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Contents

Journal Publications

  1. G. Fichtinger, P. Kazanzides, A. M. Okamura, G. D. Hager, L. L. Whitcomb, R. H. Taylor. Surgical CAD-CAM Systems. IEEE Robotics and Automation Magazine, 2008. In Press.
  2. S. Misra, K. J. Macura, K. T. Ramesh, and A. M. Okamura. The Importance of Organ Geometry and Boundary Constraints for Planning of Medical Interventions, Medical Engineering & Physics. In Press.
  3. S. Misra, K. T. Ramesh, and A. M. Okamura. Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review. Presence: Teleoperators and Virtual Environments, 2008. In press.
  4. P. Kazanzides, G. Fichtinger, G. D. Hager, A. M. Okamura, L. L. Whitcomb, and R. H. Taylor. Surgical and Interventional Robotics: Core Concepts, Technology, and Design, IEEE Robotics and Automation Magazine, 15(2):122-130, 2008.
  5. C. E Reiley, T. Akinbiyi, D. Burschka, D. C. Chang, A. M. Okamura, and D. D. Yuh. Effects of visual force feedback on robot-assisted surgical task performance. Journal of Thoracic and Cardiovascular Surgery, 135(1):196-202, January 2008.
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  6. M. Mahvash and A. M. Okamura. Friction compensation for enhancing transparency of a teleoperator with compliant transmission. IEEE Transactions on Robotics, 23(6):1240-1246, 2007.
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  7. M. Mahvash, L. Voo, D. Kim, K. Jeung, and A. M. Okamura. “Modeling the Forces of Cutting with Scissors.” IEEE Transactions on Biomedical Engineering, 55(3):848-856, 2007.
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  8. J. J. Abbott and A. M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures", The International Journal of Robotics Research, Vol 26, pp. 865-884, 2007. http://articleworks.cadmus.com/doc/761015
  9. Webster, R.J., III, "Object Capture With a Camera-Mobile Robot System: An Introductory Robotics Project", Robotics & Automation Magazine, IEEE, Vol. 13, Issue 1, pp. 85 - 88, March 2006.
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  10. A. M. Okamura, "Robotics with a Human Touch: Haptics and Medical Applications", Journal of the Robotics Society of Japan, Special Issue on Women in Robotics, Vol. 24, Issue 5, pp. 26 - 28, March 2006.
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  11. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian and A. M. Okamura, "Nonholonomic Modeling of Needle Steering," International Journal of Robotics Research, Vol. 25, No. 5-6, pp. 509-525, May-June 2006. The final definitive version of this paper has been published by Sage publications Ltd, All rights reserved. © SAGE Publications Ltd, 2006. It is available at http://online.sagepub.com/
  12. J. J. Abbott and A. M. Okamura, "Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 128, pp. 53-64, 2006.
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  13. D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager, "Human Machine Collaborative Systems for Microsurgical Applications, International Journal of Robotics Research, Vol. 24, No. 9, pp. 731-742, 2005.
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  14. J. J. Abbott and A. M. Okamura, "Effects of Position Quantization and Sampling Rate on Virtual Wall Passivity, IEEE Transactions on Robotics, Vol. 21, No. 5, pp. 952 - 964, 2005.
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  15. R. J. Webster III, T. E. Murphy, L. N. Verner, and A. M. Okamura, "A Novel Two-Dimensional Tactile Slip Display: Design, Kinematics and Perceptual Experiment," ACM Transactions on Applied Perception, Vol. 2, No. 2, pp. 150-165, 2005. pdf:WebsterICRA08.pdf
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  16. M. Kitagawa, D. Dokko, A. M. Okamura, and D. D. Yuh, "Effect of Sensory Substitution on Suture Manipulation Forces for Robotic Surgical Systems," Journal of Thoracic and Cardiovascular Surgery, Vol. 129, No. 1, pp. 151-158, 2005.
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  17. E. Boctor, R. J. Webster III, H. Mathieu, A. M. Okamura, and G. Fichtinger, "Virtual Remote Center of Motion Control for Needle Placement Robots," Computer-Aided Surgery, Vol. 9, No. 5, pp. 175-183, 2004.
