Evaluation of Non-collocated Force Feedback Driven by Signal-independent Noise. - Zonghe Chua; Allison M. Okamura; Darrel R. Deo (ICRA, 2020)

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)

Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State. - Zonghe Chua; Anthony M. Jarc; Allison M. Okamura (ICRA, 2021)

A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. - Sophia R. Williams; Jacob M. Suchoski; Zonghe Chua; Allison M. Okamura (CoRR, 2021)

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)

Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation. - Zonghe Chua; Allison M. Okamura (IROS, 2022)

A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research. - Zonghe Chua; Allison M. Okamura (CoRR, 2022)

A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. - Sophia R. Williams; Jacob M. Suchoski; Zonghe Chua; Allison M. Okamura (IEEE Robotics Autom. Lett., 2022)

A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research. - Zonghe Chua; Allison M. Okamura (Sensors, 2023)

Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger. - Jiaji Su; Kaiwen Zuo; Zonghe Chua (CoRR, 2024)

Vision-Based Force Estimation for Minimally Invasive Telesurgery Through Contact Detection and Local Stiffness Models. - Shuyuan Yang 007; My H. Le; Kyle R. Golobish; Juan C. Beaver; Zonghe Chua (J. Medical Robotics Res., 2024)

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)

Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation. - Shuyuan Yang 007; Zonghe Chua (CoRR, 2025)