Blake Hannaford

213 papers A* 37A 25B 2Misc 1Journal 81Unranked 63

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Ablation Study on Features in Learning-Based Joint Calibration of Cable-Driven Surgical Robots. IEEE Trans Autom. Sci. Eng. Haonan Peng, Andrew Lewis, Yun-Hsuan Su, Blake Hannaford
2025	J	`jnl`	Design Evolution of an Everting Emergency Airway Device. J. Medical Robotics Res. Andrew Lewis, Joel Hwee, Grace O'Connor, Alex T. Gong, Daniel M. Burke, Randall A. Bly, Kris S. Moe, Waleed M. Abuzeid, Eric J. Seibel, Blake Hannaford
2025	—	`conf`	Development of an Everting Soft Robot for Rapid Wound Packing. ISMR Alex T. Gong, Robert M. Sweet, Blake Hannaford, Nathan J. White, Andrew Lewis
2024	J	`jnl`	Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots. CoRR Haonan Peng, Andrew Lewis, Yun-Hsuan Su, Shan Lin, Dun-Tin Chiang, Wenfan Jiang, Helen Lai, Blake Hannaford
2024	—	`conf`	Manufacturing and Design Improvements of an Everting Airway Device Prototype. ISMR Grace O'Connor, Andrew Lewis, Alex T. Gong, Daniel M. Burke, Blake Hannaford
2024	J	`jnl`	Optimization of Trajectories for Machine Learning Training in Robot Accuracy Modeling. CoRR Blake Hannaford
2024	J	`jnl`	Reducing annotating load: Active learning with synthetic images in surgical instrument segmentation. Medical Image Anal. Haonan Peng, Shan Lin, Daniel King, Yun-Hsuan Su, Waleed M. Abuzeid, Randall A. Bly, Kris S. Moe, Blake Hannaford
2023	J	`jnl`	Ablation Study on Features in Learning-based Joints Calibration of Cable-driven Surgical Robots. CoRR Haonan Peng, Andrew Lewis, Blake Hannaford
2023	J	`jnl`	Automatic summarization of endoscopic skull base surgical videos through object detection and hidden Markov modeling. Comput. Medical Imaging Graph. Daniel King, Lingga Adidharma, Haonan Peng, Kris S. Moe, Yangming Li, Zixin Yang, Christopher Young, Manuel Ferreria, Ian Humphreys, Waleed M. Abuzeid, Blake Hannaford, Randall A. Bly
2023	B	`conf`	Comparison of Deep Learning and Signal Processing Methods for Removing a Ringing Artifact from Ultrasound Signals. SAS Yana Sosnovskaya, Eli Shlizerman, Blake Hannaford, Mika N. Sinanan
2023	—	`conf`	Inferring Environmental Interactions of Soft Everting Robots From Acoustic Signals. RoboSoft Allison Raines, Andrew Lewis, Joel Hwee, Blake Hannaford
2023	—	`conf`	Kinematic Modeling of a Soft Everting Robot from Inflated Beam Theory. RoboSoft Joel Hwee, Andrew Lewis, Allison Raines, Blake Hannaford
2023	J	`jnl`	Object-Agnostic Vision Measurement Framework Based on One-Shot Learning and Behavior Tree. IEEE Trans. Cybern. Fangbo Qin, De Xu, Blake Hannaford, Tiantian Hao
2022	J	`jnl`	Real-Time Camera Localization during Robot-Assisted Telecystoscopy for Bladder Cancer Surveillance. J. Medical Robotics Res. Chen Gong, Yaxuan Zhou, Andrew Lewis, Pengcheng Chen, Jason R. Speich, Michael P. Porter, Blake Hannaford, Eric J. Seibel
2022	—	`conf`	Real-time flexible endoscope navigation within bladder phantom having sparse non-distinct features is enhanced with robotic control. Image-Guided Procedures Pengcheng Chen, Chen Gong, Andrew Lewis, Yaxuan Zhou, Seyed Mohammad Mohaghegh Poor, Blake Hannaford, Eric J. Seibel
2022	J	`jnl`	Real-time virtual intraoperative CT in endoscopic sinus surgery. Int. J. Comput. Assist. Radiol. Surg. Yangming Li, Neeraja Konuthula, Ian M. Humphreys, Kris S. Moe, Blake Hannaford, Randall A. Bly
2021	J	`jnl`	A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
2021	—	`conf`	An Everting Emergency Airway Device. ISMR Joel Hwee, Andrew Lewis, Randall A. Bly, Kris S. Moe, Blake Hannaford
2021	J	`jnl`	Automated atlas-based segmentation for skull base surgical planning. Int. J. Comput. Assist. Radiol. Surg. Neeraja Konuthula, Francisco A. Perez, A. Murat Maga, Waleed M. Abuzeid, Kris S. Moe, Blake Hannaford, Randall A. Bly
2021	J	`jnl`	Evaluation of an Inflated Beam Model Applied to Everted Tubes. CoRR Joel Hwee, Andrew Lewis, Allison Raines, Blake Hannaford
2021	A*	`conf`	Learning Surgical Motion Pattern from Small Data in Endoscopic Sinus and Skull Base Surgeries. ICRA Yangming Li, Randall A. Bly, Sarah Akkina, Fangbo Qin, Rajeev C. Saxena, Ian Humphreys, Mark Whipple, Kris S. Moe, Blake Hannaford
2021	J	`jnl`	Local Style Preservation in Improved GAN-Driven Synthetic Image Generation for Endoscopic Tool Segmentation. Sensors Yun-Hsuan Su, Wenfan Jiang, Digesh Chitrakar, Kevin Huang, Haonan Peng, Blake Hannaford
