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Past Projects

• Surgical Robotics
• Force Feedback in Surgery: An Analysis of Blunt Dissection
• Virtual Fixtures for Robotic Cardiac Surgery
• Autonomous Localization of the Internal-Mammary Artery using a Tactile Sensor Array
• Tissue Mechanics
• Characterizing the Nonlinear Mechanical Response of Liver to Surgical Manipulation
• Image-Based Mechanical Characterization of Soft Tissue
• Biomechanics of the Human Larynx
• Modeling Heart Tissue to Avoid Injury During Trans-atrial Surgical Procedures
• Mechanics of the Human Fingerpad
• Tactile Sensing and Display
• Remote Palpation Instruments for Minimally Invasive Surgery
• A Tactile Shape Display Using RC Servomotors
• Vibrotactile Sensing and Display
• Tactile Shape Display
• Simulating Soft Tissue with a Tactile Shape Display
• Tactile Imaging
• Tactile Imaging of Breast Tissue
• Robotic Grasping and Shape Deposition Manufacturing
• Robust Robotic Mechanisms and Sensors via Shape Deposition Manufacturing
• Compliant Grasping for Unstructured Environments
• "Soft" Grippers and Bugbots
• Biological Motor Control
• A Quantitative Investigation of the Effects of Hypnosis on Stroke Recovery
• Mechanical Impedance of the Human Hand
• Teleoperated Robotics
• Effect of link and joint flexibility in a teleoperated robot
• World Modeling by Tele-Manipulation
• Smooth Bipedal Walking
• Robotic Manipulation and Tactile Sensing
• Human Tactile Sensing
• Study of Finger Motion and Sensation During Palpation
• Impedance Control
• Minimum Impedance Manipulation

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