CHARM LAB Main/Publications

Publications

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.. (BibTeX)
  2. 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)
  3. 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, Accepted., pages 4369-4374. (BibTeX)
  4. 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 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.. (BibTeX)
  5. Y. Kuroda, I. Nisky, Y. Uranishi, M. Imura, A. M. Okamura and O. Oshiro (2013) Novel Algorithm for Real-Time Onset Detection of Surface Electromyography in Step-Tracking Wrist Movements. In the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.. (BibTeX)
  6. Gurari, N., Kuchenbecker, K.J. and Okamura, A.M. (2013) Perception of Springs With Visual and Proprioceptive Motion Cues: Implications for Prosthetics. IEEE Transactions on Human-Machine Systems, 43(1):102-114. (BibTeX)
  7. 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)
  8. De Lorenzo, D., Koseki, Y., De Momi, E., Chinzei, K. and Okamura, A.M. (2013) Coaxial Needle Insertion Assistant With Enhanced Force Feedback. IEEE Transactions on Biomedical Engineering, 60(2):379-389. (BibTeX)
  9. T. L. Gibo, A. J. Bastian and A. M. Okamura (2013) Effect of age on stiffness modulation during postural maintenance of the arm. In 13th International Conference on Rehabilitation Robotics.. (BibTeX)
  10. T. L. Gibo, S. E. Criscimagna-Hemminger, A. M. Okamura and A. J. Bastian (2013) Cerebellar motor learning: Are environment dynamics more important than error size? Journal of Neurophysiology. (BibTeX)
  11. 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. (BibTeX)
  12. I. Nisky, M. H. Hsieh and A. M. Okamura (2013) Sensorimotor Performance in Robot Assisted Surgery. In Neural Control of Movement Annual Meeting. Puerto Rico, April 16-20. (BibTeX)
  13. 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. (BibTeX)
  14. 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. (BibTeX)
  15. T.R. Wedlick (2013) Models and Techniques To Enhance the Accuracy of Robotic Needle Insertion. PhD thesis, The Johns Hopkins University. (BibTeX)
  16. 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, Accepted.. (BibTeX)
  17. 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)
  18. 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)
  19. 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. San Diego, California, May 4-8. (BibTeX)
  20. 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. (BibTeX)
  21. 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. (BibTeX)
  22. 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)

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. 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)
  3. D. Damian, M. Ludersdorfer, Y. Kim, A. Hernandez Arieta, 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)
  4. 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)
  5. Blank, A., Okamura, A.M. and Whitcomb, L.L. (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)
  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. 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)
  9. J. C. Gwilliam, M. Bianchi, L. Su and A. M. Okamura (2012) Characterization and Psychophysical Studies of an Air-Jet Lump Display. IEEE Transactions on Haptics. (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, 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. (PDF) (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. Jayakumar, R.P., Mishra, S.K., Dannenhoffer, J.F. and Okamura, A.M. (2012) Haptic footstep display. In IEEE Haptics Symposium., pages 425-430. (BibTeX)
  16. Timothy N. Judkins, Mark Stevenson, David Mayhew and Allison 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. N. J. Cowan, K. Goldberg, G. S. Chirikjian, G. Fichtinger, 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  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. 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)
  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. A. M. Okamura, L. N. Verner, T. Yamamoto, 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)
  12. M. Ludersdorfer, D. D. Damian, A. Hernandez Arieta, R. Pfeifer and A. M. Okamura (2011) Cutaneous Force Display via Shaped Contacts. In International Conference on Morphological Computation.. (BibTeX)
  13. 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)
  14. 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)

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. J. Gwilliam, Z. Pezzementi, E. Jantho, 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)
  3. 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)
  4. D. I. Grow, N. H. Bhanpuri, S. K. Charles, 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. H. H. King, B. Hannaford, K. W. Kwok, G. Z. Yang, P. G. Griffiths, A. M. Okamura, I. Farkhatdinov, J. H. Ryu, G. Sankaranarayanan, V. S. Arikatla, K. Tadano, K. Kawashima, A. Peer, T. Schauss, M. Buss, L. M. Miller, D. Glozman, 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)
  9. A. Majewicz, J. Glasser, R. Bauer, S. Belkoff, S. Mears and A. M. Okamura (2010) Design of a Haptic Simulator for Osteosynthesis Screw Insertion. In Haptics Symposium., pages 497-500. (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, 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)
  15. 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. 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)
  3. 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)
  4. S. Misra (2009) Realistic Tool-Tissue Interaction Models For Surgical Simulation and Planning. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  5. 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)
  6. 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)
  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. S. Misra, P. Fuernstahl, K. T. Ramesh, 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)
  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. L. N. Verner (2009) Sensor/Actuator Asymmetries in Telemanipulators. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (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. 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)
  15. 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)
  16. 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)
  17. 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)
  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)

