CHARM LAB Main/Publications

Publications

2014

  1. T. K. Adebar and A. M. Okamura (2014) Recursive Estimation of Needle Pose for Control of 3D-Ultrasound-Guided Robotic Needle Steering. In IEEE/RSJ International Conference on Intelligent Robots and Systems. (BibTeX)
  2. T. L. Gibo, D. R. Deo, Z. F. Quek and A. M. Okamura (2014) Effect of Load Force Feedback on Grip Force Control During Teleoperation: A Preliminary Study. In Haptics Symposium, pages 379-383. (BibTeX)
  3. J. D. Greer, T. K. Adebar, G. L. Hwang and A. M. Okamura (2014) Real-Time 3D Curved Needle Segmentation Using Combined B-Mode and Power Doppler Ultrasound. In Medical Imaging Computing and Computer Assisted Intervention (MICCAI). (BibTeX)
  4. D. I. Grow, A. J. Bastian and A. M. Okamura (2014) Robotic Assistance for Cerebellar Reaching. In Neuro-Robotics: From Brain Machine Interfaces to Rehabiliation Robotics. Springer. (BibTeX)
  5. A. M. Genecov, A. A. Stanley and A. M. Okamura (2014) Perception of a Haptic Jamming Display: Just Noticeable Differences in Stiffness and Geometry. In Haptics Symposium, pages 333-338. (BibTeX)
  6. Dana D. Damian, Taylor H. Newton, Rolf Pfeifer and Allison M. Okamura (2014) Artificial tactile sensing of position and slip speed by exploiting geometrical features. IEEE Transactions on Mechatronics. (BibTeX)
  7. M. M. Ankarali, H. T. Sen, A. De, A. M. Okamura and N. J. Cowan (2014) Haptic Feedback Enhances Rhythmic Motor Control By Reducing Variability, Not Convergence Rate. Journal of Neurophysiology, 111:1286-1299. (BibTeX)
  8. Nasir Bhanpuri, Allison M. Okamura and Amy J. Bastian (2014) Predicting and correcting ataxia using a model of cerebellar function. Brain, 137(7):1931-1944. (BibTeX)
  9. M. P. Chapman, M. Rotella and A. M. Okamura (2014) Position and Velocity Cursor Mappings Contribute to Distinct Muscle Forces in Simulated Isometric and Movement Reaching. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. (BibTeX)
  10. N. Colonnese, S. M. Sketch and A. M. Okamura (2014) Closed-loop Stiffness and Damping Accuracy of Impedance-type Haptic Displays. In Haptics Symposium, pages 97-102. (PDF) (BibTeX)
  11. D. I. Grow, A. J. Bastian and A. M. Okamura (2014) Testing Models of Cerebellar Ataxia via Dynamics Simulation. Robotica, accepted. (BibTeX)
  12. N. Gurari and A. M. Okamura (2014) Compliance Perception using Natural and Artificial Motion Cues. In Multisensory Softness - Perceived Compliance from Multiple Sources of Information. Springer-Verlag. (BibTeX)
  13. Z.F. Quek, S.B. Schorr, I. Nisky, W.R. Provancher and A. M. Okamura (2014) Sensory Substitution using 3-Degree-of-Freedom Tangential and Normal Skin Deformation Feedback. In Haptic Symposium, pages 27-33. (BibTeX)
  14. A.A. Stanley, D. Mayhew, R. Irwin and A. M. Okamura (2014) Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot. In Eurohaptics. (BibTeX)
  15. J. P. Swensen, M. Lin, A. M. Okamura and N. J. Cowan (2014) Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance. IEEE Transactions on Biomedical Engineering. (BibTeX)
  16. Ryder C. Winck, Sean M. Sketch, Elliot W. Hawkes, David L. Christensen, Hao Jiang, Mark R. Cutkosky and A.M. Okamura (2014) Time-delayed teleoperation for interaction with moving objects in space. In IEEE International Conference on Robotics and Automation, Accepted. (BibTeX)
  17. I. Nisky, A.M. Okamura and M. H. Hsieh (2014) Effects of Robotic Manipulators on Movements of Novices and Surgeons. Surgical Endoscopy, 28(7):2145-2158. (URL) (PDF) (BibTeX)
  18. I. Nisky, M. H. Hsieh and A. M. Okamura (2014) Uncontrolled manifold analysis of arm joint angle variability during robotic teleoperation and freehand movement of surgeons and novices. IEEE Transactions on Biomedical Engineering. (BibTeX)
  19. J. C. Gwilliam, T. Yoshioka, A. M. Okamura and S. S. Hsiao (2014) Neural Coding of Lump detection in Compliant Artificial Tissue. Journal of Neurophysiology. (BibTeX)
  20. A. Majewicz, J. Siegel, A A. Stanley and A.M. Okamura (2014) Design and Evaluation of Duty-Cycling Steering Algorithms for Robotically-driven Steerable Needles. In IEEE International Conference on Robotics and Automation, Accepted. (BibTeX)
  21. S. Menon, A.A. Stanley, J. Zhu, A.M. Okamura and O. Khatib (2014) Mapping Stiffness Perception in the Brain with an fMRI-Compatible Particle-Jamming Haptic Interface. In IEEE Engineering in Medicine and Biology Society Conference, Accepted. (BibTeX)
  22. K. Nichols and A. M. Okamura (2014) A Framework for Multilateral Manipulation in Surgical Tasks. In The Hamlyn Symposium on Medical Robotics. (BibTeX)

