List of Publications

Journal Articles

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Jacob W. Guggenheim, Leif P. Jentoft,Yaroslav Tenzer, and Robert D. Howe
Robust and Inexpensive 6-Axis Force-Torque Sensors using MEMS Barometers, IEEE Transaction on Mechatronics, 2017

Joshua Gafford,Tommaso Ranzani,Shiela Russo,Alperen Degirmenci,Samuel Kesner,Robert Howe,Robert Wood,Conor Walsh
Towards Medical Devices with Integrated Mechanisms, Sensors and Actuators via Printed-Circuit MEMS, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 011007-011018, Jan 2017

Paul M. Loschak, Laura J. Brattain, and Robert D. Howe
Algorithms for Automatically Pointing Ultrasound Imaging CathetersIEEE TRANSACTIONS ON ROBOTICS, Volume PP, Issue 99, pp.1-11, Dec 2016

Mohsen M. Dalvand, Saeid Nahavandi, and Robert D. Howe
Fast Vision-based Catheter 3D Reconstruction, Physics in Medicine, Vol. 61, No. 14, pp. 5128-5148, June 2016

Paul M. Loschak, Alperen Degirmenci, Yaroslav Tenzer, Cory M. Tschabrunn, Elad Anter, and Robert D. Howe
A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters, ASME Journal of Mechanisms and Robotics, 8(5), May 2016

Yaroslav Tenzer, Leif P. Jentoft, Robert D. Howe
The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors, Robotics & Automation Magazine, IEEE, Vol. 21, No. 3, pp. 89-95, Sept. 2014

Frank L. Hammond III, Rebecca K. Kramer, Qian Wan, Robert D. Howe, Robert J. Wood
Soft Tactile Sensor Arrays for Force Feedback in Micromanipulation, IEEE Sensors, Vol. 14, No. 5, May 2014

Samuel B. Kesner and Robert D. Howe
Robotic Catheter Cardiac Ablation Combining Ultrasound Guidance and Force Control, The International Journal of Robotics Research, Vol. 33, No. 4, pp. 631-644, April 2014

Leif P. Jentoft, Aaron M. Dollar, Christopher R. Wagner, Robert, D. Howe
Intrinsic Embedded Sensors for Polymeric Mechatronics: Flexure and Force Sensing, Sensors, Vol. 14, No. 3, 3861-3870, Feb 2014

Lujie Chen , Viswanath Bavigadda, Theodoros Kofidis, Robert D. Howe
Fiber optic projection-imaging system for shape measurement in confined space, The Scientific World Journal, Volume 2014 (2014), Article ID 206569

Peter E. Hammer and Pedro J. del Nido
Guidelines for Sizing Pericardium for Aortic Valve Leaflet Grafts, The Annals of Thoracic Surgery, Vol. 96, No. 1, pp. e25 - e27, 2014

Peter E. Hammer, Christina A. Pacak, Robert D. Howe, and Pedro J. del Nido
Straightening of Curved Pattern of Collagen Fibers Under Load Controls Aortic Valve Shape, Journal of Biomechanics, Vol. 47, No. 2, pp. 341-346, 2014.

Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma,
Martin Buehler, Robert Kohout, Robert D. Howe, Aaron M. Dollar
A Compliant, Underactuated Hand for Robust Manipulation, International Journal of Robotics Research, Vol. 33, No. 5, pp. 736-752, April 2014.

Meaghan Bowthorpe, Mahdi Tavakoli, Herald Becher, Robert D. Howe
Smith Predictor Based Robot Control for Ultrasound-guided Teleoperated Beating-heart Surgery, IEEE Journal of Biomedical and Health Informatics, Vol. 18, No. 1, pp. 157-166, 2014.

Peter E. Hammer, Peter C. Chen, Pedro J. del Nido, and Robert D. Howe
Computational model of aortic valve surgical repair using grafted pericardium, Journal of Biomechanics, Vol. 45, Issue 7, Pages 1199–1204 (April 30, 2012).

Aaron M. Dollar and Robert D. Howe
Joint coupling design of underactuated hands for unstructured environments, The International Journal of Robotics Research, 2011 30: 1157

Samuel B. Kesner, Robert D. Howe
Position Control of Motion Compensation Cardiac Catheters, IEEE Transactions on Robotics, Vol 27, No. 6, pp. 1045-1055, December 2011.

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, and Robert D. Howe
Mitral annulus segmentation from four-dimensional ultrasound using a valve state predictor and constrained optical flow., Med Image Anal. 2012 Feb; 16(2):497-504. Epub 2011 Dec 4.

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, and Robert D. Howe
Real-time image-based rigid registration of three-dimensional ultrasound, Med Image Anal. 2012 Feb; 16(2):402-14. Epub 2011 Nov 15.

Samuel B. Kesner, Robert D. Howe
Design Principles for Rapid Prototyping Forces Sensors using 3D Printing, IEEE/ASME Transactions on Mechatronics, Special Issue on Sensing Technologies for Biomechatronics, 2011. 2011 July 21; PP(99): 1–5. DOI 10.1109/TMECH.2011.216035.

Michael C. Yip, Mahdi Tavakoli, Robert D. Howe
Performance Analysis of a Haptic Telemanipulation Task under Time Delay, Advanced Robotics (special issue on Physical Human-Robot Interaction Through Force Interface), vol. 25, no. 5, pp. 651-673, 2011

Peter E. Hammer, Michael S. Sacks, Pedro J. del Nido, and Robert D. Howe
Mass-Spring Model for Simulation of Heart Valve Tissue Mechanical Behavior, Annals of Biomedical Engineering, Vol. 39, No. 6, pp. 1668–1679, June 2011.

P. Jordan, A.E. Kerdok, R.D. Howe, and S. Socrate
Identifying a Minimal Rheological Configuration: A Tool for Effective and Efficient Constitutive Modeling of Soft Tissues, Journal of Biomechanical Engineering, Vol. 133, No. 4 041006 April 2011

Masashi Nakatani, Robert D. Howe, and Susumu Tachi
Surface Texture can Bias Tactile Form Perception, Journal of Experimental Brain Research, Vol. 208, No. 1, 151-156, 2010 DOI: 10.1007/s00221-010-2464-3

Shelten G. Yuen, Douglas P. Perrin, Nikolay V. Vasilyev, Pedro J. del Nido, and Robert D. Howe
Force Tracking With Feed-Forward Motion Estimation for Beating Heart Surgery, IEEE Transactions on Robotics Vol. 26, No.5, 888-896, 2010. DOI: 10.1109/TRO.2010.2053734

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, and Robert D. Howe
Mitral Annulus Segmentation from 3D Ultrasound Using Graph Cuts, IEEE Transactions on Medical Imaging, Vol. 20, No. 9, 1676-1687, 2010

Aaron M. Dollar and Robert D. Howe
The Highly Adaptive SDM Hand: Design and Performance Evaluation, The International Journal of Robotics Research, Vol. 29, No. 5, 585-597, 2010

Shelten G. Yuen, Nikolay V. Vasilyev, Pedro J. del Nido , Robert D. Howe
Robotic Tissue Tracking for Beating Heart Mitral Valve Surgery, Medical Image Analysis 17 (2013) 1236–1242

Daniel Rudoy, Shelten G. Yuen, Robert D. Howe, Patrick J. Wolfe
Bayesian change-point analysis for atomic force microscopy and soft material indentation, Journal of the Royal Statistical Society: Series C (Applied Statistics) 59(4):573-593, 2010, DOI: 10.1111/j.1467-9876.2010.00715.

Michael Yip, Shelten G. Yuen, and Robert D. Howe
A Robust Uniaxial Force Sensor for Minimally Invasive Surgery, IEEE Transactions on Biomedical Engineering vol. 57, no. 5, pp. 1008-1011, May 2010.

Aaron M. Dollar, Leif Jentoft, Jason H. Gao, and Robert D. Howe
Contact Sensing and Grasping Performance of Compliant Hands, Autonomous Robots, special issue on Mobile Manipulation, 28(1) 2010

R.A. Beasley, R.D. Howe,
Increasing Accuracy in Image-Guided Robotic Surgery Through Tip Tracking and Model-Based Flexion Correction, IEEE Transactions on Robotics, 25(2):292-302, 2009. DOI 10.1109/TRO.2009.2014498.

Shelten G. Yuen, Daniel T. Kettler, Paul M. Novotny, Richard D. Plowes, Robert D. Howe
Robotic Motion Compensation for Beating Heart Intracardiac Surgery, International Journal of Robotics Research, Special Issue on Medical Robotics, 2009. October 1; 28(10): 1355-1372.

M. Tavakoli and Robert D. Howe
Haptic Effects of Surgical Teleoperator Flexibility, International Journal of Robotics Research, Special Issue on Medical Robotics, October 2009 28(10) 1289-1302

P. Jordan, S. Socrate, T.E. Zickler, R.D. Howe
Constitutive modeling of porcine liver in indentation using 3D ultrasound imaging, Journal of the Mechanical Behavior of Medical Materials, 2:192-201, 2009.