2021	J	`jnl`	Multi-Frame Feature Aggregation for Real-Time Instrument Segmentation in Endoscopic Video. IEEE Robotics Autom. Lett. Shan Lin, Fangbo Qin, Haonan Peng, Randall A. Bly, Kris S. Moe, Blake Hannaford
2021	J	`jnl`	Multicamera 3D Viewpoint Adjustment for Robotic Surgery via Deep Reinforcement Learning. J. Medical Robotics Res. Yun-Hsuan Su, Kevin Huang, Blake Hannaford
2021	—	`conf`	Real Time Localization of Cystoscope Angulation in 2D Bladder Phantom for Telecystoscopy. ISMR Andrew Lewis, Chen Gong, Yaxuan Zhou, Pengcheng Chen, Michael P. Porter, Blake Hannaford, Eric J. Seibel
2021	J	`jnl`	Real-time Informative Surgical Skill Assessment with Gaussian Process Learning. CoRR Yangming Li, Randall A. Bly, Sarah Akkina, Rajeev C. Saxena, Ian Humphreys, Mark Whipple, Kris S. Moe, Blake Hannaford
2021	J	`jnl`	Real-time Virtual Intraoperative CT for Image Guided Surgery. CoRR Yangming Li, Neeraja Konuthula, Ian M. Humphreys, Kris S. Moe, Blake Hannaford, Randall A. Bly
2021	J	`jnl`	Reducing Annotating Load: Active Learning with Synthetic Images in Surgical Instrument Segmentation. CoRR Haonan Peng, Shan Lin, Daniel King, Yun-Hsuan Su, Randall A. Bly, Kris S. Moe, Blake Hannaford
2021	—	`conf`	Sensor Fusion for Force and Position Calibration of a Motorized Surgical Smart Grasper. ISMR Jack Kaplan, Yana Sosnovskaya, Matthew Arnold, Blake Hannaford
2020	—	`conf`	A Comparison of Surgical Cavity 3D Reconstruction Methods. SII Yun-Hsuan Su, Kyle Lindgren, Kevin Huang, Blake Hannaford
2020	—	`conf`	Collaborative Robotics Toolkit (CRTK): Open Software Framework for Surgical Robotics Research. IRC Yun-Hsuan Su, Adnan Munawar, Anton Deguet, Andrew Lewis, Kyle Lindgren, Yangming Li, Russell H. Taylor, Gregory S. Fischer, Blake Hannaford, Peter Kazanzides
2020	—	`conf`	Empathics system: application of emotion analysis AI through smart glasses. PETRA TzuHsiang Lin, LeAnn Huang, Blake Hannaford, Christopher Tran, John Raiti, Richard Zaragoza, Tian Feng, Linda E. Wagner, Jenna James
2020	A*	`conf`	IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree (Extended Abstract). IJCAI Dianmu Zhang, Blake Hannaford
2020	A	`conf`	LC-GAN: Image-to-image Translation Based on Generative Adversarial Network for Endoscopic Images. IROS Shan Lin, Fangbo Qin, Yangming Li, Randall A. Bly, Kris S. Moe, Blake Hannaford
2020	J	`jnl`	LC-GAN: Image-to-image Translation Based on Generative Adversarial Network for Endoscopic Images. CoRR Shan Lin, Fangbo Qin, Yangming Li, Randall A. Bly, Kris S. Moe, Blake Hannaford
2020	J	`jnl`	Multi-frame Feature Aggregation for Real-time Instrument Segmentation in Endoscopic Video. CoRR Shan Lin, Fangbo Qin, Haonan Peng, Randall A. Bly, Kris S. Moe, Blake Hannaford
2020	—	`conf`	Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Autonomous Optimal Camera Viewpoint Adjustment. ISMR Yun-Hsuan Su, Kevin Huang, Blake Hannaford
2020	A*	`conf`	RAVEN-S: Design and Simulation of a Robot for Teleoperated Microgravity Rodent Dissection Under Time Delay. ICRA Andrew Lewis, David Drajeske, John Raiti, Angelique Berens, Jacob Rosen, Blake Hannaford
2020	A*	`conf`	Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position. ICRA Haonan Peng, Xingjian Yang, Yun-Hsuan Su, Blake Hannaford
2020	—	`conf`	Securing Robot-assisted Minimally Invasive Surgery through Perception Complementarities. IRC Yun-Hsuan Su, Yana Sosnovskaya, Blake Hannaford, Kevin Huang
2020	J	`jnl`	Towards Better Surgical Instrument Segmentation in Endoscopic Vision: Multi-Angle Feature Aggregation and Contour Supervision. CoRR Fangbo Qin, Shan Lin, Yangming Li, Randall A. Bly, Kris S. Moe, Blake Hannaford
2020	J	`jnl`	Towards Better Surgical Instrument Segmentation in Endoscopic Vision: Multi-Angle Feature Aggregation and Contour Supervision. IEEE Robotics Autom. Lett. Fangbo Qin, Shan Lin, Yangming Li, Randall A. Bly, Kris S. Moe, Blake Hannaford
2020	—	`conf`	Video-based automatic and objective endoscopic sinus surgery skill assessment. Image-Guided Procedures Shan Lin, Xinyu Gu, Randall A. Bly, Kris S. Moe, Blake Hannaford
2019	J	`jnl`	A Model-Based Recurrent Neural Network With Randomness for Efficient Control With Applications. IEEE Trans. Ind. Informatics Yangming Li, Shuai Li, Blake Hannaford
2019	—	`conf`	Augmented Reality Application for Aiding Tumor Resection in Skull-Base Surgery. ISMR Niveditha Kalavakonda, Laligam N. Sekhar, Blake Hannaford