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  18. O. Gerovich, P. Marayong, and A. M. Okamura, "The Effect of Visual and Haptic Feedback on Computer-Assisted Needle Insertion ," Computer-Aided Surgery, Vol. 9, No. 6, pp. 243-249, 2004.
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  19. A. M. Okamura, "Methods for Haptic Feedback in Teleoperated Robot-Assisted Surgery," Industrial Robot, Vol. 31, No. 6., pp. 499-508, 2004.
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  20. P. Marayong and A. M. Okamura, "Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures with Variable Admittance," Human Factors, Vol. 46, No. 3, pp. 518-532, 2004.
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  21. A. M. Okamura, C. Simone, and M. D. O'Leary, "Force Modeling for Needle Insertion into Soft Tissue," IEEE Transactions on Biomedical Engineering, Vol. 51, No. 10, pp. 1707-1716, 2004.
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  22. A. Bettini, P. Marayong, S. Lang, A. M. Okamura, and G. D. Hager, "Vision Assisted Control for Manipulation Using Virtual Fixtures," IEEE Transactions on Robotics, Vol. 20, No. 6, pp. 953-966, 2004.
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  23. B. T. Bethea, A. M. Okamura, M. Kitagawa, T. P. Fitton, S. M. Cattaneo, V. L. Gott, W. A. Baumgartner, and D. D. Yuh, "Application of Haptic Feedback to Robotic Surgery," Journal of Laparoendoscopic and Advanced Surgical Techniques, Vol. 14, No. 3, pp. 191-195, 2004.
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  24. S. Greenish, V. Hayward, T. Steffen, V. Chial, and A. M. Okamura, "Measurement, Analysis and Display of Haptic Signals During Surgical Cutting," Presence, Vol. 11, No. 6, pp. 626-651, 2002.
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  25. A. M. Okamura, C. Richard, and M. R. Cutkosky, "Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems," ASEE Journal of Engineering Education, Vol. 91, No. 3, pp. 345-349, 2002.
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  26. A. M. Okamura and M. R. Cutkosky, "Feature Detection for Haptic Exploration with Robotic Fingers," International Journal of Robotics Research, Vol. 20, No. 12, pp. 925-938, 2001.
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  27. A. M. Okamura, J. T. Dennerlein and M. R. Cutkosky, "Reality-Based Models for Vibration Feedback in Virtual Environments," ASME/IEEE Transactions on Mechatronics, Focused Section on Haptic Devices and Applications, Vol. 6, No. 3, 2001, pp. 245-252.
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Book Chapters (books not associated with conferences)

  1. B. Hannaford and A. M. Okamura. Chapter 30: Haptics. In Handbook of Robotics. Springer, 2008.
  2. A. M. Okamura, K. J. Kuchenbecker, and M. Mahvash. Measurement-based modeling for haptic display. In M. C. Lin and M. Otaduy, editors, Haptic Rendering: Foundations, Algorithms, and Applications. AK Peters, 2008. In press.



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Refereed Conference Publications

  1. P. Marayong, G. D. Hager, A. M. Okamura. Control Methods for Guidance Virtual Fixtures in Compliant Human-Machine Interfaces. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. Accepted.
  2. S. Misra, K. B. Reed, A. Douglas, K. T. Ramesh, and A. M. Okamura. Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles. IEEE International Conference on Biomedical Robotics and Biomechatronics, 2008. Accepted.
  3. T. Yamamoto, M. Bernhardt, A. Peer, M. Buss, A. M. Okamura. Multi-Estimator Technique for Environment Parameter Estimation During Telemanipulation. IEEE International Conference on Biomedical Robotics and Biomechatronics, 2008. Accepted.
  4. K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura, N. J. Cowan. Integrated Planning and Image-Guided Control for Planar Needle Steering. IEEE International Conference on Biomedical Robotics and Biomechatronics, 2008.
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  5. K. B. Reed, Compensating for Torsion Windup in Steerable Needles. IEEE International Conference on Biomedical Robotics and Biomechatronics, 2008.
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  6. Z. Pezzementi, D. Ursu, S. Misra, and A. M. Okamura. Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method. 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 209-215, Reno, NV, March 2008.
  7. L. N. Verner and A. M. Okamura. Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion. 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 267-271, Reno, NV, March 2008.
  8. K. J. Kuchenbecker, D. Ferguson, M. Kutzer, M. Moses, and A. M. Okamura. The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction. 6th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 239-246 , Reno, NV, March 2008.