Ravi Balasubramanian, Robert D. Howe, and Yoky Matsuoka
Task Performance is Prioritized Over Energy Reduction, IEEE Transactions on Biomedical Engineering 56(5):1310-7, 2009.

NV Vasilyev, PM Novotny, JF Martinez, H Loyola, IS Salgo, RD Howe, and PJ del Nido
Stereoscopic vision display technology in real-time three-dimensional echocardiography-guided intracardiac beating-heart surgery, Journal of Thoracic and Cardiovascular Surgery 135(6):1334-1341, 2008.

Diamond, S.G., Davis, O.C. and Howe, R.D.
Heart rate variability as a quantitative measure of trance depth, International Journal of Clinical and Experimental Hypnosis 56(1):1-18, 2008.

Linguraru, M.G. Vasilyev, N. Marx, G.R. Tworetzky, W. Del Nido, P.J. Howe, R.D.
Fast Block Flow Tracking of Atrial Septal Defects in 4D Ultrasound of the Heart, Medical Image Analysis, 12:397–412, 2008.

Wagner, C.R; Howe, R. D
Force Feedback Benefit Depends on Experience in Multiple Degree of Freedom Robotic Surgery Task, IEEE Transactions on Robotics 23(6), 2007.

PM Novotny, JA Stoll, NV Vasilyev, PJ del Nido, PE Dupont, TE Zickler, and RD Howe
GPU based real-time instrument tracking with three-dimensional ultrasound, Medical Image Analysis, 11:458-464, 2007.

Marius G. Linguraru, Nikolay V. Vasilyev, Pedro J. Del Nido, and Robert D. Howe
Statistical Segmentation of Surgical Instruments in 3-D Ultrasound Images, Ultrasound in Med. & Biol., Vol. 33, No. 8, 2007.

Linguraru, M.G. Kabla, A. Marx, G.R. del Nido, P.J. Howe, R.D.
Real-Time Tracking and Shape Analysis of Atrial Septal Defects in 3D Echocardiography, Academic Radiology, Vol. 14, No. 11, 2007 (Invited Paper).

PM Novotny, SK Jacobsen, NV Vasilyev, DT Kettler, IS Salgo, PE Dupont, PJ Del Nido, RD Howe
3D ultrasound in robotic surgery: performance evaluation with stereo displays Int J Med Robotics Comput Assist Surg, 2:279-285, 2006.

Wagner, C.R., Stylopoulos, N., Jackson, P. G., Howe, R.D.
The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection, Presence: Teleoperators and Virtual Environments, Vol. 16, No. 3, Pages 252-262, 2007.

Diamond, S.G., Davis, O.C., Schaechter, J.D. and Howe, R.D.
Hypnosis for Rehabilitation after Stroke: Six Case Studies, Contemporary Hypnosis, 23(4):173-180, 2006.

Aaron M. Dollar and Robert D. Howe
A Robust Compliant Grasper via Shape Deposition Manufacturing, IEEE/ASME Transactions on Mechatronics, vol. 11(2), 2006.

Amy E. Kerdok, Mark P. Ottensmeyer, Robert D. Howe
Effects of Perfusion on the Viscoelastic Characteristics of Liver, Journal of Biomechanics, vol. 39, pp. 2221–2231, 2006.

Gunter HE, Howe RD, Zeitels SM, Kobler JB, Hillman RE
Measurement of vocal fold collision forces during phonation: Methods and preliminary data, Journal of Speech, Language, and Hearing Research 48(3):567-76, June 2005

Aaron M. Dollar and Robert D. Howe
Towards Grasping in Unstructured Environments: Grasper Compliance and Configuraton Optimization, Advanced Robotics, vol. 19(5), pp. 523-543, 2005.

Thomas J. Debus, Pierre E. Dupont, and Robert D. Howe
Distinguishability and Identifiability Testing of Contact State Models, Advanced Robotics, vol. 19(5), pp. 545-566, 2005.

Samosky J, Burstein D, Grimson WE, Howe R, Martin S, Gray ML
Spatially-localized correlation of dGEMRIC-measured GAG distribution and mechanical stiffness in the human tibial plateau, Journal of Orthopedic Research 23(1):93-101, January 2005.

Suematsu Y, Marx GR, Stoll JA, DuPont PE, Cleveland RO, Howe RD, Triedman JK, Mihaljevic T, Mora BN, Savord BJ, Salgo IS, del Nido PJ
Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: a feasibility study, Journal of Thoracic and Cardiovascular Surgery 128(4):579-87, October 2004.

T. Debus, T.-J. Jang, P. Dupont, and R. Howe
Multi-Channel Vibrotactile Display for Teleoperated Assembly, International Journal of Control, Automation, and Systems, vol. 2, no. 3, September 2004.

T. Debus, P. Dupont, and R. Howe
Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models, International Journal of Robotics Research, vol. 23, No. 4-5, pp.399-413, 2004.

Wagner, C.R., Lederman, S.L., Howe, R.D.
Design and Performance of a Tactile Shape Display Using RC Servomotors (short paper), Haptics-e: The Electronic Journal Of Haptics Research, Vol. 3, No. 4, Aug 6, 2004. (www.haptics-e.org)

J.W. Cannon, J.A. Stoll, S.D. Selha, P.E. Dupont, R.D. Howe, and D.F. Torchiana
Port Placement Planning in Robot-Assisted Coronary Artery Bypass, IEEE Transactions on Robotics and Automation 19(5): 912-17, October 2003.

J. W. Cannon, J. A. Stoll, I. S. Salgo, H. B. Knowles, R. D. Howe, P. E. Dupont, G. R. Marx, and P. J. del Nido
Real Time 3-Dimensional Ultrasound for Guiding Surgical Tasks, submitted to Computer Aided Surgery, 2003.

Gunter, H.E.
A mechanical model of vocal fold collision with high spatial and temporal resolution, Journal of the Acoustical Society of America 113(2):994-1000, 2003.

Kerdok, A. E., Cotin, S. M., Ottensmeyer, M. P., Galea, A. M., Howe, R. D. and Dawson, S. L.
Truth cube: Establishing physical standards for real time soft tissue simulation, Medical Image Analysis, vol. 7, pp. 283-291, 2003.

Gunter H.E.
Modeling Mechanical Stresses as a Factor in the Etiology of BenignVocal Fold Lesions,Submitted to the Journal of Biomechanics, 2002 Manuscript NumberJB2002-187

Diamond S.G., Howe R.D.,
Measuring Hypnosis: Relating the Subjective Experience to Systematic Physiological Changes, InterJournal of Complex Systems, Article, Manuscript Number 541.

Wellman, P.S, Dalton, E.P., Krag, D., Kern, K.A., Howe, R.D.
Tactile Imaging of Breast Masses: First Clinical Report, Archives of Surgery 136(2):204-08 Feb. 2001.

Pawluk, D.T.V. and Howe, R.D.
Dynamic contact of the human fingerpad against a flat surface, ASME Journal of BiomechanicalEngineering 121(6):605-611, December 1999.

P. Dupont, T. Schulteis, P. Millman, and R. D. Howe
Automatic Identification of Environment Haptic Properties, Presence 8(4):392-409, August 1999.

Pawluk, D.T.V. and Howe, R.D.
Dynamic Lumped Element Response of the Human Fingerpad, ASME Journal of BiomechanicalEngineering 121(2):178- 184, April 1999.

R. D. Howe and Y. Matsuoka
Robotics for surgery, Annual Review of Biomedical Engineering, 1:211-240, 1999.

D. T. V. Pawluk, J. S. Son, P. S. Wellman, W. J. Peine, and R. D. Howe
A Distributed Pressure Sensor for Biomechanical Measurements, ASME Journal of Biomechanical Engineering 102(2):302-305, April 1998.

A. Z. Hajian and R. D. Howe
Identification of the mechanical impedance at the human finger tip, ASME Journal of Biomechanical Engineering, 119(1):109-114, Feb. 1997. Also presented at the International Mechanical Engineering Congress, American Society of Mechanical Engineers, Chicago, IL, November 1994, Proceedings ed. C. J. Radcliffe, DSC-vol. 55-1, p. 319-327.

R. D. Howe and M. R. Cutkosky
Practical force-motion models for sliding manipulation, International Journal of Robotics Research,15(6):557-572, December 1996.

J. S. Son, M. R. Cutkosky, and R. D. Howe
Comparison of contact sensor localization abilities during manipulation, Robotics and Autonomous Systems, 17(4):217-233, June 1996. Also presented at IROS '95: IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 5-9, 1995, Proceedings vol. 2, p. 96-101.

D. A. Kontarinis and R. D. Howe
Tactile display of vibratory information in teleoperation and virtual environments, Presence, 4(4):387-402, 1995.

