Automatic Detection and Segmentation of Robot-Assisted Surgical Motions. - Henry C. Lin 001; Izhak Shafran; Todd E. Murphy; Allison M. Okamura; David D. Yuh; Gregory D. Hager (MICCAI, 2005)

A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments. - Robert J. Webster III; Todd E. Murphy; Lawton N. Verner; Allison M. Okamura (ACM Trans. Appl. Percept., 2005)