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, 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, 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, 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, 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. 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)
  14. 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)
  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. 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)
  17. 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)
  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. R. J. Webster, III (2007) Design and Mechanics of Continuum Robotics for Surgery. PhD thesis, Department of Mechanical Engineering, 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, 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, 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)

2005

  1. J. J. Abbott (2005) Virtual Fixtures for Bilateral Telemanipulation. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  2. J. R. Crouch, C. M. Schneider, J. Wainer and A. M. Okamura (2005) A Velocity-Dependent Model for Needle Insertion in Soft Tissue. In Medical Image Computing and Computer Assisted Intervention., pages 624-632. (BibTeX)
  3. R. J. Webster III, J. Memisevic and A. M. Okamura (2005) Design Considerations for Robotic Needle Steering. In IEEE International Conference on Robotics and Automation., pages 3599-3605. (BibTeX)
  4. R. J. Webster III, T. E. Murphy, L. N. Verner and A. M. Okamura (2005) A Novel Two-Dimensional Tactile Slip Display: Design, Kinematics and Perceptual Experiment. ACM Transactions on Applied Perception, 2(2):150-165. (BibTeX)
  5. R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian and A. M. Okamura (2005) Steering Flexible Needles Under Markov Motion Uncertainty. In IEEE/RSJ International Conference on Intelligent Robots and Systems., pages 120-125. (BibTeX)
  6. R. Alterovitz, K. Goldberg and A. M. Okamura (2005) Planning for Steerable Bevel-Tip Needle Insertion Through 2D Soft Tissue with Obstacles. In IEEE International Conference on Robotics and Automation., pages 1652-1657. (BibTeX)
  7. J. J. Abbott and A. M. Okamura (2005) Effects of Position Quantization and Sampling Rate on Virtual Wall Passivity. IEEE Transactions on Robotics, 21(5):952 - 964. (BibTeX)
  8. T. Akinbiyi (2005) Intelligent Instruments and Visual Force Feedback in Laparoscopic Minimally Invasive Surgery. Master's thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
  9. T. Akinbiyi, A. M. Okamura and D. D. Yuh (2005) Dynamic Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems. In Medicine Meets Virtual Reality 13. (J. D. Westwood, et al., Eds.) IOS Press, page 13. (BibTeX)
  10. K. A. Jeung, M. J. Shumski and A. M. Okamura (2005) A Novel Two-Dimensional Tactile Slip Display. In Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics).. (BibTeX)
  11. J. Kemper, A. Burkholder, T. Mustufa, K. Wyrobek, E. C. Burdette, A. M. Okamura, D. Y. Song and G. Fichtinger (2005) Transrectal Fiducial Carrier for Radiographic Image Registration in Prostate Brachytherapy. In Conference of American Association of Physicists in Medicine.. (BibTeX)
  12. L. N. Verner, K. A. Jeung and A. M. Okamura (2005) The Effects of Gripping and Translational Forces on Teleoperation. In Multi-point Interaction with Real and Virtual Objects, Springer Tracks in Advanced Robotics. (F. Barbagli and D. Prattichizzo and K. Salisbury, Eds.) Springer, pages 231-242. (BibTeX)
  13. C. Wong and A. M. Okamura (2005) The Snaptic Paddle: A Modular Haptic Device. In Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics)., pages 537-538. (BibTeX)
  14. M. Wu, J. J. Abbott and A. M. Okamura (2005) Effects of Velocity on Human Force Control. In Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics)., pages 73-79. (BibTeX)
  15. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura and G. S. Chirikjian (2005) Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model. In IEEE International Conference on Robotics and Automation., pages 4611-4616. (BibTeX)
  16. M. Mahvash and A. M. Okamura (2005) A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors. In Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics)., pages 356-362. (BibTeX)
  17. M. Kitagawa, D. Dokko, A. M. Okamura and D. D. Yuh (2005) Effect of Sensory Substitution on Suture Manipulation Forces for Robotic Surgical Systems. Journal of Thoracic and Cardiovascular Surgery, 129(1):151-158. (BibTeX)
  18. D. Kragic, P. Marayong, M. Li, A. M. Okamura and G. D. Hager (2005) Human Machine Collaborative Systems for Microsurgical Applications. International Journal of Robotics Research, 24(9):731-742. (BibTeX)
  19. H. C. Lin, I. Shafran, T. E. Murphy, A. M. Okamura, D. D. Yuh and G. D. Hager (2005) Automatic Detection and Segmentation of Robot-Assisted Surgical Motions. In Medical Image Computing and Computer Assisted Intervention., pages 802-810. (BibTeX)