  9. M. Mahvash, J Gwilliam, R. Agarwal, B. Vagvolgyi, L. Su, D. D. Yuh, and A. M. Okamura, "Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments", 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 465-471, Reno, NV, March 2008.
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  10. K. J. Kuchenbecker, N. Gurari, and A. M. Okamura. " Effects of Visual and Proprioceptive Motion Feedback on Human Control of Targeted Movement", IEEE International Conference on Rehabilitation Robotics, pp. 513-524, 2007.
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  11. M. Quirini, R. J. Webster III, A. Menciassi, and P. Dario, “Design of a Pill-Sized 12-legged Endoscopic Capsule Robot,” IEEE International Conference on Robotics and Automation, pp. 1856-1862, 2007.
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  12. N. Ng Pak, R. J. Webster III, A. Menciassi, and P. Dario, “Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots,” IEEE International Conference on Robotics and Automation 2007, pp. 3371-3376, 2007.
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  13. P. Marayong, H. S. Na, and A. M. Okamura, “Virtual Fixture Control for Compliant Human- Machine Interfaces”, IEEE International Conference on Robotics and Automation, 2007. pp. 4018-24.
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  14. J. M. Romano, R. J. Webster III, and A. M. Okamura, “Teleoperation of Steerable Needles,” IEEE International Conference on Robotics and Automation 2007, pp. 934-939, 2007.
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  15. Z. Pezzementi, G. D. Hager, and A. M. Okamura, “Dynamic Guidance with Pseudoadmittance Virtual Fixtures”, IEEE International Conference on Robotics and Automation, 2007.
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  16. M. Mahvash and A. M. Okamura, “Enhancing Transparency of a Position-Exchange Tele- operator”, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2007. pp. 470-475.
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  17. D. I. Grow, L. N. Verner, and A. M. Okamura. "Educational Haptics", AAAI 2007 Spring Symposia - Robots and Robot Venues: Resources for AI Education, 2007.
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  18. L. N. Verner and A. M. Okamura, “Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator”, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2007. pp. 286-291.
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  19. N. Gurari and A. M. Okamura, “Human Performance in a Knob-Turning Task”, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2007. pp. 96-101.
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  20. S. Misra, A. M. Okamura, and K. T. Ramesh, "Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models”, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2007. pp. 519-524.
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  21. T. Yamamoto and A. M. Okamura, “Evaluation of Human Performance with Kinematic and Haptic Errors” , Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2007. pp. 78-83.
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  22. R. J. Webster III, A. M. Okamura, and N. J. Cowan. "Toward Active Cannulas: Miniature Snake-Like Surgical Robots", 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-15, Beijing, China.
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  23. M. Mahvash and A. M. Okamura, "Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission" , 45th IEEE Conference on Decision and Control, December 13-15, San Diego, California USA. pp. 4508 - 4513.
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  24. T. Akinbiyi, C. E. Reiley, S. Saha, D. Burschka, C. J. Hasser, D. D. Yuh, and A. M. Okamura. "Dynamic Augmented Reality for Sensory Substitution in Robot-Assisted Surgical Systems," 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2006, pp. 567-570.
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  25. H. C. Lin, P. Marayong, K. Mills, R. Karam, P. Kazanzides, A. M. Okamura, and G. D. Hager, "Portability and Applicability of Virtual Fixtures Across Medical and Manufacturing Tasks," IEEE International Conference on Robotics and Automation, 2006, pp. 225-340.
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  26. M. Mahvash, A. M. Okamura, "Friction Compensation for a Force-Feedback Telerobotic System," IEEE International Conference on Robotics and Automation, 2006, pp. 3268-3273.
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  27. L. N. Verner and A. M. Okamura, "Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback," 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006, pp. 309-314.
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  28. P. Marayong, G. D. Hager, and A. M. Okamura. "Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces," 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006, pp. 109-115.
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  29. S. Misra and A. M. Okamura, "Environment Parameter Estimation During Bilateral Telemanipulation," 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006, pp. 301 - 307.
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  30. M. Wu and A. M. Okamura, "Effects of Haptic Feedback on Exploration," 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006, pp. 407-411.
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  31. J. J. Abbott and A. M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures," 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006, pp. 169-175.
