Allison M. Okamura

411 papers A* 69A 23B 2C 4Misc 2Journal 182Unranked 125

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment. ACM Trans. Hum. Robot Interact. Catie Cuan, Kyle Jeffrey, Kim Kleiven, Adrian Li-Bell, Emre Fisher, Matt Harrison, Benjie Holson, Allison M. Okamura, Matthew Bennice
2026	J	`jnl`	Miniaturized Pneumatic Actuator Array for Multipoint Deep Pressure Tactile Stimulation. CoRR Ava Chen, Megan C. Coram, Cosima du Pasquier, Allison M. Okamura
2026	J	`jnl`	Model selection and real-time skill assessment for suturing in robotic surgery. CoRR Zhaoyang Jacopo Hu, Alex Ranne, Alaa Eldin Abdelaal, Kiran Bhattacharyya, Etienne Burdet, Allison M. Okamura, Ferdinando Rodriguez y Baena
2026	J	`jnl`	Self-Wearing Adaptive Garments via Soft Robotic Unfurling. IEEE Robotics Autom. Lett. Nam Gyun Kim, William E. Heap, Yimeng Qin, Elvy B. Yao, Jee-Hwan Ryu, Allison M. Okamura
2025	J	`jnl`	3D Steering and Localization in Pipes and Burrows using an Externally Steered Soft Growing Robot. CoRR Yimeng Qin, Jared Grinberg, William E. Heap, Allison M. Okamura
2025	J	`jnl`	A Hermetic, Transparent Soft Growing Vine Robot System for Pipe Inspection. CoRR William E. Heap, Yimeng Qin, Kai Hammond, Anish Bayya, Haonon Kong, Allison M. Okamura
2025	J	`jnl`	A Study of Perceived Safety for Soft Robotics in Caregiving Tasks. CoRR Cosima du Pasquier, Jennifer Grannen, Chuer Pan, Serin L. Huber, Aliyah Smith, Monroe Kennedy III, Shuran Song, Dorsa Sadigh, Allison M. Okamura
2025	J	`jnl`	Correction to "Cognitive and Physical Activities Impair Perception of Smartphone Vibrations". IEEE Trans. Haptics Kyle T. Yoshida, Joel X. Kiernan, Rachel A. G. Adenekan, Steven H. Trinh, Alexis J. Lowber, Allison M. Okamura, Cara M. Nunez
2025	J	`jnl`	Design and Fabrication of Origami-Inspired Knitted Fabrics for Soft Robotics. CoRR Sehui Jeong, Magaly C. Aviles, Athena X. Naylor, Cynthia Sung, Allison M. Okamura
2025	A	`conf`	Effect of Haptic Feedback on Avoidance Behavior and Visual Exploration in Dynamic VR Pedestrian Environment. IROS Kyosuke Ishibashi, Atsushi Saito, Zin Y. Tun, Lucas Ray, Megan C. Coram, Akihiro Sakurai, Allison M. Okamura, Ko Yamamoto
2025	J	`jnl`	Effect of Haptic Feedback on Avoidance Behavior and Visual Exploration in Dynamic VR Pedestrian Environment. CoRR Kyosuke Ishibashi, Atsushi Saito, Zin Y. Tun, Lucas Ray, Megan C. Coram, Akihiro Sakurai, Allison M. Okamura, Ko Yamamoto
2025	J	`jnl`	Effect of Performance Feedback Timing on Motor Learning for a Surgical Training Task. CoRR Mary Kate Gale, Kailana Baker-Matsuoka, Ilana Nisky, Allison M. Okamura
2025	J	`jnl`	Effects of Wrist-Worn Haptic Feedback on Force Accuracy and Task Speed During a Teleoperated Robotic Surgery Task. IEEE Robotics Autom. Lett. Brian B. Vuong, Josie Davidson, Sangheui Cheon, Kyu-Jin Cho, Allison M. Okamura
2025	J	`jnl`	Effects of Wrist-Worn Haptic Feedback on Force Accuracy and Task Speed during a Teleoperated Robotic Surgery Task. CoRR Brian B. Vuong, Josie Davidson, Sangheui Cheon, Kyujin Cho, Allison M. Okamura
2025	J	`jnl`	Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm. CoRR Rianna M. Jitosho, Crystal E. Winston, Shengan Yang, Jinxin Li, Maxwell Ahlquist, Nicholas John Woehrle, C. Karen Liu, Allison M. Okamura
2025	J	`jnl`	Force-Aware Autonomous Robotic Surgery. CoRR Alaa Eldin Abdelaal, Jiaying Fang, Tim N. Reinhart, Jacob A. Mejia, Tony Z. Zhao, Jeannette Bohg, Allison M. Okamura
2025	J	`jnl`	Fourigami: A 4-Degree-of-Freedom, Force-Controlled, Origami, Finger Pad Haptic Device. IEEE Trans. Robotics Crystal E. Winston, Hojung Choi, Rianna M. Jitosho, Zhenishbek Zhakypov, Jasmin E. Palmer, Mark R. Cutkosky, Allison M. Okamura
2025	J	`jnl`	Localization of Vibrotactile Stimuli on the Face. CoRR Shivani Guptasarma, Allison M. Okamura, Monroe Kennedy III
2025	J	`jnl`	Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps. CoRR Kentaro Barhydt, O. Godson Osele, Sreela Kodali, Cosima du Pasquier, Chase M. Hartquist, H. Harry Asada, Allison M. Okamura
2025	A	`conf`	Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer. IROS O. Godson Osele, Kentaro Barhydt, Teagan Sullivan, H. Harry Asada, Allison M. Okamura
2025	J	`jnl`	Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer. CoRR O. Godson Osele, Kentaro Barhydt, Teagan Sullivan, H. Harry Asada, Allison M. Okamura
2025	J	`jnl`	Music Mode: Transforming Robot Movement into Music Increases Likability and Perceived Intelligence. ACM Trans. Hum. Robot Interact. Catie Cuan, Emre Fisher, Allison M. Okamura, Tom Engbersen
2025	J	`jnl`	Self-Wearing Adaptive Garments via Soft Robotic Unfurling. CoRR Nam Gyun Kim, William E. Heap, Yimeng Qin, Elvy B. Yao, Jee-Hwan Ryu, Allison M. Okamura
2024	J	`jnl`	A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites. CoRR Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, Sreela Kodali, Allison M. Okamura, Cara M. Nunez
2024	J	`jnl`	A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites. IEEE Trans. Haptics Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, Sreela Kodali, Allison M. Okamura, Cara M. Nunez
2024	J	`jnl`	Between-Tactor Display Using Dynamic Tactile Stimuli for Directional Cueing in Vibrating Environments. IEEE Trans. Haptics Ryo Eguchi, David Vacek, Cole Godzinski, Allison M. Okamura
2024	J	`jnl`	Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures. IEEE Trans. Biomed. Eng. Michael Raitor, Cara M. Nunez, Philipp J. Stolka, Allison M. Okamura, Heather Culbertson
2024	J	`jnl`	Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm. IEEE Trans. Haptics Kyle T. Yoshida, Zane A. Zook, Hojung Choi, Ming Luo, Marcia K. O'Malley, Allison M. Okamura
2024	J	`jnl`	Development and Evaluation of a Learning-Based Model for Real-Time Haptic Texture Rendering. IEEE Trans. Haptics Negin Heravi, Heather Culbertson, Allison M. Okamura, Jeannette Bohg
2024	J	`jnl`	Fabrication and Performance of Textile Pneumatic Actuators. CoRR Megan C. Coram, Allison M. Okamura, Cosima du Pasquier
2024	J	`jnl`	Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment. IEEE Trans. Haptics Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren, Thomas S. Lendvay, Ilana Nisky, Anthony M. Jarc, Allison M. Okamura, Zonghe Chua
2024	—	`conf`	Haptic Relocation of Virtual Finger Forces via Pneumatic Wrist-Worn Haptic Devices. HAPTICS Jasmin E. Palmer, Brian B. Vuong, Zhenishbek Zhakypov, Yimeng Qin, Liana Tilton, Allison M. Okamura
2024	J	`jnl`	Haptiknit: Distributed stiffness knitting for wearable haptics. Sci. Robotics Cosima du Pasquier, Lavender Tessmer, Ian Scholl, Liana Tilton, Tian Chen, Skylar Tibbits, Allison M. Okamura
2024	J	`jnl`	Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment. CoRR Catie Cuan, Kyle Jeffrey, Kim Kleiven, Adrian Li, Emre Fisher, Matt Harrison, Benjie Holson, Allison M. Okamura, Matthew Bennice
2024	J	`jnl`	Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models. IEEE Trans. Haptics Catie Cuan, Allison M. Okamura, Mohi Khansari
2024	—	`conf`	Reliability of Smartphone-Based Vibration Threshold Measurements. HAPTICS Rachel A. G. Adenekan, Kyle T. Yoshida, Anis Benyoucef, Alejandrina Gonzalez Reyes, Adeyinka E. Adenekan, Allison M. Okamura, Cara M. Nunez
2024	J	`jnl`	Reliability of Smartphone-Based Vibration Threshold Measurements. CoRR Rachel A. G. Adenekan, Kyle T. Yoshida, Anis Benyoucef, Alejandrina Gonzalez Reyes, Adeyinka E. Adenekan, Allison M. Okamura, Cara M. Nunez
2024	J	`jnl`	Spatial Summation of Localized Pressure for Haptic Sensory Prostheses. CoRR Sreela Kodali, Cihualpilli Camino Cruz, Thomas C. Bulea, Kevin S. Rao, Diana Bharucha-Goebel, Alexander T. Chesler, Carsten G. Bönnemann, Allison M. Okamura
2024	A*	`conf`	Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots. ICRA O. Godson Osele, Kentaro Barhydt, Nicholas Cerone, Allison M. Okamura, H. Harry Asada
2024	—	`conf`	phloSAR: A Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots. RoboSoft Maxwell Ahlquist, Rianna M. Jitosho, Jiawen Bao, Allison M. Okamura
2024	J	`jnl`	phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots. CoRR Maxwell Ahlquist, Rianna M. Jitosho, Jiawen Bao, Allison M. Okamura
2023	J	`jnl`	A Comparison of Pneumatic Actuators for Soft Growing Vine Robots. CoRR Alexander M. Kübler, Cosima du Pasquier, Andrew K. Low, Betim Djambazi, Nicolas Aymon, Julian Förster, Nathaniel Agharese, Roland Siegwart, Allison M. Okamura
2023	J	`jnl`	A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research. Sensors Zonghe Chua, Allison M. Okamura
2023	—	`conf`	A Multi-Segment, Soft Growing Robot with Selective Steering. RoboSoft Alexander M. Kübler, Sebastián Urdaneta Rivera, Frances B. Raphael, Julian Förster, Roland Siegwart, Allison M. Okamura