R. D. Howe, W. J. Peine, D. A. Kontarinis, and J. S. Son
Remote palpation technology, IEEE Engineering in Medicine and Biology, 14(3):318-323, May/June 1995.

R. D. Howe
Tactile sensing and control of robotic manipulation, Journal of Advanced Robotics, 8(3):245-261, 1994.

R. D. Howe and M. R. Cutkosky
Dynamic tactile sensing: Perception of fine surface features with stress rate sensing, IEEE Transactions on Robotics and Automation 9(2):140-151, April 1993.

B. Edin, R. D. Howe, G. Westling, and M. R. Cutkosky
A physiological method for relaying frictional information to a human teleoperator, IEEE Transactions on System, Man, and Cybernetics, 23(2):427-432, March/April 1993.

M. G. Allen, R. D. Howe, and R. K. Hanson
"Digital imaging of reaction zones in hydrocarbon-air flames using planar laser-induced fluorescence," Optics Letters 11:126-128, 1986.

G. Kychakoff, R. D. Howe, R. K. Hanson, M. D. Drake, R. Pitz, M. Lapp, and C. M. Penny
The visualization of turbulent flame fronts with planar laser-induced fluorescence, Science 224:382-384, 1984.

G. Kychakoff, K. Knapp, R. D. Howe, and R. K. Hanson
"Flow visualization in combustion gases using nitric oxide fluorescence," American Institute of Aeronautics and Astronautics Journal 22:153, 1984.

G. Kychakoff, R. D. Howe, and R. K. Hanson
"Quantitative flow visualization techniques for measurements in combustion gases," Applied Optics 23:704-712, 1984. Also presented at the Ninth International Colloquium on Explosions and Reactive Systems, Poitier, France, July 1983, and reprinted in R. N. Hindy and J. H. Hunt, eds, Selected Papers on Laser Beam Diagnostics, SPIE Milestone Series vol. MS 126, Bellingham, WA, SPIE Optical Engineering Press, 1996.

G. Kychakoff, R. D. Howe, and R. K. Hanson
"Spatially resolved combustion measurements using cross-beam saturated absorption spectroscopy," Applied Optics 23:1303-1305, 1984. Also presented at the 1982 Conference on Lasers and Electro-Optics Phoenix, AZ, April 14-16, 1982.

G. Kychakoff, R. D. Howe, R. K. Hanson, and J. C. McDaniel
"Quantitative visualization of combustion species in a plane," Applied Optics 21:3225-3227, September 15, 1982.

Refereed Conference Papers

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Mohsen M. Dalvand, Saeid Nahavandi, and Robert D. Howe
High Speed Vision-based 3D Reconstruction of Continuum Robots Proc. IEEE International Conference on Systems, Man, and Cybernetics, Budapest, Hungary, October 9-12, 2016.

Qian Wan, Ryan P. Adams, and Robert D. Howe
Variability and Predictability in Tactile Sensing During Grasping Proc. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016.

Alperen Degirmenci, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, and Robert D. Howe
Compensation for Unconstrained Catheter Shaft Motion in Cardiac Catheters Proc. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016.

Qian Wan and Robert D. Howe
On the Variability of Tactile Signals During Grasping, Australasian Conference on Robotics and Automation, Canberra, Australia, December 2-4, 2015.

Alperen Degirmenci, Frank L. Hammond III, Joshua B. Gafford, Conor J. Walsh, Robert J. Wood, and Robert D. Howe
Design and Control of a Parallel Linkage Wrist for Robotic Microsurgery, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015.

Paul M. Loschak, Stephen F. Burke, Emiko Zumbro, Alexandra R. Forelli, and Robert D. Howe
A Robotic System for Actively Stiffening Flexible Manipulators, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015.

Leif P. Jentoft, Qian Wan, and Robert D. Howe
How to Think about Grasping Systems - Basis Grasps and Variation Budgets, International Symposium on Robotics Research, Sestri Levante, Italy, September 12-15, 2015.

Paul M. Loschak, Yaroslav Tenzer, Alperen Degirmenci, and Robert D. Howe
A 4-DOF Robot for Positioning Ultrasound Imaging Catheters, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, August 2-5, 2015, Boston, MA, USA.

Daniela Faas and Robert D. Howe
Case Study for Introductory Mechanical Design Competitions, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, August 2-5, 2015, Boston, MA, USA.

Laura J. Brattain, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, and Robert D. Howe
Instrument Tracking and Visualization for Ultrasound Catheter Guided Procedures, MICCAI 2014 Workshop on Augmented Environments for Computer Assisted Interventions, Boston, USA, September 14, 2014.

Paul M. Loschak, Laura J. Brattain, and Robert D. Howe
Algorithms for Automated Pointing of Cardiac Imaging Catheters, MICCAI 2014 Workshop on Computer-Assisted and Robotic Endoscopy, Boston, USA, September 18, 2014.

Francisco Suárez-Ruiz, Ignacio Galiana, Yaroslav Tenzer, Leif P. Jentoft, Robert D. Howe, and Manuel Ferre
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand, EuroHaptics 2014, Versailles, France, June 24-26, 2014.

Joshua Gafford, Samuel B. Kesner, Alperen Degirmenci, Robert J. Wood, Robert D. Howe, and Conor J. Walsh
A Monolithic Approach to Fabricating Low-Cost, Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Leif P. Jentoft, Qian Wan, Robert D. Howe
Limits to Compliance and the Role of Tactile Sensing in Grasping IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Frank L. Hammond III, Robert D. Howe, Robert J. Wood
Dexterous High-Precision Robotic Wrist for Micromanipulation, Proceedings of the The 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay, Nov 25-29, 2013.

Leif P. Jentoft, Yaroslav Tenzer, Daniel Vogt, Jia Liu, Robert J. Wood, Robert D. Howe
Flexible, Stretchable Tactile Arrays From MEMS Barometers, Proceedings of the The 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay, Nov 25-29, 2013.

Qiushi Fu, Arash Ushani, Leif Jentoft, Robert D. Howe, Marco Santello
Human reach-to-grasp compensation with object pose uncertainty, 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '13), Osaka, Japan 2013

Peter E. Hammer, Christina A. Pacak, Robert D. Howe, Pedro J. del Nido
Collagen bundle orientation explains aortic valve leaflet coaptation, Proceedings of the 7th International Conference on Functional Imaging and Modeling of the Heart, FIMH 2013, London, UK, June 20-22, 2013.

Neil A. Tenenholtz, Peter E. Hammer, Assunta Fabozzo, Eric N. Feins, Pedro J. del Nido, and Robert D. Howe
Fast Simulation of Mitral Annuloplasty for Surgical Planning, Proceedings of the 7th International Conference on Functional Imaging and Modeling of the Heart, FIMH 2013, London, UK, June 20-22, 2013.

Paul M. Loschak, Laura J. Brattain, Robert D. Howe
Automated Pointing of Cardiac Imaging Catheters, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.

Meaghan Bowthorpe, Mahdi Tavakoli, Harald Becher, Robert D. Howe
Smith Predictor Based Control in Teleoperated Image-Guided Beating-Heart Surgery, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.

Frank L. Hammond III, Rebecca K. Kramer, Qian Wan, Robert D. Howe, and Robert J. Wood
Soft Tactile Sensor Arrays for Micromanipulation, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Ignacio Galiana, Frank L. Hammond III, Robert D. Howe, Marko B. Popovic
Wearable Soft Robotic Device for Post-Stroke Shoulder Rehabilitation: Identifying Misalignments, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Laura J. Brattain, Nikolay V. Vasilyev, and Robert D. Howe
Enabling 3D Ultrasound Procedure Guidance through Enhanced Visualization, P. Abolmaesumi, L. Joskowicz, N. Navab and P. Jannin (Eds.): IPCAI 2012, LNCS 7330, pp. 115-124, 2012. Springer, Heidelberg (2012)

F. Hammond III, J. Weisz, A. de la Llera Kurth, P. Allen, and R. D. Howe
Towards a Design Optimization Method for Reducing the Mechanical Complexity of Underactuated Robotic Hands, 2012 IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, 2012

Leif P. Jentoft and Robert D. Howe
Determining Object Geometry with Compliance and Simple Sensors
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011).

Samuel B. Kesner, Leif P. Jentoft, Frank L. Hammond III, Robert D. Howe, and Marko Popovic
Design Considerations for an Active Soft Orthotic System for Shoulder Rehabilitation
33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '11), Boston, MA 2011

Laura J. Brattain and Robert D. Howe
Real-time 4D Ultrasound Mosaicing and Visualization
G. Fichtinger, A. Martel, and T. Peters (Eds.): MICCAI 2011, Part I, LNCS 6891, pp. 105-112, 2011. Springer, Heidelberg (2011)

Neil A. Tenenholtz, Peter E. Hammer, Robert J. Schneider, Nikolay V. Vasilyev, and Robert D. Howe
On the Design of an Interactive, Patient-Specific Surgical Simulator for Mitral Valve Repair
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011).