2019	—	`conf`	Automatic Sinus Surgery Skill Assessment Based on Instrument Segmentation and Tracking in Endoscopic Video. MMMI@MICCAI Shan Lin, Fangbo Qin, Randall A. Bly, Kris S. Moe, Blake Hannaford
2019	—	`conf`	Autonomous Neurosurgical Instrument Segmentation Using End-To-End Learning. CVPR Workshops Niveditha Kalavakonda, Blake Hannaford, Zeeshan Qazi, Laligam N. Sekhar
2019	J	`jnl`	Hidden Markov Models derived from Behavior Trees. CoRR Blake Hannaford
2019	J	`jnl`	IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree. J. Artif. Intell. Res. Dianmu Zhang, Blake Hannaford
2019	—	`conf`	Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Camera Grouping and Pair Sequencing. ISMR Yun-Hsuan Su, Kevin Huang, Blake Hannaford
2019	A	`conf`	Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Non-Rigid Registration and Point Classification. IROS Yun-Hsuan Su, Kevin Huang, Blake Hannaford
2019	J	`jnl`	Raven: Open Surgical Robotic Platforms. CoRR Yangming Li, Blake Hannaford, Jacob Rosen
2019	J	`jnl`	Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position. CoRR Haonan Peng, Xingjian Yang, Yun-Hsuan Su, Blake Hannaford
2019	A*	`conf`	Surgical Instrument Segmentation for Endoscopic Vision with Data Fusion of rediction and Kinematic Pose. ICRA Fangbo Qin, Yangming Li, Yun-Hsuan Su, De Xu, Blake Hannaford
2018	A*	`conf`	A Novel Recurrent Neural Network for Improving Redundant Manipulator Motion Planning Completeness. ICRA Yangming Li, Shuai Li, Blake Hannaford
2018	J	`jnl`	Behavior Trees as a Representation for Medical Procedures. CoRR Blake Hannaford
2018	J	`jnl`	Behavior Trees as a Representation for Medical Procedures. CoRR Blake Hannaford, Randall A. Bly, Ian Humphreys, Mark Whipple
2018	A	`conf`	Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior. IROS Yun-Hsuan Su, Issac Huang, Kevin Huang, Blake Hannaford
2018	A	`conf`	Learned Hand Gesture Classification Through Synthetically Generated Training Samples. IROS Kyle Lindgren, Niveditha Kalavakonda, David E. Caballero, Kevin Huang, Blake Hannaford
2018	—	`conf`	Real-time vision-based surgical tool segmentation with robot kinematics prior. ISMR Yun-Hsuan Su, Kevin Huang, Blake Hannaford
2018	A	`conf`	Soft-obstacle Avoidance for Redundant Manipulators with Recurrent Neural Network. IROS Yangming Li, Blake Hannaford
2017	J	`jnl`	Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments. IEEE Robotics Autom. Lett. Yangming Li, Blake Hannaford
2017	J	`jnl`	IKBT: solving closed-form Inverse Kinematics with Behavior Tree. CoRR Dianmu Zhang, Blake Hannaford
2017	A	`conf`	Improving control precision and motion adaptiveness for surgical robot with recurrent neural network. IROS Yangming Li, Shuai Li, David E. Caballero, Muneaki Miyasaka, Andrew Lewis, Blake Hannaford
2017	A	`conf`	Integrated asymmetric stop operator based model for strain stress hysteresis characteristics of cable driven robots loaded longitudinally. IROS Omar Aljanaideh, Muneaki Miyasaka, Blake Hannaford
2017	A*	`conf`	Roboscope: A flexible and bendable surgical robot for single portal Minimally Invasive Surgery. ICRA Jacob Rosen, Laligam N. Sekhar, Daniel Glozman, Muneaki Miyasaka, Jesse Dosher, Brian Dellon, Kris S. Moe, Aylin Kim, Louis J. Kim, Thomas S. Lendvay, Yangming Li, Blake Hannaford
2017	—	`conf`	Toward real-time tumor margin identification in image-guided robotic brain tumor resection. Image-Guided Procedures Danying Hu, Yang Jiang, Evgenii Belykh, Yuanzheng Gong, Mark C. Preul, Blake Hannaford, Eric J. Seibel
2017	—	`conf`	Towards real-time surface tracking and motion compensation integration for robotic surgery. SII Kyle Lindgren, Kevin Huang, Blake Hannaford
2017	J	`jnl`	Utilizing Elasticity of Cable-Driven Surgical Robot to Estimate Cable Tension and External Force. IEEE Robotics Autom. Lett. Mohammad Haghighipanah, Muneaki Miyasaka, Blake Hannaford
2016	A*	`conf`	Dynamic modeling of cable driven elongated surgical instruments for sensorless grip force estimation. ICRA Yangming Li, Muneaki Miyasaka, Mohammad Haghighipanah, Lei Cheng, Blake Hannaford
2016	—	`ch.`	Haptics. Springer Handbook of Robotics, 2nd Ed. Blake Hannaford, Allison M. Okamura
2016	A*	`conf`	Hysteresis model of longitudinally loaded cable for cable driven robots and identification of the parameters. ICRA Muneaki Miyasaka, Mohammad Haghighipanah, Yangming Li, Blake Hannaford
2016	J	`jnl`	Simulation Results on Selector Adaptation in Behavior Trees. CoRR Blake Hannaford, Danying Hu, Dianmu Zhang, Yangming Li