2023	J	`jnl`	Cognitive and Physical Activities Impair Perception of Smartphone Vibrations. CoRR Kyle T. Yoshida, Joel X. Kiernan, Rachel A. G. Adenekan, Steven H. Trinh, Alexis J. Lowber, Allison M. Okamura, Cara M. Nunez
2023	J	`jnl`	Cognitive and Physical Activities Impair Perception of Smartphone Vibrations. IEEE Trans. Haptics Kyle T. Yoshida, Joel X. Kiernan, Rachel A. G. Adenekan, Steven H. Trinh, Alexis J. Lowber, Allison M. Okamura, Cara M. Nunez
2023	J	`jnl`	Configuration and Fabrication of Preformed Vine Robots. CoRR Nathaniel Agharese, Allison M. Okamura
2023	—	`conf`	Evaluation of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support. ICORR Elizabeth D. Vasquez, Cole S. Simpson, Genggeng Zhou, Maarten G. Lansberg, Allison M. Okamura
2023	—	`conf`	Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device. WHC Kyle T. Yoshida, Joel X. Kiernan, Allison M. Okamura, Cara M. Nunez
2023	J	`jnl`	Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device. CoRR Kyle T. Yoshida, Joel X. Kiernan, Allison M. Okamura, Cara M. Nunez
2023	J	`jnl`	Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots. CoRR Cosima du Pasquier, Sehui Jeong, Allison M. Okamura
2023	J	`jnl`	Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots. IEEE Robotics Autom. Lett. Cosima du Pasquier, Sehui Jeong, Allison M. Okamura
2023	J	`jnl`	Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment. CoRR Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren, Thomas S. Lendvay, Ilana Nisky, Anthony M. Jarc, Allison M. Okamura, Zonghe Chua
2023	J	`jnl`	Modeling and Control of a 5-DOF Parallel Continuum Haptic Device. IEEE Trans. Robotics Margaret Koehler, Thor Morales Bieze, Alexandre Kruszewski, Allison M. Okamura, Christian Duriez
2023	J	`jnl`	Music Mode: Transforming Robot Movement into Music Increases Likability and Perceived Intelligence. CoRR Catie Cuan, Emre Fisher, Allison M. Okamura, Tom Engbersen
2023	—	`conf`	Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots. RoboSoft Rianna M. Jitosho, Sofia Simon-Trench, Allison M. Okamura, Brian H. Do
2023	J	`jnl`	Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots. CoRR Rianna M. Jitosho, Sofia Simon-Trench, Allison M. Okamura, Brian H. Do
2023	Misc	`conf`	Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms. CoRL Rianna M. Jitosho, Tyler Ga Wei Lum, Allison M. Okamura, C. Karen Liu
2023	—	`conf`	Seeing and feeling in robot-assisted surgery (Conference Presentation). Image-Guided Procedures Allison M. Okamura
2023	J	`jnl`	Shared-Control Teleoperation Paradigms on a Soft-Growing Robot Manipulator. J. Intell. Robotic Syst. Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese, Ming Luo, Laura H. Blumenschein, Elliot W. Hawkes, Allison M. Okamura
2023	J	`jnl`	Stiffness Change for Reconfiguration of Inflated Beam Robots. CoRR Brian H. Do, Shuai Wu, Ruike Renee Zhao, Allison M. Okamura
2023	—	`conf`	Wearable Sensory Substitution for Proprioception via Deep Pressure. WHC Sreela Kodali, Brian B. Vuong, Thomas C. Bulea, Alexander T. Chesler, Carsten G. Bönnemann, Allison M. Okamura
2023	J	`jnl`	Wearable Sensory Substitution for Proprioception via Deep Pressure. CoRR Sreela Kodali, Brian B. Vuong, Thomas C. Bulea, Alexander T. Chesler, Carsten G. Bönnemann, Allison M. Okamura
2022	J	`jnl`	A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. IEEE Robotics Autom. Lett. Sophia R. Williams, Jacob M. Suchoski, Zonghe Chua, Allison M. Okamura
2022	A	`conf`	A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation. IROS Cara M. Nunez, Brian H. Do, Andrew K. Low, Laura H. Blumenschein, Katsu Yamane, Allison M. Okamura
2022	A*	`conf`	A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes. ICRA O. Godson Osele, Allison M. Okamura, Brian H. Do
2022	J	`jnl`	A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research. CoRR Zonghe Chua, Allison M. Okamura
2022	J	`jnl`	A Multi-Segment, Soft Growing Robot with Selective Steering. CoRR Alexander M. Kübler, Sebastián Urdaneta Rivera, Frances B. Raphael, Julian Förster, Roland Siegwart, Allison M. Okamura
2022	J	`jnl`	Between-Tactor Display Using Dynamic Tactile Stimuli. CoRR Ryo Eguchi, David Vacek, Cole Godzinski, Silvia Curry, Max Evans, Allison M. Okamura
2022	A	`conf`	Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation. IROS Zonghe Chua, Allison M. Okamura
2022	J	`jnl`	Data-Driven Sparse Skin Stimulation Can Convey Social Touch Information to Humans. IEEE Trans. Haptics Mike Salvato, Sophia R. Williams, Cara M. Nunez, Xin Zhu, Ali Israr, Frances Lau, Keith Klumb, Freddy Abnousi, Allison M. Okamura, Heather Culbertson
2022	A	`conf`	Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force. IROS Hojung Choi, Dane Brouwer, Michael A. Lin, Kyle T. Yoshida, Carine Rognon, Benjamin Stephens-Fripp, Allison M. Okamura, Mark R. Cutkosky
2022	J	`jnl`	Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force. CoRR Hojung Choi, Dane Brouwer, Michael A. Lin, Kyle T. Yoshida, Carine Rognon, Benjamin Stephens-Fripp, Allison M. Okamura, Mark R. Cutkosky
2022	J	`jnl`	Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering. CoRR Negin Heravi, Heather Culbertson, Allison M. Okamura, Jeannette Bohg
2022	J	`jnl`	Effects of Haptic Feedback on the Wrist during Virtual Manipulation. CoRR Mine Sarac, Allison M. Okamura, Massimiliano Di Luca
2022	J	`jnl`	Feasibility of Smartphone Vibrations as a Sensory Diagnostic Tool. CoRR Rachel A. G. Adenekan, Alexis J. Lowber, Bryce N. Huerta, Allison M. Okamura, Kyle T. Yoshida, Cara M. Nunez
2022	—	`conf`	FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation. RoboSoft Zhenishbek Zhakypov, Allison M. Okamura
2022	J	`jnl`	FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation. CoRR Zhenishbek Zhakypov, Allison M. Okamura
2022	J	`jnl`	Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. IEEE Trans. Robotics Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot Wright Hawkes, D. Caleb Rucker, Allison M. Okamura
2022	A	`conf`	Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality. IROS Jasmin E. Palmer, Mine Sarac, Aaron A. Garza, Allison M. Okamura
2022	J	`jnl`	Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality. CoRR Jasmin E. Palmer, Mine Sarac, Aaron A. Garza, Allison M. Okamura
2022	J	`jnl`	Hoxels: Fully 3-D Printed Soft Multi-Modal & Multi-Contact Haptic Voxel Displays for Enriched Tactile Information Transfer. CoRR Zhenishbek Zhakypov, Yimeng Qin, Allison M. Okamura
2022	J	`jnl`	Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement. IEEE Trans. Haptics Cara Gonzalez Welker, Steven H. Collins, Allison M. Okamura
2022	J	`jnl`	Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models. CoRR Catie Cuan, Allison M. Okamura, Mohi Khansari
2022	J	`jnl`	Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet. IEEE Robotics Autom. Lett. Mine Sarac, Tae Myung Huh, Hojung Choi, Mark R. Cutkosky, Massimiliano Di Luca, Allison M. Okamura
2022	A	`conf`	Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence. IROS Mine Sarac, Massimiliano Di Luca, Allison M. Okamura
2022	J	`jnl`	Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence. CoRR Mine Sarac, Massimiliano Di Luca, Allison M. Okamura
2022	J	`jnl`	Predicting Hand-Object Interaction for Improved Haptic Feedback in Mixed Reality. IEEE Robotics Autom. Lett. Mike Salvato, Negin Heravi, Allison M. Okamura, Jeannette Bohg
2022	J	`jnl`	Social-Cultural Factors in the Design of Technology for Hispanic People with Stroke. CoRR Elizabeth D. Vasquez, Allison M. Okamura, Sean Follmer
2022	A*	`conf`	Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints. ICRA Ioannis Exarchos, Karen Wang, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, C. Karen Liu
2022	J	`jnl`	Wearable Haptic Device for Individuals with Congenital Absence of Proprioception. CoRR Sreela Kodali, Allison M. Okamura, Thomas C. Bulea, Alexander T. Chesler, Carsten G. Bönnemann
2021	J	`jnl`	A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. CoRR Sophia R. Williams, Jacob M. Suchoski, Zonghe Chua, Allison M. Okamura
2021	A*	`conf`	A Dynamics Simulator for Soft Growing Robots. ICRA Rianna M. Jitosho, Nathaniel Agharese, Allison M. Okamura, Zac Manchester
2021	J	`jnl`	A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes. CoRR Brian H. Do, O. Godson Osele, Allison M. Okamura
2021	—	`conf`	Affective Ratings of Vibrotactile Signals in Older Adults With and Without History of Stroke. WHC Caitlyn E. Seim, Brandon Ritter, Kara E. Flavin, Maarten G. Lansberg, Allison M. Okamura
2021	—	`conf`	Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device. WHC Mine Sarac, Duke Loke, Max Evans, Olivia Chong, James Saunders, Basiel Makled, Allison M. Okamura, Kim Hallett