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  32. J. R. Crouch, C. M. Schneider, J. Wainer, and A. M. Okamura, "A Velocity-Dependent Model for Needle Insertion in Soft Tissue," Proceedings of the Eighth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2005, Lecture Notes in Computer Science (Vol. 3750), 2005, pp. 624-632.
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  33. H. C. Lin, I. Shafran, T. E. Murphy, A. M. Okamura, D. D. Yuh, and G. D. Hager, "Automatic Detection and Segmentation of Robot-Assisted Surgical Motions," Proceedings of the Eighth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2005, Lecture Notes in Computer Science (Vol. 3749), 2005, pp. 802-810.
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  34. R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, "Steering Flexible Needles Under Markov Motion Uncertainty," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 120-125.
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  35. R. Alterovitz, K. Goldberg, and A. M. Okamura, "Planning for Steerable Bevel-Tip Needle Insertion Through 2D Soft Tissue with Obstacles," IEEE International Conference on Robotics and Automation, 2005, pp. 1652-1657.
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  36. R. J. Webster III, J. Memisevic and A. M. Okamura, "Design Considerations for Robotic Needle Steering," IEEE International Conference on Robotics and Automation, 2005, pp. 3599-3605.
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  37. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura, and G. S. Chirikjian, "Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model, IEEE International Conference on Robotics and Automation, 2005, pp. 4611-4616.
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  38. M. Wu, J. J. Abbott and A. M. Okamura, " Effects of Velocity on Human Force Control," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2005, pp. 73-79.
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  39. M. Mahvash and A. M. Okamura, "A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2005, pp. 356-362.
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  40. J. J. Abbott and A. M. Okamura, "A Sufficient Condition for Passive Virtual Walls with Quantization Effects," Proceedings of the ASME Dynamic Systems and Control Division: International Mechanical Engineering Congress and Exposition, 2004, pp. 1065-1073.
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  41. S. O. Chang and A. M. Okamura, "Impedance-Reflecting Teleoperation with a Real-Time Evolving Neural Network Controller," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, pp. 2241-2246.
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  42. M. Dewan, P. Marayong, A. M. Okamura, and G. D. Hager, " Vision-Based Assistance for Ophthalmic Microsurgery," Proceedings of the Seventh International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2004, Lecture Notes in Computer Science (Vol. 3217-II), pp. 49-57.
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  43. E. M. Boctor, R. J. Webster III, M. A. Choti, R. H. Taylor, and G. Fichtinger, "Robotically Assisted Ablative Treatment Guided By Freehand 3D Ultrasound," Computer Assisted Radiology and Surgery, 2004, pp. 503-508.
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  44. R. J. Webster III, N.J. Cowan, G. S. Chirikjian, and A. M. Okamura, "Nonholonomic Modeling of Needle Steering." 9th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, Vol. 21, Mar 2006, pp. 35 - 44.
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  45. T. E. Murphy, R. J. Webster and A. M. Okamura, "Design and Performance of a Two-Dimensional Tactile Slip Display," Eurohaptics, 2004, pp. 130-137.
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  46. C. Sauer, W. Hastings and A. M. Okamura, "Virtual Environment for Exploring Atomic Bonding," Eurohaptics, 2004, pp. 232-239.
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  47. C. Schneider, T. Mustufa and A. M. Okamura, "A Magnetically-Actuated Friction Feedback Mouse," Eurohaptics, 2004, pp. 330-337.
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  48. C. Schneider, A. M. Okamura and G. Fichtinger, "A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound," IEEE International Conference on Robotics and Automation, 2004, pp. 365-370.
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  49. I. Emeagwali, P. Marayong, J. J. Abbott, and A. M. Okamura, "Performance Analysis of Steady-Hand Telemanipulation versus Cooperative Manipulation," 12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2004, pp. 316-322.
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  50. W. Semere, M. Kitagawa, and A. M. Okamura, "Teleoperation with Sensor/Actuator Asymmetry: Task Performance with Partial Force Feedback," 12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2004, pp. 121-127.
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  51. D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager, "Human-Machine Collaborative Systems for Microsurgical Applications," International Symposium on Robotics Research, October 2003.