2016	A*	`conf`	Unscented Kalman Filter and 3D vision to improve cable driven surgical robot joint angle estimation. ICRA Mohammad Haghighipanah, Muneaki Miyasaka, Yangming Li, Blake Hannaford
2015	—	`conf`	Atlas and feature based 3D pathway visualization enhancement for skull base pre-operative fast planning from head CT. Image-Guided Procedures Nava Aghdasi, Yangming Li, Angelique Berens, Kris S. Moe, Randall A. Bly, Blake Hannaford
2015	J	`jnl`	Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery. IEEE Trans. Robotics Ui Kyum Kim, Dong-Hyuk Lee, Woon Jong Yoon, Blake Hannaford, Hyouk Ryeol Choi
2015	A	`conf`	Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter. IROS Mohammad Haghighipanah, Yangming Li, Muneaki Miyasaka, Blake Hannaford
2015	A	`conf`	Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system. IROS Muneaki Miyasaka, Joseph Matheson, Andrew Lewis, Blake Hannaford
2015	A	`conf`	Path planning for semi-automated simulated robotic neurosurgery. IROS Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J. Seibel
2015	A*	`conf`	Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree. ICRA Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J. Seibel
2015	—	`conf`	Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model. Image-Guided Procedures Yuanzheng Gong, Danying Hu, Blake Hannaford, Eric J. Seibel
2014	A*	`conf`	Dynamically evaluated gravity compensation for the RAVEN surgical robot. ICRA Andrew Lewis, Blake Hannaford
2014	A	`conf`	Experimental evaluation of guidance and forbidden region virtual fixtures for object telemanipulation. IROS Hawkeye H. I. King, Blake Hannaford
2014	J	`jnl`	Forbidden region virtual fixtures from streaming point clouds. Adv. Robotics Sina Nia Kosari, Fredrik Ryden, Thomas S. Lendvay, Blake Hannaford, Howard Jay Chizeck
2014	—	`conf`	Mapping surgical fields by moving a laser-scanning multimodal scope attached to a robot arm. Image-Guided Procedures Yuanzheng Gong, Timothy D. Soper, Vivian W. Hou, Danying Hu, Blake Hannaford, Eric J. Seibel
2014	—	`ch.`	Multi-finger Haptic Displays for Characterization of Hand Response. The Human Hand as an Inspiration for Robot Hand Development Blake Hannaford, Pietro Buttolo, Hawkeye H. I. King
2014	—	`conf`	Raven Surgical Robot Training in Preparation for da Vinci MMVR Deanna Glassman, Lee White, Andrew Lewis, Hawkeye H. I. King, Alicia Clarke, Thomas Glassman, Bryan Comstock, Blake Hannaford, Thomas S. Lendvay
2013	—	`conf`	Design and optimization of support structures for tactile feedback. World Haptics Iris Jiang, Yuki Ishikawa, Jack Lindsay, Blake Hannaford
2013	A*	`conf`	Good vibrations: an evaluation of vibrotactile impedance matching for low power wearable applications. UIST Jack Lindsay, Iris Jiang, Eric C. Larson, Richard J. Adams, Shwetak N. Patel, Blake Hannaford
2013	—	`conf`	Improving tactile feedback with an impedance adapter. World Haptics Jack Lindsay, Richard J. Adams, Blake Hannaford
2013	J	`jnl`	Raven-II: An Open Platform for Surgical Robotics Research. IEEE Trans. Biomed. Eng. Blake Hannaford, Jacob Rosen, Diana C. W. Friedman, Hawkeye H. I. King, Phillip Roan, Lei Cheng, Daniel Glozman, Ji Ma, Sina Nia Kosari, Lee White
2012	A*	`conf`	Application of Unscented Kalman Filter to a cable driven surgical robot: A simulation study. ICRA Srikrishnan Ramadurai, Sina Nia Kosari, Hawkeye H. I. King, Howard Jay Chizeck, Blake Hannaford
2012	A*	`conf`	Robotic compression of soft tissue. ICRA Sina Nia Kosari, Srikrishnan Ramadurai, Howard Jay Chizeck, Blake Hannaford
2012	J	`jnl`	The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation. IEEE Trans. Haptics Edvard Naerum, Ole Jakob Elle, Blake Hannaford
2011	—	`conf`	Effects of thermal protection methods on haptic perception. World Haptics Paul Buckley, Hawkeye H. I. King, Marta Wang, Blake Hannaford
2011	—	`conf`	Haptic exploration of spheres: Anatomical regions used for perception. World Haptics Kristina Haller, Blake Hannaford
2011	—	`conf`	Tactile data entry for extravehicular activity. World Haptics Richard J. Adams, Aaron B. Olowin, Blake Hannaford, O. Scott Sands
2010	—	`conf`	Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs. HAPTICS Hawkeye H. I. King, Blake Hannaford, Julius Kammerl, Eckehard G. Steinbach
2010	—	`conf`	Haptic characteristics of some activities of daily living. HAPTICS Brittany Redmond, Rachel Aina, Tejaswi Gorti, Blake Hannaford
