A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. - Stephen McKinley; Animesh Garg; Siddarth Sen; Rishi Kapadia; Adithyavairavan Murali; Kirk A. Nichols; Susan Lim; Sachin Patil; Pieter Abbeel; Allison M. Okamura; Ken Goldberg (CASE, 2015)

Tumor localization using automated palpation with Gaussian Process Adaptive Sampling. - Animesh Garg; Siddarth Sen; Rishi Kapadia; Yiming Jen; Stephen McKinley; Lauren Miller; Ken Goldberg (CASE, 2016)

EchoBot: Facilitating data collection for robot learning with the Amazon echo. - Rishi Kapadia; Sam Staszak; Lisa Jian; Ken Goldberg (CASE, 2017)