2021	—	`conf`	Augmented Needle Decompression Task with a Wrist-Worn Haptic Device. WHC Mine Sarac, Kim Hallett, James Saunders, Basiel Makled, Allison M. Okamura
2021	J	`jnl`	Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm. IEEE Trans. Haptics Sophia R. Williams, Allison M. Okamura
2021	J	`jnl`	Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation. CoRR Zonghe Chua, Allison M. Okamura
2021	J	`jnl`	Data-driven sparse skin stimulation can convey social touch information to humans. CoRR Mike Salvato, Sophia R. Williams, Cara M. Nunez, Xin Zhu, Ali Israr, Frances Lau, Keith Klumb, Freddy Abnousi, Allison M. Okamura, Heather Culbertson
2021	J	`jnl`	Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers. CoRR Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond, Allison M. Okamura, Mac Schwager
2021	—	`conf`	Distributed Sensor Networks Deployed Using Soft Growing Robots. RoboSoft Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad, Allison M. Okamura, Mark R. Cutkosky
2021	J	`jnl`	Effects of Peripheral Haptic Feedback on Intracortical Brain-Computer Interface Control and Associated Sensory Responses in Motor Cortex. IEEE Trans. Haptics Darrel R. Deo, Paymon Rezaii, Leigh R. Hochberg, Allison M. Okamura, Krishna V. Shenoy, Jaimie M. Henderson
2021	—	`conf`	Embedded Laser-Cut Constraints for Elastomeric Soft Actuators. WHC Crystal E. Winston, Kyle T. Yoshida, Sophia R. Williams, Allison M. Okamura
2021	—	`conf`	Human Perception of Wrist Torque Magnitude During Upper and Lower Extremity Movement. WHC Cara Gonzalez Welker, Steven H. Collins, Allison M. Okamura
2021	A*	`conf`	Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays. ICRA Brian H. Do, Allison M. Okamura, Katsu Yamane, Laura H. Blumenschein
2021	J	`jnl`	Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields. CoRR Yousi A. Oquendo, Zonghe Chua, Margaret M. Coad, Ilana Nisky, Anthony M. Jarc, Sherry M. Wren, Thomas S. Lendvay, Allison M. Okamura
2021	J	`jnl`	Shared-Control Teleoperation Paradigms on a Soft Growing Robot Manipulator. CoRR Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese, Ming Luo, Laura H. Blumenschein, Elliot W. Hawkes, Allison M. Okamura
2021	J	`jnl`	Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints. CoRR Ioannis Exarchos, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, C. Karen Liu
2021	J	`jnl`	Teaching With Hapkit: Enabling Online Haptics Courses With Hands-On Laboratories. IEEE Robotics Autom. Mag. Tania K. Morimoto, Melisa Orta Martinez, Richard Lee Davis, Paulo Blikstein, Allison M. Okamura
2021	J	`jnl`	Teleoperation of an Ankle-Foot Prosthesis With a Wrist Exoskeleton. IEEE Trans. Biomed. Eng. Cara Gonzalez Welker, Vincent L. Chiu, Alexandra S. Voloshina, Steven H. Collins, Allison M. Okamura
2021	A*	`conf`	Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State. ICRA Zonghe Chua, Anthony M. Jarc, Allison M. Okamura
2020	J	`jnl`	3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots. IEEE Robotics Autom. Lett. Lucia T. Gan, Laura H. Blumenschein, Zhe Huang, Allison M. Okamura, Elliot W. Hawkes, Jonathan A. Fan
2020	J	`jnl`	A Dynamics Simulator for Soft Growing Robots. CoRR Rianna M. Jitosho, Nathaniel Agharese, Allison M. Okamura, Zac Manchester
2020	A	`conf`	A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots. IROS Sang-Goo Jeong, Margaret M. Coad, Laura H. Blumenschein, Ming Luo, Usman Mehmood, Ji Hun Kim, Allison M. Okamura, Jee-Hwan Ryu
2020	—	`conf`	AFREEs: Active Fiber Reinforced Elastomeric Enclosures. RoboSoft Kyle T. Yoshida, Xinyi Ren, Laura H. Blumenschein, Allison M. Okamura, Ming Luo
2020	J	`jnl`	An untethered isoperimetric soft robot. Sci. Robotics Nathan S. Usevitch, Zachary M. Hammond, Mac Schwager, Allison M. Okamura, Elliot W. Hawkes, Sean Follmer
2020	J	`jnl`	Continuous Closed-Loop 4-Degree-of-Freedom Holdable Haptic Guidance. IEEE Robotics Autom. Lett. Julie M. Walker, Allison M. Okamura
2020	J	`jnl`	Design, Modeling, Control, and Application of Everting Vine Robots. Frontiers Robotics AI Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020	J	`jnl`	Distributed Sensor Networks Deployed Using Soft Growing Robots. CoRR Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad, Allison M. Okamura, Mark R. Cutkosky
2020	A*	`conf`	Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots. ICRA Brian H. Do, Valory Banashek, Allison M. Okamura
2020	J	`jnl`	Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots. CoRR Brian H. Do, Valory Banashek, Allison M. Okamura
2020	J	`jnl`	Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot-Human Communication. IEEE Trans. Robotics Yuhang Che, Allison M. Okamura, Dorsa Sadigh
2020	J	`jnl`	Evaluation of Non-Collocated Force Feedback Driven by Signal-Independent Noise. CoRR Zonghe Chua, Allison M. Okamura, Darrel R. Deo
2020	A*	`conf`	Evaluation of Non-collocated Force Feedback Driven by Signal-independent Noise. ICRA Zonghe Chua, Allison M. Okamura, Darrel R. Deo
2020	J	`jnl`	Evolution and Analysis of Hapkit: An Open-Source Haptic Device for Educational Applications. IEEE Trans. Haptics Melisa Orta Martinez, Cara M. Nunez, Ting Liao, Tania K. Morimoto, Allison M. Okamura
2020	J	`jnl`	Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. CoRR Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot W. Hawkes, D. Caleb Rucker, Allison M. Okamura
2020	A*	`conf`	Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot. ICRA Fabio Stroppa, Ming Luo, Kyle T. Yoshida, Margaret M. Coad, Laura H. Blumenschein, Allison M. Okamura
2020	—	`conf`	Investigating Social Haptic Illusions for Tactile Stroking (SHIFTS). HAPTICS Cara M. Nunez, Bryce N. Huerta, Allison M. Okamura, Heather Culbertson
2020	J	`jnl`	Investigating Social Haptic Illusions for Tactile Stroking (SHIFTS). CoRR Cara M. Nunez, Bryce N. Huerta, Allison M. Okamura, Heather Culbertson
2020	J	`jnl`	Isometric force pillow: using air pressure to quantify involuntary finger flexion in the presence of hypertonia. CoRR Caitlyn E. Seim, Chuzhang Han, Alexis J. Lowber, Claire Brooks, Marie Payne, Maarten G. Lansberg, Kara E. Flavin, Julius P. A. Dewald, Allison M. Okamura
2020	A*	`conf`	Learning an Action-Conditional Model for Haptic Texture Generation. ICRA Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg
2020	J	`jnl`	Model-Based Design of a Soft 3-D Haptic Shape Display. IEEE Trans. Robotics Margaret Koehler, Nathan S. Usevitch, Allison M. Okamura
2020	J	`jnl`	Retraction of Soft Growing Robots Without Buckling. IEEE Robotics Autom. Lett. Margaret M. Coad, Rachel P. Thomasson, Laura H. Blumenschein, Nathan S. Usevitch, Elliot W. Hawkes, Allison M. Okamura
2020	J	`jnl`	Robust navigation of a soft growing robot by exploiting contact with the environment. Int. J. Robotics Res. Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
2020	J	`jnl`	Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation of a Minimally Invasive Surgical Robot. CoRR Zonghe Chua, Anthony M. Jarc, Sherry Wren, Ilana Nisky, Allison M. Okamura
2020	J	`jnl`	Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State. CoRR Zonghe Chua, Anthony M. Jarc, Allison M. Okamura
2020	J	`jnl`	United Against Racism and a Call for Action [Ethical, Legal, and Societal Issues]. IEEE Robotics Autom. Mag. Bram Vanderborght, Allison M. Okamura
2020	J	`jnl`	Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration. IEEE Robotics Autom. Mag. Margaret M. Coad, Laura H. Blumenschein, Sadie Cutler, Javier A. Reyna Zepeda, Nicholas D. Naclerio, Haitham El-Hussieny, Usman Mehmood, Jee-Hwan Ryu, Elliot W. Hawkes, Allison M. Okamura
2019	—	`conf`	3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback. WHC Kyle T. Yoshida, Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, Ming Luo
2019	J	`jnl`	A Tip Mount for Carrying Payloads using Soft Growing Robots. CoRR Sang-Goo Jeong, Margaret M. Coad, Laura H. Blumenschein, Ming Luo, Usman Mehmood, Ji Hun Kim, Allison M. Okamura, Jee-Hwan Ryu
2019	J	`jnl`	Design and Analysis of Pneumatic 2-DoF Soft Haptic Devices for Shear Display. IEEE Robotics Autom. Lett. Smita Kanjanapas, Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, Ming Luo
2019	J	`jnl`	Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device. CoRR Sajid Nisar, Melisa Orta Martinez, Takahiro Endo, Fumitoshi Matsuno, Allison M. Okamura
2019	J	`jnl`	Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device. IEEE Robotics Autom. Lett. Sajid Nisar, Melisa Orta Martinez, Takahiro Endo, Fumitoshi Matsuno, Allison M. Okamura
2019	J	`jnl`	Effects of Haptic Feedback on the Wrist during Virtual Manipulation. CoRR Mine Sarac, Allison M. Okamura, Massimiliano Di Luca