2010	—	`conf`	Haptic exploration of spheres: Techniques and initial experiments. HAPTICS Blake Hannaford, Jesse Dosher, S. Venkatachalam
2010	—	`conf`	Parametric Study of Virtual Curvature Recognition: Discrimination Thresholds for Haptic and Visual Sensory Information. HAID Woon Jong Yoon, Joel C. Perry, Blake Hannaford
2010	—	`conf`	Perceptual thresholds for single vs. Multi-Finger Haptic interaction. HAPTICS Hawkeye H. I. King, Regina Donlin, Blake Hannaford
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`	Bilateral teleoperation with time delay using modified wave variable based controller. ICRA Kenji Kawashima, Kotaro Tadano, Cong Wang, Ganesh Sankaranarayanan, Blake Hannaford
2009	A*	`conf`	Effect of time delay on telesurgical performance. ICRA Mitchell J. H. Lum, Jacob Rosen, Thomas S. Lendvay, Mika N. Sinanan, Blake Hannaford
2009	A*	`conf`	Global transparency analysis of the Lawrence teleoperator architecture. ICRA Edvard Naerum, Blake Hannaford
2009	—	`conf`	Preliminary protocol for interoperable telesurgery. ICAR Hawkeye H. I. King, Kotaro Tadano, Regina Donlin, Diana C. W. Friedman, Mitchell J. H. Lum, Victoria Asch, Cong Wang, Kenji Kawashima, Blake Hannaford
2009	—	`conf`	Robustness of the Unscented Kalman filter for state and parameter estimation in an elastic transmission. Robotics: Science and Systems Edvard Naerum, Hawkeye H. I. King, Blake Hannaford
2009	J	`jnl`	The RAVEN: Design and Validation of a Telesurgery System. Int. J. Robotics Res. Mitchell J. H. Lum, Diana C. W. Friedman, Ganesh Sankaranarayanan, Hawkeye H. I. King, Kenneth Fodero, Rainer Leuschke, Blake Hannaford, Jacob Rosen, Mika N. Sinanan
2008	A	`conf`	Bilateral teleoperation with time delay using modified wave variables. IROS Kenji Kawashima, Kotaro Tadano, Ganesh Sankaranarayanan, Blake Hannaford
2008	—	`conf`	Experimental Internet Haptic Collaboration using Virtual Coupling Schemes. HAPTICS Ganesh Sankaranarayanan, Blake Hannaford
2008	A*	`conf`	Experimental comparison of internet haptic collaboration with time-delay compensation techniques. ICRA Ganesh Sankaranarayanan, Blake Hannaford
2008	J	`jnl`	Guest Editorial Special Issue on Biorobotics. IEEE Trans. Robotics Paolo Dario, Blake Hannaford, Atsuo Takanishi
2008	—	`conf`	Haptic Characteristics of Document Conservation Tasks. HAPTICS Rainer Leuschke, Regina Donlin, Marc Claus, Maria Nugent, Dianne van der Reyden, Blake Hannaford
2008	—	`ch.`	Haptics. Springer Handbook of Robotics Blake Hannaford, Allison M. Okamura
2008	A	`conf`	Model-based passivity control for bilateral teleoperation of a surgical robot with time delay. IROS Kenji Kawashima, Kotaro Tadano, Ganesh Sankaranarayanan, Blake Hannaford
2008	—	`conf`	Objective Assessment of Telesurgical Robot Systems: Telerobotic FLS. MMVR Mitchell J. H. Lum, Diana C. W. Friedman, Ganesh Sankaranarayanan, Hawkeye H. I. King, Andrew Wright, Mika N. Sinanan, Thomas S. Lendvay, Jacob Rosen, Blake Hannaford
2008	—	`conf`	Overcoming barriers to wider adoption of mobile telerobotic surgery: engineering, clinical and business challenges. PerMIS Gerald R. Moses, Charles R. Doarn, Blake Hannaford, Jacob Rosen
2008	—	`conf`	The Biomechanics of Percutaneous Needle Insertion. MMVR Thomas S. Lendvay, Feng-Ju Hsieh, Blake Hannaford, Jacob Rosen
2007	J	`jnl`	Assessment of Tissue Damage due to Mechanical Stresses. Int. J. Robotics Res. Smita De, Jacob Rosen, Aylon Dagan, Blake Hannaford, Paul Swanson, Mika N. Sinanan
2007	A*	`conf`	Automated Tool Handling for the Trauma Pod Surgical Robot. ICRA Diana C. W. Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake Hannaford
2007	—	`conf`	CIELab and sRGB color values of in vivo normal and grasped porcine liver. MMVR Smita De, Aylon Dagan, Phillip Roan, Jacob Rosen, Mika N. Sinanan, Maya Gupta, Blake Hannaford
2007	—	`conf`	Comparison of performance of virtual coupling schemes for haptic collaboration using real and emulated internet connections. ROBOCOMM Ganesh Sankaranarayanan, Blake Hannaford
2007	A	`conf`	Comparison of transient performance in the control of soft tissue grasping. IROS Xiaolong Yu, Howard Jay Chizeck, Blake Hannaford
2007	—	`conf`	Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device. WHC Regina Donlin, Rainer Leuschke, Blake Hannaford
2007	—	`conf`	Fast Rendering for a Multifinger Haptic Display. WHC Blake Hannaford, Rainer Leuschke
2007	—	`conf`	Low Cost Eye Surgery Simulator with Skill Assessment Component. MMVR Rainer Leuschke, Anuja Bhandari, Brian Sires, Blake Hannaford