2013

  1. T. K. Adebar and A. M. Okamura (2013) 3D Segmentation of Curved Needles using Doppler Ultrasound and Vibration. In Information Processing in Computer-Assisted Interventions, pages 61-70. (URL) (PDF) (BibTeX)
  2. J. G. Gwilliam (2013) Tactile Sensing and Display for Robot-Assisted Minimally Invasive Surgery: Detecting Lumps in Soft Tissue. PhD thesis, Department of Biomedical Engineering, The Johns Hopkins University. (BibTeX)
  3. J. C. Gwilliam, M. Bianchi, L. Su and A. M. Okamura (2013) Characterization and Psychophysical Studies of an Air-Jet Lump Display. IEEE Transactions on Haptics, 6(2):156-166. (BibTeX)
  4. J. A. Kessler, R. C. Lovelace and A. M. Okamura (2013) A Haptic System for Educational Games: Design and Application-Specific Kinematic Optimization. In ASME Dynamic Systems and Control Conference. (BibTeX)
  5. Y. Kuroda, I. Nisky, Y. Uranishi, M. Imura and A. M. Okamura and O. Oshiro (2013) Novel Algorithm for Real-Time Onset Detection of Surface Electromyography in Step-Tracking Wrist Movements. In IEEE Engineering in Medicine and Biology Society Conference, pages 2056 - 2059. (URL) (PDF) (BibTeX)
  6. A. Majewicz and A.M. Okamura (2013) Cartesian and Joint Space Teleoperation for Nonholonomic Steerable Needles. In IEEE World Haptics Conference, pages 395-400. (BibTeX)
  7. D. De Lorenzo, Y. Koseki, E. De Momi, K. Chinzei and A. M. Okamura (2013) Coaxial Needle Insertion Assistant With Enhanced Force Feedback. IEEE Transactions on Biomedical Engineering, 60(2):379-389. (BibTeX)
  8. N. Gurari, K.J. Kuchenbecker and A.M. Okamura (2013) Perception of Springs With Visual and Proprioceptive Motion Cues: Implications for Prosthetics. IEEE Transactions on Human-Machine Systems, 43(1):102-114. (BibTeX)
  9. T. L. Gibo, S. E. Criscimagna-Hemminger and A. M. Okamura and A. J. Bastian (2013) Cerebellar Motor Learning: Are Environment Dynamics More Important than Error Size? Journal of Neurophysiology, 110(2):322-333. (URL) (PDF) (BibTeX)
  10. A. J. Blank, A. M. Okamura and L. L. Whitcomb (2013) Task-dependent impedance and implications for upper-limb prosthesis control. International Journal of Robotics Research, Accepted, 3(6):827-846. (BibTeX)
  11. N. Bhanpuri, A. M. Okamura and A. J. Bastian (2013) Predictive modeling by the cerebellum improves proprioception. Journal of Neuroscience, 33(36):14301-14306. (BibTeX)
  12. S. K. Charles, A. M. Okamura and A. J. Bastian (2013) Does a Basic Deficit in Force Control Underlie Cerebellar Ataxia? Journal of Neurophysiology, 109(4):1107-1116. (BibTeX)
  13. T. L. Gibo, A. J. Bastian and A. M. Okamura (2013) Effect of Age on Stiffness Modulation during Postural Maintenance of the Arm. In IEEE International Conference on Rehabilitation Robotics, doi:10.1109/ICORR.2013.6650395. (PDF) (BibTeX)
  14. T. L. Gibo, A. J. Bastian and A. M. Okamura (2013) Grip Force Control During Virtual Object Interaction: Effect of Force Feedback, Accuracy Demands, and Training. IEEE Transactions on Haptics, doi: 10.1109/TOH.2013.60. (BibTeX)
  15. T. L. Gibo, A. J. Bastian and A. M. Okamura (2013) Arm Stiffness in Patients with Cerebellar Ataxia: Modulation during Postural Maintenance and its Subsequent Effects on Movement. In Piper Health Solutions Workshop on Rehabilitation Robotics, February. (BibTeX)
  16. T. L. Gibo, A. J. Bastian and A. M. Okamura (2013) Cerebellar Ataxia Impairs Modulation of Arm Stiffness during Postural Maintenance. Journal of Neurophysiology, 110(7):1611-1620. (URL) (PDF) (BibTeX)
  17. T. K. Morimoto, M. H. Hsieh and A. M. Okamura (2013) Robot-Guided Sheaths (RoGS) for Percutaneous Access to the Pediatric Kidney: Patient-Specific Design and Preliminary Results. In ASME Dynamic Systems and Control Conference. (BibTeX)