  52. S. Prasad, M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamini, R. H. Taylor, and A. M. Okamura, "A Modular 2-DOF Force-Sensing Instrument for Laparoscopic Surgery," Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, Lecture Notes in Computer Science (Vol. 2878), 2003, pp. 279-286.
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  53. E. Boctor, R. J. Webster, H. Mathieu, A. M. Okamura, and G. Fichtinger, "Virtual Remote Center of Motion Control for Needle Placement Robots," Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, Lecture Notes in Computer Science (Vol. 2878), 2003, pp. 157-164.
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  54. J. J. Abbott, G. D. Hager and A. M. Okamura, "Steady-Hand Teleoperation with Virtual Fixtures," 12th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2003), pp. 145-151.
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  55. J. J. Abbott and A. M. Okamura, "Analysis of Virtual Fixture Contact Stability for Telemanipulation," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 2699-2706.
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  56. M. Schaeffer and A. M. Okamura, "Methods for Intelligent Localization and Mapping during Haptic Exploration," 2003 IEEE International Conference on Systems, Man and Cybernetics, pp. 3438-3445.
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  57. G. Ye, J. J. Corso, G. D. Hager, and A. M. Okamura, "VisHap: Augmented Reality Combining Haptics and Vision," 2003 IEEE International Conference on Systems, Man and Cybernetics, pp. 3425-3431.
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  58. J. J. Abbott and A. M. Okamura, "Virtual Fixture Architectures for Telemanipulation." 2003 IEEE International Conference on Robotics and Automation, pp. 2798-2805.
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  59. M. D. O'Leary, C. Simone, T. Washio, K. Yoshinaka, and A. M. Okamura, "Robotic Needle Insertion: Effects of Friction and Needle Geometry," 2003 IEEE International Conference on Robotics and Automation, pp. 1774-1780.
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  60. A. M. Okamura, R. J. Webster, J. T. Nolin, K. W. Johnson, and H. Jafry, "The Haptic Scissors: Cutting in Virtual Environments," 2003 IEEE International Conference on Robotics and Automation, pp. 828-833.
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  61. P. Marayong, M. Li, A. M. Okamura, and G. D. Hager, "Spatial Motion Constraints: Theory and Demonstrations for Robot Guidance using Virtual Fixtures," 2003 IEEE International Conference on Robotics and Automation, pp. 1954-1959.
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  62. T. E. Murphy, C. M. Vignes, D. D. Yuh, and A. M. Okamura, "Automatic Motion Recognition and Skill Evaluation for Dynamic Tasks." Eurohaptics 2003, pp. 363-373.
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  63. J. Nolin, P. Stemniski, and A. M. Okamura, "Activation Cues and Force Scaling Methods for Virtual Fixtures," 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality, 2003, pp. 404-409.
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  64. M. Li and A. M. Okamura, "Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures" 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality, 2003, pp. 125-131.
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  65. A. M. Okamura, "Uniting Haptic Exploration and Display," in Robotics Research: The Tenth International Symposium, Springer Tracts in Advanced Robotics (Volume 6), R. A. Jarvis and Al. Zelinsky, Eds., 2003, pp. 225-238.
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  66. P. Marayong, A. Bettini, and A. M. Okamura, "Effect of Virtual Fixture Compliance on Human-Machine Cooperative Manipulation," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, pp. 1089-1095.
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  67. M. Kitagawa, A. M. Okamura, B. T. Bethea, V. L. Gott, and W. A. Baumgartner, "Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback," Proceedings of the Fifth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2002, Lecture Notes in Computer Science (Vol. 2488), T. Dohi and R. Kikinis, Eds., 2002, pp. 155-162.
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  68. O. Gerovichev, P. Marayong, and A. M. Okamura, "The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion," Proceedings of the Fifth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2002, Lecture Notes in Computer Science (Vol. 2488), T. Dohi and R. Kikinis, Eds., 2002, pp. 147-154.
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  69. H. Kataoka, T. Washio, K. Chinzei, K. Mizuhara, C. Simone, and A. Okamura, "Measurement of Tip and Friction Force Acting on a Needle During Penetration," Proceedings of the Fifth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2002, Lecture Notes in Computer Science (Vol. 2488), T. Dohi and R. Kikinis, Eds., 2002, pp. 216-223.