2007	—	`conf`	Measurement and emulation of time varying packet delay with applications to networked haptic virtual environments. ROBOCOMM Ganesh Sankaranarayanan, Lauren Potter, Blake Hannaford
2007	—	`conf`	Portable surgery master station for mobile robotic telesurgery. ROBOCOMM Ganesh Sankaranarayanan, Hawkeye H. I. King, Seong-Young Ko, Mitchell J. H. Lum, Diana C. W. Friedman, Jacob Rosen, Blake Hannaford
2007	—	`conf`	Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links. FSR Mitchell J. H. Lum, Diana C. W. Friedman, Hawkeye H. I. King, Regina Donlin, Ganesh Sankaranarayanan, Timothy J. Broderick, Mika N. Sinanan, Jacob Rosen, Blake Hannaford
2007	—	`conf`	Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot. MMVR Mitchell J. H. Lum, Jacob Rosen, Hawkeye H. I. King, Diana C. W. Friedman, Gina Donlin, Ganesh Sankaranarayanan, Brett M. Harnett, Lynn Huffman, Charles R. Doarn, Timothy J. Broderick, Blake Hannaford
2007	—	`conf`	The Red DRAGON: A Multi-Modality System for Simulation and Training in Minimally Invasive Surgery. MMVR Scott Gunther, Jacob Rosen, Blake Hannaford, Mika N. Sinanan
2006	J	`jnl`	Generalized approach for modeling minimally invasive surgery as a stochastic process using a discrete Markov model. IEEE Trans. Biomed. Eng. Jacob Rosen, Jeffrey D. Brown, Lily Chang, Mika N. Sinanan, Blake Hannaford
2006	J	`jnl`	Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches. IEEE Trans. Biomed. Eng. Mitchell J. H. Lum, Jacob Rosen, Mika N. Sinanan, Blake Hannaford
2005	A*	`conf`	A Hybrid Discriminative/Generative Approach for Modeling Human Activities. IJCAI Jonathan Lester, Tanzeem Choudhury, Nicky Kern, Gaetano Borriello, Blake Hannaford
2005	A*	`conf`	A Simulation/Experimental Study of the Noisy Behavior of the Time Domain Passivity Controller for Haptic Interfaces. ICRA Jee-Hwan Ryu, Jong-Hwan Kim, Dong-Soo Kwon, Blake Hannaford
2005	J	`jnl`	A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller. IEEE Trans. Robotics Jee-Hwan Ryu, Blake Hannaford, Dong-Soo Kwon, Jong-Hwan Kim
2005	—	`conf`	High Fidelity Multi Finger Haptic Display. WHC Rainer Leuschke, Elizabeth K. T. Kurihara, Jesse Dosher, Blake Hannaford
2005	A*	`conf`	Hill-Based Model as a Myoprocessor for a Neural Controlled Powered Exoskeleton Arm - Parameters Optimization. ICRA Ettore Cavallaro, Jacob Rosen, Joel C. Perry, Stephen Burns, Blake Hannaford
2005	J	`jnl`	Human Interaction with Small Haptic Effects. Presence Teleoperators Virtual Environ. Jesse Dosher, Blake Hannaford
2005	J	`jnl`	Time domain passivity control with reference energy following. IEEE Trans. Control. Syst. Technol. Jee-Hwan Ryu, Carsten Preusche, Blake Hannaford, Gerd Hirzinger
2004	—	`conf`	"Are You with Me?" - Using Accelerometers to Determine If Two Devices Are Carried by the Same Person. Pervasive Jonathan Lester, Blake Hannaford, Gaetano Borriello
2004	J	`jnl`	Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach. IEEE Trans. Robotics Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2004	A*	`conf`	Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot. ICRA Mitchell J. H. Lum, Jacob Rosen, Mika N. Sinanan, Blake Hannaford
2004	J	`jnl`	Mechatronic design of an actuated biomimetic length and velocity sensor. IEEE Trans. Robotics Kristen N. Jaax, Blake Hannaford
2004	J	`jnl`	Sampled- and continuous-time passivity and stability of virtual environments. IEEE Trans. Robotics Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford
2004	J	`jnl`	Stability guaranteed control: time domain passivity approach. IEEE Trans. Control. Syst. Technol. Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2004	J	`jnl`	Stable teleoperation with time-domain passivity control. IEEE Trans. Robotics Autom. Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2003	A	`conf`	Anisotropies of touch in haptic icon exploration. IROS Gregory S. Lee, Blake Hannaford
2003	—	`ch.`	Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach. Control Problems in Robotics Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2003	—	`conf`	In-Vivo and Postmortem Compressive Properties of Porcine Abdominal Organs. MICCAI (1) Jeffrey D. Brown, Jacob Rosen, Mika N. Sinanan, Blake Hannaford
2003	—	`conf`	Preliminary Two Dimensional Haptic Thresholds and Task Performance Enhancement. HAPTICS Gregory S. Lee, Blake Hannaford
