Submitted

1. N. Agharese and A. M. Okamura (Submitted) Configuration and Fabrication of Preformed Vine Robots.. (URL) (BibTeX)
2. Y. Qin and A. M. Okamura (Submitted) Design, Control, and Modeling for Soft Growing Robot Deployment in Radiation-Contaminated Environments. In Institute of Nuclear Materials Management (INMM) Annual Meeting. (BibTeX)
3. H. Seong, Z. Zhakypov, A. M. Okamura, and J.-H. Ryu (Submitted) A Novel Haptic Device Design with a TSA-based Rhombus Structure. In International Conference on Control, Automation and Systems (ICCAS). (BibTeX)
4. N. S. Usevitch, T. Halsted, Z. M. Hammond, A. M. Okamura, and M. Schwager (Submitted) Distributed control of truss robots using consensus alternating direction method of multipliers.. (URL) (BibTeX)

2024

1. R. A. G. Adenekan, K. T. Yoshida, A. Benyoucef, A. Gonzalez Reyes, A. E. Adenekan, A. M. Okamura, and C. M. Nunez (2024) Reliability of Smartphone-Based Vibration Threshold Measurements. In IEEE Haptics Symposium, Accepted. (URL) (BibTeX)
2. B. H. Do, S. Wu, R. R. Zhao and A. M. Okamura (2024) Stiffness Change for Reconfiguration of Inflated Beam Robots. Soft Robotics, Accepted. (URL) (BibTeX)
3. N. Heravi, H. Culbertson, A. M. Okamura, and J. Bohg (2024) Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering. IEEE Transactions on Haptics. (URL) (BibTeX)
4. C. Cuan, A. M. Okamura and M. Khansari (2024) Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models. IEEE Transactions on Haptics, In press. (URL) (BibTeX)
5. T. Ren, Z. Yu, B. Vuong, A. Meola, and A. Okamura (2024) Concentric Agonist-antagonist Robots for Neurosurgical Applications. In Soft Robotics Inspired Biology Workshop 2024 at the IEEE-RAS International Conference on Soft Robotics. (URL) (BibTeX)
6. R. A. G. Adenekan, A. Gonzalez Reyes, K. T. Yoshida, S. Kodali, A. M. Okamura and C. M. Nunez (2024) A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites. IEEE Transactions on Haptics. (URL) (BibTeX)
7. M. Ahlquist, R. Jitosho, J. Bao, and A. Okamura (2024) phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots. In IEEE International Conference on Soft Robotics, Accepted. (BibTeX)
8. S. Kodali, C. C. Cruz, T. C. Bulea, K. Rao, D. Bharucha-Goebel, A. T. Chesler, C. G. Bonnemann, and A. M. Okamura (2024) Spatial Summation of Localized Pressure for Haptic Sensory Prostheses. In Haptics Symposium Work-in-Progress Paper. (BibTeX)
9. A. M. Kuebler, C. du Pasquier, A. Low, B. Djambazi, N. Aymon, J. Foerster, N. Agharese, R. Siegwart, and A. M. Okamura (2024) A Comparison of Pneumatic Actuators for Soft Growing Vine Robots. Soft Robotics, accepted. (URL) (BibTeX)
10. K. Rao, A. M. Okamura, S. Kodali, A. T. Chesler, D. Bharucha-Goebel, C. G. Bonnemann, and T. C. Bulea (2024) Design and Testing of a Robotic Apparatus to Characterize Sensitivity to Deep Pressure Stimuli. In Haptics Symposium Work-in-Progress Paper. (BibTeX)
11. K. T. Yoshida, Z. Zook, H. Choi, M. Luo, M. K. O'Malley and A. M. Okamura (2024) Design and evaluation of a 3-DOF haptic device for directional shear cues on the forearm. IEEE Transactions on Haptics. (URL) (BibTeX)
12. M. Raitor, C. M. Nunez, P. J. Stolka, A. M. Okamura, and H. Culbertson (2024) Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures. IEEE Transactions on Biomedical Engineering, 71(1):26-35. (URL) (BibTeX)
13. J. E. Palmer, B. B. Vuong, Z. Zhakypov, Y. Qin, L. Tilton, and A. M. Okamura (2024) Haptic Relocation of Virtual Finger Forces via Pneumatic Wrist-Worn Haptic Devices. In IEEE Haptics Symposium, Accepted. (BibTeX)
14. Y. A. Oquendo, M. M. Coad, S. M. Wren, T. S. Lendvay, I. Nisky, A. M. Jarc, A. M. Okamura and Z.Chua (2024) Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment. IEEE Transactions on Haptics. (URL) (BibTeX)
15. O. G. Osele, K. Barhydt, N. Cerone, A. M. Okamura, and H. H. Asada (2024) Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots. In IEEE International Conference on Robotics and Automation. (BibTeX)

2023

1. Z. Chua and A. M. Okamura (2023) A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research. Sensors, 23(11):5230. (URL) (BibTeX)
2. S. Kodali, B. B. Vuong, T. C. Bulea, A. T. Chesler, C. G. Bonnemann, and A. M. Okamura (2023) Wearable Sensory Substitution for Proprioception via Deep Pressure. In IEEE World Haptics Conference, pages 286-292. (URL) (BibTeX)
3. R. Jitosho, T. Lum, A. Okamura, and C. K. Liu (2023) Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms. In {7th {{Annual Conference}} on {{Robot Learning}}}. (URL) (BibTeX)
4. R. Jitosho, S. Simon-Trench, A. Okamura, and B. H. Do (2023) Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots. In IEEE International Conference on Soft Robotics, April. (URL) (BibTeX)
5. C. du Pasquier, S. Jeong, and A. M. Okamura (2023) Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots. IEEE Robotics Automation Letters, 8(11):7416-7423. (URL) (BibTeX)
6. R. Eguchi, D. Vacek, C. Godzinski, and A. M. Okamura (2023) Between-Tactor Display Using Dynamic Tactile Stimuli for Directional Cueing in Vibrating Environments. IEEE Transactions on Haptics. (URL) (BibTeX)
7. A. M. Kuebler, S. Urdaneta Rivera, F. B. Raphael, J. Foerster, R. Siegwart, and A. M. Okamura (2023) A Multi-Segment, Soft Growing Robot with Selective Steering. In IEEE International Conference on Soft Robotics, DOI: 10.1109/RoboSoft55895.2023.10122091. (URL) (BibTeX)
8. K. Perrone, A. E. Abdelaal, C. Pugh, and A. M. Okamura (2023) Haptics: The Science of Touch as a Foundational Pathway to Precision Education and Assessment. Academic Medicine -- Journal of the Association of American Medical Colleges. (URL) (BibTeX)
9. K. T. Yoshida, J. X. Kiernan, R. A. G. Adenekan, S. H. Trinh, A. J. Lowber, A. M. Okamura, and C. M. Nunez (2023) Cognitive and Physical Activities Impair Perception of Smartphone Vibrations. IEEE Transactions on Haptics, 16(4):672-679. (URL) (PDF) (BibTeX)
10. K. T. Yoshida, J. X. Kiernan, A. M. Okamura, and C. M. Nunez (2023) Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device. In IEEE World Haptics Conference, pages 121-127. (PDF) (BibTeX)
11. E. D. Vasquez, C. S. Simpson, G. Zhou, M. G. Lansberg and A. M. Okamura (2023) Evaluation of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support. In IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR) Pages 1-6. (URL) (BibTeX)
12. F. Stroppa, M. Selvaggio, N. Agharese, M. Luo, L. H. Blumenschein, E. W. Hawkes, and A. M. Okamura (2023) Shared-control Teleoperation Paradigms on a Soft-Growing Robot Manipulator. Journal of Intelligent \& Robotic Systems, doi: https://doi.org/10.1007/s10846-023-01919-x. (URL) (BibTeX)
13. C. Seim, B. Chen, C. Han, A. Lowber, M. G. Lansberg, and A. M. Okamura (2023) Daily vibrotactile stimulation from a wearable device exhibits equal or greater spasticity relief than botulinum toxin in stroke. Archives of Physical Medicine and Rehabilitation. (URL) (BibTeX)
14. C. Seim, B. Chen, C. Han, D. Vacek, L. S. Wu, M. G. Lansberg, and A. M. Okamura (2023) Relief of Post-Stroke Spasticity With Acute Vibrotactile Stimulation: Controlled Crossover Study of Muscle and Skin Stimulus Methods. Frontiers in Human Neuroscience, section on Motor Neuroscience. (URL) (BibTeX)

