual fixtures for object telemanipulation.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Dynamically evaluated gravity compensation for the RAVEN surgical robot.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Raven-II: An Open Platform for Surgical Robotics Research.
IEEE Trans. Biomed. Engineering, 2013

Good vibrations: an evaluation of vibrotactile impedance matching for low power wearable applications.
Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology, 2013

Improving tactile feedback with an impedance adapter.
Proceedings of the 2013 World Haptics Conference, 2013

Design and optimization of support structures for tactile feedback.
Proceedings of the 2013 World Haptics Conference, 2013

2012
The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation.
IEEE Trans. Haptics, 2012

Application of Unscented Kalman Filter to a cable driven surgical robot: A simulation study.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Robotic compression of soft tissue.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011
Haptic exploration of spheres: Anatomical regions used for perception.
Proceedings of the IEEE World Haptics Conference, 2011

Effects of thermal protection methods on haptic perception.
Proceedings of the IEEE World Haptics Conference, 2011

Tactile data entry for extravehicular activity.
Proceedings of the IEEE World Haptics Conference, 2011

2010

Haptic characteristics of some activities of daily living.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Perceptual thresholds for single vs. Multi-Finger Haptic interaction.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Haptic exploration of spheres: Techniques and initial experiments.
Proceedings of the 2010 IEEE Haptics Symposium, 2010

Parametric Study of Virtual Curvature Recognition: Discrimination Thresholds for Haptic and Visual Sensory Information.
Proceedings of the Haptic and Audio Interaction Design - 5th International Workshop, 2010

2009
The RAVEN: Design and Validation of a Telesurgery System.
I. J. Robotics Res., 2009

Robustness of the Unscented Kalman filter for state and parameter estimation in an elastic transmission.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Global transparency analysis of the Lawrence teleoperator architecture.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Effect of time delay on telesurgical performance.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Bilateral teleoperation with time delay using modified wave variable based controller.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Preliminary protocol for interoperable telesurgery.
Proceedings of the 14th International Conference on Advanced Robotics, 2009

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

Guest Editorial Special Issue on Biorobotics.
IEEE Trans. Robotics, 2008

Overcoming barriers to wider adoption of mobile telerobotic surgery: engineering, clinical and business challenges.
Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, 2008

Objective Assessment of Telesurgical Robot Systems: Telerobotic FLS.
Proceedings of the Medicine Meets Virtual Reality 16, 2008

The Biomechanics of Percutaneous Needle Insertion.
Proceedings of the Medicine Meets Virtual Reality 16, 2008

Model-based passivity control for bilateral teleoperation of a surgical robot with time delay.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Bilateral teleoperation with time delay using modified wave variables.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Experimental comparison of internet haptic collaboration with time-delay compensation techniques.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Experimental Internet Haptic Collaboration using Virtual Coupling Schemes.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

Haptic Characteristics of Document Conservation Tasks.
Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008

2007
Assessment of Tissue Damage due to Mechanical Stresses.
I. J. Robotics Res., 2007

Measurement and emulation of time varying packet delay with applications to networked haptic virtual environments.
Proceedings of the 1st International Conference on Robot Communication and Coordination, 2007

Portable surgery master station for mobile robotic telesurgery.
Proceedings of the 1st International Conference on Robot Communication and Coordination, 2007

Comparison of performance of virtual coupling schemes for haptic collaboration using real and emulated internet connections.
Proceedings of the 1st International Conference on Robot Communication and Coordination, 2007

Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot.
Proceedings of the Medicine Meets Virtual Reality 15, 2007

Low Cost Eye Surgery Simulator with Skill Assessment Component.
Proceedings of the Medicine Meets Virtual Reality 15, 2007

The Red DRAGON: A Multi-Modality System for Simulation and Training in Minimally Invasive Surgery.
Proceedings of the Medicine Meets Virtual Reality 15, 2007

CIELab and sRGB color values of in vivo normal and grasped porcine liver.
Proceedings of the Medicine Meets Virtual Reality 15, 2007

Comparison of transient performance in the control of soft tissue grasping.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Automated Tool Handling for the Trauma Pod Surgical Robot.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Fast Rendering for a Multifinger Haptic Display.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links.
Proceedings of the Field and Service Robotics, Results of the 6th International Conference, 2007

2006
Generalized approach for modeling minimally invasive surgery as a stochastic process using a discrete Markov model.
IEEE Trans. Biomed. Engineering, 2006

Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches.
IEEE Trans. Biomed. Engineering, 2006

2005
A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller.
IEEE Trans. Robotics, 2005

Time domain passivity control with reference energy following.
IEEE Trans. Contr. Sys. Techn., 2005

Human Interaction with Small Haptic Effects.
Presence, 2005

A Hybrid Discriminative/Generative Approach for Modeling Human Activities.
Proceedings of the IJCAI-05, Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence, Edinburgh, Scotland, UK, July 30, 2005

A Simulation/Experimental Study of the Noisy Behavior of the Time Domain Passivity Controller for Haptic Interfaces.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Hill-Based Model as a Myoprocessor for a Neural Controlled Powered Exoskeleton Arm - Parameters Optimization.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

High Fidelity Multi Finger Haptic Display.
Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

2004
Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach.
IEEE Trans. Robotics, 2004

Sampled- and continuous-time passivity and stability of virtual environments.
IEEE Trans. Robotics, 2004

Stable teleoperation with time-domain passivity control.
IEEE Trans. Robotics and Automation, 2004