Robert J. Schneider, Neil A. Tenenholtz, Douglas P. Perrin, Gerald R. Marx, Pedro J. del Nido, and Robert D. Howe,
Patient-Specific Mitral Leaflet Segmentation from 4D Ultrasound, 14th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011).

Robert J. Schneider, William C. Burke, Gerald R. Marx, Pedro J. del Nido, and Robert D. Howe,
Modeling Mitral Valve Leaflets from Three-Dimensional Ultrasound, Functional Imaging and Modeling of the Heart. Volume 6666 of LNCS. Springer, Heidelberg (2011) 215-222

Peter E. Hammer, Pedro J. del Nido, and Robert D. Howe,
Anisotropic Mass-Spring Method Accurately Simulates Mitral Valve Closure from Image-Based Models, Proceedings of the 6th International Conference on Functional Imaging and Modeling of the Heart, FIMH 2011, New York City, NY, USA, May 25-27, 2011

Samuel B. Kesner, Robert D. Howe,
Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart, IEEE - World Haptics Conference 2011, June 22-24, 2011, Istanbul, Turkey.

Frank L. Hammond III
Task-Specific Multiple-Arm Minimally Invasive Surgical Device Design Using Cooperative Kinematic Isotropy Indices, Proceedings of the 2011 Design of Medical Devices Conference 2011 (DMD2011), April 12-14, 2011, Minneapolis, MN, USA.

Samuel B. Kesner, Robert D. Howe
Design of a Motion Compensated Tissue Resection Catheter for Beating Heart Cardiac Surgery, Proceedings of the 2011 Design of Medical Devices Conference 2011 (DMD2011), April 12-14, 2011, Minneapolis, MN, USA.

Samuel B. Kesner, Robert D. Howe
Force Control of Flexible Catheter Robots for Beating Heart Surgery, International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9 - 13 2011.

Samuel B. Kesner, Shelten G. Yuen, and Robert D. Howe
Ultrasound Servoing of Catheters for Beating Heart Valve Repair Proceedings of the 1st International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Geneva, Switzerland, June 23, 2010

Michael C. Yip, Mahdi Tavakoli, and Robert D. Howe.
Performance Analysis of a Manipulation Task in Time-Delayed Teleoperation Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2010.

Samuel B. Kesner and Robert D. Howe
Design and Control of Motion Compensation Cardiac Catheters, International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 2010, pages 1059-1065.

Shelten G. Yuen, Karl-Alex Dubec, and Robert D. Howe
Haptic Noise Cancellation: Restoring Force Perception in Robotically-Assisted Beating Heart Surgery, Haptics Symposium, Waltham, March 25-26, 2010.

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe.
Mitral Annulus Segmentation from Three-Dimensional Ultrasound, 2009 IEEE International Symposium on Biomedical Imaging, Boston, MA, June 28 - July 1, 2009.

Shelten G. Yuen, Michael C. Yip, Nikolay V. Vasilyev, Douglas P. Perrin, Pedro J. Del Nido, and Robert D. Howe.
Robotic Force Stabilization for Beating Heart Intracardiac Surgery, Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, Sept. 20-24, 2009. Accepted.

Riichiro Tadakuma and Robert D. Howe
A Whole-Arm Tactile Display System, Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Salt Lake City, UT, USA, March 18-20, 2009.

Shelten G. Yuen, Samuel B. Kesner, Nikolay V. Vasilyev, Pedro J. Del Nido, and Robert D. Howe.
3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair, Medical Image Computing and Computer-Assisted Intervention (MICCAI), New York, NY, Sept. 6-10, 2008.

Hammer PE, Vasilyev NV, Perrin DP, del Nido PJ, Howe RD
Fast image-based model of mitral valve closure for surgical planning, MICCAI 2008 Workshop Proceedings: Computational Biomechanics for Medicine III: 15-26.

Petr Jordan, Simona Socrate, Todd E. Zickler, Robert D. Howe
A Nonrigid Image Registration Framework for Identification of Tissue Mechanical Parameters, Medical Image Computing and Computer-Assisted Intervention - MICCAI, Lecture Notes in Computer Science, Vol. 4190, Springer-Verlag Berlin Heidelberg, New York, NY, pp. 930-938, September 6-10, 2008.

S.G. Yuen, P.M. Novotny, R.D. Howe
Quasiperiodic Predictive Filtering for Robot-Assisted Beating Heart Surgery, International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 19-23, 2008, pages 3875-3880.

M. Tavakoli and Robert D. Howe
Haptic Implications of Tool Flexibility in Surgical Teleoperation, 2008 Haptics Symposium, Reno, NV, March 2008.

M. Tavakoli and R.D. Howe
The Effect of Joint Elasticity on Bilateral Teleoperation, Best Paper Award Finalist, IEEE International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, Oct. 29-Nov. 2, 2007.

D.T. Kettler, R.D. Plowes, P.M. Novotny, N.V. Vasilyev, P.J. del Nido, and R.D. Howe,
An Active Motion Compensation Instrument for Beating Heart Mitral Valve Surgery, IEEE International Conference on Intelligent Robots and Systems (IROS) San Diego, CA, Oct. 29-Nov. 2, 2007.

S.Yuen, D. Rudoy, R. D. Howe and P. J. Wolfe
Bayesian changepoint detection through switching regressions: contact point determination in material indentation experiments, IEEE Statistical Signal Processing Workshop, Madison, WI, August 26-29, 2007.

Marius G. Linguraru, Alexandre Kabla, Nikolay Vasilyev, Pedro del Nido, Robert Howe
Real-Time Block Flow Tracking of Atrial Septal Defect Motion in 4D Cardiac Ultrasound, IEEE International Symposium on Biomedical Imaging, Washington, DC, April 12-15, 2007.

Peter Deckers, Aaron M. Dollar, and Robert D. Howe
Guiding Grasping with Proprioception and Markov Models, Proceedings of the Workshop on Robot Manipulation: Sensing and Adapting to the Real World, Robotics: Science and Systems Conference (RSS), Atlanta, GA, June 30, 2007.

Aaron M. Dollar and Robert D. Howe
The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study, Winner of the Best Student Paper Award, Proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007.

Novotny, P.M., Stoll, J.A., Dupont, P.E., Howe, R.D.
Real-Time Visual Servoing of a Robot Using Three Dimensional Ultrasound, Proc. IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April, 2007.

Maria Oyarzabal, Masashi Nakatani, Robert D. Howe
Vibration Enhances Geometry Perception with Tactile Shape Displays, Second World Haptics Conference, 22-24 March 2007, Tsukaba, Japan pp. 44-49

Linguraru, M.G. Vasilyev, N. Marx, G.R. Tworetzky, W. Del Nido, P.J. Howe, R.D.
Real-Time Block Flow Tracking of Atrial Septal Defect Motion in 4D Cardiac Ultrasound, The Fourth IEEE International Symposium on Biomedical Imaging (ISBI2007), 356-359, 12-15 April 2007

Aaron M. Dollar and Robert D. Howe
Simple, Robust Autonomous Grasping in Unstructured Environments" to be presented at the 2007 IEEE International Conference on Robotics and Automation (ICRA).

Novotny, PM, Stoll, JA, Vasilyev, NV, Del Nido, PJ, Dupont, PE, and Howe, RD
GPU Based Real-time Instrument Tracking with Three Dimensional Ultrasound, Medical Image Computing and Computer-Assisted Intervention - MICCAI, 2006.

Linguraru, M.G., Vasilyev, N., Del Nido, P.J., Howe, R.D.
Atrial Septal Defect Tracking in 3D Cardiac Ultrasound, Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006, Lecture Notes in Computer Science, Vol. 4190, Springer New York, pp. 596-603, 2006.

Novotny, PM, Kettler, DT, Jordan, P, Dupont, PE, Del Nido, PJ, and Howe, RD
Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance, IEEE International Conference of the Engineering in Medicine and Biology Society, 2006.

Jeffrey Stoll, Paul Novotny, Robert Howe, and Pierre Dupont
Real-time 3D Ultrasound-based Servoing of a Surgical Instrument, International Conference on Robotics and Automation, Orlando, FL, May 15-19, 2006.

Aaron M. Dollar and Robert D. Howe
Joint Coupling Design of Underactuated Grippers, proceedings of the ASME 30th Annual Mechanisms and Robotics Conference, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006.

Aaron M. Dollar and Robert D. Howe
Designing Robust Robotic Graspers for Unstructured Environments" proceedings of the Workshop on Manipulation for Human Environments, 2006 Robotics: Science and Systems Conference (RSS), Philadelphia, PA, Aug. 19, 2006.

Ross L. Feller, Douglas P. Perrin, and Robert D. Howe
Validation and Explanation of Waterhammer-Based Locomotion, 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006.