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  70. J. Corso, J. Chhugani, and A. Okamura, "Interactive Haptic Rendering of Deformable Surfaces Based on the Medial Axis Transform," Proceedings of Eurohaptics 2002, pp. 92-98, Edinburgh, Scotland, July 2002.
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  71. A. Bettini, S. Lang, A. Okamura, and G. Hager, "Vision Assisted Control for Manipulation Using Virtual Fixtures: Experiments at Macro and Micro Scales," Proceedings of the IEEE International Conference on Robotics and Automation, 2002, pp. 3354-3361.
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  72. C. Simone and A. M. Okamura, "Haptic Modeling of Needle Insertion for Robot-Assisted Percutaneous Therapy," Proceedings of the IEEE International Conference on Robotics and Automation, 2002, pp. 2085-2091.
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  73. V. Chial, S. Greenish and A. M. Okamura, "On the Display of Haptic Recordings for Cutting Biological Tissues," 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002, pp. 80-87.
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  74. C.S.Hundtofte, G.D. Hager, and A. M. Okamura, "Building a Task Language for Segmentation and Recognition of User Input to Cooperative Manipulation Systems," 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002, pp. 225-230.
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  75. A. Bettini, S. Lang, A. Okamura and G. Hager, "Vision Assisted Control for Manipulation Using Virtual Fixtures," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, pp. 1171-1176.
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  76. G. Sayeed Choudhury, Mark Lorie, Erin Fitzpatrick, Ben Hobbs, Greg Chirikjian, Allison Okamura, and Nick Flores, "Comprehensive Access to Print Materials (CAPM)," ACM Joint Conference on Digital Libraries, 2001, pp. 174-175.
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  77. A. M. Okamura and M. R. Cutkosky, "Feature-Guided Exploration with a Robotic Finger," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Vol. 1, 2001, pp. 589-596.
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  78. A. M. Okamura, M. W. Hage, M. R. Cutkosky, and J. T. Dennerlein, "Improving Reality-Based Models for Vibration Feedback," American Society of Mechanical Engineers, Dynamic Systems and Control Division, Vol. 69-2, 2000, pp. 1117-1124.
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  79. C. Richard, A. M. Okamura, and M. R. Cutkosky, "Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems," Proceedings of the 2000 ASEE Annual Conference and Exposition, Session 3668. (Best Paper Award)
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  80. A. M. Okamura, N. Smaby, and M. R. Cutkosky, "An Overview of Dexterous Manipulation," Proceedings of the 2000 IEEE International Conference on Robotics and Automation, Symposium on Dexterous Manipulation, Vol. 1, 2000, pp. 255-262.
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  81. A. M. Okamura, M. A. Costa, M. L. Turner, C. Richard, and M. R. Cutkosky, "Haptic Surface Exploration," Experimental Robotics VI, P. Corke and J. Trevelyan, eds., Lecture Notes in Control and Information Sciences, Vol. 250, Springer-Verlag, 2000, pp. 423-432.
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  82. A. M. Okamura and M. R. Cutkosky, "Haptic Exploration of Fine Surface Features," Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 4, 1999, pp. 2930-2936.
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  83. A. M. Okamura, J. T. Dennerlein, and R. D. Howe, "Vibration Feedback Models for Virtual Environments," Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Vol. 3, 1998, pp. 2485-2490.
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  84. D. Stredney, G. J. Wiet, R. Yagel, D. Sessanna, Y. Kurzion, M. Fontana, N. Shareef, M. Levin, K. Martin, and A. Okamura, "A Comparative Analysis of Integrating Visual Representations with Haptic Displays," 1998 Medicine Meets Virtual Reality, J.D. Westwood, H.M. Hoffman, D. Stredney, and S.J. Weghorts, Eds., IOS Press and Ohmsha, 1998, pp. 20-26.
  85. C. Richard, A. M. Okamura, M. R. Cutkosky, "Getting a Feel for Dynamics: using haptic interface kits for teaching dynamics and controls," American Society of Mechanical Engineers, Dynamic Systems and Control Division, Vol. 61, 1997, pp. 153-157.
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  86. A. M. Okamura, M. L. Turner and M. R. Cutkosky, "Haptic Exploration of Objects with Rolling and Sliding," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Vol. 3, 1997, pp. 2485-2490.