2022

1. R. A. G. Adenekan, R. Lowber, B. Huerta, A. M. Okamura, K. T. Yoshida, and C. M. Nunez (2022) Feasibility of Smartphone Vibrations as a Sensory Diagnostic Tool. In EuroHaptics Work-in-Progress Paper, pages 337-339. (URL) (BibTeX)
2. I. Exarchos, B. H. Do, F. Stroppa, M. M. Coad, A. M. Okamura, and C. K. Liu (2022) Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints. In IEEE International Conference on Robotics and Automation, pages 7145-7151. (URL) (BibTeX)
3. N. Heravi (2022) Multimodal Object Representation Learning in Haptic, Auditory, and Visual Domains. PhD thesis, Stanford University. (BibTeX)
4. S. Kodali, A. M. Okamura, T. C. Bulea, A. T. Chesler, and C. G. Bonnemann (2022) Wearable Haptic Device for Individuals with Congenital Absence of Proprioception. In EuroHaptics Work-in-Progress Paper, pages 433-435. (URL) (BibTeX)
5. O. G. Osele, A. M. Okamura, and B. H. Do (2022) A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes. In IEEE International Conference on Robotics and Automation, pages 1190-1196. (URL) (BibTeX)
6. C. M. Nunez, B. H. Do, A. K. Low, L. H. Blumenschein, K. Yamane, and A. M. Okamura (2022) A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 591-598. (BibTeX)
7. R. Eguchi, D. Vacek, C. Godzinski, S. Curry, M. Evans, and A. M. Okamura (2022) Between-Tactor Display Using Dynamic Tactile Stimuli. In EuroHaptics Work-in-Progress Paper. (URL) (BibTeX)
8. B. H. Do, I. Choi, and S. Follmer (2022) An All-Soft Variable Impedance Actuator Enabled by Embedded Layer Jamming. In IEEE/ASME Transactions on Mechatronics, pages 5529-5540. (BibTeX)
9. L. H. Blumenschein, M. Koehler, N. S. Usevitch, E. W. Hawkes, D. C. Rucker and A. M. Okamura (2022) Geometric Solutions for General Actuator Routing on Inflated Beam Soft Growing Robots. IEEE Transactions on Robotics, 38(3):1820-1840. (URL) (BibTeX)
10. H. Choi, D. Brouwer, M. A. Lin, K. Yoshida, C. Rognon, B. Stephens-Fripp, A. M. Okamura, and M. Cutkosky (2022) Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3659-3665. (URL) (BibTeX)
11. Z. Chua (2022) Visual Force Estimation in Robot-assisted Minimally Invasive Surgery (embargoed until February 2023). PhD thesis, Stanford University. (BibTeX)
12. C. Cuan, A. M. Okamura and M. Khansari (2022) Analyzing the Effect of Haptic Feedback on Robotic Teleoperation Data Collection. In Robotics Science and Systems Workshop on Overlooked Aspects of Imitation Learning. (URL) (BibTeX)
13. Z. Chua and A. M. Okamura (2022) Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1471-1478. (URL) (BibTeX)
14. J. E. Palmer, M. Sarac, A. Garza, and A. M. Okamura (2022) Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 628-633. (URL) (BibTeX)
15. M. Salvato (2022) Data-Driven Methods for Improving Social Interaction in Virtual Environments. PhD thesis, Stanford University. (BibTeX)
16. C. G. Welker, S. H. Collins, and A. M. Okamura (2022) Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement. IEEE Transactions on Haptics, 15(4):741-752. (URL) (BibTeX)
17. S. R. Williams, J. M. Suchoski, Z. Chua and A. M. Okamura (2022) A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. IEEE Robotics and Automation Letters, 7(2):3310-3317. (URL) (BibTeX)
18. C. E. Winston, Z. Zhakypov, M. R. Cutkosky and A. M. Okamura (2022) A 4-Degree-of-Freedom Origami Fingertip Haptic Device with Pneumatic Actuators. In International Conference on Robotics and Automation 2022, Leveraging Advancements in Smart Materials Science: Soft Robots Gaining New Abilities Through Smart and Functional Materials. (URL) (BibTeX)
19. Z. Zhakypov and A. M. Okamura (2022) FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation. In International Conference on Soft Robotics (RoboSoft) Pages 938-404. (URL) (BibTeX)
20. Z. Zhakypov, Y. Qin and A. M. Okamura (2022) Hoxels: Fully 3-D Printed Soft Multi-Modal & Multi-Contact Haptic Voxel Displays for Enriched Tactile Information Transfer. In International Conference on Robotics and Automation 2022, Workshop on Leveraging Advancements in Smart Materials Science: Soft Robots Gaining New Abilities Through Smart and Functional Materials. (URL) (BibTeX)
21. E. D. Vasquez, C. S. Simpson, G. Zhou, G. Waguespack, B. N. Huerta, E. W. Hawkes, M. G. Lansberg and A. M. Okamura (2022) Feasibility of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support. In RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. (PDF) (BibTeX)
22. E. D. Vasquez, A. M. Okamura and S. Follmer (2022) Social-Cultural Factors in the Design of Technology for Hispanic People with Stroke. In IEEE International Conference on Human-Robot Interaction, Workshop on Inclusive HRI: Equity and diversity in design, application, methods, and community. (URL) (BibTeX)
23. Salvato, M., R. Williams, S., M. Nunez, C., Zhu, X., Israr, A., Lau, F., Klumb, K., Abnousi, F., M. Okamura, A. and Culbertson, H. (2022) Data-Driven Sparse Skin Stimulation Can Convey Social Touch Information to Humans. IEEE Transactions on Haptics, 15(2):392-404. (URL) (BibTeX)
24. M. Salvato, N. Heravi, A. M. Okamura, and J. Bohg (2022) Predicting Hand-Object Interaction for Improved Haptic Feedback in Mixed Reality. IEEE Robotics and Automation Letters, 7(2):3851-3857. (URL) (BibTeX)
25. M. Sarac, T. M. Huh, H. Choi, M. R. Cutkosky, M. Di Luca, and A. M. Okamura (2022) Perceived Intensities of Normal and Shear Skin Stimuli using a Wearable Haptic Bracelet. IEEE Robotics and Automation Letters, 7(3):6099-6106. (URL) (BibTeX)
26. C. Seim, B. Ritter, T. Starner, K. Flavin, M. G. Lansberg, and A. M. Okamura (2022) Design of a Wearable Vibrotactile Stimulation Device for Individuals With Upper-Limb Hemiparesis and Spasticity. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 30:1277-1287. (URL) (BibTeX)
27. M. Sarac, M. Di Luca, and A. M. Okamura (2022) Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence. IEEE/RSJ International Conference on Intelligent Robots and Systems. (URL) (BibTeX)