  18. T. K. Morimoto, A. Miller, P. Blikstein and A. M. Okamura (2013) The Haptic Paddle: A Low-Cost Haptic Device for Online Education. In Open Hardware Summit. (BibTeX)
  19. A. A. Stanley, J. C. Gwilliam and A. M. Okamura (2013) Haptic Jamming: A Deformable Geometry, Variable Stiffness Tactile Display using Pneumatics and Particle Jamming. In IEEE World Haptics Conference, pages 25-30. (URL) (PDF) (BibTeX)
  20. S. B. Schorr, Z. F. Quek, R. Y. Romano, I. Nisky, W. R. Provancher and A. M. Okamura (2013) Sensory Substitution via Cutaneous Skin Stretch Feedback. In IEEE International Conference on Robotics and Automation, pages 2333-2338. (BibTeX)
  21. A. Stanley, J. C. Gwilliam and A.M. Okamura (2013) A Haptic Display for Medical Simulation Using Particle Jamming. In Medicine Meets Virtual Reality (Studies in Health Technology and Information). San Diego, California, February 20-23. (PDF) (BibTeX)
  22. T.R. Wedlick (2013) Models and Techniques To Enhance the Accuracy of Robotic Needle Insertion. PhD thesis, The Johns Hopkins University. (BibTeX)
  23. R. C. Winck and A. M. Okamura (2013) Model-Mediated Teleoperation with Predictive Models and Relative Tracking. In ASME Dynamic Systems and Control Conference. (PDF) (BibTeX)
  24. T. R. Wedlick, D. J. Lin and A. M. Okamura (2013) Tissue Fixation by Suction Increases the Accuracy of Robotic Needle Insertion. In IEEE International Conference on Robotics and Automation, pages 1686-1691. (BibTeX)
  25. M. F. Rotella, M. Koehler, I. Nisky, A. J. Bastian and A. M. Okamura (2013) Transfer of isometric motor learning depends on the mapping of force input to cursor movement. In Neural Control of Movement Annual Meeting. Puerto Rico, April 16-20. (BibTeX)
  26. M. F. Rotella, M. Koehler, I. Nisky, A. J. Bastian and A. M. Okamura (2013) Adaptation to Visuomotor Rotation in Isometric Virtual Reaching Parallels Learning in Movement. In 13th International Conference on Rehabilitation Robotics. (BibTeX)
  27. I. Nisky, M. H. Hsieh and A.M. Okamura (2013) The Effect of a Robot-Assisted Surgical System on the Kinematics of User Movements. In IEEE Engineering in Medicine and Biology Society Conference, pages 6257-6260. (URL) (PDF) (BibTeX)
  28. K.A. Nichols and A.M. Okamura (2013) Autonomous Robotic Palpation: Machine Learning Techniques to Identify Hard Inclusions in Soft Tissues. In IEEE International Conference on Robotics and Automation, pages 4369-4374. (BibTeX)
  29. I. Nisky, M. H. Hsieh and A.M. Okamura (2013) A Framework for Analysis of Surgeon Arm Posture Variability in Robot-Assisted Surgery. In IEEE International Conference on Robotics and Automation, pages 245-251. (URL) (PDF) (BibTeX)
  30. I. Nisky, M. H. Hsieh and A. M. Okamura (2013) Sensorimotor Performance in Robot Assisted Surgery. In Neural Control of Movement Annual Meeting. (BibTeX)
  31. Z.F. Quek, S. B. Schorr, I. Nisky, A. M. Okamura and W.R.Provancher (2013) Sensory Augmentation of Stiffness using Fingerpad Skin Stretch. In IEEE World Haptics Conference, pages 467-472. (URL) (PDF) (BibTeX)
  32. I. Nisky, S. Patil, M. H. Hsieh and A. M. Okamura (2013) Kinematic Analysis of Motor Performance in Robot-Assisted Surgery: A Preliminary Study. In Medicine Meets Virtual Reality (Studies in Health Technology and Information) Pages 302-308. (URL) (PDF) (BibTeX)
  33. I. Nisky, S. Patil, M. H. Hsieh and A. M. Okamura (2013) Kinematic Analysis of Motor Performance in Robot-Assisted Surgery: Implications for Robot Design and Surgical Training. In Annual Meeting of the American Urological Association. (BibTeX)

