Actuation Methods For Human-Centered Robotics and Associated Control Challenges. - Michael R. Zinn; Oussama Khatib; Bernard Roth; J. Kenneth Salisbury (Control Problems in Robotics, 2003)

A New Actuation Approach for Human Friendly Robot Design. - Michael R. Zinn; Oussama Khatib; Bernard Roth (ICRA, 2004)

A New Actuation Approach for Human Friendly Robot Design. - Michael R. Zinn; Bernard Roth; Oussama Khatib; Kenneth Salisbury (Int. J. Robotics Res., 2004)

Playing it safe [human-friendly robots]. - Michael R. Zinn; Oussama Khatib; Bernard Roth; J. Kenneth Salisbury (IEEE Robotics Autom. Mag., 2004)

Large Workspace Haptic Devices - A New Actuation Approach. - Michael R. Zinn; Oussama Khatib; Bernard Roth; J. Kenneth Salisbury (HAPTICS, 2008)

Mechanics Modeling of Tendon-Driven Continuum Manipulators. - David B. Camarillo; C. F. Milne; Christopher R. Carlson; Michael R. Zinn; J. Kenneth Salisbury (IEEE Trans. Robotics, 2008)

Towards closed loop control of a continuum robotic manipulator for medical applications. - Ryan S. Penning; Jinwoo Jung; Justin A. Borgstadt; Nicola J. Ferrier; Michael R. Zinn (ICRA, 2011)

A modeling approach for continuum robotic manipulators: Effects of nonlinear internal device friction. - Jinwoo Jung; Ryan S. Penning; Nicola J. Ferrier; Michael R. Zinn (IROS, 2011)

Evaluation of a parallel actuation approach for MR-compatible haptics. - Chembian Parthiban; Christopher Esser; Michael R. Zinn (HAPTICS, 2012)

An evaluation of closed-loop control options for continuum manipulators. - Ryan S. Penning; Jinwoo Jung; Nicola J. Ferrier; Michael R. Zinn (ICRA, 2012)

Interleaved continuum-rigid manipulation: An augmented approach for robotic minimally-invasive flexible catheter-based procedures. - Benjamin L. Conrad; Jinwoo Jung; Ryan S. Penning; Michael R. Zinn (ICRA, 2013)

A simplified approach to admittance-type haptic device impedance evaluation. - Chembian Parthiban; Michael R. Zinn (HAPTICS, 2014)

Interleaved continuum-rigid manipulation approach: Development and functional evaluation of a clinical scale manipulator. - Benjamin L. Conrad; Michael R. Zinn (IROS, 2014)

A modeling approach for robotic catheters: effects of nonlinear internal device friction. - Jinwoo Jung; Ryan S. Penning; Michael R. Zinn (Adv. Robotics, 2014)

A combined modal-joint space control approach for continuum manipulators. - Ryan S. Penning; Michael R. Zinn (Adv. Robotics, 2014)

Multi-modal localization algorithm for catheter interventions. - Justin A. Borgstadt; Michael R. Zinn; Nicola J. Ferrier (ICRA, 2015)

Closed loop task space control of an interleaved continuum-rigid manipulator. - Benjamin L. Conrad; Michael R. Zinn (ICRA, 2015)

Tackling friction - an analytical modeling approach to understanding friction in single tendon driven continuum manipulators. - Guru Subramani; Michael R. Zinn (ICRA, 2015)

Recognizing actions during tactile manipulations through force sensing. - Guru Subramani; Daniel Rakita; Hongyi Wang 001; Jordan Black; Michael R. Zinn; Michael Gleicher (IROS, 2017)

Inferring geometric constraints in human demonstrations. - Guru Subramani; Michael R. Zinn; Michael Gleicher (CoRL, 2018)

Performance and stability limitations of admittance-based haptic interfaces. - Chembian Parthiban; Michael R. Zinn (HAPTICS, 2018)

Recognizing Geometric Constraints in Human Demonstrations Using Force and Position Signals. - Guru Subramani; Michael Gleicher; Michael R. Zinn (IEEE Robotics Autom. Lett., 2018)

A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics. - Chembian Parthiban; Patrick Dills; It Fufuengsin; Nick Colonnese; Priyanshu Agarwal; Michael R. Zinn (WHC, 2019)

A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics. - Patrick Dills; Nick Colonnese; Priyanshu Agarwal; Michael R. Zinn (HAPTICS, 2020)

A Method for Constraint Inference Using Pose and Wrench Measurements. - Guru Subramani; Michael Hagenow; Michael Gleicher; Michael R. Zinn (CoRR, 2020)

Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices. - Kaitlyn Gabardi; Patrick Dills; Bolun Zhang; Michael R. Zinn (WHC, 2021)

Characterizing the Effects of Haptic Rendering Parameter Variations on Perceived Kinesthetic Rendering Accuracy. - Bolun Zhang; Michael Hagenow; Bilge Mutlu; Michael Gleicher; Michael R. Zinn (WHC, 2021)