2021

1. Z. Chua, A. M. Jarc and A. M. Okamura (2021) Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State. In IEEE International Conference on Robotics and Automation, pages 12335-12341. (URL) (BibTeX)
2. R. Jitosho, N. Agharese, A. Okamura, and Z. Manchester (2021) A Dynamics Simulator for Soft Growing Robots. In IEEE International Conference on Robotics and Automation, pages 11775-11781. (URL) (BibTeX)
3. T. K. Morimoto, M. Orta Martinez, R. Davis, P. Blikstein, and A. M. Okamura (2021) Teaching with Hapkit: Enabling Online Haptics Courses with Hands-on Laboratories. IEEE Robotics and Automation Magazine, 28(3):79-91. (URL) (BibTeX)
4. A. M. Gruebele, A. C. Zerbe, M. M. Coad, A. M. Okamura, and M. R. Cutkosky (2021) Distributed Sensor Networks Deployed Using Soft Growing Robots. In IEEE International Conference on Soft Robotics, pages 66-73. (URL) (BibTeX)
5. B. H. Do, A. M. Okamura, K. Yamane, and L.H. Blumenschein (2021) Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays. In IEEE International Conference on Robotics and Automation, pages 14499-14505. (URL) (BibTeX)
6. M. M. Coad (2021) Design, modeling, and control of vine robots for exploration of unknown environments. PhD thesis, Stanford University. (URL) (BibTeX)
7. D. R. Deo, P. Rezaii, L. R. Hochberg, A. M. Okamura, K. V. Shenoy and J. M. Henderson (2021) Effects of Peripheral Haptic Feedback on Intracortical Brain-Computer Interface Control and Associated Sensory Responses in Motor Cortex. IEEE Transactions on Haptics, DOI: 10.1109/TOH.2021.3072615, 14(4):762-775. (URL) (BibTeX)
8. M. Sarac, K. Hallett, J. Saunders, B. Makled and A. M. Okamura and (2021) Augmented Needle Decompression Task with a Wrist-Worn Haptic Device. In IEEE World Haptics Conference, Work-in-Progress Paper. (URL) (BibTeX)
9. M. Sarac, D. Loke, M. Evans, O. Chong, J. Saunders, B. Makled, A. M. Okamura, and K. Hallett (2021) Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device. In IEEE World Haptics Conference, Work-in-Progress Paper. (URL) (BibTeX)
10. S. Williams and A. M. Okamura (2021) Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm. IEEE Transactions on Haptics, 14(2):432-444. (URL) (BibTeX)
11. C. Winston, K. T. Yoshida, S. R. Williams and A. M. Okamura (2021) Embedded Laser-Cut Constraints for Elastomeric Soft Actuators. In IEEE World Haptics Conference, Work-in-Progress Paper. (URL) (BibTeX)
12. S. R. Williams (2021) Wearable Haptic Devices for Social and Virtual Interactions. PhD thesis, Stanford University. (URL) (BibTeX)
13. C. G. Welker, S. H. Collins, and A. M. Okamura (2021) Human Perception of Wrist Torque Magnitude During Upper and Lower Extremity Movement. In IEEE World Haptics Conference, Work-in-Progress Paper. (URL) (BibTeX)
14. C. Seim, B. Ritter, K. Flavin, M. G. Lansberg, and A. M. Okamura (2021) Affective Ratings of Vibrotactile Signals in Older Adults With and Without History of Stroke. In IEEE World Haptics Conference, pages 457-462. (URL) (BibTeX)
15. C. G. Welker (2021) Sensorimotor Control of Lower-Limb Assistive Devices. PhD thesis, Stanford University. (URL) (BibTeX)
16. C. G. Welker, V. L. Chiu, A. S. Voloshina, S. H. Collins, and A. M. Okamura (2021) Teleoperation of an Ankle-foot Prosthesis with a Wrist Exoskeleton. IEEE Transactions on Biomedical Engineering, 68(5):1714-1725. (URL) (BibTeX)

2020

1. L. H. Blumenschein, M. M. Coad, D. A. Haggerty, A. M. Okamura and E. W. Hawkes (2020) Design, Modeling, Control, and Application of Everting Vine Robots. Frontiers in Robotics and AI, 7:153. (URL) (BibTeX)
2. J. D. Greer, L. H. Blumenschein, R. Alterovitz, E. W. Hawkes and A. M. Okamura (2020) Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment. International Journal of Robotics Research, 39(14):1724-1738. (URL) (BibTeX)
3. N. Heravi, W. Yuan, A. M. Okamura, and J. Bohg (2020) Learning an Action-Conditional Model for Haptic Texture Generation. In IEEE International Conference on Robotics and Automation, pages 11088-11095. (URL) (BibTeX)
4. S. Jeong, M. M. Coad, L. H. Blumenschein, M. Luo, U. Mehmood, J. Kim, A. M. Okamura, and J. Ryu (2020) A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 8781-8788. (URL) (BibTeX)
5. M. I. S. Koehler (2020) Model-based design and control of deformable robots and haptic devices. PhD thesis, Stanford University. (URL) (BibTeX)
6. L. T. Gan, L. H. Blumenschein, Z. Huang, A. M. Okamura, E. W. Hawkes and J. A. Fan (2020) 3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots. IEEE Robotics and Automation Letters, 5(2):1704-1711. (URL) (BibTeX)
7. B. H. Do, V. Banashek, and A. M. Okamura (2020) Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots. In IEEE International Conference on Robotics and Automation, pages 9050-9056. (URL) (BibTeX)
8. Y. Che, A. M. Okamura, and D. Sadigh (2020) Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication. IEEE Transactions on Robotics, 36(3):692-707. (URL) (BibTeX)
9. Z. Chua, A. M. Jarc, S. Wren, I. Nisky, and A. M. Okamura (2020) Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation. IEEE Transactions on Medical Robotics and Bionics, 2(4):586-597. (URL) (BibTeX)
10. Z. Chua, A. M. Okamura, and D. Deo (2020) Evaluation of Non-collocated Force Feedback Driven by Signal-independent Noise. In IEEE International Conference on Robotics and Automation, pages 3686-3692. (URL) (BibTeX)
11. M. M. Coad, L. H. Blumenschein, S. Cutler, J. A. Reyna Zepeda, N. D. Naclerio, H. El-Hussieny, U. Mehmood, J.-H. Ryu, E. W. Hawkes, and A. M. Okamura (2020) Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration. IEEE Robotics and Automation Magazine, 27(3):120-132. (URL) (BibTeX)
12. M. M. Coad, R. P. Thomasson, L. H. Blumenschein, N. S. Usevitch, E. W. Hawkes, and A. M. Okamura (2020) Retraction of Soft Growing Robots without Buckling. IEEE Robotics and Automation Letters, 5(2):2115-2122. (URL) (BibTeX)
13. M. Koehler, N. Usevitch, and A. M. Okamura (2020) Model-Based Design of a Soft 3D Haptic Shape Display. IEEE Transactions on Robotics, 36(3):613-628. (URL) (BibTeX)
14. C. M. Nunez, B. N. Huerta, A. M. Okamura, and H. Culbertson (2020) Investigating Social Haptic Illusions for Tactile Stroking (SHIFTS). In IEEE Haptics Symposium, pages 629-636. (URL) (BibTeX)
15. N. S. Usevitch (2020) Design and control of soft shape-changing robots. PhD thesis, Stanford University. (URL) (BibTeX)
16. J. M. Walker and A. M. Okamura (2020) Continuous Closed-Loop 4-Degree-of-Freedom Holdable Haptic Guidance. IEEE Robotics and Automation Letters, 5(4):6853-6860. (URL) (BibTeX)
17. J. M. Walker (2020) Hand-held haptic interfaces for multi-degree-of-freedom haptic guidance. PhD thesis, Stanford University. (URL) (BibTeX)
18. K. T. Yoshida, X. Ren, L. H. Blumenschein, A. M. Okamura, and M. Luo (2020) AFREEs: Active Fiber Reinforced Elastomeric Enclosures. In IEEE International Conference on Soft Robotics, pages 305-311. (URL) (BibTeX)
19. C. G. Welker, V. L. Chiu, A. S. Voloshina, S. H. Collins, and A. M. Okamura (2020) Teleoperation of an Ankle-foot Prosthesis with a Wrist Exoskeleton. In American Society of Biomechanics, Abstract, page 476. (PDF) (BibTeX)
20. N. S. Usevitch, Z. M. Hammond, M. Schwager, A. M. Okamura, E. W. Hawkes, and S. Follmer (2020) An untethered isoperimetric soft robot. Science Robotics, 4:eaaz0492. (URL) (BibTeX)
21. F. Stroppa, M. Luo, K. Yoshida, M. M. Coad, L. H. Blumenschein, and A. M. Okamura (2020) Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot. In IEEE International Conference on Robotics and Automation, pages 726-732. (URL) (BibTeX)
22. M. Orta Martinez (2020) Design and analysis of open-source educational haptic devices. PhD thesis, Stanford University. (URL) (BibTeX)
23. M. Sarac, A. M. Okamura, and Massimiliano Di Luca (2020) Effects of Haptic Feedback on the Wrist during Virtual Manipulation. In IEEE Haptics Symposium, Work-in-Progress. (URL) (BibTeX)
24. C. Seim, C. Han, A. Lowber, C. Brooks, M. Payne, M. Lansberg, K. Flavin, J. P. A. Dewald and A. M. Okamura (2020) Isometric Force Pillow: Using Air Pressure to Quantify Involuntary Finger Flexion in the Presence of Hypertonia. In The International Conference on Neurorehabilitation. (URL) (BibTeX)
25. Cole Simpson, Bryce Huerta, Sean Sketch, Maarten Lansberg, Elliot Hawkes, and Allison Okamura (2020) Upper extremity exomuscle for shoulder abduction support. IEEE Transactions on Medical Robotics and Bionics, 2(3):474-484. (URL) (BibTeX)
26. C. S. Simpson (2020) Wearable devices for physical assistance: enhancing capabilities after stroke and in running. PhD thesis, Stanford University. (URL) (BibTeX)

