CHARM LAB Main/Lab News

Lab News

December 8, 2016

CHARM Holiday Dinner + baby shower for Nathan's and Yasu's families. Happy holidays everyone and congratulations to the expecting parents!

December 6, 2016

Our research is featured in the inaugural issue of Science Robotics. The paper is from a collaborative project that former postdoc Ilana Nisky and Allison Okamura did with Chris Gerdesís group. Itís a unique take on the study of human motor learning/adaptation, examining handover from an autonomous vehicle to a human driver. Here is the press release.

October 1, 2016

We released a new edition of the Springer Handbook of Robotics. Stanford people involved include Editor Oussama Khatib and Chapter authors Mark Cutkosky, David Lentink, Anna Petrovskaya, Victor Scheinman, Amanda Stowers, and Allison Okamura. All the authors are featured in a handbook video.

September 18, 2016

CHARMers made the trek to a stretch of the Russian River in Forestville, CA for a combination of lab bonding and post-ICRA deadline decompression. It was epic.

June 29, 2016

Tania Morimoto, Yuhang Che, and Allison Okamura attended the 2016 IEEE BioRob Conference in Singapore. Tania won the National Science Foundation-sponsored Best Student Paper Award for her paper "Surgeon Design Interface for Patient-Specific Concentric Tube Robots", which describes work done in collaboration with Joey Greer and surgeon collaborator Michael Hsieh. Also, Allison gave a keynote talk on "Modeling, Planning, and Control for Robot-Assisted Medical Interventions".

(Left) Tania receiving the Best Student Paper award from NSF program manager Alexander Leonessa. (Right) Yuhang with his poster, along with Tania, Allison, and Laura Blumenschein, a PhD student who will be joining the CHARM Lab this summer. Laura was at BioRob representing Marcia' O'Malley's laboratory, where she completed her MS thesis.

June 29, 2016

Check out Next Generation Robotics, a Computing Community Consortium (CCC) white paper. Following the Robotics Roadmaps published in 2009 and 2013, this report sets forth a perspective of progress in robotics over the past five years, and provides a set of recommendations for the future. The white paper is co-authored by Henrik I Christensen, Allison Okamura, Maja Mataric, Vijay Kumar, Greg Hager, and Howie Choset, and it includes input from dozens of robotics researchers and industry practitioners who participated in workshops held in early 2016..

May 16-21, 2016

Elliot Hawkes, Kirsten Kaplan, Andrew Stanley, Jake Suchoski, Heather Culbertson, and Allison Okamura attended the 2016 IEEE International Conference on Robotics and Automation in Stockholm, Sweden.

CHARM Lab members, alumni, and friends enjoying themselves at ICRA 2016

May 16, 2016

Postdoc Heather Culbertson's work was featured in a New Yorker article about the sense of touch.

April 22, 2016

Our previous work integrating the Hapkit with Matlab is now featured in a Mathworks educational video.

April 8-11, 2016

Heather Culbertson, Melisa Orta, and Julie Walker attached the 2016 IEEE Haptics Symposium in Philadelphia. All three gave oral presentations and demonstrations of their research.

March 31, 2016

The Hapkit and online haptics course were featured on ASME News.

March 26-June 18, 2016

Allison (and her family) will be in Kyoto, Japan for Spring Quarter, teaching with Stanford's Bing Overseas Studies Program. Pictures and news of activities of the program are posted on the Stanford Program in Kyoto Facebook Page.

March 18, 2016

Andrew Stanley successfully defended his Ph.D. defense today -- congratulations! Below, Andrew is showing his family his 100-cell Haptic Jamming device.

March 18, 2016

Darrel Deo was awarded the Stanford Enhancing Diversity in Graduate Education (EDGE) Doctoral Fellowship. Congratulations, Darrel!

March 18, 2016

Sam Schorr was awarded the Link Foundation Fellowship in Modeling, Simulation, and Training for the 2016-17 academic year. Congratulations, Sam!

March 13, 2016

Allison was featured on the National Geographic Channel show Brain Games. Allison runs a couple of mini-experiments demonstrating haptic illusions on the show. There is a publicly available clip of one of the experiments here.

December 12, 2015

Some CHARMers ran the Summit Rock Half Marathon in the beautiful redwood groves of the Santa Cruz Mountains. Sean won overall, Kirsten was the first-place woman, and Kirk, Andrew, and Joey were 3rd, 4th, and 5th, respectively, in their age group. Amazing! Allison managed to finish -- enough said.