Aaron M. Dollar, Christopher R. Wagner, and Robert D. Howe
Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing, proceedings of the first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), selected for a single-track podium presentation, Pisa, Italy, Feb. 20-22, 2006.

Wagner, C.R., Vasilyev, N., Perrin, D.P., del Nido, P.J., Howe, R.D.
Force Feedback in a Three-Dimensional Ultrasound-Guided Surgical Task, submitted to the 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Washington, D.C., USA, 2006.

Aaron M. Dollar, Amy E. Kerdok, Solomon Gilbert Diamond, Paul M. Novotny, and Robert D. Howe
Starting on the Right Track: Introducing Students to Mechanical Engineering with a Project-Based Machine Design Course, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Mechanical Engineering Education Symposium, 2005.

Aaron M. Dollar and Robert D. Howe
Design and Evaluation of a Robust Compliant Grasper using Shape Deposition Manufacturing, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Robotics panel of the Dynamic Systems and Control Division, 2005.

Beasley, R.A. and Howe, R.D.
Model-Based Error Correction for Flexible Robotic Surgical Instruments, Robotics: Science and Systems, Cambridge, MA, June 2005.

Wagner, C.R., Howe, R.D.
Mechanisms of Performance Enhancement With Force Feedback, First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy, March 2005.

Wagner, C.R., Clatz, O., Perrin, D.P., Feller, R.L., Delingette, H., Ayache, N., Howe, R.D.
Integrating Tactile and Force Feedback with Finite Element Models, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005.

Liu, Y., Kerdok, A. E. and Howe, R. D.
A nonlinear finite element model of soft tissue indentation, Second International Symposium on Medical Simulation. Springer Verlag, Boston, MA. pp.67-76, 2004.

Ottensmeyer, M. P., Kerdok, A. E., Howe, R. D. and Dawson, S. L.
The effects of testing environment on the viscoelastic properties of soft tissues Second International Symposium on Medical Simulation. Springer Verlag, Boston, MA. pp.9-18, 2004.

A.M. Galea and R.D. Howe
Liver Vessel Parameter Estimation from Tactile Imaging Information, in S. Cotin and D.N. Metaxas, eds., ^ÓProceedings of Medical Simulation: International Symposium - ISMS 2004, Cambridge, MA, June 17-18, 2004, Lecture Notes in Computer Science vol. 3078, Springer-Verlag, pp. 59-66.

Feller, R.L., Lau, C.K.L., Wagner, C.R., Perrin, D.P., Howe, R.D.
The Effect of Force Feedback on Remote Palpation, 2004 IEEE International Conference on Robotics and Automation, New Orleans, 2004

R.A. Beasley, R.D. Howe, and P.E. Dupont
Kinematic Error Correction for Minimally Invasive Surgical Robots, 2004 IEEE International Conference on Robotics and Automation (ICRA 2004),New Orleans, LA, April 26th to May 1st, 2004.

D.P. Perrin, A. Kwon, R.D. Howe
A Novel Actuated Tether Design for Rescue Robots Using Hydraulic Transients, 2004 IEEE International Conference on Robotics and Automation (ICRA 2004),New Orleans, LA, April 26th to May 1st, 2004.

Lau, C.K.L., Wagner, C.R., Howe, R.D.
Algorithms for Tactile Rendering in Compliant Environments, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, 2004

Aaron M. Dollar and R.D. Howe
Towards Grasping in Unstructured Environments: Optimization of Grasper Compliance and Configuration, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, NV, October 27-31, 2003.

Lee, J.M., Wagner, C.R., Lederman, S.J., Howe, R.D.
Choosing a Spatial Low Pass Filter for Pin Actuated Tactile Displays,11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Los Angeles, March 22-23, 2003

R. A. Beasley and R.D. Howe
Tactile Tracking of Arteries in Robotic Surgery, 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May 11 - 15, 2002.

T. Debus, T.-J. Jang, P. Dupont and R. Howe
Multi-channel vibrotactiledisplay for teleoperated assembly 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May 11- 15, 2002.

Wagner, C.R., Stylopoulos, N., Howe, R.D.
The Role of Force Feedback in Surgery: Analysis of Blunt Dissection, Haptics Symposium, Orlando, March 24-25, 2002

Wagner, C.R., Lederman, S.J., Howe, R.D.
A Tactile Shape Display Using RC Servomotors, Haptics Symposium, Orlando, March 24-25, 2002

S. S. Park, R.D. Howe, and D. F. Torchiana
"Virtual Fixtures for Robot-Assisted Minimally-Invasive Cardiac Surgery,"Fourth International Conference on Medical Image Computing and Computer-Assisted Intervention, Utrecht, The Netherlands, 14-17 October 2001.

S. Selha ,P. Dupont, R.D. Howe, and D. Torchiana
"Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting," Fourth International Conference on Medical Image Computing and Computer-Assisted Intervention, Utrecht, The Netherlands, 14-17 October 2001.

Kerdok, A. E., Cotin, S. M., Ottensmeyer, M. P., Galea, A. M., Howe, R. D. and Dawson, S. L.
Truth cube: Establishing physical standards for real time soft tissue simulation International Workshop on Deformable Modeling and Soft Tissue Simulation, Bonn, Germany, 2001.

J. P. Desai and R. D. Howe
Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control, Proceedings of the IEEE International Conference on Robotics & Automation, Seoul, Korea, May 23-25, 2001.

T. Debus, P. Dupont and R.D. Howe
Automatic Indentification of Local Geometric Properties During Teleoperation, Proceedings of the IEEE International Conference on Robotics & Automation, San Francisco, April 2000, pp. 3428-3434.

F. Lai and R.D. Howe
Evaluating Control Modes for Constrained Robotic Surgery Proceedings of the IEEE International Conference on Robotics & Automation, San Francisco, April 2000, pp. 603-609.

F. Lai, R.D. Howe, P.A. Millman, and S. Sur
Frame Mapping And Dexterity For Task Performance In Robotic Endoscopic Surgery,”in N. Olgac, ed., Proc. of the ASME Dynamic Systems and Control Division, ASME International Mechanical Engineering Congress and Exposition, Nashville, Nov. 14-19, 1999, DSC-Vol. 67.

M. Shibata and R.D. Howe
Effect of Gloving on Perceptual and Manipulation Task Performance in N. Olgac, ed., Proc. of the ASME Dynamic Systems and Control Division, ASME International Mechanical Engineering Congress and Exposition, Nashville, Nov. 14-19, 1999, DSC-Vol. 67.

T. Debus P. Dupont, and R.D. Howe
Automatic Property Identification via Parameterized Constraints, IEEE International Conference on Robotics & Automation, Detroit, May 1999, pp. 1876-81.

Wellman, P.S. and Howe, R.D.
Extracting features from tactile maps, Medical Image Computing and Computer-Assisted Intervention - MICCAI'99. Second International Conference. Proceedings (Lecture Notes in Computer Science Vol.1679), 1999, start page: 1133.

W.J. Peine and R.D. Howe
Do humans sense finger deformation or distributed pressure to detect lumps in soft tissue?,in R.J. Furness, ed., Proc. of the ASME Dynamic Systems and Control Division, ASME International Mechanical Engineering Congress and Exposition, Anaheim, Nov. 19-20, 1998, DSC-Vol. 64, pp. 273-278.

A. M. Okamura, J. T. Dennerlein and R. D. Howe
Vibration Feedback Models for Virtual Environments, Proceedings of the IEEE International Conference on Robotics & Automation, Leuven, Belgium” May 16-20, 1998, pp. 674-679.

W.J. Peine, P.S. Wellman and R. D. Howe
Temporal bandwidth requirements for tactile shape displays, Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, Dallas, Nov. 15-21, 1997, pp. 107-113.

J.T. Dennerlein, P. Millman, and R.D. Howe
Vibrotactile Feedback for Industrial Telemanipulators, Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, Dallas, Nov. 15-21, 1997, DSC-Vol. 61, pp. 189-195.

P. E. Dupont, T. M. Schulteis, and R. D. Howe
Experimental Identification of Kinematic Constraints, Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20 - 25, 1997, pp. 2677-82.

A. Z. Hajian, D. S. Sanchez, and R. D. Howe
Drum roll: Increasing bandwidth through passive impedance modulation, Proceedings of the IEEEInternational Conference on Robotics and Automation, Albuquerque, New Mexico, April 20 - 25, 1997, pp. 2294-9.

T. Shulteis, P. Dupont, P. Millman, and R. Howe
Automatic identification of remote environments, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, Nov. 17-22, 1996, K. Danai, ed., Proceedings of the Dynamic Systems and Control Division of the ASME, DSC-Vol. 58, p. 451-458.

J.S. Son, R.D. Howe, J. Wang, and G. D. Hager
Preliminary results on grasping with vision and touch, Proceedings of IROS '96: IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, Nov. 4-8, 1996.

D. Hristu, D. A. Kontarinis, and R.D. Howe
A comparison of delay and bandwidth limitations in teleoperation, Proceedings of the International Federation of Automatic Controls World Congress, San Francisco, June 30-July 5, 1996, Elsevier, vol. L, p. 331-336.