2019	J	`jnl`	Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks. IEEE Trans. Haptics Zhan Fan Quek, William R. Provancher, Allison M. Okamura
2019	J	`jnl`	Haptic Sketches on the Arm for Manipulation in Virtual Reality. CoRR Mine Sarac, Allison M. Okamura, Massimiliano Di Luca
2019	—	`conf`	Holdable Haptic Device for 4-DOF Motion Guidance. WHC Julie M. Walker, Nabil Zemiti, Philippe Poignet, Allison M. Okamura
2019	J	`jnl`	Holdable Haptic Device for 4-DOF Motion Guidance. CoRR Julie M. Walker, Nabil Zemiti, Philippe Poignet, Allison M. Okamura
2019	J	`jnl`	How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. CoRR Gustavo D. Gil, Julie M. Walker, Nabil Zemiti, Allison M. Okamura, Philippe Poignet
2019	J	`jnl`	Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot. CoRR Fabio Stroppa, Ming Luo, Kyle T. Yoshida, Margaret M. Coad, Laura H. Blumenschein, Allison M. Okamura
2019	J	`jnl`	Human-centered Control of a Growing Soft Robot for Object Manipulation. CoRR Fabio Stroppa, Ming Luo, Giada Gerboni, Margaret M. Coad, Julie M. Walker, Allison M. Okamura
2019	J	`jnl`	Learning an Action-Conditional Model for Haptic Texture Generation. CoRR Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg
2019	—	`conf`	Perception of a Wearable Haptic Feedback Device to Render the Sensation of Flight. WHC Carine Rognon, Margaret Koehler, Dario Floreano, Allison M. Okamura
2019	J	`jnl`	Resonant Frequency Skin Stretch for Wearable Haptics. IEEE Trans. Haptics Peter B. Shull, Tian Tan, Heather Culbertson, Xiangyang Zhu, Allison M. Okamura
2019	J	`jnl`	Retraction of Soft Growing Robots without Buckling. CoRR Margaret M. Coad, Rachel P. Thomasson, Laura H. Blumenschein, Nathan S. Usevitch, Elliot W. Hawkes, Allison M. Okamura
2019	J	`jnl`	Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment. CoRR Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
2019	J	`jnl`	Soft Haptic Device to Render the Sensation of Flying Like a Drone. IEEE Robotics Autom. Lett. Carine Rognon, Margaret Koehler, Christian Duriez, Dario Floreano, Allison M. Okamura
2019	J	`jnl`	Stiffness Control of Deformable Robots Using Finite Element Modeling. IEEE Robotics Autom. Lett. Margaret Koehler, Allison M. Okamura, Christian Duriez
2019	J	`jnl`	Understanding Continuous and Pleasant Linear Sensations on the Forearm From a Sequential Discrete Lateral Skin-Slip Haptic Device. IEEE Trans. Haptics Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, Heather Culbertson
2019	J	`jnl`	Understanding Continuous and Pleasant Linear Sensations on the Forearm from a Sequential Discrete Lateral Skin-Slip Haptic Device. CoRR Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, Heather Culbertson
2019	J	`jnl`	Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration. CoRR Margaret M. Coad, Laura H. Blumenschein, Sadie Cutler, Javier A. Reyna Zepeda, Nicholas D. Naclerio, Haitham El-Hussieny, Usman Mehmood, Jee-Hwan Ryu, Elliot W. Hawkes, Allison M. Okamura
2018	J	`jnl`	A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas. IEEE Robotics Autom. Lett. Laura H. Blumenschein, Lucia T. Gan, Jonathan A. Fan, Allison M. Okamura, Elliot Wright Hawkes
2018	—	`conf`	A social haptic device to create continuous lateral motion using sequential normal indentation. HAPTICS Heather Culbertson, Cara M. Nunez, Ali Israr, Frances Lau, Freddy Abnousi, Allison M. Okamura
2018	A*	`conf`	APAM: Antagonistic Pneumatic Artificial Muscle. ICRA Nathan S. Usevitch, Allison M. Okamura, Elliot Wright Hawkes
2018	A*	`conf`	Avoiding Human-Robot Collisions Using Haptic Communication. ICRA Yuhang Che, Cuthbert T. Sun, Allison M. Okamura
2018	—	`conf`	Comparing proprioceptive acuity in the arm between joint space and task space. HAPTICS Sean M. Sketch, Amy J. Bastian, Allison M. Okamura
2018	J	`jnl`	Comparison Between Force-Controlled Skin Deformation Feedback and Hand-Grounded Kinesthetic Force Feedback for Sensory Substitution. IEEE Robotics Autom. Lett. Yasuhisa Kamikawa, Allison M. Okamura
2018	A*	`conf`	Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback. ICRA Zane A. Zook, Allison M. Okamura, Yasuhisa Kamikawa
2018	J	`jnl`	Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication. CoRR Yuhang Che, Allison M. Okamura, Dorsa Sadigh
2018	J	`jnl`	Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation. ACM Trans. Hum. Robot Interact. Yuhang Che, Heather Culbertson, Chih-Wei Tang, Sudipto Aich, Allison M. Okamura
2018	A	`conf`	Gaussian Process Dynamic Programming for Optimizing Ungrounded Haptic Guidance. IROS Julie M. Walker, Allison M. Okamura, Mykel J. Kochenderfer
2018	A*	`conf`	HapWRAP: Soft Growing Wearable Haptic Device. ICRA Nathaniel Agharese, Tyler Cloyd, Laura H. Blumenschein, Michael Raitor, Elliot Wright Hawkes, Heather Culbertson, Allison M. Okamura
2018	J	`jnl`	Haptic Dimensions of Human-Robot Interaction. ACM Trans. Hum. Robot Interact. Allison M. Okamura
2018	J	`jnl`	Haptic Orientation Guidance Using Two Parallel Double-Gimbal Control Moment Gyroscopes. IEEE Trans. Haptics Julie M. Walker, Heather Culbertson, Michael Raitor, Allison M. Okamura
2018	J	`jnl`	Haptics: The Present and Future of Artificial Touch Sensation. Annu. Rev. Control. Robotics Auton. Syst. Heather Culbertson, Samuel B. Schorr, Allison M. Okamura
2018	—	`conf`	Helical actuation on a soft inflated robot body. RoboSoft Laura H. Blumenschein, Nathan S. Usevitch, Brian H. Do, Elliot Wright Hawkes, Allison M. Okamura
2018	A*	`conf`	Magnified Force Sensory Substitution for Telemanipulation via Force-Controlled Skin Deformation. ICRA Yasuhisa Kamikawa, Nima Enayati, Allison M. Okamura
2018	A*	`conf`	Obstacle-Aided Navigation of a Soft Growing Robot. ICRA Joseph D. Greer, Laura H. Blumenschein, Allison M. Okamura, Elliot Wright Hawkes
2018	A*	`conf`	Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study. ICRA Nima Enayati, Allison M. Okamura, Andrea Mariani, Edoardo Pellegrini, Margaret M. Coad, Giancarlo Ferrigno, Elena De Momi
2018	A*	`conf`	Scaling Inertial Forces to Alter Weight Perception in Virtual Reality. ICRA Jacob M. Suchoski, Susana Martínez, Allison M. Okamura
2017	J	`jnl`	A soft robot that navigates its environment through growth. Sci. Robotics Laura H. Blumenschein, Joseph D. Greer, Allison M. Okamura
2017	—	`conf`	Analysis of effective impedance transmitted to the operator in position-exchange bilateral teleoperation. WHC Nick Colonnese, Allison M. Okamura
2017	J	`jnl`	Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface. IEEE Trans. Vis. Comput. Graph. Andrew A. Stanley, Allison M. Okamura
2017	J	`jnl`	Design of a Compact Actuation and Control System for Flexible Medical Robots. IEEE Robotics Autom. Lett. Tania K. Morimoto, Elliot Wright Hawkes, Allison M. Okamura
2017	A	`conf`	Design of a soft catheter for low-force and constrained surgery. IROS Patrick Slade, Alex Gruebele, Zachary M. Hammond, Michael Raitor, Allison M. Okamura, Elliot Wright Hawkes
2017	—	`conf`	Design of patient-specific concentric tube robots using path planning from 3-D ultrasound. EMBC Tania K. Morimoto, Juan J. Cerrolaza, Michael H. Hsieh, Kevin Cleary, Allison M. Okamura, Marius George Linguraru
2017	A*	`conf`	Exomuscle: An inflatable device for shoulder abduction support. ICRA Cole S. Simpson, Allison M. Okamura, Elliot Wright Hawkes
2017	A*	`conf`	Fingertip Tactile Devices for Virtual Object Manipulation and Exploration. CHI Samuel B. Schorr, Allison M. Okamura
2017	J	`jnl`	Highly Articulated Robotic Needle Achieves Distributed Ablation of Liver Tissue. IEEE Robotics Autom. Lett. Giada Gerboni, Joseph D. Greer, Paul F. Laeseke, Gloria L. Hwang, Allison M. Okamura
2017	—	`conf`	Keynote speaker: Allison Okamura: Let's be flexible: Soft haptics and soft robotics. WHC Sandra Hirche, Allison M. Okamura
2017	—	`conf`	Modeling of Bioinspired Apical Extension in a Soft Robot. Living Machines Laura H. Blumenschein, Allison M. Okamura, Elliot Wright Hawkes
2017	—	`conf`	Open source, modular, customizable, 3-D printed kinesthetic haptic devices. WHC Melisa Orta Martinez, Joseph Campion, Tara Gholami, Michal K. Rittikaidachar, Aaron C. Barron, Allison M. Okamura
2017	A	`conf`	Propagation of joint space quantization error to operational space coordinates and their derivatives. IROS Nick Colonnese, Allison M. Okamura
2017	A*	`conf`	Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot. ICRA Joseph D. Greer, Tania K. Morimoto, Allison M. Okamura, Elliot Wright Hawkes
2017	—	`conf`	Simulating the impact of sensorimotor deficits on reaching performance. ICORR Sean M. Sketch, Cole S. Simpson, Frédéric Crevecoeur, Allison M. Okamura