November 10, 2015

Sean Sketch was honored today for receiving a Stanford Interdisciplinary Graduate Fellowship. Congratulations, Sean!

November 9, 2015

Kirk Nichols successfully defended his Ph.D. defense today -- congratulations! (Kirk is shown below giving his talk -- wearing his formal kilt.)

November 3, 2015

Troy Adebar successfully defended his Ph.D. defense today -- congratulations! (Troy is shown below giving his talk.)

October 23, 2015

The Bay Area Robotics Symposium (formerly known as the Stanford-Berkeley Robotics Symposium) will be held in Berkeley on Oct. 23, 2015! Allison will give a talk, and Kamran and Sean will give posters.

October 8, 2015

Jorge Cham's PhD Movie 2 screens on campus! Looks for characters named "Allison" and "Mariko Okamura". NOT a coincidence!

September 28 - October 2, 2015

Allison and Kirk attended IROS 2015 in Hamburg, Germany. No pictures, because Allison's cell phone died. :(

September 1, 2015

It's official, Allison is now a FULL Professor. Apparently that means she can be put on more committees.

August 28, 2015

Thank you to the terrific group of SURI students (and their mentors) who worked in the CHARM Lab this summer. Here are the students and their projects/mentors:

  • Aaron Barron - Hapkit design and Virtual mass experiments (mentor: Tania and Jake)
  • Annalisa Taylor - Hapkit design (mentor: Melisa)
  • Andre Cornman - Robotic brain catheter (mentor: Lizmarie)
  • Zoe Goldblum - Robotic brain catheter (mentor: Margaret)
  • Brice Dudley - Robotic exoskeleton design (mentor: Sean)
  • Javier Reyna - Robotic exoskeleton design (mentor: Sean)
  • Gabe Haro - Human-robot collaboration for minimally invasive surgery (mentor: Yuhang)
  • Coleen Holden - Laboratory science using automated robotic lab assistants (mentor: Kamran and Antony)
  • Michael Raitor - Haptic feedback for ultrasound guidance (mentor: Julie)

August 7, 2015

We had three smart and enthusiastic high school researchers in the lab this summer:

  • Alyssa Lukpat - Robotic brain catheter (mentor: Andre)
  • Teresa Faasolo - Robotic exoskeleton design (mentor: Javier)
  • Alex Mallery - Haptic feedback for ultrasound guidance (mentor: Michael)

May 26-30, 2015

CHARM Lab members and past members attended ICRA 2015 in Seattle, WA. Our group included Allison, Joey, Yuhang, Zhan Fan, Nick, Lawrence, Cliff, Sean, Darrel, and Ilana. We also got to see Ann Majewicz and her new students from UT Dallas, as well as Dana Damian who is currently at Harvard Chidren's Hospital. Allison's former PhD student Robert Webster (now a professor at Vanderbilt) was awarded the IEEE Robotics and Automation Society Early Academic Career Award. Also, our new postdoc Elliot Hawkes won a best student paper award for his work with Mark Cutkosky.

May 22, 2015

Nick Colonnese successfully defended his Ph.D. defense today -- congratulations! (Nick is shown below with his extended family.)

May 20, 2015

Congratulations to Zhan Fan Quek, who successfully defended his Ph.D. defense today! (Zhan Fan is shown below during his talk.)

May 4, 2015

Stanford ME holds its first Research Conference. Lizmarie presented her research during the oral session, and several other lab members presented posters.

March 29, 2015

Tania Morimoto is the first woman to finish the San Francisco Rock 'n' Roll Half Marathon, with a time of 1:20:54. Go Tania!

March 23-25, 2015

The CHARM Lab had a retreat in Kirkwood, CA. We had fun skiing, throwing snowballs, running, watching Big Hero 6, and ...yes... discussing research.

October 17, 2014

The Stanford-Berkeley Robotics Symposium is today! Lizmarie presented a poster about magnetic microcatheter manipulation, Andrew presented a poster about particle jamming haptic devices, and Allison gave a talk about our work on haptic feedback for teleoperation and augmented reality.

October 3, 2014

The Stanford Robotics Seminar is back! Please join us for food and student presentations approximately biweekly this year.