2019

1. L. H. Blumenschein (2019) Design and modeling of soft growing robots. PhD thesis, Stanford University. (URL) (BibTeX)
2. C. M. Nunez, S. R. Williams, A. M. Okamura, and H. Culbertson (2019) Understanding Continuous and Pleasant Linear Sensations on the Forearm from a Sequential Discrete Lateral Skin-Slip Haptic Device. IEEE Transactions on Haptics, 12(4):414-427. (URL) (BibTeX)
3. Y. A. Oquendo, Z. Chua, M. M. Coad, I. Nisky, A. Jarc, S. Wren, T. S. Lendvay, and A. M. Okamura (2019) Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields. In Hamlyn Symposium, pages 81-82. (URL) (BibTeX)
4. M. Orta Martinez, C. M. Nunez, T. Liao, T. K. Morimoto, and A. M. Okamura (2019) Evolution and Analysis of Hapkit: An Open-Source Haptic Device for Educational Applications. IEEE Transactions on Haptics. (URL) (BibTeX)
5. S. Nisar, M. Orta Martinez, T. Endo, F. Matsuno, and A. M. Okamura (2019) Effects of Different Hand-Grounding Locations on Haptic Performance with a Wearable Kinesthetic Haptic Device. IEEE Robotics and Automation Letters, 4(2):351-358. (URL) (BibTeX)
6. M. Koehler, A. M. Okamura, and C. Duriez (2019) Stiffness Control of Deformable Robots Using Finite Element Modeling. IEEE Robotics and Automation Letters, 4(2):469-476. (URL) (BibTeX)
7. D. R. Deo (2019) Movement representation in human motor cortex and applications to brain-computer interface control. PhD thesis, Stanford University. (URL) (BibTeX)
8. G. D. Gil, J. M. Walker, N. Zemiti, A. M. Okamura, and P. Poignet (2019) Towards a novel man-machine interface to speed up training on robot-assisted surgery. In Surgetica. (URL) (BibTeX)
9. J. D. Greer, T. K. Morimoto, A. M. Okamura, and E. W. Hawkes (2019) A Soft, Steerable Continuum Robot that Grows via Tip Extension. Soft Robotics, 6(1):95-108. (URL) (BibTeX)
10. S. Kanjanapas, C. M. Nunez, S. R. Williams, A. M. Okamura, and M. Luo (2019) Design and Analysis of Pneumatic 2-DoF Soft Haptic Devices for Shear Display. IEEE Robotics and Automation Letters, 4(2):1365-1371. (URL) (BibTeX)
11. Z. F. Quek, W. Provancher, and A. M. Okamura (2019) Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks. IEEE Transactions on Haptics, 12(2):102-113. (URL) (BibTeX)
12. C. Rognon, M. Koehler, C. Duriez, D. Floreano, and A. M. Okamura (2019) Soft Haptic Device to Render the Sensation of Flying Like a Drone. IEEE Robotics and Automation Letters, 4(3):2524-2531. (URL) (BibTeX)
13. J. M. Walker, N. Zemiti, P. Poignet, and A. M. Okamura (2019) Holdable Haptic Device for 4-DOF Motion Guidance. In IEEE World Haptics Conference, pages 109-114. (URL) (BibTeX)
14. S. R. Williams and A. M. Okamura (2019) Display of Simultaneous Vibrotactile Rhythms on the Fingertips and Forearm. In World Haptics Conference, Work-in-progress. (URL) (PDF) (BibTeX)
15. K. T. Yoshida, C. M. Nunez, S. R. Williams, A. M. Okamura, and M. Luo (2019) 3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback. In IEEE World Haptics Conference (WHC) Pages 97-102. (URL) (BibTeX)
16. J. M. Suchoski (2019) The role of skin deformation feedback in haptic perception of virtual objects. PhD thesis, Stanford University. (URL) (BibTeX)
17. F. Stroppa, M. Luo, G. Gerboni, M. M. Coad, J. Walker, and A. M. Okamura (2019) Human-centered Control of a Growing Soft Robot for Object Manipulation. In IEEE World Haptics Conference (WHC) Work-in-Progress. (URL) (BibTeX)
18. C. Rognon, M. Koehler, D. Floreano, and A. M. Okamura (2019) Perception of a Wearable Haptic Feedback Device to Render the Sensation of Flight. In IEEE World Haptics Conference (WHC) Pages 61-66. (URL) (BibTeX)
19. M. Sarac, A. M. Okamura, and M. Di Luca (2019) Haptic Sketches on the Arm for Manipulation in Virtual Reality. In IEEE World Haptics Conference (WHC) Work-in-Progress. (URL) (BibTeX)
20. P. B. Shull, T. Tan, H. M. Culbertson, X. Zhu, and A. M. Okamura (2019) Resonant Frequency Skin Stretch for Wearable Haptics. IEEE Transactions on Haptics, 12(3):247-256. (URL) (BibTeX)
21. S. M. Sketch (2019) Proprioception in the upper limb of non-disabled and stroke-impaired populations. PhD thesis, Stanford University. (URL) (BibTeX)