J. S. Son and R. D. Howe
Tactile sensing and stiffness control with multifingered hands, Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, April 22-28, 1996, p. 3228-3233.

E. R. Dunn and R. D. Howe
Foot placement and velocity control in smooth bipedal walking, Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, April 22-28, 1996, p. 578-583.

R. D. Howe, D. A. Kontarinis, and W. J. Peine
Shape memory alloy actuator controller design for tactile displays, Proceedings of the 34th IEEE Conference on Decision and Control, New Orleans, December 13-15, 1995, p. 3540-3544.

P. Wellman and R. D. Howe
"Towards realistic vibrotactile display in virtual environments," Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME International Mechanical Engineering Congress and Exposition, San Francisco, November 12-17, 1995, T.E. Alberts, ed., Proceeding of the ASME Dynamics Systems and Control Division of the ASME, DSC-Vol. 57-2, p. 713-718.

D. A. Kontarinis, J.S. Son, W.J. Peine, and R. D. Howe
A tactile shape sensing and display system for teleoperated manipulation, Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995, p. 641-646.

W. J. Peine, J. S. Son, and R. D. Howe
A palpation system for artery localization in laparoscopic surgery, Proceedings of the First International Symposium on Medical Robotics and Computer Assisted Surgery, Pittsburgh, PA, Sept. 1994. p. 250-253.

E. R. Dunn and R. D. Howe
Towards smooth bipedal walking, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 2489-2494.

J. Son, E. A. Monteverde, and R. D. Howe
A tactile sensor for localizing transient events in manipulation, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 471-476.

R. D. Howe
"A dextrous teleoperated hand system with finger-level force feedback," International Federation of Machines and Mechanisms International Symposium, Nagoya, Japan, September 1992.

R. D. Howe
"Tactile sensor selection for dextrous manipulation," IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, Japan, September 1992.

R. D. Howe
A force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulation, Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 1321-1326.

R. D. Howe
"A tactile stress rate sensor for perception of fine surface features," Proceedings of Transducers '91: Sixth International Conference on Solid-State Sensors and Actuators," San Francisco, CA, June 23-27, 1991.

R. D. Howe and M. R. Cutkosky
Integrating tactile sensing with control for dextrous manipulation, 1990 IEEE International Workshop on Intelligent Motion Control, Istanbul, Turkey, August 20-22, 1990.

R. D. Howe, N. Popp, I. Kao, P. Akella, and M. Cutkosky
Grasping, manipulation, and control with tactile sensing, proceedings of the 1990 IEEE international Conference on Robotics and Automation, Cincinnati, OH, May 13-18, 1990.

R. D. Howe and M. R. Cutkosky
Sensing skin acceleration for texture and slip perception, Proceedings of the 1989 IEEE Conference on Robotics and Automation, Scottsdale, AZ, May 14-16, 1989.

M. R. Cutkosky and R. D. Howe
"Dynamic tactile sensing," RoManSy 7: Seventh CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, Udine, Italy, September 12-15, 1988, A. Morecki, G. Bianchi, and K. Jaworek, eds., Editions Hermes, Paris, 1990.

R. D. Howe, I. Kao, and M. R. Cutkosky
The sliding of robot fingers under combined torsion and shear loading, Proceedings of the 1988 IEEE Conference on Robotics and Automation, Philadelphia, PA, April 25-29, 1988.

M. R. Cutkosky, R. D. Howe, and A. P. Witkin
"Object-oriented modeling of robot hands," in Symposium on Knowledge-Based Expert Systems for Manufacturing, PED vol. 24, Lu, S. C-Y. and Komanduri, R., eds., American Society of Mechanical Engineers Winter Annual Meeting, Anaheim, CA, December 1986.

G. Kychakoff, R. K. Hanson, and R. D. Howe
"Simultaneous multiple-point measurements of oh in combustion gases using planar laser-induced fluorescence," Proceedings of the 20th International Symposium on Combustion, The Combustion Institute, pp. 1265-1272, 1985.

G. Kychakoff, R. D. Howe, and R. K. Hanson
"Use of planar laser-induced fluorescence for the study of combustion flowfields," paper 83-1361, 19th American Institute of Aeronautics and Astronautics Propulsion Conference, Seattle, WA, June 27-29, 1983.

Contributed Conference Papers and Presentations

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Paul M. Loschak, Alperen Degirmenci, Laura J. Brattain, Cory M. Tschabrunn, Elad Anter, and Robert D. Howe
Robotic Control of Ultrasound Catheters for Intra-cardiac Visualization, Proceedings of the 9th Hamlyn Symposium on Medical Robotics, London, UK, June 25-28, 2016.

Paul M. Loschak, Alperen Degirmenci, Laura J. Brattain, and Robert D. Howe
Automatic Steering of Cardiac Imaging Catheters, Workshop on Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA), IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015.

Qian Wan, Daniel Vogt, Zivthan Dubrovsky
Low-Cost, Small-Footprint, Barometer-Based CPR Feedback Device, Proceedings of the 2014 Design of Medical Devices Conference, Minneapolis, MN, April 10-12, 2014.

Paul M. Loschak, Smita De, Amy E. Kerdoki
Sensorized Cannula for Measuring Body Wall Forces During Surgery, Proceedings of the 2014 Design of Medical Devices Conference, Minneapolis, MN, April 10-12, 2014.

Alperen Degirmenci, Benjamin I. Goldberg, Lukas Bielskis, Shanna M. Wiggins, Panos Polygerinos, Donal Holland, Sophia Dyer, Connor J. Walsh
Cervical Spine Immobilization Device for Emergency Response, Proceedings of the 2014 Design of Medical Devices Conference, Minneapolis, MN, April 10-12, 2014.

Neil A. Tenenholtz, Robert D. Howe
Training Predictive Skills for Mitral Valve Repair, Proceedings of the 1st Annual Frontiers in Medical Devices: Applications of Computer Modeling and Simulation, Washington DC, Sept 11-13, 2013.

Laura J. Brattain, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, Robert D. Howe
Robotic Steering of Cardiac Ultrasound Imaging Catheters, Proceedings of the 6th Hamlyn Symposium on Medical Robotics, London, UK, June 22-25, 2013.

Neil A. Tenenholtz, Robert D. Howe
Developing a Training Tool for Intraoperative Mitral Valve Analysis, Proceedings of the 6th Hamlyn Symposium on Medical Robotics, London, UK, June 22-25, 2013.

Daniel M. Vogt, Yigit Menguc, Yong-Lae Park, Michael Wehner, Rebecca Kramer, Carmel Majidi, Leif P. Jentoft, Yaroslav Tenzer, Robert D. Howe, and Robert J. Wood
Progress in Soft, Flexible, and Stretchable Sensing Systems, Workshop on Research Frontiers in Electronic Skin Technology, International Conference on Robotics and Automation, 2013 Karlsruhe, Germany

F. Hammond III, S. Talbot, R. Wood, and R. Howe
Measurement System for the Characterization of Micro-Manipulation Motion and Force, Proceedings of the 2013 Design of Medical Devices Conference, Minneapolis, MN April 8-11, 2013

Neil A. Tenenholtz, Peter E. Hammer, Robert D. Howe
Fast Interactive Simulations of Mitral Valve Repair, Proc of 4th Annual International Conference in Computational Surgery and Dual Training, Dec. 9-11, 2012, Boston, MA.

Peter E. Hammer, Robert D. Howe and Pedro J. del Nido
Lower Transient Stresses in an Aortic Valve Leaflet with Oblique Reinforcement Fibers: a Finite Element Study Proceedings of the ASME 2012 Summer Bioengineering Conference (SBC2012), June 20-23, 2012, Fajardo, Puerto Rico, USA

S. B. Kesner, R. D. Howe
Motion Compensated Catheter Ablation of the Beating Heart Using Image Guidance and Force Control in Proc. of ISER, June 17 - 21, 2012, Québec City, Canada

F. Hammond III, S. Talbot, R. Wood, and R. Howe
Data-Driven Design of a Dexterous Robotic Microsurgery System, Proceedings of the 2012 Design of Medical Devices Conference, Minneapolis, MN April 10-12, 2012

Paul Loschak, Kechao Xiao, Hao Pei,Samuel B. Kesner, Ajith J. Thomas, and Conor J. Walsh
Cranial Drilling Tool with Retracting Drill Bit Upon Skull Penetration, Proceedings of the 2012 Design of Medical Devices Conference, Minneapolis, MN April 10-12, 2012

Chen-Hua Yeow, Andrew T. Baisch, Robert D. Howe, Simon G. Talbot, and Conor J. Walsh
Differential Spring Stiffness Design for Finger Therapy Exercise Device: Bio-inspired from Stiff Pathological Finger Joints, Proceedings of the 2012 Design of Medical Devices Conference, Minneapolis, MN April 10-12, 2012