2017	Misc	`conf`	The Haptic Bridge: Towards a Theory for Haptic-Supported Learning. IDC Richard Lee Davis, Melisa Orta Martinez, Oliver S. Schneider, Karon E. MacLean, Allison M. Okamura, Paulo Blikstein
2017	J	`jnl`	Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments. IEEE Trans. Haptics Samuel B. Schorr, Allison M. Okamura
2017	—	`conf`	Training in divergent and convergent force fields during 6-DOF teleoperation with a robot-assisted surgical system. WHC Margaret M. Coad, Allison M. Okamura, Sherry Wren, Yoav Mintz, Thomas S. Lendvay, Anthony M. Jarc, Ilana Nisky
2017	A*	`conf`	WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues. CHI Heather Culbertson, Julie M. Walker, Michael Raitor, Allison M. Okamura
2017	A*	`conf`	WRAP: Wearable, restricted-aperture pneumatics for haptic guidance. ICRA Michael Raitor, Julie M. Walker, Allison M. Okamura, Heather Culbertson
2016	—	`conf`	3-D printed haptic devices for educational applications. HAPTICS Melisa Orta Martinez, Tania K. Morimoto, Annalisa T. Taylor, Aaron C. Barron, J. D. Akzl Pultorak, Jeanny Wang, Agnes Calasanz-Kaiser, Richard Lee Davis, Paulo Blikstein, Allison M. Okamura
2016	J	`jnl`	A Framework for Multilateral Manipulation in Surgical Tasks. IEEE Trans Autom. Sci. Eng. Kirk A. Nichols, Allison M. Okamura
2016	—	`conf`	A dual-flywheel ungrounded haptic feedback system provides single-axis moment pulses for clear direction signals. HAPTICS Julie M. Walker, Michael Raitor, Alex Mallery, Heather Culbertson, Philipp J. Stolka, Allison M. Okamura
2016	A*	`conf`	Closed-loop shape control of a Haptic Jamming deformable surface. ICRA Andrew A. Stanley, Kenji Hata, Allison M. Okamura
2016	A*	`conf`	Comparison of kinesthetic and skin deformation feedback for mass rendering. ICRA Jacob M. Suchoski, Aaron C. Barron, Connie Wu, Zhan Fan Quek, Sean J. Keller, Allison M. Okamura
2016	A*	`conf`	Design and implementation of a 300% strain soft artificial muscle. ICRA Elliot Wright Hawkes, David L. Christensen, Allison M. Okamura
2016	J	`jnl`	Design of 3-D Printed Concentric Tube Robots. IEEE Trans. Robotics Tania K. Morimoto, Allison M. Okamura
2016	—	`conf`	End Effector for a Kinesthetic Haptic Device Capable of Displaying Variable Size and Stiffness. EuroHaptics (2) Nathan S. Usevitch, Rohan Khanna, Robert M. Carrera, Allison M. Okamura
2016	—	`conf`	Haptic technologies for direct touch in virtual reality. SIGGRAPH Courses Miguel A. Otaduy, Allison M. Okamura, Sriram Subramanian
2016	—	`ch.`	Haptics. Springer Handbook of Robotics, 2nd Ed. Blake Hannaford, Allison M. Okamura
2016	—	`conf`	Impact of Combined Stimuli on the Perception of Transient Forces. EuroHaptics (2) Connie Wu, Erica D. Chin, Michael Fanton, Allison M. Okamura
2016	J	`jnl`	Methods for Improving the Curvature of Steerable Needles in Biological Tissue. IEEE Trans. Biomed. Eng. Troy K. Adebar, Joseph D. Greer, Paul F. Laeseke, Gloria L. Hwang, Allison M. Okamura
2016	—	`conf`	Modeling and design of asymmetric vibrations to induce ungrounded pulling sensation through asymmetric skin displacement. HAPTICS Heather Culbertson, Julie M. Walker, Allison M. Okamura
2016	J	`jnl`	Motor learning affects car-to-driver handover in automated vehicles. Sci. Robotics Lene K. Harbott, Ilana Nisky, Selina Pan, Allison M. Okamura, J. Christian Gerdes
2016	J	`jnl`	Next Generation Robotics. CoRR Henrik I. Christensen, Allison M. Okamura, Maja J. Mataric, Vijay Kumar, Gregory D. Hager, Howie Choset
2016	J	`jnl`	Noise, But Not Uncoupled Stability, Reduces Realism and Likeability of Bilateral Teleoperation. IEEE Robotics Autom. Lett. Julie M. Walker, Nick Colonnese, Allison M. Okamura
2016	—	`conf`	Plane Assist: The Influence of Haptics on Ultrasound-Based Needle Guidance. MICCAI (1) Heather Culbertson, Julie M. Walker, Michael Raitor, Allison M. Okamura, Philipp J. Stolka
2016	J	`jnl`	Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping. Int. J. Robotics Res. Nick Colonnese, Allison M. Okamura
2016	—	`conf`	Surgeon design interface for patient-specific concentric tube robots. BioRob Tania K. Morimoto, Joseph D. Greer, Michael H. Hsieh, Allison M. Okamura
2016	A*	`conf`	Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task. ICRA Kirsten E. Kaplan, Kirk A. Nichols, Allison M. Okamura
2016	—	`conf`	Two is not always better than one: Effects of teleoperation and haptic coupling. BioRob Yuhang Che, Gabriel M. Haro, Allison M. Okamura
2015	A	`conf`	A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. IROS Kamran Shamaei, Yuhang Che, Adithyavairavan Murali, Siddarth Sen, Sachin Patil, Ken Goldberg, Allison M. Okamura
2015	—	`conf`	A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. CASE Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk A. Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg
2015	J	`jnl`	Controllable Surface Haptics via Particle Jamming and Pneumatics. IEEE Trans. Haptics Andrew A. Stanley, Allison M. Okamura
2015	—	`conf`	Design and evaluation of a trilateral shared-control architecture for teleoperated training robots. EMBC Kamran Shamaei, Lawrence H. Kim, Allison M. Okamura
2015	A*	`conf`	Design and experimental evaluation of a skin-stretch haptic device for improved control of brain-computer interfaces. ICRA Sean M. Sketch, Darrel R. Deo, Jayant P. Menon, Allison M. Okamura
2015	A*	`conf`	Effects of master-slave tool misalignment in a teleoperated surgical robot. ICRA Lawrence H. Kim, Clifford Bargar, Yuhang Che, Allison M. Okamura
2015	A*	`conf`	Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures. HRI Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura
2015	J	`jnl`	M-Width: Stability, noise characterization, and accuracy of rendering virtual mass. Int. J. Robotics Res. Nick Colonnese, Allison M. Okamura
2015	J	`jnl`	Methods to Segment Hard Inclusions in Soft Tissue During Autonomous Robotic Palpation. IEEE Trans. Robotics Kirk A. Nichols, Allison M. Okamura
2015	A	`conf`	Models of human-centered automation in a debridement task. IROS Kirk A. Nichols, Adithyavairavan Murali, Siddarth Sen, Ken Goldberg, Allison M. Okamura
2015	J	`jnl`	Navigating the New RAS Publications Landscape [From the Editors' Desks]. IEEE Robotics Autom. Mag. Antonio Bicchi, Ken Goldberg, Eugenio Guglielmelli, Allison M. Okamura, Frank C. Park
2015	A*	`conf`	Remote electromagnetic vibration of steerable needles for imaging in power Doppler ultrasound. ICRA Sarah S. Cabreros, Nina M. Jimenez, Joseph D. Greer, Troy K. Adebar, Allison M. Okamura
2015	J	`jnl`	Rendered and Characterized Closed-Loop Accuracy of Impedance-Type Haptic Displays. IEEE Trans. Haptics Nick Colonnese, Alexa F. Siu, Caroline M. Abbott, Allison M. Okamura
2015	J	`jnl`	Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback. IEEE Trans. Haptics Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura
2015	A*	`conf`	Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback. ICRA Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura
2015	—	`conf`	Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation. HRI (Extended Abstracts) Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura
2015	J	`jnl`	Tactor-Induced Skin Stretch as a Sensory Substitution Method in Teleoperated Palpation. IEEE Trans. Hum. Mach. Syst. Samuel B. Schorr, Zhan Fan Quek, Ilana Nisky, William R. Provancher, Allison M. Okamura
2015	A*	`conf`	Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users. ICRA Ilana Nisky, Yuhang Che, Zhan Fan Quek, Matthew Weber, Michael H. Hsieh, Allison M. Okamura
2015	—	`conf`	The effect of manipulator gripper stiffness on teleoperated task performance. World Haptics Michael Lin Yang, Samuel B. Schorr, Iris Yan, Allison M. Okamura
2014	J	`jnl`	3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue. IEEE Trans. Biomed. Eng. Troy K. Adebar, Ashley E. Fletcher, Allison M. Okamura
2014	J	`jnl`	Augmentation Of Stiffness Perception With a 1-Degree-of-Freedom Skin Stretch Device. IEEE Trans. Hum. Mach. Syst. Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, Allison M. Okamura, William R. Provancher
2014	—	`conf`	Closed-loop stiffness and damping accuracy of impedance-type haptic displays. HAPTICS Nick Colonnese, Sean M. Sketch, Allison M. Okamura
2014	—	`ch.`	Compliance Perception Using Natural and Artificial Motion Cues. Multisensory Softness Netta Gurari, Allison M. Okamura
2014	—	`conf`	Controllable surface haptics via particle jamming and pneumatics. HAPTICS Andrew A. Stanley, Adam M. Genecov, Allison M. Okamura
2014	A*	`conf`	Design and evaluation of duty-cycling steering algorithms for robotically-driven steerable needles. ICRA Ann Majewicz, Joshua J. Siegel, Andrew A. Stanley, Allison M. Okamura
