Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback. - Masaya Kitagawa; Allison M. Okamura; Brian T. Bethea; Vincent L. Gott; William A. Baumgartner (MICCAI (1), 2002)

A Modular 2-DOF Force-Sensing Instrument For Laparoscopic Surgery. - Srinivas K. Prasad; Masaya Kitagawa; Gregory S. Fischer; Jason Zand; Mark Talamini; Russell H. Taylor; Allison M. Okamura (MICCAI (1), 2003)

Teleoperation with Sensor/Actuator Asymmetry: Task Performance with Partial Force Feedback. - Wagahta Semere; Masaya Kitagawa; Allison M. Okamura (HAPTICS, 2004)