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Non-Refereed/Invited/Poster/Abstract/Short Papers

  1. D. I. Grow, M. Wu; M. J. Locastro, S. K. Arora, A. J. Bastian, and A. M. Okamura. Haptic Simulation of Elbow Joint Spasticity. 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 475-476, 2008.
  2. A. Blank, A. M. Okamura, and K. J. Kuchenbecker. Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis. 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 141-142, 2008.
  3. S. Misra S, K. T. Ramesh, and A. M. Okamura. Physically Valid Surgical Simulators: Linear versus Nonlinear Tissue Models. Studies in Health Technology and Informatics, Vol. 132, Medicine Meets Virtual Reality (MMVR 16), pages 293-295, Long Beach, USA, January 2008. (Best Poster Award)
  4. L. Doyle, N. Gauthier, S. Ramanathan, and A. M. Okamura. A simulator to explore the role of haptic feedback in cataract surgery training. Studies in Health Technology and Informatics, Vol. 132, Medicine Meets Virtual Reality (MMVR 16), pages ?-? Long Beach, USA, January 2008.
  5. S. Saha, M. Mahvash, L. N. Verner, and A. M. Okamura, "Force Sensing in Robot-Assisted Surgery: Which Degrees of Freedom are Most Important?", Medicine Meets Virtual Reality (MMVR) 15, February 6-9, 2007, Long Beach, CA, USA. (abstract)
  6. K. J. Kuchenbecker, N. Gurari, and A. M. Okamura, "Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control," Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), March 2007.
  7. J. J. Abbott, P. Marayong, and A. M. Okamura, "Haptic Virtual Fixtures for Robot-Assisted Manipulation," in Robotics Research, Springer Tracts in Advanced Robotics, Vol. 28 (Proceedings of the 12th International Symposium of Robotics Research, 2005), S. Thrun, H. Durrant-Whyte, and R. Brooks, Eds., 2007, pp. 49-64.
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  8. J. Kemper, A. Burkholder, T. Mustufa, K. Wyrobek, E. C. Burdette, A. M. Okamura, D. Y. Song, and G. Fichtinger. "Transrectal fiducial carrier for radiographic image registration in prostate brachytherapy." Conference of American Association of Physicists in Medicine, Journal of Medical Physics, 31(6):2108, 2005.
  9. K. A. Jeung, M. J. Shumski, and A. M. Okamura, "A Novel Two-Dimensional Tactile Slip Display," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2005.
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  10. C. Wong and A. M. Okamura, "The Snaptic Paddle: A Modular Haptic Device," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2005, pp. 537-538.
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  11. T. Akinbiyi, A. M. Okamura, and D. D. Yuh, "Dynamic Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems," Medicine Meets Virtual Reality 13, J. D. Westwood, et al. (Eds.), IOS Press, 2005, pp.13.
  12. J. Memisevic, R. J. Webster III and A. M. Okamura, "Design of a Needle Steering Robot for Minimally Invasive Surgery," NSF REU poster at the Biomedical Engineering Society Fall Meeting, Philadelphia, PA, Oct. 13-16, 2004.
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  13. L. N. Verner, K. A. Jeung and A. M. Okamura, "The Effects of Gripping and Translational Forces on Teleoperation, In Multi-point Interaction with Real and Virtual Objects, Springer Tracks in Advanced Robotics (Volume 18), F. Barbagli, D. Prattichizzo, and K. Salisbury, Eds, 2005, pp. 231-242.
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  14. A. M. Okamura and J. J. Abbott, "Virtual fixtures for telemanipulation: control and applications in robot-assisted minimally invasive surgery," SPIE Robotics and Machine Perception Technical Group Newsletter, Vol 13, No. 1, April 2004, p. 12.
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  15. M. Kitagawa, D. Dokko, A. M. Okamura, B. T. Bethea, and D. D. Yuh, "Effect of Sensory Substitution on Suture Manipulation Forces for Surgical Teleoperation," Medicine Meets Virtual Reality 12, J.D. Westwood, et al. (Eds.), IOS Press, 2004, pp. 157-163.
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  16. D. Weiss and A. M. Okamura," Haptic Rendering of Tissue Cutting with Scissors in a Virtual Environment," Medicine Meets Virtual Reality 12, J.D. Westwood, et al. (Eds.), IOS Press, 2004, pp. 407-409.