2003	A*	`conf`	Sampled and continuous time passivity and stability of virtual environments. ICRA Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford
2003	J	`jnl`	Smart surgical tools and augmenting devices. IEEE Trans. Robotics Autom. Paolo Dario, Blake Hannaford, Arianna Menciassi
2003	A	`conf`	Time domain passivity control for 6 degrees of freedom haptic displays. IROS Carsten Preusche, Gerd Hirzinger, Jee-Hwan Ryu, Blake Hannaford
2003	A	`conf`	Time domain passivity control with reference energy behavior. IROS Jee-Hwan Ryu, Blake Hannaford, Carsten Preusche, Gerd Hirzinger
2002	J	`jnl`	Artificial Muscles. Int. J. Robotics Res. Glenn K. Klute, Joseph M. Czerniecki, Blake Hannaford
2002	J	`jnl`	Control law design for haptic interfaces to virtual reality. IEEE Trans. Control. Syst. Technol. Richard J. Adams, Blake Hannaford
2002	A	`conf`	Stability guaranteed control: Time domain passivity approach. IROS Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2002	A*	`conf`	Stable Teleoperation with Time Domain Passivity Control. ICRA Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford
2002	—	`conf`	Testing Time Domain Passivity Control of Haptic Enabled Systems. ISER Blake Hannaford, Jee-Hwan Ryu, Dong-Soo Kwon, Yoon Sang Kim, Jae-Bok Song
2002	A*	`conf`	The BlueDRAGON - A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo. ICRA Jacob Rosen, Jeffrey D. Brown, Lily Chang, Marco Barreca, Mika N. Sinanan, Blake Hannaford
2002	J	`jnl`	Time-domain passivity control of haptic interfaces. IEEE Trans. Robotics Autom. Blake Hannaford, Jee-Hwan Ryu
2001	J	`jnl`	Bio-Inspired Actuation and Sensing. Auton. Robots Blake Hannaford, Kristen N. Jaax, Glenn K. Klute
2001	J	`jnl`	Markov modeling of minimally invasive surgery based on tool/tissue interaction and force/torque signatures for evaluating surgical skills. IEEE Trans. Biomed. Eng. Jacob Rosen, Blake Hannaford, Christina G. Richards, Mika N. Sinanan
2001	A	`conf`	Some practical issues in time domain passivity control of haptic interfaces. IROS Yoon Sang Kim, Blake Hannaford
2001	A*	`conf`	Time Domain Passivity Control of Haptic Interface. ICRA Blake Hannaford, Jee-Hwan Ryu
2000	A	`conf`	Development of a biomimetic position sensor for robotic kinaesthesia. IROS Kristen N. Jaax, Pierre-Henry Marbot, Blake Hannaford
2000	J	`jnl`	Experiments in Fingertip Perception of Surface Discontinuities. Int. J. Robotics Res. Steven C. Venema, Blake Hannaford
2000	A*	`conf`	Stable Haptic Interaction Using the Excalibur Force Display. ICRA Richard J. Adams, Daniel Klowden, Blake Hannaford
1999	A*	`conf`	4-Axis Electromagnetic Microgripper. ICRA Arianna Menciassi, Blake Hannaford, Maria Chiara Carrozza, Paolo Dario
1999	J	`jnl`	Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation. IEEE Trans. Biomed. Eng. Jacob Rosen, Blake Hannaford, Mark P. MacFarlane, Mika N. Sinanan
1999	J	`jnl`	Stable haptic interaction with virtual environments. IEEE Trans. Robotics Autom. Richard J. Adams, Blake Hannaford
1998	A*	`conf`	A Practical Measure of Dynamic Response of Haptic Devices. ICRA Manuel Moreyra, Blake Hannaford
1998	A	`conf`	A two-port framework for the design of unconditionally stable haptic interfaces. IROS Richard J. Adams, Blake Hannaford
1998	A	`conf`	Fatigue characteristics of McKibben artificial muscle actuators. IROS Glenn K. Klute, Blake Hannaford
1998	A	`conf`	Haptic feedback of kinematic conditioning for telerobotic applications. IROS Thavida Maneewarn, Blake Hannaford
1998	J	`jnl`	Online improvement of speed and tracking performance on repetitive paths. IEEE Trans. Control. Syst. Technol. Frederik Boe, Blake Hannaford
1998	J	`jnl`	Teleoperation Performance with a Kinematically Redundant Slave Robot. Int. J. Robotics Res. Dal-Yeon Hwang, Blake Hannaford
1997	J	`jnl`	Architectures for shared haptic virtual environments. Comput. Graph. Pietro Buttolo, Roberto Oboe, Blake Hannaford
1997	J	`jnl`	Single-chip velocity measurement system for incremental optical encoders. IEEE Trans. Control. Syst. Technol. Pamela T. Bhatti, Blake Hannaford
1997	J	`jnl`	Study of human forearm posture maintenance with a physiologically based robotic arm and spinal level neural controller. Biol. Cybern. Ching-Ping Chou, Blake Hannaford
1997	A*	`conf`	Telerobotic remote handling of protein crystals. ICRA Blake Hannaford, James Hewitt, Thavida Maneewarn, Steven C. Venema, Matthew Appleby, Robert Ehresman
1997	J	`jnl`	The design of a ferrofluid magnetic pipette. IEEE Trans. Biomed. Eng. Nancy E. Greivell, Blake Hannaford