Leif P. Jentoft and Robert D. Howe
Force Sensing with Compliant Joints Workshop: Advances in Tactile Sensing and Touch based Human-Robot Interaction, Human Robot Interaction 2012, Boston, MA March 5–8, 2012

Peter E. Hammer, Robert D. Howe, Pedro J. del Nido,
Fiber pattern in heart valve leaflet material controls valve shape and stresses
In Proceedings of Biomedical Engineering Society (BMES), October 12-15, 2011, Hartford, CT

Leif P. Jentoft and Robert D. Howe
Compliant Fingers Make Simple Sensors Smart, Proceedings of the ASME 2010 Underactuated Grasping Workshop (UG2010), August 19, Montreal, Canada

Peter E. Hammer, Michael S. Sacks, Pedro J. del Nido, and Robert D. Howe
Mass-Spring vs. Finite Element Models of Anisotropic Heart Valves: Speed and Accuracy Proceedings of the ASME 2010 Summer Bioengineering Conference (SBC2010), June 16-19, Grande Beach Resort, Naples Florida, USA

Robert D. Howe,
Fixing the Beating Heart: Ultrasound Guidance for Robotic Intracardiac Surgery, Proceedings of the 5th International Conference on Functional Imaging and Modeling of the Heart, Lecture Notes in Computer Science (LNCS), Springer-Verlag, Nice, June 3-5, 2009.

Shelten G. Yuen, Samuel B. Kesner, and Robert D. Howe,
A Robotic Surgical System for Beating-Heart Procedures, CIMIT Innovation Congress, Boston, MA, Oct 28-29, 2008. Winner of the Best Student Poster Award

Aaron M. Dollar and Robert D. Howe,
SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments, Proceedings of the 2008 International Symposium on Experimental Robotics, Athens, Greece, July 14-17, 2008.

Petr Jordan, Simona Socrate, Todd E. Zickler, Robert D. Howe,
Enhanced Mechanical Characterization of Tissue Response Using Full-Field Deformation Data from 3D Ultrasound, Symposium on Non-Invasive Diagnostics for Biomechanics, 45th Annual Technical Meeting of the Society of Engineering Science, University of Illinois Urbana-Champaign, October 12-15, 2008.

Hammer PE, Perrin DP, del Nido PJ, Howe RD
Image-based mass-spring model of mitral valve closure for surgical planning, SPIE Medical Imaging: Visualization, Image-guided Procedures, and Modeling, vol. 6918, pp. 69180Q1-8, 2008.

Yuri Ishihara, Reza Nazafat, John V. Wylie, Marius G. Linguraru, Mark E. Josephson, Robert D. Howe, Warren J. Manning, Dana C. Peter,
MRI Evaluation of RF Ablation Scarring for Atrial Fibrillation Treatment, Proceedings of the SPIE, Volume 6509, pp. 65090Q, 2007.

Diamond, S.G., Howe, R.D., Schaechter, J.D.
Effect of hypnosis on motor function and cortical activation in chronic stroke patients, 13th Annual Meeting of the Organization for Human Brain Mapping (OHBM), Chicago, IL, June 10-14, 2007.

Amy E. Kerdok, Robert D. Howe, Simona Socrate
Viscoelastic Characterization of Perfused Liver: Indentation Testing and Preliminary Modeling, Proceedings of the ASME 2007 Summer Bioengineering Conference (SBC2007), Keystone, CO, June 20-24, 2007.

Aaron M. Dollar
A Robust Robotic Hand for Unstructured Environments" Winner, 2006 ASME Student Mechanism Design Competition, Graduate Division, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006.

Marius G. Linguraru, Robert D. Howe
Texture-based Segmentation of Instruments in 3D Ultrasound, SPIE Medical Imaging: Image Processing, vol. 6144, pp. 61443J1-9, 2006.

Jordan P, Zickler T, Socrate S, and Howe RD
Non-Rigid Soft Tissue Tracking with Three-Dimensional Ultrasound (Abstract), 4th International Conference on the Ultrasonic Measurement and Imaging of Tissue Elasticity. Austin, TX, 2005.

Novotny, PM, Dupont, PE, Savord, B, Salgo, IS, Suematsu, Y, Triedman J, Marx, G, Del Nido, PJ, and Howe, RD
Guiding Robotic Surgery with 3D Ultrasound: A Study of Instrument Size on Surgical Performance (Abstract), Medical Image Computing and Computer-Assisted Intervention - MICCAI, 2005.

Marius G. Linguraru, Paul M. Novotny, Robert D. Howe
Enhancement of Instrument Appearance in Ultrasound Images by Distribution and Spatial Analysis, Presented at Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2005, Palm Springs USA, October 2005.

Douglas P Perrin, Andrew M. Ladd, Lydia E. Kavraki, Robert D. Howe, and Jeremy W. Cannon
Fast Intersection Checking for Parametric Deformable Models, SPIE Medical Imaging 2005.

Jordan P., Kerdok A.E., Socrate S., Howe R.D.
Breast Tissue Parameter Identification for a Nonlinear Constitutive Model in Proceedings of the BMES conference in Baltimore, MD, 2005.

Kerdok, A.E., Howe, R.D.
Characterizing Large Deformation Behavior of Liver for Surgical Simulation, in Proceedings of BMES, Baltimore, MD, 2005.

Paul M. Novotny, Marius G. Linguraru, Gerald Marx, Pedro Del Nido, Robert D. Howe
Using Real-Time Three-Dimensional Ultrasound to Characterize Mitral Valve Motion, In Proceedings of Biomedical Engineering Society (BMES) 2005, 1302, Baltimore USA, September 2005.

Aaron M. Dollar and Robert D. Howe
Passive Compliant Grasping for Unstructured Environments (poster), Workshop on Humanoid Manipulation, Robotics: Science and Systems Conference, Cambridge, MA, June 2005.

Kerdok, A.E., Howe, R.D.
A Physical Basis for a two Time Constant Constitutive Model for Liver, submitted to the 2005 ASME Summer Bioengineering Conference, June 22-26, Vail Cascade Resort & Spa, Vail, Colorado, 2005.

Kerdok, A.E., Jordan, P., Liu, Y., Wellman, P., Socrate, S., Howe, R.D.
Identification of Nonlinear Constitutive Law Parameters of Breast Tissue, submitted to the 2005 ASME Summer Bioengineering Conference, June 22-26, Vail Cascade Resort & Spa, Vail, Colorado, 2005.

Wagner, C.R., Howe, R.D.
Embedded Strain Gage Force Sensor For Robotic Surgery (poster), First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy, March 2005.

Perrin, D.P, Wagner, C.R., Geisse, N., Howe, R.D., Parker, K.K.
Haptic Interface for Cardiac Cell Exploration Using AFM (poster), First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy, March 2005.

Kerdok, A. E., Socrate, S. and Howe, R. D.
Soft tissue modeling and mechanics, 28th American Society of Biomechanics Annual Conference. X-CD Technologies Inc., Portland, OR. poster 235, 2004.

Kerdok, A. E.
The Effects of Testing Environment on Soft Tissue Properties, presented at HST Forum, Boston, MA, 2004.

Feller, R.L., Lau, C.K.L., Wagner, C.R., Perrin, D.P., Howe, R.D.
Tactile Feedback in Telemanipulation (video), 2004 IEEE International Conference on Robotics and Automation, New Orleans, 2004.

Paul M. Novotny, Jeremy W. Cannon, and Robert D. Howe
Tool Localization in 3D Ultrasound Images,Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003, Montreal, Canada, pp. 969 - 970, 2004.

Kerdok, A. E., Howe, R. D.
A Technique for Measuring Mechanical Properties of Perfused Solid Organs, ASME Summer Bioengineering Conference, Key Biscayne, FL, 2003.

Gunter, H.E.
Mechanical stress levels in vocal folds as predictors of tissue injury, to be presented at the International Conference on Voice Physiology and Biomechanics, Denver, CO, September 17-19, 2002.

Gunter, H.E., Howe, R.D., Hillman, R.E., Stevens, K.N.
Analysis of Factors Affecting Vocal Fold Impact Stress Using a Mechanical Model, Submitted to the 142nd Meeting of the Acoustical Society of America. December 3-7, 2001, Ft. Lauderdale,FL.

Kerdok, A.E.
Soft Tissue Characterization: Mechanical Property Determination from Biopsies to Whole Organs, Whitaker Foundation Biomedical Research Conference. August 9-12, 2001, La Jolla, CA. (Poster)

Gunter, H.E.
Biomechanics of Voice Production, Whitaker Foundation Biomedical Research Conference. August 9-12, 2001, La Jolla, CA. (Poster)

J. Stoll, P. Dupont, R. Howe,
Ultrasound-based Servoing of Manipulators during Telesurgery, presented at SPIE Telemanipulator and Telepresence Technologies VIII, Newton, Massachusetts, 28 October – 2 November 2001.