2018

1. N. Agharese, T. Cloyd, L. H. Blumenschein, M. Raitor, E. W. Hawkes, H. Culbertson, and A. M. Okamura (2018) HapWRAP: Soft Growing Wearable Haptic Device. In IEEE International Conference on Robotics and Automation, pages 5466-5472. (URL) (BibTeX)
2. H. Culbertson, S. Schorr, and A. M. Okamura (2018) Haptics: The present and future of artificial touch sensations. Annual Review of Control, Robotics, and Autonomous Systems, 1:385-409. (URL) (BibTeX)
3. H. El-Hussieny, U. Mehmood, Z. Mehdi, S.-G. Jeong, M. Usman, E. W. Hawkes, A. M. Okamura, and J.-H. Ryu (2018) Development and Evaluation of an Intuitive Flexible Interface for Teleoperating Soft Growing Robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4995-5002. (URL) (BibTeX)
4. N. Enayati, A. M. Okamura, A. Mariani, E. Pellegrini, M. M. Coad, G. Ferrigno, and E. De Momi (2018) Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study. In IEEE International Conference on Robotics and Automation, pages 6631-6636. (URL) (BibTeX)
5. H. Culbertson, C. M. Nunez, A. Israr, F. Lau, F. Abnousi, and A. M. Okamura (2018) A Social Haptic Device to Create Continuous Lateral Motion Using Sequential Normal Indentation. In IEEE Haptics Symposium, pages 32-39. (URL) (BibTeX)
6. Y. Che, C. T. Sun, and A. M. Okamura (2018) Avoiding Human-Robot Collisions using Haptic Communication. In IEEE International Conference on Robotics and Automation, pages 5828-5834. (URL) (BibTeX)
7. L. H. Blumenschein, L. Gan, J. Fan, A. M. Okamura, and E. W. Hawkes (2018) A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas. IEEE Robotics and Automation Letters, 3(2):949-956. (URL) (BibTeX)
8. L. H. Blumenschein, N. S. Usevitch, B. H. Do, E. W. Hawkes, and A. M. Okamura (2018) Helical actuation on a soft inflated robot body. In IEEE International Conference on Soft Robotics (RoboSoft) Pages 245-252. (URL) (BibTeX)
9. Y. Che, H. Culbertson, C.-W. Tang, S. Aich, and A. M. Okamura (2018) Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation. ACM Transactions on Human-Robot Interaction, 7(3):20. (URL) (BibTeX)
10. Y. Che (2018) Proactive communication for human-robot interaction. PhD thesis, Stanford University. (URL) (BibTeX)
11. J. D. Greer, L. H. Blumenschein, A. M. Okamura, and E. W. Hawkes (2018) Obstacle-Aided Navigation of a Soft Growing Robot. In IEEE International Conference on Robotics and Automation, pages 4165-4172. (URL) (BibTeX)
12. Y. Kamikawa, N. Enayati, and A. M. Okamura (2018) Magnified Force Sensory Substitution for Telemanipulation via Force-Controlled Skin Deformation. In IEEE International Conference on Robotics and Automation, pages 4142-4148. (URL) (BibTeX)
13. N. S. Usevitch, A. M. Okamura, and E. W. Hawkes (2018) APAM: Antagonistic Pneumatic Artificial Muscle. In IEEE International Conference on Robotics and Automation, pages 1539-1546. (URL) (BibTeX)
14. J. M. Walker, H. Culbertson, M. Raitor, and A. Okamura (2018) Haptic Orientation Guidance Using Two Parallel Double-Gimbal Control Moment Gyroscopes. IEEE Transactions on Haptics, 11(2):267-278. (URL) (BibTeX)
15. J. M. Walker, A. M. Okamura, and M. Kochenderfer (2018) Gaussian Process Dynamic Programming for Optimizing Ungrounded Haptic Guidance. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 8758-8764. (URL) (BibTeX)
16. Z. A. Zook, Y. Kamikawa, and A. M. Okamura (2018) Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback. In IEEE International Conference on Robotics and Automation, pages 506-511. (URL) (BibTeX)
17. J. Suchoski, S. Martinez, and A. M. Okamura (2018) Scaling Inertial Forces to Alter Weight Perception in Virtual Reality. In IEEE International Conference on Robotics and Automation, pages 484-489. (URL) (BibTeX)
18. S. M. Sketch, A. J. Bastian, and A. M. Okamura (2018) Comparing Proprioceptive Acuity in the Arm between Joint Space and Task Space. In IEEE Haptics Symposium, pages 125-132. (URL) (BibTeX)
19. Y. Kamikawa and A. M. Okamura (2018) Comparison between Force-controlled Skin Deformation Feedback and Hand-Grounded Kinesthetic Force Feedback for Sensory Substitution. IEEE Robotics and Automation Letters, 3(3):2174-2181. (URL) (BibTeX)
20. T. K. Morimoto, J. D. Greer, E. W. Hawkes, M. H. Hsieh, and A. M. Okamura (2018) Toward the Design of Personalized Continuum Surgical Robots. Annals of Biomedical Engineering, 46(10):1522-1533. (URL) (BibTeX)
21. A. M. Okamura (2018) Haptics in Robot-Assisted Minimally Invasive Surgery. In Minimally Invasive Surgical Robotics, pages 317-340. . World Scientific Group. (URL) (BibTeX)
22. A. M. Okamura (2018) Haptic Dimensions of Human-Robot Interaction. ACM Transactions on Human-Robot Interaction, 7(1):Article 6. (URL) (BibTeX)