1996	J	`jnl`	Measurement and modeling of McKibben pneumatic artificial muscles. IEEE Trans. Robotics Autom. Ching-Ping Chou, Blake Hannaford
1996	J	`jnl`	Scaling of Direct Drive Robot Arms. Int. J. Robotics Res. Blake Hannaford, Pierre-Henry Marbot, Pietro Buttolo, Manuel Moreyra, Steven C. Venema
1995	Misc	`conf`	Fast approximations to positive time-frequency distributions, with applications. ICASSP Patrick J. Loughlin, James W. Pitton, Blake Hannaford
1995	—	`conf`	Kalman filter based calibration of precision motion control. IROS (2) Steven C. Venema, Blake Hannaford
1995	—	`conf`	Pen-based force display for precision manipulation in virtual environments. VRAIS Pietro Buttolo, Blake Hannaford
1994	—	`conf`	A 5-Axis Mini Direct Drive Robot for Teleoperation and Biotechnology. IROS (Selected Papers) Manuel Moreyra, Pierre-Henry Marbot, Steven C. Venema, Blake Hannaford
1994	A	`conf`	A 5-axis mini direct drive robot for time delayed teleoperation. IROS Blake Hannaford, Pierre-Henry Marbot, Manuel Moreyra, Steven C. Venema
1994	J	`jnl`	A study and model of the role of the Renshaw cell in regulating the transient firing rate of the motoneuron. Biol. Cybern. Melani Shoemaker, Blake Hannaford
1994	J	`jnl`	Approximating time-frequency density functions via optimal combinations of spectrograms. IEEE Signal Process. Lett. Patrick J. Loughlin, James W. Pitton, Blake Hannaford
1994	J	`jnl`	Sliding Control of Force Reflecting Teleoperation: Preliminary Studies. Presence Teleoperators Virtual Environ. Pietro Buttolo, Petter Braathen, Blake Hannaford
1994	A*	`conf`	Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles. ICRA Ching-Ping Chou, Blake Hannaford
1994	J	`jnl`	Technique for mechanical measurements using optical scattering from a micropipette [cells application]. IEEE Trans. Biomed. Eng. Wei-Chih Wang, Martin Afromowitz, Blake Hannaford
1993	—	`conf`	Performance Testing of Passive Communication and Control in Teleoperation with Time Delay. ICRA (3) C. Andrew Lawn, Blake Hannaford
1993	J	`jnl`	Resolution-First Scanning of Multidimensional Spaces. CVGIP Graph. Model. Image Process. Blake Hannaford
1992	J	`jnl`	Dual stable point model of muscle activation and deactivation. Biol. Cybern. Ching-Ping Chou, Blake Hannaford
1992	J	`jnl`	Force-reflection and shared compliant control in operating telemanipulators with time delay. IEEE Trans. Robotics Autom. Won S. Kim, Blake Hannaford, Antal K. Bejczy
1991	J	`jnl`	Hidden Markov Model Analysis of Force/Torque Information in Telemanipulation. Int. J. Robotics Res. Blake Hannaford, Paul Lee
1991	A	`conf`	Hidden Markov model analysis of manufacturing process information. IROS Blake Hannaford
1991	J	`jnl`	Performance evaluation of a six-axis generalized force-reflecting teleoperator. IEEE Trans. Syst. Man Cybern. Blake Hannaford, Laurie Wood, Douglas A. McAffee, Haya Zak
1990	J	`jnl`	A nonlinear model of the phasic dynamics of muscle activation. IEEE Trans. Biomed. Eng. Blake Hannaford
1989	J	`jnl`	A design framework for teleoperators with kinesthetic feedback. IEEE Trans. Robotics Autom. Blake Hannaford
1989	B	`conf`	Force reflection, shared control, and time delay in telemanipulation. SMC Blake Hannaford, Won S. Kim
1989	—	`conf`	Hidden Markov Model Analysis of Force/ Torque Information in Telemanipulation. ISER Blake Hannaford, Paul Lee
1989	A*	`conf`	Stability and performance tradeoffs in bi-lateral telemanipulation. ICRA Blake Hannaford
1988	A*	`conf`	Experimental and simulation studies of hard contact in force reflecting teleoperation. ICRA Blake Hannaford, Robert Anderson
1987	A*	`conf`	Hand trigger system for bi-lateral gripping control in teleoperation. ICRA Paolo Fiorini, Blake Hannaford, Bruno Jau, Edwin Kan, Antal K. Bejczy
1987	J	`jnl`	Quantitative Evaluation of Perspective and Stereoscopic Displays in Three-Axis Manual Tracking Tasks. IEEE Trans. Syst. Man Cybern. Won S. Kim, Stephen R. Ellis, Mitchell E. Tyler, Blake Hannaford, Lawrence W. Stark
1987	J	`jnl`	Telerobotics: Display, control, and communication problems. IEEE J. Robotics Autom. Lawrence Stark, Won-Soo Kim, Frank Tendick, Blake Hannaford, Stephen R. Ellis, Mark Denome, Mary Duffy, Tim Hayes, Ted Jordan, Mark Lawton, Tim Mills, Robert Peterson, Kathleen Sanders, Mitchell E. Tyler, Steven van Dyke
1986	—	`conf`	The Electronic Spreadsheet: A Workstation Front End for Parallel Processors. COMPCON Blake Hannaford