2014	—	`conf`	Effect of load force feedback on grip force control during teleoperation: A preliminary study. HAPTICS Tricia L. Gibo, Darrel R. Deo, Zhan Fan Quek, Allison M. Okamura
2014	J	`jnl`	Grip Force Control during Virtual ObjectInteraction: Effect of Force Feedback, Accuracy Demands, and Training. IEEE Trans. Haptics Tricia L. Gibo, Amy J. Bastian, Allison M. Okamura
2014	—	`conf`	Hapkit: An open-hardware haptic device for online education. HAPTICS Tania K. Morimoto, Paulo Blikstein, Allison M. Okamura
2014	—	`conf`	Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot. EuroHaptics (2) Andrew A. Stanley, David Mayhew, Rikki Irwin, Allison M. Okamura
2014	—	`conf`	Mapping stiffness perception in the brain with an fMRI-compatible particle-jamming haptic interface. EMBC Samir Menon, Andrew A. Stanley, Jack Zhu, Allison M. Okamura, Oussama Khatib
2014	—	`conf`	Perception of a Haptic Jamming display: Just noticeable differences in stiffness and geometry. HAPTICS Adam M. Genecov, Andrew A. Stanley, Allison M. Okamura
2014	—	`conf`	Position and velocity cursor mappings contribute to distinct muscle forces in simulated isometric and movement reaching. BioRob Margaret P. Chapman, Michele F. Rotella, Allison M. Okamura
2014	—	`conf`	Real-Time 3D Curved Needle Segmentation Using Combined B-Mode and Power Doppler Ultrasound. MICCAI (2) Joseph D. Greer, Troy K. Adebar, Gloria L. Hwang, Allison M. Okamura
2014	A	`conf`	Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering. IROS Troy K. Adebar, Allison M. Okamura
2014	—	`conf`	Sensory substitution using 3-Degree-of-Freedom tangential and normal skin deformation feedback. HAPTICS Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura
2014	—	`conf`	Sensory substitution using 3-degree-of-freedom tangential and normal skin deformation feedback. HAPTICS Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura
2014	J	`jnl`	Task-dependent impedance and implications for upper-limb prosthesis control. Int. J. Robotics Res. Amy A. Blank, Allison M. Okamura, Louis L. Whitcomb
2014	J	`jnl`	Testing models of cerebellar ataxia via dynamic simulation. Robotica David I. Grow, Amy J. Bastian, Allison M. Okamura
2014	A*	`conf`	Time-delayed teleoperation for interaction with moving objects in space. ICRA Ryder C. Winck, Sean M. Sketch, Elliot Wright Hawkes, David L. Christensen, Hao Jiang, Mark R. Cutkosky, Allison M. Okamura
2014	J	`jnl`	Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance. IEEE Trans. Biomed. Eng. John P. Swensen, MingDe Lin, Allison M. Okamura, Noah J. Cowan
2014	J	`jnl`	Uncontrolled Manifold Analysis of Arm Joint Angle Variability During Robotic Teleoperation and Freehand Movement of Surgeons and Novices. IEEE Trans. Biomed. Eng. Ilana Nisky, Michael H. Hsieh, Allison M. Okamura
2013	—	`conf`	3D Segmentation of Curved Needles Using Doppler Ultrasound and Vibration. IPCAI Troy K. Adebar, Allison M. Okamura
2013	A*	`conf`	A framework for analysis of surgeon arm posture variability in robot-assisted surgery. ICRA Ilana Nisky, Michael H. Hsieh, Allison M. Okamura
2013	—	`conf`	Adaptation to visuomotor rotation in isometric reaching is similar to movement adaptation. ICORR Michele F. Rotella, Margaret Koehler, Ilana Nisky, Amy J. Bastian, Allison M. Okamura
2013	A*	`conf`	Autonomous robotic palpation: Machine learning techniques to identify hard inclusions in soft tissues. ICRA Kirk A. Nichols, Allison M. Okamura
2013	—	`conf`	Cartesian and joint space teleoperation for nonholonomic steerable needles. World Haptics Ann Majewicz, Allison M. Okamura
2013	J	`jnl`	Characterization and Psychophysical Studies of an Air-Jet Lump Display. IEEE Trans. Haptics James C. Gwilliam, Matteo Bianchi, Lester K. Su, Allison M. Okamura
2013	J	`jnl`	Coaxial Needle Insertion Assistant With Enhanced Force Feedback. IEEE Trans. Biomed. Eng. Danilo De Lorenzo, Yoshihiko Koseki, Elena De Momi, Kiyoyuki Chinzei, Allison M. Okamura
2013	—	`conf`	Effect of age on stiffness modulation during postural maintenance of the arm. ICORR Tricia L. Gibo, Amy J. Bastian, Allison M. Okamura
2013	—	`conf`	Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming. World Haptics Andrew A. Stanley, James C. Gwilliam, Allison M. Okamura
2013	—	`conf`	Kinematic Analysis of Motor Performance in Robot-Assisted Surgery: A Preliminary Study. MMVR Ilana Nisky, Sangram Patil, Michael H. Hsieh, Allison M. Okamura
2013	—	`conf`	Novel algorithm for real-time onset detection of surface electromyography in step-tracking wrist movements. EMBC Yoshihiro Kuroda, Ilana Nisky, Yuki Uranishi, Masataka Imura, Allison M. Okamura, Osamu Oshiro
2013	J	`jnl`	Perception of Springs With Visual and Proprioceptive Motion Cues: Implications for Prosthetics. IEEE Trans. Hum. Mach. Syst. Netta Gurari, Katherine J. Kuchenbecker, Allison M. Okamura
2013	—	`conf`	Sensory augmentation of stiffness using fingerpad skin stretch. World Haptics Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, Allison M. Okamura, William R. Provancher
2013	A*	`conf`	Sensory substitution via cutaneous skin stretch feedback. ICRA Samuel B. Schorr, Zhan Fan Quek, Robert Y. Romano, Ilana Nisky, William R. Provancher, Allison M. Okamura
2013	—	`conf`	The effect of a robot-assisted surgical system on the kinematics of user movements. EMBC Ilana Nisky, Michael H. Hsieh, Allison M. Okamura
2013	A*	`conf`	Tissue fixation by suction increases the accuracy of robotic needle insertion. ICRA Thomas R. Wedlick, Denis J. Lin, Allison M. Okamura
2012	J	`jnl`	Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue. IEEE Trans. Biomed. Eng. Ann Majewicz, Steven P. Marra, Mark G. van Vledder, MingDe Lin, Michael A. Choti, Danny Y. Song, Allison M. Okamura
2012	—	`conf`	Conveying the configuration of a virtual human hand using vibrotactile feedback. HAPTICS Andrew A. Nichols, Heidi M. Weeks, Netta Guran, Allison M. Okamura
2012	—	`conf`	Design and control of an air-jet lump display. HAPTICS James C. Gwilliam, Alperen Degirmenci, Matteo Bianchi, Allison M. Okamura
2012	—	`conf`	Discrimination of Springs with Vision, Proprioception, and Artificial Skin Stretch Cues. EuroHaptics (1) Netta Gurari, Jason W. Wheeler, Amy Lynne Shelton, Allison M. Okamura
2012	—	`conf`	HAPI Bands: A haptic augmented posture interface. HAPTICS Michele F. Rotella, Kelleher Guerin, Xingchi He, Allison M. Okamura
2012	—	`conf`	Haptic footstep display. HAPTICS Ravikrishnan P. Jayakumar, Subhransu K. Mishra, John F. Dannenhoffer, Allison M. Okamura
2012	—	`conf`	M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass. Robotics: Science and Systems Nick Colonnese, Allison M. Okamura
2012	A*	`conf`	Wearable haptic device for cutaneous force and slip speed display. ICRA Dana D. Damian, Marvin Ludersdorfer, Yeongmi Kim, Alejandro Hernández Arieta, Rolf Pfeifer, Allison M. Okamura
2011	—	`conf`	Assessing the quality of force feedback in soft tissue simulation. EMBC Ehsan Basafa, Shahin Sefati, Allison M. Okamura
2011	—	`conf`	Characterization of an air jet haptic lump display. EMBC Matteo Bianchi, James C. Gwilliam, Alperen Degirmenci, Allison M. Okamura
2011	A	`conf`	Coaxial needle insertion assistant for epidural puncture. IROS Yoshihiko Koseki, Danilo De Lorenzo, Kiyoyuki Chinzei, Allison M. Okamura
2011	—	`conf`	Design and evaluation of a multi-modal haptic skin stimulation apparatus. EMBC Dana D. Damian, Alejandro Hernández Arieta, Allison M. Okamura
2011	—	`conf`	Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback. EMBC Danilo De Lorenzo, Yoshihiko Koseki, Elena De Momi, Kiyoyuki Chinzei, Allison M. Okamura
2011	—	`conf`	Gradual anisometric-isometric transition for human-machine interfaces. EMBC Tricia L. Gibo, Michele F. Rotella, Amy J. Bastian, Allison M. Okamura
2011	J	`jnl`	Haptics in Medicine and Clinical Skill Acquisition. IEEE Trans. Haptics Allison M. Okamura, Cagatay Basdogan, Sarah Baillie, William S. Harwin
2011	J	`jnl`	Robot-Assisted Needle Steering. IEEE Robotics Autom. Mag. Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura
2011	A*	`conf`	Task-dependent impedance improves user performance with a virtual prosthetic arm. ICRA Amy A. Blank, Allison M. Okamura, Louis L. Whitcomb
2010	—	`conf`	Defining performance tradeoffs for multi-degree-of-freedom bilateral teleoperators with LQG control. CDC Paul G. Griffiths, Allison M. Okamura
2010	—	`conf`	Design of a haptic simulator for osteosynthesis screw insertion. HAPTICS Ann Majewicz, Jason Glasser, Rosemary Bauer, Stephen M. Belkoff, Simon C. Mears, Allison M. Okamura
2010	A*	`conf`	Estimation of model parameters for steerable needles. ICRA Wooram Park, Kyle Brandon Reed, Allison M. Okamura, Gregory S. Chirikjian