2017

1. L. H. Blumenschein, A. M. Okamura, and E. W. Hawkes (2017) Modeling of Bioinspired Apical Extension in a Soft Robot. In Biomimetic and Biohybrid Systems. Living Machines 2017, pages 522-531. . Springer. (URL) (BibTeX)
2. J. D. Greer, T. K. Morimoto, A. M. Okamura, and E. W. Hawkes (2017) Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot. In IEEE International Conference on Robotics and Automation, pages 5503-5510. (URL) (BibTeX)
3. N. Gurari, A. M. Okamura, and K. J. Kuchenbecker (2017) Perception of force and stiffness in the presence of low-frequency haptic noise. PLOS One, 12(6):e0178605. (BibTeX)
4. E. W. Hawkes, L. H. Blumenschein, J. D. Greer, and A. M. Okamura (2017) A soft robot that navigates its environment through growth. Science Robotics, 2(8):eaan3028. (URL) (BibTeX)
5. M. Koehler, N. Usevitch, and A. M. Okamura (2017) Model-Based Design of a 3D Haptic Shape Display. In IEEE International Conference on Robotics and Automation (Late Breaking Results Poster). (BibTeX)
6. G. Gerboni, J.D. Greer, P.F. Laeseke, G.L. Hwang, and A. M. Okamura (2017) Highly Articulated Robotic Needle Achieves Distributed Ablation of Liver Tissue. IEEE Robotics and Automation Letters, 2(3):1367-1374. (URL) (BibTeX)
7. R. L. Davis, M. O. Martinez, O. Schneider, K. E. MacLean, A. M. Okamura, and P. Blikstein (2017) The Haptic Bridge: Towards a Theory for Haptic-Supported Learning. In Interactive Design for Children, pages 51-60. (URL) (BibTeX)
8. M. M. Coad, A. M. Okamura, S. Wren, Y. Mintz, T. S. Lendvay, A. M. Jarc, and I. Nisky (2017) Training in Divergent and Convergent Force Fields During 6-DOF Teleoperation with a Robot-Assisted Surgical System. In IEEE World Haptics Conference, pages 195-200. (URL) (BibTeX)
9. N. Colonnese and A. M. Okamura (2017) Propagation of Joint Space Quantization Error to Operational Space Coordinates and Their Derivatives. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2054-2061. (URL) (BibTeX)
10. N. Colonnese and A. M. Okamura (2017) Analysis of Effective Impedance Transmitted to the Operator in Bilateral Teleoperation. In IEEE World Haptics Conference, pages 328-333. (URL) (BibTeX)
11. H. Culbertson, J. M. Walker, M. Raitor, and A. M. Okamura (2017) WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues. In ACM Conference on Human Factors in Computing Systems, pages 4972-4982. (URL) (BibTeX)
12. T. K. Morimoto, J. J. Cerrolaza, M. H. Hsieh, K. Cleary, A. M. Okamura, and M. G. Linguraru (2017) Design of Patient-Specific Concentric Tube Robots Using Path Planning from 3-D Ultrasound. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 165-168. (URL) (BibTeX)
13. T. K. Morimoto, J. D. Greer, E. W. Hawkes, A. M. Okamura, and M. H. Hsieh (2017) Design, fabrication, and testing of patient-specific concentric tube robots for nonlinear renal access and mass ablation. In Annual Meeting of the American Urological Association. (URL) (BibTeX)
14. C. S. Simpson, S. M. Sketch, F. Crevecoeur, and A. M. Okamura (2017) Modeling sensitivity of reaching behavior to sensorimotor deficits. In 27th Annual Meeting of the Society for the Neural Control of Movement. (BibTeX)
15. S. M. Sketch, C. S. Simpson, F. Crevecoeur, and A. M. Okamura (2017) Simulating the impact of sensorimotor deficits on reaching performance. In 2017 International Conference on Rehabilitation Robotics (ICORR), July, pages 31-37. (URL) (BibTeX)
16. P. Slade, A. Gruebele, Z. Hammond, M. Raitor, A. M. Okamura, and E. W. Hawkes (2017) Design of a Soft Catheter for Low-Force and Constrained Surgery. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 174-180. (URL) (BibTeX)
17. A. A. Stanley and A. M. Okamura (2017) Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface. IEEE Transactions on Visualization and Computer Graphics, 23(2):1029-1041. (URL) (BibTeX)
18. C. S. Simpson, A. M. Okamura, and E. W. Hawkes (2017) Exomuscle: An inflatable device for shoulder abduction support. In IEEE International Conference on Robotics and Automation, pages 6651-6657. (URL) (BibTeX)
19. S. B. Schorr and A. M. Okamura (2017) Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments. IEEE Transactions on Haptics, 10(3):418-430. (URL) (BibTeX)
20. T. K. Morimoto, E. W. Hawkes, and A. M. Okamura (2017) Design of a Compact Actuation and Control System for Flexible Medical Robots. IEEE Robotics and Automation Letters, 2(3):1579-1585. (URL) (BibTeX)
21. T. Morimoto (2017) Patient-specific design of concentric tube robots. PhD thesis, Stanford University. (URL) (BibTeX)
22. Orta Martinez, M., J. Campion, T. Gholami, M. K. Rittikaidachar, A. C. Barron, and A. M. Okamura (2017) Open Source, Modular, Customizable, 3-D Printed Kinesthetic Haptic Devices. In IEEE World Haptics Conference, pages 142-147. (URL) (BibTeX)
23. S. B. Schorr and A. M. Okamura (2017) Fingertip tactile devices for virtual object manipulation and exploration. In ACM Conference on Human Factors in Computing Systems, pages 3115-3119. (URL) (BibTeX)
24. M. Raitor, J. M. Walker, A. M. Okamura, and H. Culbertson (2017) WRAP: Wearable, Restricted-Aperture Pneumatics for Haptic Guidance. In IEEE International Conference on Robotics and Automation, pages 427-432. (URL) (BibTeX)

2016

1. Y. Che, G. M. Haro, and A. M. Okamura (2016) Two is Not Always Better than One: Effects of Teleoperator Dynamics and Haptic Coupling. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pages 1290-1295. (BibTeX)
2. M. H. Hsieh, T. K. Morimoto, J. D. Greer, and A. M. Okamura (2016) A Virtual Reality-Based Surgeon Design Interface for Patient Anatomy-Specific, Nonlinear Renal Access Using Concentric Tube Robots. In Pediatric Urology Fall Congress. (BibTeX)
3. K. E. Kaplan, K. E. Nichols, and A. M. Okamura (2016) Toward Human-Robot Collaboration in Surgery: Performance Assessment of Human and Robotic Agents in an Inclusion Segmentation Task. In IEEE International Conference on Robotics and Automation, pages 723-729. (BibTeX)
4. T. K. Morimoto, J. D. Greer, M. H. Hsieh, and A. M. Okamura (2016) Surgeon Design Interface for Patient-Specific Concentric Tube Robots. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pages 41-48. (BibTeX)
5. E. W. Hawkes, D. L. Christensen, and A. M. Okamura (2016) Design and Implementation of a 300\% Strain Soft Artificial Muscle. In IEEE International Conference on Robotics and Automation, pages 4022-4029. (BibTeX)
6. B. Hannaford and A. M. Okamura (2016) Chapter 42: Haptics. In Springer Handbook of Robotics, pages 1063-1084. . Springer. (BibTeX)
7. N. Colonnese and A. M. Okamura (2016) Stability and Quantization Error Analysis of Haptic Rendering of Virtual Stiffness and Damping. International Journal of Robotics Research, 35(9):1103-1120. (BibTeX)
8. H. Culbertson, J. M. Walker, and A. M. Okamura (2016) Modeling and Design of Asymmetric Vibrations to Induce Ungrounded Pulling Sensation Through Asymmetric Skin Displacement. In IEEE Haptics Symposium, pages 27-33. (BibTeX)
9. H. Culbertson, J. M. Walker, M. Raitor, A. M. Okamura, and P. J. Stolka (2016) Plane Assist: The Influence of Haptics on Ultrasound-based Needle Guidance. In International Conference on Medical Image Computing and Computer Assisted Intervention, pages 370-377. (URL) (BibTeX)
10. T. K. Morimoto and A. M. Okamura (2016) Design of 3-D Printed Concentric Tube Robots. IEEE Transactions on Robotics, 32(6):1419-1430. (BibTeX)
11. K. A. Nichols and A. M. Okamura (2016) A Framework for Multilateral Manipulation in Surgical Tasks. IEEE Transactions on Automation Science and Engineering, 24(2):68-77. (BibTeX)
12. J. M. Walker, N. Colonnese, and A. M. Okamura (2016) Noise, but not Uncoupled Stability, Reduces Realism and Likeability of Bilateral Teleoperation. IEEE Robotics and Automation Letters, 1(1):562-569. (URL) (BibTeX)
13. J. M. Walker, M. Raitor, A. Mallery, H. Culbertson, P. J. Stolka, and A. M. Okamura (2016) A Dual-Flywheel Ungrounded Haptic Feedback System Provides Single-Axis Moment Pulses for Clear Direction Signals. In IEEE Haptics Symposium, pages 7-13. (URL) (BibTeX)
14. C. Wu, E. D. Chin, M. Fanton, and A. M. Okamura (2016) Impact of Combined Stimuli on the Perception of Transient Forces. In Eurohaptics 2016: Haptics: Perception, Devices, Control, and Applications, pages 416-426. (BibTeX)
15. N. S. Usevitch, R. Khanna, R. M. Carrera, and A. M. Okamura (2016) End Effector for a Kinesthetic Haptic Device Capable of Displaying Variable Size and Stiffness. In Eurohaptics 2016: Haptics: Perception, Devices, Control, and Applications, pages 363-372. (BibTeX)
16. J. M. Suchoski, A. Barron, C. Wu, Z. F. Quek, S. Keller, and A. M. Okamura (2016) Comparison of Kinesthetic and Skin Deformation Feedback for Mass Rendering. In IEEE International Conference on Robotics and Automation, pages 4030-4035. (BibTeX)
17. Orta Martinez, M., T. K. Morimoto, A. T. Taylor, A. C. Barron, J. D. A. Pultorak, J. Wang, A. Calasanz-Kaiser, R. L. Davis, P. Blikstein, and A. M. Okamura (2016) 3-D Printed Haptic Devices for Educational Applications. In IEEE Haptics Symposium, pages 126-133. (BibTeX)
18. H. E. B. Russell, L. K. Harbott, I. Nisky, S. Pan, A. M. Okamura, and J. C. Gerdes (2016) Motor learning affects car-to-driver handover in automated vehicles. Science Robotics, 1(1):eaah5682. (BibTeX)
19. A. A. Stanley, K. Hata, and A. M. Okamura (2016) Closed-Loop Shape Control of a Haptic Jamming Deformable Surface. In IEEE International Conference on Robotics and Automation, pages 2718-2724. (BibTeX)
20. A. A. Stanley (2016) Haptic jamming: controllable mechanical properties in a shape-changing user interface. PhD thesis, Stanford University. (URL) (BibTeX)