October 1, 2014

The Online Haptics Class (free for anyone) has been released as a self-paced course. Also, the new 3D printed Hapkit design has been released. Thank you to Akzl, Jeanny, Tania, Melisa, and Agnes for your contributions to the new design!

September 21, 2014

CHARM summer undergraduates Alexa Siu and Michael Lin Yang entered a Georgia Tech Hackathon, and here is their haptics-related entry: hapmotu. Way to keep up those haptics skills, Alexa and Michael!

September 14-18, 2014

CHARMers Troy Adebar, Ilana Nisky, and Allison Okamura, attended the IEEE/RSJ International Conference on Intelligent Robots and Systems in Chicago, Illinois. Troy presented his work on "Recursive Estimation of Needle Pose for Control of 3D-Ultrasound-Guided Robotic Needle Steering", and Ilana organized a workshop (in collaboration with Tony Jarc of Intuitive Surgical, Inc.) on The Role of Human Sensorimotor Control in Surgical Robotics. Allison gave a session keynote "Haptics in Robot-Assisted Surgery" and also talked about "The effect of robotic manipulators on surgeon movement" at Ilana's workshop. We had a great time in Chicago, including a bike tour of the lakefront area.

September 1, 2014

Our research was featured in an article in the New York Times. The article includes photos of current and former lab members Darrel Deo, Michele Rotella, Zhan Fan Quek, and Tania Morimoto.

August 21, 2014

This is the last week for some of our summer undergraduates. The students are from Stanford and are participating in the Summer Undergraduate Research Institute (SURI) program, except where noted. Front row, left to right: Akzl Pultorak, Caroline Abbott, Caroline Fong, Alexa Siu (Georgia Tech, SSRP/Amgen summer program), Michael Lin Yang (UC Berkeley, NSF Research Experience for Undergraduates Fellow), Sanjay Srinivas. Back row, left to right: Iris Yan, Jeanny Wang, Nina Jimenez, Sarah Cabreros. Congratulations to all our undergraduates for their fantastic summer work!

July 21, 2014

As a lab team building event, and a special goodbye to graduate student Ann Majewicz and postdocs Ilana Nisky and Ryder Winck, we did a lab kayaking tour at Half Moon Bay, beach/hike time, and dinner at Buca di Beppo in Palo Alto. In the late summer, all three of these CHARMers will be taking faculty positions! Ann will be starting in the Mechanical Engineering Department at University of Texas at Dallas, Ilana in the Biomedical Engineering Department at Ben-Gurion University of the Negev, and Ryder in the Mechanical Engineering Department at Rose-Hulman Institute of Technology. We will miss all of them!

July 7, 2014

Ann Majewicz successfully defended her Ph.D. thesis, "Robotic Needle Steering: Design and Evaluation for Clinical Application". Ann also walked in graduation and was hooded last month. Congratulations, Ann!

June 16, 2014

Our friend and collaborator Prof. Steven Hsiao at Johns Hopkins University died of lung cancer. He was the co-advisor of Ph.D. student Jim Gwilliam and served on the thesis committees of several other of Allison's students. Just a few weeks before Steve died, Jim's paper (with Steve as the senior author) was recognized as an "editor's pick" by the Journal of Neurophysiology. Remembrances of Steve are here. We will miss him sorely.

May 31-June 6, 2014

CHARMers Allison Okamura, Ann Majewicz, Ryder Winck, and Sean Sketch went to the 2014 International Conference on Robotics and Automation in Hong Kong. Ann presented her work (in collaboration with Josh Siegel and Andrew Stanley) on duty-cycled needle steering, and Ryder presented his work (in collaboration with Sean Sketch and members of the BDML). Allison talked about educational haptics at the Workshop on MATLAB/Simulink for Robotics Education and Research, spoke at the ICRA Women's Lunch, and gave a talk at the Hong Kong University of Science and Technology. We had some great meals, including adventures in fresh seafood with the BDML and CamLab)!

May 30, 2014

Allison's class ME 327: Design and Control of Haptic Systems demonstrated their final projects along with students from CS 277 Experimental Haptics.

April 7, 2014

Congratulations to Ilana who won the best poster award under the "robotic-surgeon interface" category at the 2014 IDEAS Symposium on Surgical Robotics: from Principles to Practice that took place in Boston on April 5.