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  17. A. M. Okamura and S. O. Chang, "Haptics for Human-Machine Interaction at The Johns Hopkins University, International Conference on Control, Automation, and Systems, 2003, pp. 2676-2681.
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  18. G. D. Hager, A. M. Okamura, and R. H. Taylor, "An Integrated Approach to Dexterity Enhancement in Human-Machine Collaborative Systems," Workshop on Intelligent Human Augmentation and Virtual Environments (WIHAVE), Chapel Hill, NC, October 7-19,2002.
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  19. N. V. Thakor, D. Ye, O. Gerovichev, C. M. Sauer, H. M. Mozaffari-Naeini, A. M. Okamura, "MEMSurgery: A Test-Bed for Sensory Augmentation and Assistive Technology for Vascular Surgery," Biomedical Engineering: Recent Developments, 2002.
  20. H. Mozaffari-Naeini, O. Gerovichev, C. M. Sauer, M. Naware, A. M. Okamura, N. V. Thakor, "Evaluation of Human Performance in Manual Blood Vessel Compression," 21st Southern Biomedical Engineering Conference, Washington, DC, September 28-19, 2002.
  21. D. Verma and A. M. Okamura, Tele-Assessment of Surgical Aptitude Using a Virtual Reality Simulator for Vitreo-Retinal Surgery," American Telemedicine Association 7th Annual Meeting & Exposition, Los Angeles, CA, June 3, 2002.
  22. A. M. Okamura and D. K. Lieu, "Multimedia Instruction for Descriptive Geometry," American Society for Engineering Education Design Graphics Division, 1993 Second Mid-Year Conference, pp. 37-44.
  23. A. M. Okamura and D. K. Lieu, "Enhancing Graphics Education with Stereoscopic Images in PC Based CAD," American Society for Engineering Education Design Graphics Division 1993 First Mid-Year Conference, pp. 16-24.

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Technical Reports

  1. C. M. Schneider, J. R. Crouch and A. M. Okamura, "Modeling and Measuring the Dynamic 3D Effects of Needle Insertion in Soft Tissue," Haptic Exploration Lab Technical Report 04-1, The Johns Hopkins University, June 1, 2004.
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  2. J. J. Abbott and A. M. Okamura, "Generating a State-Space Formulation of a Class of Telemanipulator," Haptic Exploration Lab Technical Report 03-1, The Johns Hopkins University, June 1, 2003.
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  3. A. M. Okamura, "Literature Survey of Haptic Rendering, Collision Detection, and Object Modeling," Dextrous Manipulation Lab Technical Report, Stanford University, August 27, 1998.
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Theses

  1. R. J. Webster, III, Design and Mechanics of Continuum Robotics for Surgery, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, December 2007.
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  2. P. Marayong, Motion Control Methods for Human-Machine Cooperative Systems, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, August 2007.
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  3. C. E. Reiley, Evaluation of Augmented Reality Alternatives to Direct Force Feedback in Robot-Assisted Surgery: Visual Force Feedback and Virtual Fixtures, M.S. Thesis, Department of Computer Science, The Johns Hopkins University, April 2007.
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  4. S. Saha, Appropriate Degrees of Freedom of Force Sensing in Robot-Assisted Minimally Invasive Surgery, M.S. Thesis, Department of Biomedical Engineering, The Johns Hopkins University, May 2006.
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  5. T. Akinbiyi, Intelligent Instruments and Visual Force Feedback in Laparoscopic Minimally Invasive Surgery, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, November 2005.
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  6. J. J. Abbott, Virtual Fixtures for Bilateral Telemanipulation, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, August 2005.
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  7. T. Murphy, Towards Objective Surgical Skill Evaluation with Hidden Markov Model-based Motion Recognition, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, August 2004.
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  8. C. Schneider, Systems for Robotic Needle Insertion and Tool-Tissue Interaction Modeling, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2004.
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  9. M. Kitagawa, Indirect Feedback of Haptic Information for Robot-Assisted Telemanipulation, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, October 2003.
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  10. C. Simone, Modeling of Needle Insertion Forces for Percutaneous Therapies, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2002.
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  11. A.M. Okamura, Haptic Exploration of Unknown Objects, Ph.D. Thesis, Department of Mechanical Engineering, Stanford University, June 2000.
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