2012

  1. M. Mert Ankarali, H. Tutkun Sen, Allison M. Okamura and Noah J. Cowan (2012) Haptic feedback enhances rhythmic motor control performance. In Society for Neuroscience Annual Meeting. New Orleans, Louisiana, October 13-17. (BibTeX)
  2. A. Cheng, K. A. Nichols, H. M. Weeks, N. Gurari and A. M. Okamura (2012) Conveying the Configuration of a Virtual Human Hand Using Vibrotactile Feedback. In IEEE Haptics Symposium, pages 155-162. (BibTeX)
  3. N. Colonnese and A.M. Okamura (2012) M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass. In Robotics: Science and Systems. Sydney, Australia, July 9-13. (BibTeX)
  4. A. Blank, A. M. Okamura and L. L. Whitcomb (2012) User Comprehension of Task Performance with Varying Impedance in a Virtual Prosthetic Arm: A Pilot Study. In IEEE RAS \& EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pages 500-507. (BibTeX)
  5. A. Blank (2012) Proprioceptive Motion Feedback and User-Selectable Impedance Systems for Upper-Limb Prosthesis Control. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  6. N. Bhanpuri, A. M. Okamura and A. J. Bastian (2012) Active Force Perception Depends on Cerebellar Function. Journal of Neurophysiology, 107:1612-1620. (BibTeX)
  7. N. Bhanpuri, A. M. Okamura and A. J. Bastian (2012) Predicting and correcting human ataxia using a model of cerebellar function. In Neural Control of Movement Annual Conference. Venice, Italy, April 23-29. (BibTeX)
  8. D. Damian, M. Ludersdorfer, Y. Kim, A. Hernandez Arieta and R. Pfeifer and A. M. Okamura (2012) Wearable Haptic Device for Cutaneous Force and Slip Speed Display. In IEEE International Conference on Robotics and Automation, pages 1038-1043. (BibTeX)
  9. N. Gurari, J. Wheeler, A. Shelton and A. M. Okamura (2012) Discrimination of Springs with Vision, Proprioception, and Artificial Skin Stretch Cues. In Eurohaptics Conference, pages 160-172. (BibTeX)
  10. T. Wedlick and A.M. Okamura (2012) Characterization of Robotic Needle Insertion and Rotation in Artificial and Ex Vivo Tissues. In IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics and Symposium on Surgical Robotics, pages 62-68. (URL) (BibTeX)
  11. T. Yamamoto, N. Abolhassani, S. Jung and A. M. Okamura and T. N. Judkins (2012) Augmented Reality and Haptic Interfaces for Robot-Assisted Surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 8(1):45-56. (BibTeX)
  12. M. F. Rotella, K. Guerin, X. He and A. M. Okamura (2012) HAPI Bands: A Haptic Augmented Posture Interface. In IEEE Haptics Symposium, pages 163-170. (BibTeX)
  13. A. Majewicz, S. Marra, M. van Vledder, M. Ling, M. A. Choti, D. Y. Song and A. M. Okamura (2012) Behavior of Tip-Steerable Needles in ex vivo and in vivo Tissue. IEEE Transactions on Biomedical Engineering, 59(10):2705-2715. (BibTeX)
  14. J. C. Gwilliam, A. Degirmenci, M. Bianchi and A. M. Okamura (2012) Design and Control of an Air-Jet Lump Display. In IEEE Haptics Symposium, pages 45-49. (BibTeX)
  15. R. P. Jayakumar, S. K. Mishra, J. F. Dannenhoffer and A. M. Okamura (2012) Haptic Footstep Display. In IEEE Haptics Symposium, pages 425-430. (BibTeX)
  16. T. N. Judkins, M. Stevenson, D. Mayhew and A. M. Okamura (2012) Development of the KineSys MedSim: A Novel Hands-Free Haptic Robot for Medical Simulation. In Medicine Meets Virtual Reality (Studies in Health Technology and Information). Newport Beach, California, February 9-11. (BibTeX)

2011

  1. E. Basafa, S. Sefati and A. M. Okamura (2011) Assessing the Quality of Force Feedback in Soft Tissue Simulation. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 3451-3454. (BibTeX)
  2. D. D. Damian, A. Hernandez Arieta and A. M. Okamura (2011) Design and Evaluation of a Multi-Modal Haptic Skin Stimulation Apparatus. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 3455-3458. (BibTeX)
  3. De Lorenzo, D., Y. Koseki, E. De Momi, K. Chinzei and A. M. Okamura (2011) Experimental Evaluation of a Coaxial Needle Insertion Assistant with Enhanced Force Feedback. In International Conference of the IEEE Engineering in Medicine and Biology Society, pages 3447-3450. (BibTeX)
  4. N. J. Cowan, K. Goldberg, G. S. Chirikjian, G. Fichtinger and R. Alterovitz, K. B. Reed, V. Kallem, W. Park, S. Misra and A. M. Okamura (2011) Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance. In Surgical Robotics - Systems, Applications, and Visions. (J. Rosen and B. Hannaford and R. Satava, Eds.) Springer, pages 557-582. (BibTeX)
  5. A. Blank, A. M. Okamura and L. L. Whitcomb (2011) Task-Dependent Impedance Improves User Performance with a Virtual Prosthetic Arm. In IEEE International Conference on Robotics and Automation, pages 2235-2242. (BibTeX)
  6. N. Bhanpuri, A. M. Okamura and A. J. Bastian (2011) Cerebellar predictions underlie the improvement of proprioceptive precision in active versus passive movements. In Society for Neuroscience Annual Meeting. Washington, DC, Nov 12-16. (BibTeX)
  7. M. Bianchi, J. C. Gwilliam, A. Degirmenci and A. M. Okamura (2011) Characterization of an Air Jet Haptic Lump Display. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 3467-3470. (BibTeX)
  8. T. L. Gibo, A. M. Okamura and A. J. Bastian (2011) Do Cerebellar Patients Generalize after Abrupt or Gradual Motor Learning? In Society for Neuroscience Annual Meeting. Washington, DC, Nov 12-16. (BibTeX)
  9. T. L. Gibo, M. F. Rotella, A. J. Bastian and A. M. Okamura (2011) Gradual Anisometric-Isometric Transition for Human-Machine Interfaces. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 4507-4510. (BibTeX)
  10. van Vledder, Mark G., Majewicz, Ann, Marra, Steven P., Song, Danny Y., Okamura, Allison M. and Choti, Michael A (2011) Robot-Assisted Steerable Needles: Prototype Development and Feasibility Studies in an Animal Model. In 6th Annual Academic Surgical Congress. Huntington Beach, CA, February 1-3. (BibTeX)
  11. T. Yamamoto (2011) Applying Tissue Models in Teleoperated Robot-Assisted Surgery. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  12. K. B. Reed, A. Majewicz, V. Kallem, R. Alterovitz, K. Goldberg, N. J. Cowan and A. M. Okamura (2011) Robot-Assisted Needle Steering. Robotics and Automation Magazine, 18:35-46. (BibTeX)
  13. A. M. Okamura, L. N. Verner, T. Yamamoto and J. C. Gwilliam and P. G. Griffiths (2011) Force Feedback and Sensory Substitution for Robot-Assisted Surgery. In Surgical Robotics - Systems, Applications, and Visions, pages 419-448. . Springer. (BibTeX)
  14. D. I. Grow (2011) Robotic Assistance for Rehabilitation of Coordination Deficits. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  15. Y. Koseki, D. De Lorenzo, K. Chinzei and A. M. Okamura (2011) Coaxial Needle Insertion Assistant for Epidural Puncture. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2584-2589. (BibTeX)
  16. M. Ludersdorfer, D. D. Damian, A. Hernandez Arieta and R. Pfeifer and A. M. Okamura (2011) Cutaneous Force Display via Shaped Contacts. In International Conference on Morphological Computation. (BibTeX)