April 1, 2014

Someone hacked into our website and changed our "People" page! We managed to fix it, but we have captured this April Fool for posterity: Attach:AprilFool2014.pdf

March 21, 2014

Congratulations to Ann who won the best poster award at the 2014 NSF Early Career Professionals Workshop on Exploring New Frontiers in Cyber-Physical Systems that took place in Washington, DC on March 13-14. As part of her award, she will be attending CPS Week in Berlin this April.

February 28, 2014

Allison is a co-author on a paper on the role of haptic feedback in rhythmic motor control that was published in the Journal of Neurophysiology as a cover article (see below). This work was a collaboration with Noah Cowan's Limbs Lab at Johns Hopkins University, and was featured in this news article.

About the cover: Little is known about how haptic and visual feedback are integrated during rhythmic behaviors such as juggling and walking. To address this question, participants performed a simplified juggling task in which they used a haptic interface to bounce a ball on a paddle. A small impulsive force could be provided to the hand at the instant the ball struck the paddle. The addition of this timing cue dramatically improved juggling performance, likely by reducing the brain's uncertainty about the state of the ball. Photo by Josh Casey. From Ankarali MM, Sen HT, De A, Okamura AM, Cowan NJ. Haptic feedback enhances rhythmic motor control by reducing variability, not convergence rate. J Neurophysiol; published ahead of print December 26, 2013, doi:10.1152/jn.00140.2013.

February 26, 2014

Allison, Ilana, Tricia, Nick, Zhan Fan, Andrew, Tania, and Adam attended the 2014 IEEE Haptics Symposium in Houston Texas. Nick and Zhan Fan gave oral presentations, Tricia and Adam presented posters, and Zhan Fan, Andrew, and Tania gave demonstrations. Congratulations to Zhan Fan for winning the Best Student Paper Award! Many others were Finalists for awards, which is also a big honor (Adam/Andrew for Best Poster, Nick for Best Paper, Zhan Fan for Best Demo, and Tania for Best Demo).

Zhan Fan and Ilana being congratulated for the Best Student Paper Award.

November 19, 2013

Congratulations to Dr. Tricia Gibo for successfully defending her Ph.D. thesis! Tricia was co-advised by Allison Okamura and Amy Bastian. Starting in a couple months, she will be a postdoc at TU Delft in The Netherlands (in David Abbink's research group).

November 4, 2013

The Online Haptics Class has launched! A huge thanks to Tania, principal designer of Hapkit, collaborators Paulo Blikstein and Doug Miller, the Vice Provost for Online Learning (for sponsorship and course production/tech support), the National Science Foundation, and all the CHARM Lab members who helped assemble the Hapkit boxes for the online students (see image below).

October 22, 2013

Congrats to Tania Morimoto, Ryder Winck, and Jeff Kessler/Curtis Lovelace for giving well-received talks at the ASME Dynamic System and Control Conference today. Ann Majewicz and Nick Colonnese also gave very popular demonstrations -- there were long lines to try out needle steering and stable haptic renderings! Former visiting scholar also gave a talk at DSCC, and present his latest work at our lab meeting.

October 22, 2013

We are now accepting applications for the Online Haptics Class using Hapkits! (Applications due Oct. 28, class starts Nov. 4)

October 17-18, 2013

Allison visited robotics labs at EPFL and ETH Zurich. She got to see our former visiting student Mike Rinderknecht in his natural environment, and compare The ETHZ high-fidelity Haptic Paddles with our low-cost Hapkits.

October 15, 2013

Allison was featured on RoboHub's "25 women in robotics you need to know about" article in celebration of Ada Lovelace Day.

October 14, 2013

Our panel on "When AR meets the OR - Robotics and AR in Surgery" was accepted for SXSW 2014. Allison will present at South by Southwest (SXSW) (a film, interactive, and music festival) in March 2014, along with Prof. Katherine Kuchenbecker from UPenn and Catherine Mohr from Intuitive Surgical.

October 15, 2013

Today the CHARM Lab merges with the CamLab (Prof. David Camarillo's Bioengineering research group). The CamLab will share our space in MERL 126 until their new building is ready in mid-2014. Welcome, Cammies!

October 1-2, 2013

Allison and Ryder attended the National Robotics Initiative PI Meeting in Washington, DC. There were research presentations, posters, and workshops -- but unfortunately no program managers to see it due to the government shutdown!

September 27, 2013

Smooth Teleoperators

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