2015

1. T. K. Adebar, J. D. Greer, P. F. Laeseke, G. L. Hwang, and A. M. Okamura (2015) Towards Robotic Needle Steering for Percutaneous Radiofrequency Ablation in the Liver: Procedure-Specific Workspace Analysis. In The Hamlyn Symposium on Medical Robotics, pages 67-68. (BibTeX)
2. D. D. Damian, T. H. Newton, R. Pfeifer, and A. M. Okamura (2015) Artificial tactile sensing of position and slip speed by exploiting geometrical features. IEEE Transactions on Mechatronics, 20(1):263-274. (BibTeX)
3. H. Faig, A. M. Okamura, and I. Nisky (2015) Exploring characterization of movement in robot-assisted and open needle driving. In 11th Annual Karniel Computational Motor control Workshop at Ben-Gurion University of the Negev. Beer-Sheva, Israel, June 16-18, page 43. (BibTeX)
4. L. H. Kim, C. Bargar, Y. Che, and A. M. Okamura (2015) Effects of master-slave tool misalignment in a teleoperated surgical robot. In IEEE International Conference on Robotics and Automation, pages 5364-5370. (BibTeX)
5. S. McKinley, A. Garg, R. Kapadia, S. Sen, A. Murali, K. Nichols, S. Lim, S. Patil, P. Abbeel, A. M. Okamura, and K. Goldberg (2015) A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery. In IEEE International Conference on Automation Science and Engineering, pages 1151-1158. (BibTeX)
6. Lin Yang, M., S. B. Schorr, I. Yan, and A. M. Okamura (2015) The effect of manipulator gripper stiffness on teleoperated task performance. In IEEE World Haptics Conference, pages 494-499. (BibTeX)
7. N. Colonnese, A. F. Siu, C. M. Abbott, and A. M. Okamura (2015) Rendered and Characterized Closed-loop Accuracy of Impedance-type Haptic Displays. IEEE Transactions on Haptics, 8(4):434-446. (BibTeX)
8. N. Colonnese and A. M. Okamura (2015) M-Width: Stability, Noise Characterization, and Accuracy of Rendering Virtual Mass. International Journal of Robotics Research, 34(6):781-798. (BibTeX)
9. T. Adebar (2015) Ultrasound-guided robotic needle steering for percutaneous interventions in the liver.. PhD thesis, Stanford University. (URL) (BibTeX)
10. T. K. Adebar, J. D. Greer, P. F. Laeseke, G. L. Hwang, and A. M. Okamura (2015) Methods for Improving the Curvature of Steerable Needles in Biological Tissues. IEEE Transactions on Biomedical Engineering, 63(6):1167-1177. (BibTeX)
11. J. Baek and A. M. Okamura (2015) Motor Learning Transfer from Isometric to Dynamic Reaching. In IEEE International Conference on Rehabilitation Robotics, pages 1014-1019. (BibTeX)
12. N. Colonnese (2015) Stability and transparency of bilateral teleoperators and haptic displays. PhD thesis, Stanford University. (URL) (BibTeX)
13. S. S. Cabreros, N. M. Jimenez, J. D. Greer, T. K. Adebar, and A. M. Okamura (2015) Remote electromagnetic vibration of steerable needles for imaging in power Doppler ultrasound. In IEEE International Conference on Robotics and Automation, pages 2244-2249. (BibTeX)
14. K. A. Nichols (2015) A Multilateral Manipulation Software Framework for Human-Robot Collaboration in Surgical Tasks. PhD thesis, Stanford University. (URL) (BibTeX)
15. K. A. Nichols, A. Murali, S. Sen, K. Goldberg, and A. M. Okamura (2015) Models of Human-Centered Automation in a Debridement Task. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 5784-5789. (BibTeX)
16. S. B. Schorr, Z. F. Quek, I. Nisky, W. Provancher, and A. M. Okamura (2015) Tactor-Induced Skin Stretch as a Sensory Substitution Method in Teleoperated Palpation. IEEE Transactions on Human-Machine Systems, 45(6):714-726. (BibTeX)
17. S. B. Schorr, Z. F. Quek, W. R. Provancher, and A. M. Okamura (2015) Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures. In ACM/IEEE International Conference on Human-Robot Interaction, pages 287-294. (BibTeX)
18. K. Shamaei, Y. Che, A. Murali, S. Sen, S. Patil, K. Goldberg, and A. M. Okamura (2015) A Paced Shared-Control Teleoperated Architecture for Supervised Automation of Multilateral Surgical Tasks. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1434-1439. (BibTeX)
19. S. M. Sketch, D. R. Deo, J. P. Menon, and A. M. Okamura (2015) Design and experimental evaluation of a skin-stretch haptic device for improved control of brain-computer interfaces. In IEEE International Conference on Robotics and Automation, pages 272-277. (BibTeX)
20. K. Shamaei, L. H. Kim, and A. M. Okamura (2015) Design and Evaluation of a Trilateral Shared-Control Architecture for Teleoperated Training Robots. In International Conference of the IEEE Engineering in Medicine and Biology Society, pages 4887-4893. (BibTeX)
21. A. Ruszkowski, Z. F. Quek, A. M. Okamura, and S. Salcudean (2015) Dynamic Non-Continuous Virtual Fixtures for Operations on a Beating Heart using the da Vinci Surgical Robots. In The Hamlyn Symposium on Medical Robotics, pages 45-46. (BibTeX)
22. M. F. Rotella, I. Nisky, M. Koehler, M. D. Rinderknecht, A. J. Bastian, and A. M. Okamura (2015) Learning and Generalization in an Isometric Visuomotor Task. Journal of Neurophysiology, 113:1873-1884. (BibTeX)
23. K. A. Nichols and A. M. Okamura (2015) Methods to Segment Hard Inclusions in Soft Tissue During Autonomous Robotic Palpation. IEEE Transactions on Robotics, 31(2):344-354. (BibTeX)
24. I. Nisky, Y. Che, Z. F. Quek, M. Weber, M. H. Hsieh, and A. M. Okamura (2015) Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users. In IEEE International Conference on Robotics and Automation, pages 5371-5377. (BibTeX)
25. Z. F. Quek, S. B. Schorr, I. Nisky, W. R. Provancher, and A. M. Okamura (2015) Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback. In IEEE International Conference on Robotics and Automation, pages 264-271. (BibTeX)
26. Z. F. Quek, S. B. Schorr, I. Nisky, W. R. Provancher, and A. M. Okamura (2015) Sensory Substitution and Augmentation using 3-Degree-of-Freedom Skin Deformation Feedback. IEEE Transactions on Haptics, 8(2):209-221. (BibTeX)
27. Z. F. Quek (2015) Sensory substitution and augmentation of forces and torques using tactile skin deformation feedback. PhD thesis, Stanford University. (URL) (BibTeX)