2010

  1. N. H. Bhanpuri, A. M. Okamura and A. J. Bastian (2010) The Cerebellum Contributes to Constant and Dynamic Load Perception but not Position Perception. In Neural Control of Movement Annual Conference. Naples, Florida, April 20 - 25. (BibTeX)
  2. N. Gurari (2010) Characterization of Human Perception Using Haptic Systems and Implications for Upper- Limb Prosthetics. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  3. J. Gwilliam, Z. Pezzementi, E. Jantho and A. M. Okamura and S. S. Hsiao (2010) Human vs. Robotic Tactile Sensing: Detecting Lumps in Soft Tissue. In Haptics Symposium, pages 21-28. (BibTeX)
  4. D. I. Grow, N. H. Bhanpuri, S. K. Charles and A. J. Bastian and A. M. Okamura (2010) A Proposed Method for Correcting Coordination Deficits: Models and Simulation. In IEEE International Conference on Robotics and Automation, Workshop on Softening Rehabilitation Robotics. Anchorage, Alaska, May 3. (BibTeX)
  5. P. G. Griffiths and A. M. Okamura (2010) Defining Performance Tradeoffs for Multi-Degree-of-Freedom Bilateral Teleoperators with LQG Control. In IEEE Conference on Decision and Control, pages 3542-3547. (BibTeX)
  6. A. Blank, A.M. Okamura and K. J. Kuchenbecker (2010) Identifying the Role of Proprioception in Upper-Limb Prosthesis Control: Studies on Targeted Motion. ACM Transactions on Applied Perception, 7(13):15. (BibTeX)
  7. S. K. Charles, A. M. Okamura and A. J. Bastian (2010) Does a Basic Deficit in Force Control Underlie Cerebellar Ataxia? In Neural Control of Movement Annual Conference. Naples, Florida, April 20 - 25. (BibTeX)
  8. J. C. Gwilliam, T. Yoshioka, A. M. Okamura and S. S. Hsiao (2010) Neural coding of lump detection in soft tissue. In Society for Neuroscience Annual Meeting. (BibTeX)
  9. H. H. King, B. Hannaford, K. W. Kwok, G. Z. Yang, P. G. Griffiths, A. M. Okamura, I. Farkhatdinov, J. H. Ryu and G. Sankaranarayanan, V. S. Arikatla, K. Tadano, K. Kawashima and A. Peer, T. Schauss, M. Buss, L. M. Miller, D. Glozman and J. Rosen and T. Low (2010) Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine. In IEEE International Conference on Robotics and Automation, pages 1733-1738. (BibTeX)
  10. A. M. Okamura, M. J. Mataric and H. I. Christensen (2010) Medical and Healthcare Robotics: Achievements and Opportunities. IEEE Robotics and Automation Magazine, 17(3):26-37. (BibTeX)
  11. W. Park, K. B. Reed, A. M. Okamura and G. Chirikjian (2010) Estimation of Model Parameters for Steerable Needles. In IEEE International Conference on Robotics and Automation, pages 3703-3708. (BibTeX)
  12. A. M. Okamura (2010) Haptic Feedback: Technology and Medical Applications. In Handbook of Touch. Springer. (BibTeX)
  13. S. Misra, K. B. Reed, B. W. Schafer, K. T. Ramesh and A. M. Okamura (2010) Mechanics of Flexible Needles Robotically Steered through Soft Tissue. International Journal of Robotics Research, 29(13):1640-1660. (BibTeX)
  14. A. Majewicz, J. Glasser, R. Bauer, S. Belkoff and S. Mears and A. M. Okamura (2010) Design of a Haptic Simulator for Osteosynthesis Screw Insertion. In Haptics Symposium, pages 497-500. (BibTeX)
  15. A. Majewicz, T. Wedlick, K. B. Reed and A. M. Okamura (2010) Evaluation of Needle Steering in Ex Vivo Tissue. In IEEE International Conference on Robotics and Automation, pages 2068-2073. (BibTeX)
  16. S. Misra, K. T. Ramesh and A. M. Okamura (2010) Modeling of Nonlinear Elastic Tissues for Surgical Simulation. Computer Methods in Biomechanics and Biomedical Engineering, 13(6):811-818. (BibTeX)