Recognizing Orientation Slip in Human Demonstrations. - Michael Hagenow; Bolun Zhang; Bilge Mutlu; Michael R. Zinn; Michael Gleicher (ICRA, 2021)

Situated Live Programming for Human-Robot Collaboration. - Emmanuel Senft; Michael Hagenow; Robert G. Radwin; Michael R. Zinn; Michael Gleicher; Bilge Mutlu (UIST, 2021)

Affordance Template Registration via Human-in-the-loop Corrections. - Michael Hagenow; Michael R. Zinn; Terrence Fong; Evan Laske; Kimberly A. Hambuchen (CoRR, 2021)

Task-Level Authoring for Remote Robot Teleoperation. - Emmanuel Senft; Michael Hagenow; Kevin Welsh; Robert G. Radwin; Michael R. Zinn; Michael Gleicher; Bilge Mutlu (Frontiers Robotics AI, 2021)

An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction. - Patrick Dills; Alexander Dawson-Elli; Kreg Gruben; Peter G. Adamczyk; Michael R. Zinn (IEEE Robotics Autom. Lett., 2021)

Corrective Shared Autonomy for Addressing Task Variability. - Michael Hagenow; Emmanuel Senft; Robert G. Radwin; Michael Gleicher; Bilge Mutlu; Michael R. Zinn (IEEE Robotics Autom. Lett., 2021)

Informing Real-Time Corrections in Corrective Shared Autonomy Through Expert Demonstrations. - Michael Hagenow; Emmanuel Senft; Robert G. Radwin; Michael Gleicher; Bilge Mutlu; Michael R. Zinn (IEEE Robotics Autom. Lett., 2021)

Stability and Rendering Limitations of a Parallel Hybrid Active-Passive Haptic Interface. - Patrick Dills; Alexander Dawson-Elli; Kreg Gruben; Peter G. Adamczyk; Michael R. Zinn (HAPTICS, 2022)

Stability and Rendering Limitations of High-Performance Admittance Based Haptic Interfaces. - Patrick Dills; Kaitlyn Gabardi; Michael R. Zinn (HAPTICS, 2022)

Assessing the Perceived Realism of Kinesthetic Haptic Renderings Under Parameter Variations. - Bolun Zhang; Michael Hagenow; Bilge Mutlu; Michael Gleicher; Michael R. Zinn (HAPTICS, 2022)

Registering Articulated Objects With Human-in-the-loop Corrections. - Michael Hagenow; Emmanuel Senft; Evan Laske; Kimberly A. Hambuchen; Terrence Fong; Robert G. Radwin; Michael Gleicher; Bilge Mutlu; Michael R. Zinn (IROS, 2022)

A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation. - Emmanuel Senft; Michael Hagenow; Pragathi Praveena; Robert G. Radwin; Michael R. Zinn; Michael Gleicher; Bilge Mutlu (IROS, 2022)

Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash. - Patrick Dills; Michael R. Zinn (WHC, 2023)

Handheld Haptic Device with Coupled Bidirectional Input. - Megh Vipul Doshi; Michael Hagenow; Robert G. Radwin; Michael Gleicher; Bilge Mutlu; Michael R. Zinn (WHC, 2023)

Coordinated Multi-Robot Shared Autonomy Based on Scheduling and Demonstrations. - Michael Hagenow; Emmanuel Senft; Nitzan Orr; Robert G. Radwin; Michael Gleicher; Bilge Mutlu; Dylan P. Losey; Michael R. Zinn (IEEE Robotics Autom. Lett., 2023)

Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash: A Multi Degree of Freedom Approach. - Patrick Dills; Michael R. Zinn (HAPTICS, 2024)

Improving Kinesthetic Haptic Rendering through a Frequency Partitioned Series Admittance Actuation Approach. - Megh Vipul Doshi; Patrick Dills; Michael R. Zinn (HAPTICS, 2024)

A System for Human-Robot Teaming through End-User Programming and Shared Autonomy. - Michael Hagenow; Emmanuel Senft; Robert G. Radwin; Michael Gleicher; Michael R. Zinn; Bilge Mutlu (HRI, 2024)

Manually Acquiring Targets From Multiple Viewpoints Using Video Feedback. - Bailey Ramesh; Anna Konstant; Pragathi Praveena; Emmanuel Senft; Michael Gleicher; Bilge Mutlu; Michael R. Zinn; Robert G. Radwin (Hum. Factors, 2024)

Human-Robot Collaboration With a Corrective Shared Controlled Robot in a Sanding Task. - Anna Konstant; Nitzan Orr; Michael Hagenow; Isabelle Gundrum; Yu Hen Hu; Bilge Mutlu; Michael R. Zinn; Michael Gleicher; Robert G. Radwin (Hum. Factors, 2025)