2014

1. T. K. Adebar, A. E. Fletcher, and A. M. Okamura (2014) 3D Ultrasound-Guided Robotic Needle Steering in Biological Tissue. IEEE Transactions on Biomedical Engineering, 61(12):2899-2910. (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) Pages 381-388. (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 Rehabilitation Robotics, pages 317-343. . Springer. (BibTeX)
5. D. I. Grow, A. J. Bastian, and A. M. Okamura (2014) Testing Models of Cerebellar Ataxia via Dynamics Simulation. Robotica, 32(8):1383-1397. (BibTeX)
6. T. L. Gibo, A. J. Bastian, and A. M. Okamura (2014) Grip Force Control During Virtual Object Interaction: Effect of Force Feedback, Accuracy Demands, and Training. IEEE Transactions on Haptics, 7(1):37-47. (BibTeX)
7. 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)
8. 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, pages 4303-4308. (BibTeX)
9. 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)
10. N. Bhanpuri, A. M. Okamura, and A. J. Bastian (2014) Predicting and correcting ataxia using a model of cerebellar function. Brain, 137(7):1931-1944. (BibTeX)
11. 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. (BibTeX)
12. 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, pages 597-603. (BibTeX)
13. 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, pages 189-217. . Springer-Verlag. (BibTeX)
14. 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)
15. Z. F. Quek, S. B. Schorr, I. Nisky, W. R. Provancher, and A. M. Okamura (2014) Augmentation of Stiffness Perception with a 1-Degree-of-Freedom Skin Stretch Device. IEEE Transactions on Human-Machine Systems, 44(6):731-742. (BibTeX)
16. 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, pages 258-265. (BibTeX)
17. A. A. Stanley and A. M. Okamura (2014) Controllable Surface Haptics via Particle Jamming and Pneumatics. IEEE Transactions on Haptics, 8(1):20-30. (BibTeX)
18. R. C. Winck, S. M. Sketch, E. W. Hawkes, D. L. Christensen, H. Jiang, M. 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. (BibTeX)
19. 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, 61(11):2707-2717. (BibTeX)
20. 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)
21. 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) (BibTeX)
22. A. Majewicz (2014) Robotic needle steering: design and evaluation for clinical application. PhD thesis, Stanford University. (URL) (BibTeX)
23. 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, pages 5883-5888. (BibTeX)
24. 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, pages 2051-2056. (BibTeX)
25. 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, 61(12):2869-2881. (BibTeX)
26. K. A. Nichols and A. M. Okamura (2014) A Framework for Multilateral Manipulation in Surgical Tasks. In The Hamlyn Symposium on Medical Robotics, pages 5-6. (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) (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, 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) (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, 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) (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, 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. (BibTeX)
14. 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)
15. 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) (BibTeX)
16. 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)
17. 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)
18. A. 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)
19. 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)
20. 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) (BibTeX)
21. T.R. Wedlick (2013) Models and Techniques To Enhance the Accuracy of Robotic Needle Insertion. PhD thesis, The Johns Hopkins University. (BibTeX)
22. R. C. Winck and A. M. Okamura (2013) Model-Mediated Teleoperation with Predictive Models and Relative Tracking. In ASME Dynamic Systems and Control Conference. (BibTeX)
23. 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)
24. 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)
25. 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)
26. 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) (BibTeX)
27. 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)
28. 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) (BibTeX)
29. I. Nisky, M. H. Hsieh, and A. M. Okamura (2013) Sensorimotor Performance in Robot Assisted Surgery. In Neural Control of Movement Annual Meeting. (BibTeX)
30. 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) (BibTeX)
31. 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) (BibTeX)
32. 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, 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, 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. 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)
3. 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)
4. 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)
5. 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)
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. 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)
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. D. I. Grow (2011) Robotic Assistance for Rehabilitation of Coordination Deficits. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
11. Mark G. Van Vledder, Ann Majewicz, Steven P. Marra, Danny Y. Song, Allison M. Okamura, and Michael A. Choti (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)
12. T. Yamamoto (2011) Applying Tissue Models in Teleoperated Robot-Assisted Surgery. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
13. 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)
14. 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)
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, R. Pfeifer, and A. M. Okamura (2011) Cutaneous Force Display via Shaped Contacts. In International Conference on Morphological Computation. (BibTeX)
17. A. M. Okamura (2011) Haptic Feedback: Technology and Medical Applications. In The Handbook of Touch: Neuroscience, Behavioral, and Health Perspectives, pages 469-494. . Springer. (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, 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, 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, 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)
10. A. M. Okamura, M. J. Mataric, and H. I. Christensen (2010) Medical and Health-Care Robotics. IEEE Robotics and Automation Magazine, 17(3):26-37. (URL) (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. 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)
13. 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)
14. 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)
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)

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 Rendering. In Haptic Rendering: Algorithms, and Applications. (M. C. Lin and M. Otaduy, Eds.) AK Peters, pages 443-467. (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) Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission. IEEE Transactions on Robotics, 23(6):1240-1246. (BibTeX)
3. 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)
4. P. Marayong (2007) Motion Control Methods for Human-Machine Cooperative Systems. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
5. 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)
6. 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)
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. 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)
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. 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)
13. R. J. Webster (2007) Design and Mechanics of Continuum Robotics for Surgery. PhD thesis, Department of Mechanical Engineering, The Johns Hopkins University. (BibTeX)
14. 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)
15. 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)
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. 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. (Kaneko, M. and Nakamura, Y., Eds.) Springer-Verlag, pages 361-372. (BibTeX)
18. 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)
19. 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. 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)
3. 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)
4. 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)
5. 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)
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. 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)
9. 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)
10. 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. Beijing, China, October 9-15. (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. 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)
13. 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)
14. 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)
15. 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)
16. 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)