2009

  1. N. H. Bhanpuri, D. I. Grow, A. M. Okamura and A. J. Bastian (2009) Can Cerebellar Dysmetria be Explained by an Incorrect Internal Model of Limb Dynamics? In Neural Control of Movement Annual Conference. Waikoloa, Hawaii, April 28 - May 3. (BibTeX)
  2. J. Lee, A. M. Okamura and B. Landau (2009) Haptics as an Aid to Coping for People with Williams Syndrome. In Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 356-361. (BibTeX)
  3. S. Misra (2009) Realistic Tool-Tissue Interaction Models For Surgical Simulation and Planning. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  4. S. Misra, P. Fuernstahl, K. T. Ramesh and A. M. Okamura and M. Harders (2009) Quantifying Perception of Nonlinear Elastic Tissue Models using Multidimensional Scaling. In Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 570-575. (BibTeX)
  5. K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura and K. Goldberg (2009) Feedback Control for Steering Needles through 3D Deformable Tissue using Helical Paths. In Robotics: Science and Systems. Seattle, USA, June. (BibTeX)
  6. J. Gwilliam, M. Mahvash, B. Vagvolgyi, A. Vacharat, D. D. Yuh and A. M. Okamura (2009) Effects of Haptic and Graphical Force Feedback for Teleoperated Palpation. In IEEE International Conference on Robotics and Automation, pages 677-682. (BibTeX)
  7. T. L. Gibo, L. N. Verner, D. D. Yuh and A. M. Okamura (2009) Design Considerations and Human-Machine Performance of Moving Virtual Fixtures. In IEEE International Conference on Robotics and Automation, pages 671-676. (BibTeX)
  8. E. Greenwald, J. Pompe, S. Hsiao and A. Okamura (2009) Quantification and Reproduction of Human Hand Skin Stretch and its Effects on Proprioception. In Understanding the Human Hand for Advancing Robotic Manipulation (Workshop at Robotics: Science and Systems Conference). Seattle, WA, June 28. (BibTeX)
  9. N. Gurari, K. J. Kuchenbecker and A. M. Okamura (2009) Stiffness Discrimination with Visual and Proprioceptive Cues. In Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 121-126. (BibTeX)
  10. N. Gurari, K. Smith, M. Madhav and A. M. Okamura (2009) Environment Discrimination with Vibration Feedback to the Foot, Arm, and Fingertip. In IEEE International Conference on Rehabilitation Robotics, pages 343-348. (BibTeX)
  11. S. Misra, K. J. Macura, K. T. Ramesh and A. M. Okamura (2009) The Importance of Organ Geometry and Boundary Constraints for Planning of Medical Interventions. Medical Engineering and Physics, 31(2):195-206. (BibTeX)
  12. S. Misra, K. B. Reed, K. T. Ramesh and A. M. Okamura (2009) Observations of Needle-Tissue Interactions. In 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 262-265. (BibTeX)
  13. T. Wedlick and A. M. Okamura (2009) Characterization of Pre-Curved Needles for Steering in Tissue. In 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 1200-1203. (BibTeX)
  14. R. C. Winck, S. M. Sketch, E. W. Hawkes, D. L. Christensen and H. Jiang, M. R. Cutkosky and A. M. Okamura (2009) Time-delayed Teleoperation for Interactionwith Moving Objects in Space. In IEEE International Conference on Robotics and Automation, Accepted. (BibTeX)
  15. T. Yamamoto, B. Vagvolgyi, K. Balaji, L. Whitcomb and A. M. Okamura (2009) Tissue Property Estimation and Graphical Display for Teleoperated Robot-Assisted Surgery. In IEEE International Conference on Robotics and Automation, pages 4239-4245. (BibTeX)
  16. L. N. Verner (2009) Sensor/Actuator Asymmetries in Telemanipulators. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  17. L. Verner and A. M. Okamura (2009) Force \& Torque Feedback vs Force Only Feedback. In Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 406-410. (BibTeX)
  18. S. Misra, K. B. Reed, B. W. Schafer, K. T. Ramesh and A. M. Okamura (2009) Observations and Models for Needle-Tissue Interactions. In IEEE International Conference on Robotics and Automation, pages 2687-2692. (BibTeX)
  19. A. M. Okamura (2009) Haptic Feedback in Robot-Assisted Minimally Invasive Surgery. Current Opinion in Urology, 19(1):102-107. (BibTeX)
  20. K. B. Reed, A. M. Okamura and N.J. Cowan (2009) Modeling and Control of Needles with Torsional Friction. IEEE Transactions on Biomedical Engineering, 56(12):2905-2916. (BibTeX)
  21. K. B. Reed, A. M. Okamura and N. J. Cowan (2009) Controlling a Robotically Steered Needle in the Presence of Torsional Friction. In IEEE International Conference on Robotics and Automation, pages 3476-3481. (BibTeX)

