Training in divergent and convergent force fields during 6-DOF teleoperation with a robot-assisted surgical system. - Margaret M. Coad; Allison M. Okamura; Sherry Wren; Yoav Mintz; Thomas S. Lendvay; Anthony M. Jarc; Ilana Nisky (WHC, 2017)

Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation of a Minimally Invasive Surgical Robot. - Zonghe Chua; Anthony M. Jarc; Sherry Wren; Ilana Nisky; Allison M. Okamura (CoRR, 2020)

Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields. - Yousi A. Oquendo; Zonghe Chua; Margaret M. Coad; Ilana Nisky; Anthony M. Jarc; Sherry M. Wren; Thomas S. Lendvay; Allison M. Okamura (CoRR, 2021)

Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment. - Yousi A. Oquendo; Margaret M. Coad; Sherry M. Wren; Thomas S. Lendvay; Ilana Nisky; Anthony M. Jarc; Allison M. Okamura; Zonghe Chua (IEEE Trans. Haptics, 2024)