Mechatronic design of an actuated biomimetic length and velocity sensor.
IEEE Trans. Robotics, 2004

Stability guaranteed control: time domain passivity approach.
IEEE Trans. Contr. Sys. Techn., 2004

"Are You with Me?" - Using Accelerometers to Determine If Two Devices Are Carried by the Same Person.
Proceedings of the Pervasive Computing, 2004

Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach.
Proceedings of the Control Problems in Robotics, 2003

Smart surgical tools and augmenting devices.
IEEE Trans. Robotics and Automation, 2003

In-Vivo and Postmortem Compressive Properties of Porcine Abdominal Organs.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2003

Time domain passivity control with reference energy behavior.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Time domain passivity control for 6 degrees of freedom haptic displays.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Anisotropies of touch in haptic icon exploration.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Preliminary Two Dimensional Haptic Thresholds and Task Performance Enhancement.
Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 2003

2002
Time-domain passivity control of haptic interfaces.
IEEE Trans. Robotics and Automation, 2002

Control law design for haptic interfaces to virtual reality.
IEEE Trans. Contr. Sys. Techn., 2002

Artificial Muscles.
I. J. Robotics Res., 2002

Testing Time Domain Passivity Control of Haptic Enabled Systems.
Proceedings of the Experimental Robotics VIII [ISER 2002, 2002

The BlueDRAGON - A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Markov modeling of minimally invasive surgery based on tool/tissue interaction and force/torque signatures for evaluating surgical skills.
IEEE Trans. Biomed. Engineering, 2001

Bio-Inspired Actuation and Sensing.
Auton. Robots, 2001

Some practical issues in time domain passivity control of haptic interfaces.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

Time Domain Passivity Control of Haptic Interface.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
Experiments in Fingertip Perception of Surface Discontinuities.
I. J. Robotics Res., 2000

Development of a biomimetic position sensor for robotic kinaesthesia.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000

Stable Haptic Interaction Using the Excalibur Force Display.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Stable haptic interaction with virtual environments.
IEEE Trans. Robotics and Automation, 1999

4-Axis Electromagnetic Microgripper.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
Online improvement of speed and tracking performance on repetitive paths.
IEEE Trans. Contr. Sys. Techn., 1998

Teleoperation Performance with a Kinematically Redundant Slave Robot.
I. J. Robotics Res., 1998

Haptic feedback of kinematic conditioning for telerobotic applications.
Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

Fatigue characteristics of McKibben artificial muscle actuators.
Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

A two-port framework for the design of unconditionally stable haptic interfaces.
Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

A Practical Measure of Dynamic Response of Haptic Devices.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
Single-chip velocity measurement system for incremental optical encoders.
IEEE Trans. Contr. Sys. Techn., 1997

Architectures for shared haptic virtual environments.
Computers & Graphics, 1997

Study of human forearm posture maintenance with a physiologically based robotic arm and spinal level neural controller.
Biological Cybernetics, 1997

Telerobotic remote handling of protein crystals.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996
Measurement and modeling of McKibben pneumatic artificial muscles.
IEEE Trans. Robotics and Automation, 1996

Scaling of Direct Drive Robot Arms.
I. J. Robotics Res., 1996

1995
Pen-based force display for precision manipulation in virtual environments.
Proceedings of the 1995 Virtual Reality Annual International Symposium, 1995

Kalman filter based calibration of precision motion control.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

Fast approximations to positive time-frequency distributions, with applications.
Proceedings of the 1995 International Conference on Acoustics, 1995

1994
Sliding Control of Force Reflecting Teleoperation: Preliminary Studies.
Presence, 1994

A study and model of the role of the Renshaw cell in regulating the transient firing rate of the motoneuron.
Biological Cybernetics, 1994

A 5-Axis Mini Direct Drive Robot for Teleoperation and Biotechnology.
Proceedings of the Intelligent Robots and Systems, 1994

A 5-axis mini direct drive robot for time delayed teleoperation.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1994

Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Resolution-First Scanning of Multidimensional Spaces.
CVGIP: Graphical Model and Image Processing, 1993

Performance Testing of Passive Communication and Control in Teleoperation with Time Delay.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992
Force-reflection and shared compliant control in operating telemanipulators with time delay.
IEEE Trans. Robotics and Automation, 1992

Dual stable point model of muscle activation and deactivation.
Biological Cybernetics, 1992

1991
Performance evaluation of a six-axis generalized force-reflecting teleoperator.
IEEE Trans. Systems, Man, and Cybernetics, 1991

Hidden Markov Model Analysis of Force/Torque Information in Telemanipulation.
I. J. Robotics Res., 1991

Hidden Markov model analysis of manufacturing process information.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

1989
A design framework for teleoperators with kinesthetic feedback.
IEEE Trans. Robotics and Automation, 1989

Force reflection, shared control, and time delay in telemanipulation.
Proceedings of the IEEE International Conference on Systems, 1989

Stability and performance tradeoffs in bi-lateral telemanipulation.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

1988
Experimental and simulation studies of hard contact in force reflecting teleoperation.
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

1987
Quantitative Evaluation of Perspective and Stereoscopic Displays in Three-Axis Manual Tracking Tasks.
IEEE Trans. Systems, Man, and Cybernetics, 1987

Telerobotics: Display, control, and communication problems.
IEEE J. Robotics and Automation, 1987

Hand trigger system for bi-lateral gripping control in teleoperation.
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987

1986
The Electronic Spreadsheet: A Workstation Front End for Parallel Processors.
Proceedings of the Spring COMPCON'86, 1986


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