2008

  1. A. Blank, A. M. Okamura and K. J. Kuchenbecker (2008) Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 141-142. (BibTeX)
  2. K. J. Kuchenbecker, D. Ferguson, M. Kutzer and M. Moses and A. M. Okamura (2008) The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 239-246. (BibTeX)
  3. M. Mahvash, J. Gwilliam, R. Agarwal, B. Vagvolgyi, L.-M. Su, D. D. Yuh and A. M. Okamura (2008) Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 465-471. (BibTeX)
  4. M. Mahvash, L. Voo, D. Kim, K. Jeung and A. M. Okamura (2008) Modeling the Forces of Cutting with Scissors. IEEE Transactions on Biomedical Engineering, 55(3):848-856. (BibTeX)
  5. P. Kazanzides, G. Fichtinger, G. D. Hager, A. M. Okamura and L. L. Whitcomb and R. H. Taylor (2008) Surgical and Interventional Robotics Part I: Core Concepts, Technology, and Design. IEEE Robotics and Automation Magazine, 15(2):122-130. (BibTeX)
  6. B. Hannaford and A. M. Okamura (2008) Chapter 30: Haptics. In Springer Handbook of Robotics, pages 719-739. . Springer. (BibTeX)
  7. L. Doyle, N. Gauthier, S. Ramanathan and A. M. Okamura (2008) A Simulator to Explore the Role of Haptic Feedback in Cataract Surgery Training. In Medicine Meets Virtual Reality. (BibTeX)
  8. G. Fichtinger, P. Kazanzides, A. M. Okamura, G. D. Hager and L. L. Whitcomb and R. H. Taylor (2008) Surgical and Interventional Robotics Part II: Surgical CAD-CAM Systems. IEEE Robotics and Automation Magazine, 15(3):94-102. (BibTeX)
  9. D. I. Grow, M. Wu, M. J. Locastro, S. K. Arora, A. J. Bastian and A. M. Okamura (2008) Haptic Simulation of Elbow Joint Spasticity. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 475-476. (BibTeX)
  10. G. D. Hager, A. M. Okamura, P. Kazanzides, L. L. Whitcomb and G. Fichtinger and R. H. Taylor (2008) Surgical and Interventional Robotics Part III: Surgical Assistance Systems. IEEE Robotics and Automation Magazine, 15(4):84-93. (BibTeX)
  11. P. Marayong, G. D. Hager and A. M. Okamura (2008) Control Methods for Guidance Virtual Fixtures in Compliant Human-Machine Interfaces. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1166-1172. (BibTeX)
  12. S. Misra, K. T. Ramesh and A. M. Okamura (2008) Physically Valid Surgical Simulators: Linear Versus Nonlinear Tissue Models. In Medicine Meets Virtual Reality, pages 293-295. (BibTeX)
  13. C. E Reiley, T. Akinbiyi, D. Burschka, D. C. Chang, A. M. Okamura and D. D. Yuh (2008) Effects of Visual Force Feedback on Robot-Assisted Surgical Task Performance. Journal of Thoracic and Cardiovascular Surgery, 135(1):196-202. (BibTeX)
  14. S. Misra, K. T. Ramesh, and A. M. Okamura (2008) Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review. In Presence: Teleoperators and Virtual Environments, pages 463-491. (BibTeX)
  15. L. N. Verner and A. M. Okamura (2008) Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 267-271. (BibTeX)
  16. T. Yamamoto, M. Bernhardt, A. Peer, M. Buss and A. M. Okamura (2008) Multi-Estimator Technique for Environment Parameter Estimation During Telemanipulation. In IEEE International Conference on Biomedical Robotics and Biomechatronics, pages 217-223. (BibTeX)
  17. K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura and N. J. Cowan (2008) Integrated Planning and Image-Guided Control for Planar Needle Steering. In IEEE International Conference on Biomedical Robotics and Biomechatronics, pages 819-824. (BibTeX)
  18. K. B. Reed (2008) Compensating for Torsion Windup in Steerable Needles. In IEEE International Conference on Biomedical Robotics and Biomechatronics, pages 936-941. (BibTeX)
  19. S. Misra, K. T. Ramesh and A. M. Okamura (2008) Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review. Presence: Teleoperators and Virtual Environments, 17(5):463-491. (BibTeX)
  20. S. Misra, K. B. Reed, A. Douglas, K. T. Ramesh and A. M. Okamura. (2008) Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles. In IEEE International Conference on Biomedical Robotics and Biomechatronics, pages 224-231. (BibTeX)
  21. A. M. Okamura, K. J. Kuchenbecker and M. Mahvash (2008) Measurement-Based Modeling for Haptic Display. In Haptic Rendering: Foundations, Algorithms, and Applications. (M. C. Lin and M. Otaduy, Eds.) AK Peters. (BibTeX)
  22. Z. Pezzementi, D. Ursu, S. Misra and A. M. Okamura (2008) Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 209-215. (BibTeX)