2010	A*	`conf`	Evaluation of robotic needle steering in ex vivo tissue. ICRA Ann Majewicz, Thomas R. Wedlick, Kyle Brandon Reed, Allison M. Okamura
2010	—	`conf`	Human vs. robotic tactile sensing: Detecting lumps in soft tissue. HAPTICS James C. Gwilliam, Zachary A. Pezzementi, Erica Jantho, Allison M. Okamura, Steven Hsiao
2010	J	`jnl`	Identifying the role of proprioception in upper-limb prosthesis control: Studies on targeted motion. ACM Trans. Appl. Percept. Amy A. Blank, Allison M. Okamura, Katherine J. Kuchenbecker
2010	J	`jnl`	Mechanics of Flexible Needles Robotically Steered through Soft Tissue. Int. J. Robotics Res. Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, K. T. Ramesh, Allison M. Okamura
2010	J	`jnl`	Medical and Health-Care Robotics. IEEE Robotics Autom. Mag. Allison M. Okamura, Maja J. Mataric, Henrik I. Christensen
2010	A*	`conf`	Plugfest 2009: Global interoperability in Telerobotics and telemedicine. ICRA Hawkeye H. I. King, Blake Hannaford, Ka-Wai Kwok, Guang-Zhong Yang, Paul G. Griffiths, Allison M. Okamura, Ildar Farkhatdinov, Jee-Hwan Ryu, Ganesh Sankaranarayanan, Venkata Sreekanth Arikatla, Kotaro Tadano, Kenji Kawashima, Angelika Peer, Thomas Schauß, Martin Buss, Levi Makaio Miller, Daniel Glozman, Jacob Rosen, Thomas Low
2009	A*	`conf`	Controlling a robotically steered needle in the presence of torsional friction. ICRA Kyle B. Reed, Allison M. Okamura, Noah J. Cowan
2009	A*	`conf`	Design considerations and human-machine performance of moving virtual fixtures. ICRA Tricia L. Gibo, Lawton N. Verner, David D. Yuh, Allison M. Okamura
2009	A*	`conf`	Effects of haptic and graphical force feedback on teleoperated palpation. ICRA James C. Gwilliam, Mohsen Mahvash, Balázs Vágvölgyi, Alexander Vacharat, David D. Yuh, Allison M. Okamura
2009	—	`conf`	Feedback control for steering needles through 3D deformable tissue using helical paths. Robotics: Science and Systems Kris K. Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison M. Okamura, Kenneth Y. Goldberg
2009	—	`conf`	Force & torque feedback vs force only feedback. WHC Lawton N. Verner, Allison M. Okamura
2009	—	`conf`	Haptics as an aid to copying for people with Williams Syndrome. WHC Jin Lee, Allison M. Okamura, Barbara Landau
2009	J	`jnl`	Modeling and Control of Needles With Torsional Friction. IEEE Trans. Biomed. Eng. Kyle B. Reed, Allison M. Okamura, Noah J. Cowan
2009	A*	`conf`	Observations and models for needle-tissue interactions. ICRA Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, K. T. Ramesh, Allison M. Okamura
2009	—	`conf`	Quantifying perception of nonlinear elastic tissue models using multidimensional scaling. WHC Sarthak Misra, Philipp Fürnstahl, K. T. Ramesh, Allison M. Okamura, Matthias Harders
2009	—	`conf`	Stiffness discrimination with visual and proprioceptive cues. WHC Netta Gurari, Katherine J. Kuchenbecker, Allison M. Okamura
2009	A*	`conf`	Tissue property estimation and graphical display for teleoperated robot-assisted surgery. ICRA Tomonori Yamamoto, Balázs Vágvölgyi, Kamini Balaji, Louis L. Whitcomb, Allison M. Okamura
2008	—	`conf`	A Simulator to Explore the Role of Haptic Feedback in Cataract Surgery Training. MMVR Laura Doyle, Nicholas Gauthier, Saraswathy Ramanathan, Allison M. Okamura
2008	A	`conf`	Control methods for guidance virtual fixtures in compliant human-machine interfaces. IROS Panadda Marayong, Gregory D. Hager, Allison M. Okamura
2008	—	`conf`	Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis. HAPTICS Amy A. Blank, Allison M. Okamura, Katherine J. Kuchenbecker
2008	—	`conf`	Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments. HAPTICS Mohsen Mahvash, James C. Gwilliam, Rahul Agarwal, Balázs Vágvölgyi, Li-Ming Su, David D. Yuh, Allison M. Okamura
2008	—	`conf`	Haptic Simulation of Elbow Joint Spasticity. HAPTICS David I. Grow, Mengnan (Mary) Wu, Michael J. Locastro, Sugandha Arora, Amy J. Bastian, Allison M. Okamura
2008	—	`ch.`	Haptics. Springer Handbook of Robotics Blake Hannaford, Allison M. Okamura
2008	—	`conf`	Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method. HAPTICS Zachary A. Pezzementi, Daniel Ursu, Sarthak Misra, Allison M. Okamura
2008	J	`jnl`	Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review. Presence Teleoperators Virtual Environ. Sarthak Misra, K. T. Ramesh, Allison M. Okamura
2008	J	`jnl`	Modeling the Forces of Cutting With Scissors. IEEE Trans. Biomed. Eng. Mohsen Mahvash, Liming M. Voo, Diana Kim, Kristin Jeung, Joshua Wainer, Allison M. Okamura
2008	—	`conf`	Physically Valid Surgical Simulators: Linear Versus Nonlinear Tissue Models. MMVR Sarthak Misra, K. T. Ramesh, Allison M. Okamura
2008	J	`jnl`	Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial]. IEEE Robotics Autom. Mag. Peter Kazanzides, Gabor Fichtinger, Gregory D. Hager, Allison M. Okamura, Louis L. Whitcomb, Russell H. Taylor
2008	J	`jnl`	Surgical and interventional robotics: Part II. IEEE Robotics Autom. Mag. Gabor Fichtinger, Peter Kazanzides, Allison M. Okamura, Gregory D. Hager, Louis L. Whitcomb, Russell H. Taylor
2008	J	`jnl`	Surgical and interventional robotics: part III [Tutorial]. IEEE Robotics Autom. Mag. Gregory D. Hager, Allison M. Okamura, Peter Kazanzides, Louis L. Whitcomb, Gabor Fichtinger, Russell H. Taylor
2008	—	`conf`	Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion. HAPTICS Lawton N. Verner, Allison M. Okamura
2008	—	`conf`	The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction. HAPTICS Katherine J. Kuchenbecker, David Ferguson, Michael D. M. Kutzer, Matthew Moses, Allison M. Okamura
2007	A*	`conf`	Dynamic Guidance with Pseudoadmittance Virtual Fixtures. ICRA Zachary A. Pezzementi, Allison M. Okamura, Gregory D. Hager
2007	—	`conf`	Educational Haptics. AAAI Spring Symposium: Semantic Scientific Knowledge Integration David I. Grow, Lawton N. Verner, Allison M. Okamura
2007	—	`conf`	Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator. WHC Lawton N. Verner, Allison M. Okamura
2007	—	`conf`	Enhancing Transparency of a Position-Exchange Teleoperator. WHC Mohsen Mahvash, Allison M. Okamura
2007	—	`conf`	Evaluation of Human Performance with Kinematic and Haptic Errors. WHC Tomonori Yamamoto, Allison M. Okamura
2007	—	`conf`	Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models. WHC Sarthak Misra, Allison M. Okamura, K. T. Ramesh
2007	J	`jnl`	Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission. IEEE Trans. Robotics Mohsen Mahvash, Allison M. Okamura
2007	C	`conf`	Haptics for Robot-Assisted Minimally Invasive Surgery. ISRR Allison M. Okamura, Lawton N. Verner, Carol E. Reiley, Mohsen Mahvash
2007	—	`conf`	Human Performance in a Knob-Turning Task. WHC Netta Gurari, Allison M. Okamura
2007	J	`jnl`	Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures. Int. J. Robotics Res. Jake J. Abbott, Allison M. Okamura
2007	—	`conf`	Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control. WHC Katherine J. Kuchenbecker, Netta Gurari, Allison M. Okamura
2007	A*	`conf`	Teleoperation of Steerable Needles. ICRA Joseph M. Romano, Robert J. Webster III, Allison M. Okamura
2007	A*	`conf`	Virtual Fixture Control for Compliant Human-Machine Interfaces. ICRA Panadda Marayong, Hye Sun Na, Allison M. Okamura
2006	—	`conf`	Dynamic Augmented Reality for Sensory Substitution in Robot-Assisted Surgical Systems. EMBC Takintope Akinbiyi, Carol E. Reiley, Sunipa Saha, Darius Burschka, Christopher J. Hasser, David D. Yuh, Allison M. Okamura
2006	—	`conf`	Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces. HAPTICS Panadda Marayong, Gregory D. Hager, Allison M. Okamura
2006	—	`conf`	Effects of Haptic Feedback on Exploration. HAPTICS Mengnan (Mary) Wu, Allison M. Okamura
2006	—	`conf`	Environment Parameter Estimation during Bilateral Telemanipulation. HAPTICS Sarthak Misra, Allison M. Okamura
2006	—	`conf`	Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission. CDC Mohsen Mahvash, Allison M. Okamura
2006	A*	`conf`	Friction Compensation for a Force-feedback Telerobotic System. ICRA Mohsen Mahvash, Allison M. Okamura
2006	—	`conf`	Human-Machine Collaborative Systems: Intelligent Virtual Fixtures and Space Applications. AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before Gregory D. Hager, Allison M. Okamura, Russell H. Taylor
2006	J	`jnl`	Nonholonomic Modeling of Needle Steering. Int. J. Robotics Res. Robert J. Webster III, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
2006	A*	`conf`	Portability and Applicability of Virtual Fixtures across Medical and Manufacturing Tasks. ICRA Henry C. Lin, Keith Mills, Peter Kazanzides, Gregory D. Hager, Panadda Marayong, Allison M. Okamura, Ray Karam