2007

  1. J. J. Abbott, P. Marayong and A. M. Okamura (2007) Haptic Virtual Fixtures for Robot-Assisted Manipulation. In Robotics Research, pages 49-64. . Springer. (BibTeX)
  2. M. Mahvash and A. M. Okamura (2007) Enhancing Transparency of a Position-Exchange Teleoperator. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 470-475. (BibTeX)
  3. P. Marayong (2007) Motion Control Methods for Human-Machine Cooperative Systems. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  4. P. Marayong, H. S. Na and A. M. Okamura (2007) Virtual Fixture Control for Compliant Human-Machine Interfaces. In IEEE International Conference on Robotics and Automation, pages 4018-4024. (BibTeX)
  5. M. Mahvash and A. M. Okamura (2007) Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission. IEEE Transactions on Robotics, 23(6):1240-1246. (BibTeX)
  6. K. J. Kuchenbecker, N. Gurari and A. M. Okamura (2007) Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), March. (BibTeX)
  7. J. J. Abbott and A. M. Okamura (2007) Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures. International Journal of Robotics Research, 26(8):865-884. (BibTeX)
  8. D. I. Grow, L. N. Verner and A. M. Okamura (2007) Educational Haptics. In AAAI 2007 Spring Symposia - Robots and Robot Venues: Resources for AI Education. (BibTeX)
  9. N. Gurari and A. M. Okamura (2007) Human Performance in a Knob-Turning Task. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 96-101. (BibTeX)
  10. K. J. Kuchenbecker, N. Gurari and A. M. Okamura (2007) Effects of Visual and Proprioceptive Motion Feedback on Human Control of Targeted Movement. In IEEE International Conference on Rehabilitation Robotics, pages 513-524. (BibTeX)
  11. S. Misra, A. M. Okamura and K. T. Ramesh (2007) Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 519-524. (BibTeX)
  12. A. M. Okamura, L. N. Verner, C. E. Reiley and M. Mahvash (2007) Haptics for Robot-Assisted Minimally Invasive Surgery. In International Symposium Robotics Research. Springer-Verlag. (BibTeX)
  13. L. N. Verner and A. M. Okamura (2007) Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 286-291. (BibTeX)
  14. R. J. Webster (2007) Design and Mechanics of Continuum Robotics for Surgery. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  15. T. Yamamoto and A. M. Okamura (2007) Evaluation of Human Performance with Kinematic and Haptic Errors. In Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics) Pages 78-83. (BibTeX)
  16. S. Saha, M. Mahvash, L. N. Verner and A. M. Okamura (2007) Force Sensing in Robot-Assisted Surgery: Which Degrees of Freedom are Most Important? In Medicine Meets Virtual Reality (MMVR) 15. Long Beach, CA, USA, February 6-9. (BibTeX)
  17. J. M. Romano, R. J. Webster III and A. M. Okamura (2007) Teleoperation of Steerable Needles. In IEEE International Conference on Robotics and Automation, pages 934-939. (BibTeX)
  18. N. Ng Pak, R. J. Webster III, A. Menciassi and P. Dario (2007) Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots. In IEEE International Conference on Robotics and Automation 2007, pages 3371-3376. (BibTeX)
  19. Z. Pezzementi, G. D. Hager and A. M. Okamura (2007) Dynamic Guidance with Pseudoadmittance Virtual Fixtures. In IEEE International Conference on Robotics and Automation, pages 1761-1767. (BibTeX)
  20. M. Quirini, R. J. Webster III, A. Menciassi and P. Dario (2007) Design of a Pill-Sized 12-legged Endoscopic Capsule Robot. In IEEE International Conference on Robotics and Automation, pages 1856-1862. (BibTeX)
  21. C. E. Reiley (2007) Evaluation of Augmented Reality Alternatives to Direct Force Feedback in Robot-Assisted Surgery: Visual Force Feedback and Virtual Fixtures. Master's thesis, Department of Computer Science, The Johns Hopkins University. (BibTeX)

2006

  1. J. J. Abbott and A. M. Okamura (2006) Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures. In 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 169-175. (BibTeX)
  2. R. J. Webster III, J. S. Kim, N. J. Cowan and G. S. Chirikjian and A. M. Okamura (2006) Nonholonomic Modeling of Needle Steering. International Journal of Robotics Research, 25(5-6):509-525. (BibTeX)
  3. R. J. Webster III, A. M. Okamura and N. J. Cowan (2006) Toward Active Cannulas: Miniature Snake-Like Surgical Robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Beijing, China, October 9-15. (BibTeX)
  4. R. J. Webster III, N. J. Cowan, G. S. Chirikjian and A. M. Okamura (2006) Nonholonomic Modeling of Needle Steering. In 9th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, March, pages 35 - 44. (BibTeX)
  5. R. J. Webster III (2006) Object Capture With a Camera-Mobile Robot System: An Introductory Robotics Project. IEEE Robotics and Automation Magazine, 13(1):85-88. (BibTeX)
  6. J. J. Abbott and A. M. Okamura (2006) Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation. ASME Journal of Dynamic Systems, Measurement, and Control, 128:53-64. (BibTeX)
  7. T. Akinbiyi, C. E. Reiley, S. Saha, D. Burschka, C. J. Hasser, D. D. Yuh and A. M. Okamura (2006) Dynamic Augmented Reality for Sensory Substitution in Robot-Assisted Surgical Systems. In 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 567-570. (BibTeX)
  8. H. C. Lin, P. Marayong, K. Mills, R. Karam, P. Kazanzides and A. M. Okamura and G. D. Hager (2006) Portability and Applicability of Virtual Fixtures Across Medical and Manufacturing Tasks. In IEEE International Conference on Robotics and Automation, pages 225-340. (BibTeX)
  9. M. Mahvash and A. M. Okamura (2006) Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission. In 45th IEEE Conference on Decision and Control, pages 4508-4513. (BibTeX)
  10. L. N. Verner and A. M. Okamura (2006) Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback. In 14th Symp. on Haptic Interfaces for Virtual Env. and Teleoperator Sys., pages 309-314. (BibTeX)
  11. M. Wu and A. M. Okamura (2006) Effects of Haptic Feedback on Exploration. In 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 407-411. (BibTeX)
  12. S. Saha (2006) Appropriate Degrees of Freedom of Force Sensing in Robot-Assisted Minimally Invasive Surgery. Master's thesis, Department of Biomedical Engineering, The Johns Hopkins University. (BibTeX)
  13. A. M. Okamura (2006) Robotics with a Human Touch: Haptics and Medical Applications. Journal of the Robotics Society of Japan (Special Issue on Women in Robotics), 24(5):26-28. (BibTeX)
  14. M. Mahvash and A. M. Okamura (2006) Friction Compensation for a Force-Feedback Telerobotic System. In IEEE International Conference on Robotics and Automation, pages 3268-3273. (BibTeX)
  15. P. Marayong, G. D. Hager and A. M. Okamura (2006) Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces. In 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 109-115. (BibTeX)
  16. S. Misra and A. M. Okamura (2006) Environment Parameter Estimation During Bilateral Telemanipulation. In 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 301-307. (BibTeX)