2006	—	`conf`	Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures. HAPTICS Jake J. Abbott, Allison M. Okamura
2006	—	`conf`	Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback. HAPTICS Lawton N. Verner, Allison M. Okamura
2006	A	`conf`	Toward Active Cannulas: Miniature Snake-Like Surgical Robots. IROS Robert J. Webster III, Allison M. Okamura, Noah J. Cowan
2005	—	`conf`	A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors. WHC Mohsen Mahvash, Allison M. Okamura
2005	—	`conf`	A Velocity-Dependent Model for Needle Insertion in Soft Tissue. MICCAI (2) Jessica R. Crouch, Chad M. Schneider, Joshua Wainer, Allison M. Okamura
2005	J	`jnl`	A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments. ACM Trans. Appl. Percept. Robert J. Webster III, Todd E. Murphy, Lawton N. Verner, Allison M. Okamura
2005	A	`conf`	Automatic Detection and Segmentation of Robot-Assisted Surgical Motions. MICCAI Henry C. Lin, Izhak Shafran, Todd E. Murphy, Allison M. Okamura, David D. Yuh, Gregory D. Hager
2005	A*	`conf`	Design Considerations for Robotic Needle Steering. ICRA Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura
2005	A*	`conf`	Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model. ICRA Wooram Park, Jin Seob Kim, Yu Zhou, Noah J. Cowan, Allison M. Okamura, Gregory S. Chirikjian
2005	—	`ch.`	Effects of Gripping and Translational Forces on Teleoperation. Multi-point Interaction with Real and Virtual Objects Lawton N. Verner, Kristin A. Jeung, Allison M. Okamura
2005	—	`conf`	Effects of Velocity on Human Force Control. WHC Mengnan (Mary) Wu, Jake J. Abbott, Allison M. Okamura
2005	J	`jnl`	Effects of position quantization and sampling rate on virtual-wall passivity. IEEE Trans. Robotics Jake J. Abbott, Allison M. Okamura
2005	C	`conf`	Haptic Virtual Fixtures for Robot-Assisted Manipulation. ISRR Jake J. Abbott, Panadda Marayong, Allison M. Okamura
2005	J	`jnl`	Human-Machine Collaborative Systems for Microsurgical Applications. Int. J. Robotics Res. Danica Kragic, Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager
2005	A*	`conf`	Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. ICRA Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura
2005	A	`conf`	Steering flexible needles under Markov motion uncertainty. IROS Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura
2005	—	`conf`	The Snaptic Paddle: A Modular Haptic Device. WHC Christopher E. Wong, Allison M. Okamura
2004	A*	`conf`	A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound. ICRA Chad M. Schneider, Allison M. Okamura, Gabor Fichtinger
2004	J	`jnl`	Force modeling for needle insertion into soft tissue. IEEE Trans. Biomed. Eng. Allison M. Okamura, Christina Simone, Mark D. O'Leary
2004	A	`conf`	Impedance-reflecting teleoperation with a real-time evolving neural network controller. IROS Sung-Ouk Chang, Allison M. Okamura
2004	J	`jnl`	Methods for haptic feedback in teleoperated robot-assisted surgery. Ind. Robot Allison M. Okamura
2004	—	`conf`	Nonholonomic Modeling of Needle Steering. ISER Robert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
2004	—	`conf`	Performance Analysis of Steady-Hand Teleoperation versus Cooperative Manipulation. HAPTICS Izukanne Emeagwali, Panadda Marayong, Jake J. Abbott, Allison M. Okamura
2004	J	`jnl`	Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures With Variable Admittance. Hum. Factors Panadda Marayong, Allison M. Okamura
2004	—	`conf`	Teleoperation with Sensor/Actuator Asymmetry: Task Performance with Partial Force Feedback. HAPTICS Wagahta Semere, Masaya Kitagawa, Allison M. Okamura
2004	—	`conf`	Vision-Based Assistance for Ophthalmic Micro-Surgery. MICCAI (2) Maneesh Dewan, Panadda Marayong, Allison M. Okamura, Gregory D. Hager
2004	J	`jnl`	Vision-assisted control for manipulation using virtual fixtures. IEEE Trans. Robotics Alessandro Bettini, Panadda Marayong, Samuel Lang, Allison M. Okamura, Gregory D. Hager
2003	—	`conf`	A Modular 2-DOF Force-Sensing Instrument For Laparoscopic Surgery. MICCAI (1) Srinivas K. Prasad, Masaya Kitagawa, Gregory S. Fischer, Jason Zand, Mark Talamini, Russell H. Taylor, Allison M. Okamura
2003	—	`conf`	Activation Cues and Force Scaling Methods for Virtual Fixture. HAPTICS Jason T. Nolin, Paul M. Stemniski, Allison M. Okamura
2003	A	`conf`	Analysis of virtual fixture contact stability for telemanipulation. IROS Jake J. Abbott, Allison M. Okamura
2003	C	`conf`	Erratum: Human-Machine Collaborative Systems for Microsurgical Applications. ISRR Danica Kragic, Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager
2003	B	`conf`	Methods for intelligent localization and mapping during haptic exploration. SMC Monika A. Schaeffer, Allison M. Okamura
2003	—	`conf`	Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures. HAPTICS Ming Li, Allison M. Okamura
2003	A*	`conf`	Robotic needle insertion: effects of friction and needle geometry. ICRA Mark D. O'Leary, Christina Simone, Toshikatsu Washio, Kiyoshi Yoshinaka, Allison M. Okamura
2003	A*	`conf`	Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures. ICRA Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager
2003	A*	`conf`	The haptic scissors: cutting in virtual environments. ICRA Allison M. Okamura, Robert J. Webster III, Jason T. Nolin, K. W. Johnson, H. Jafry
2003	—	`conf`	Virtual Remote Center of Motion Control for Needle Placement Robots. MICCAI (1) Emad Boctor, Robert J. Webster III, Hervé Mathieu, Allison M. Okamura, Gabor Fichtinger
2003	A*	`conf`	Virtual fixture architectures for telemanipulation. ICRA Jake J. Abbott, Allison M. Okamura
2003	B	`conf`	VisHap: augmented reality combining haptics and vision. SMC Guangqi Ye, Jason J. Corso, Gregory D. Hager, Allison M. Okamura
2002	—	`conf`	Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback. MICCAI (1) Masaya Kitagawa, Allison M. Okamura, Brian T. Bethea, Vincent L. Gott, William A. Baumgartner
2002	—	`conf`	Building a Task Language for Segmentation and Recognition of User Input to Cooperative Manipulation Systems. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems C. Sean Hundtofte, Gregory D. Hager, Allison M. Okamura
2002	A	`conf`	Effect of virtual fixture compliance on human-machine cooperative manipulation. IROS Panadda Marayong, Alessandro Bettini, Allison M. Okamura
2002	—	`conf`	Measurement of the Tip and Friction Force Acting on a Needle during Penetration. MICCAI (1) Hiroyuki Kataoka, Toshikatsu Washio, Kiyoyuki Chinzei, Kazuyuki Mizuhara, Christina Simone, Allison M. Okamura
2002	J	`jnl`	Measurement, Analysis and Display of Haptic Signals During Surgical Cutting. Presence Teleoperators Virtual Environ. Stephanie Greenish, Vincent Hayward, Vanessa B. Chial, Allison M. Okamura, Thomas Steffen
2002	A*	`conf`	Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy. ICRA Christina Simone, Allison M. Okamura
2002	—	`conf`	On the Display of Haptic Recordings for Cutting Biological Tissues. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Vanessa B. Chial, Stephanie Greenish, Allison M. Okamura
2002	—	`conf`	The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion. MICCAI (1) Oleg Gerovichev, Panadda Marayong, Allison M. Okamura
2002	A*	`conf`	Vision Assisted Control for Manipulation using Virtual Fixtures: Experiments at Macro and Micro Scales. ICRA Alessandro Bettini, Samuel Lang, Allison M. Okamura, Gregory D. Hager
2001	—	`conf`	Comprehensive access to printed materials (CAPM). JCDL G. Sayeed Choudhury, Mark Lorie, Erin Fitzpatrick, Benjamin Hobbs, Gregory S. Chirikjian, Allison M. Okamura, Nicholas E. Flores
2001	J	`jnl`	Feature Detection for Haptic Exploration with Robotic Fingers. Int. J. Robotics Res. Allison M. Okamura, Mark R. Cutkosky
2001	A*	`conf`	Feature-Guided Exploration with a Robotic Finger. ICRA Allison M. Okamura, Mark R. Cutkosky
2001	C	`conf`	Uniting Haptic Exploration and Display. ISRR Allison M. Okamura
2001	A	`conf`	Vision assisted control for manipulation using virtual fixtures. IROS Alessandro Bettini, Samuel Lang, Allison M. Okamura, Gregory D. Hager
2000	A*	`conf`	An Overview of Dexterous Manipulation. ICRA Allison M. Okamura, Niels Smaby, Mark R. Cutkosky
1999	A*	`conf`	Haptic Exploration of Fine Surface Features. ICRA Allison M. Okamura, Mark R. Cutkosky
1999	—	`conf`	Haptic Surface Exploration. ISER Allison M. Okamura, Michael A. Costa, Michael L. Turner, Christopher Richard, Mark R. Cutkosky
1998	A*	`conf`	Vibration Feedback Models for Virtual Environments. ICRA Allison M. Okamura, Stanford Dennerlein, Robert D. Howe
1997	A*	`conf`	Haptic exploration of objects with rolling and sliding. ICRA Allison M. Okamura, Michael L. Turner, Mark R. Cutkosky