S. Selha, P. Dupont, R. D. Howe, and D. F. Torchiana
Dexterity Optimization in Robot-Assisted Minimally Invasive Surgery,” to be presented at SPIE Telemanipulator and Telepresence Technologies VIII, Newton, Massachusetts, 28 October – 2 November 2001.

T. Debus, T.-J. Jang, P. Dupont and R. Howe
Multi-channel Vibrotactile Display for Sensory Substitution During Teleoperation, presented at SPIE Telemanipulator and Telepresence Technologies VIII, Newton, Massachusetts, 28 October – 2 November 2001.

T. Debus, J. Stoll, R. D. Howe, and P. Dupont
Cooperative Human and Machine Perception in Teleoperated Assembly” in D. Rus and S. Singh, eds., Experimental Robotics VII. The Fifth International Symposium, Honolulu, HI, December 10-13, 2000, Lecture notes in control and information sciences, Springer-Verlag, Berlin, 271:51-60.

Y. Matsuoka and R. D. Howe
Hand Impedance Change During Learning of a Novel Contact Task,” 2000 World Congress on Medical Physics and Biomedical Engineering, Chicago, July 23-28, 2000.

P. S. Wellman, R. D, Howe, N. Dewagan, M. A. Cundari, E. Dalton, K. A. Kern
Tactile Imaging: A Method for Documenting Breast Masses, Proceedings of the First Joint BMES/EMBS Conference, Atlanta, Oct. 13-16, 1999, p. 1131.

D.T.V. Pawluk, R.D. Howe
Dynamic Contact Mechanics of the Human Fingerpad with a Flat Surface,” Biomedical Engineering Society Annual Meeting, Cleveland, October 11 , 1998.

R. D. Howe, T. Debus and P. Dupont
Haptic Identification of Remote Environment Properties, Telemanipulator and Telepresence Technologies V, M. R. Stein, ed., Proceedings of SPIE Vol. 3524, Boston, November 4-5, 1998, pp. 123-130.

R. D. Howe, D. A. Kontarinis, W.J. Peine, and P. W. Wellman
Tactile displays for increased spatial and temporal bandwidth in haptic feedback,” in Y. Shirai and S. Hirose, eds., Robotics Research: The Eighth International Symposium, October 4-7, 1997, Hayama, Japan, Springer-Verlag, 1998.

D. T. V. Pawluk and R. D. Howe
Contact pressure distribution on the human finger pad,” 26th Congress of the International Society of Biomechanics, Tokyo, August 25-29, 1997, p. 335.

Pawluk, D.T.V., Peine, W.J., Wellman, P.S. and Howe, R.D.
Simulating Soft Tissue with a Tactile Shape Display, ASME International Mechanical Engineering Congress and Exposition, Dallas, Nov. 15-21, 1997, in B. Simon, ed., Advances in Bioengineering, ASME BED-Vol. 36, pp. 253-4.

P.S. Wellman and R.D. Howe
Modeling probe and tissue interaction for tumor feature extraction, 1997 ASME Summer Bioengineering Conference, Sun River, Ore., June 1997, BED-Vol. 35, p. 237-8.

D. T. V. Pawluk and R. D. Howe
Mechanical impedance and energy dissipation in the human finger pad, 1997 ASME Summer Bioengineering Conference, Sun River, Oregon, June 1997, BED-Vol. 35, p. 591-592.

W.J. Peine and R. D. Howe
Finger pad shape in lump detection, 1997 ASME Summer Bioengineering Conference, Sun River, Oregon, June 1997, BED-Vol. 35, p. 593-594.

P.S. Wellman, W.J. Peine, G. Favalora, and R. D. Howe
Mechanical Design and Control of a High-Bandwidth Shape Memory Alloy Tactile Display, in A. Casals and A.T. de Almeida, eds., Experimental Robotics V. The Fifth International Symposium, Barcelona, Spain, June 15-18, 1997, Lecture notes in control and information sciences vol. 232, Springer-Verlag, Berlin, pp. 56-66.

Pawluk, D. and Howe, R.
A Holistic Model of Human Touch, In J.M. Bower (Ed.) Computational Neuroscience Trends in Research (Proceedings of the Fifth Annual Computational Neuroscience Conference, Cambridge, MA, July 14-17, 1996) Plenum Press, New York, pp. 759-764, 1997.

R. D. Howe
Robotic skin sensors and contact mechanics signal analysis,” Workshop on the Role of Tissue Mechanics on Somatosensation, Institute for Sensory Research, Syracuse University, Syracuse, N.Y., June 1996.

A. Z. Hajian and R. D. Howe
"Variation of finger tip impedance in pinch grip," 9th Engineering Foundation Conference on Biomechanics & Neural Control of Movement, Mt. Sterling, Ohio, June 1-6, 1996.

D. A. Kontarinis and R. D. Howe
"Tactile displays for dextrous telemanipulation," ECPD International Conference on Advanced Robotics and Intelligent Automation, Athens, Greece, September 6-8, 1995.

J. Son and R. D. Howe
"Performance limits and stiffness control of multifingered hands." O. Khatib and J.K. Salisbury, eds. Experimental Robotics IV: The 4th International Symposium, Stanford, CA, June 30-July 2, 1995, Springer-Verlag Lecture Notes in Control & Information Sciences vol. 223, 1997. pp. 91-102.

D. A. Kontarinis and R. D. Howe
"A multiparameter tactile display system for teleoperation," T.B. Sheridan, ed., Analysis, Design and Evaluation of Man-Machine Systems 1995: Postprint volume from the Sixth IFAC/IFIP/IFORS/IEA Symposium, Cambridge, June 27-29 1995, Pergamon Press, vol. 1, pp. 83-88.

D. A. Kontarinis and R. D. Howe
"Static display of shape," in H. Das, ed., Telemanipulator and Telepresence Technologies, Boston, MA, October 31-November 1, 1994, Proc. SPIE vol. 2351, pp. 250-9. W.J. Peine, D. A. Kontarinis, R. D. Howe, "A remote palpation system for minimally invasive surgery," Society for Minimally Invasive Therapy Sixth International Meeting, Berlin, Germany, October 2-4, 1994.

D. A. Kontarinis and R. D. Howe
"Tactile display of contact shape in dextrous manipulation," in Advances in Robotics, Mechatronics, and Haptic Interfaces, DSC-vol. 49, H. Kazerooni, J. E. Colgate, and B. D. Adelstein, eds., American Society of Mechanical Engineers Winter Annual Meeting, New Orleans, Nov. 29-30, 1993, pp. 81-88.

R. D. Howe and D. A. Kontarinis
"High frequency force information in teleoperated manipulation," in T. Yoshikawa and F. Miyazaki, eds., Experimental Robotics III: Proc. Third International Symposium on Experimental Robotics, Kyoto, Japan, Oct. 28-30, 1993, Lecture notes in control and information sciences vol. 200, Springer-Verlag, 1994, pp. 343-352.

D. A. Kontarinis and R. D. Howe
"Display of high frequency tactile information to teleoperators," Telemanipulator Technology and Space Robotics Conference, Proc. SPIE vol. 2057, W. Kim, ed., Boston, MA, Sept. 7-9, 1993, pp. 40-50.

R. D. Howe
"External friction models for robotic manipulation," Tutorial session on friction in robotic assembly and manipulation, IEEE International Conference on Robotics and Automation, Atlanta, May 2-6, 1993.

R. D. Howe and D. Kontarinis
"Task performance with a dextrous teleoperated hand system," Telemanipulator Technology Conference, Proc. SPIE vol. 1833, H. Das, ed., Boston, MA, Nov. 15-16, 1992, pp. 199-207.

R. D. Howe, B. B. Edin, M. R. Cutkosky and G. Westling
"Relaying friction information to a human operator for dextrous telemanipulation," SPIE Conference on Telerobotics: Cooperative Intelligent Robotics in Space, Boston, MA, November 12-14, 1991.

R. D. Howe and G. Kychakoff
"Low cost programmable correlator for industrial use," paper WI13, 1987 Conference on Lasers and Electrooptics, Baltimore, MD, April 27 - May 1, 1987.

R. D. Howe and G. Kychakoff
"Reflection-based fiber-optic displacement sensor," 5th international congress on Applications of Lasers and Electro-Optics, Arlington, VA, November 10-13, 1986.

R. D. Howe and G. Kychakoff
"Optical sensing system for thermoplastic composites forming," paper TUK48, 1986 Conference on Lasers and Electro-Optics, San Francisco, CA, June 9-13, 1986.

G. Kychakoff, R. D. Howe, R. K. Hanson, and K. Knapp
"Flow visualization in combustion gases using planar laser-induced fluorescence," paper No. 83-0405, American Institute of Aeronautics and Astronautics 21st Aerospace Sciences Meeting, Reno, NV, Jan. 1983.

G. Kychakoff, K. Knapp, R. D. Howe, and R. K. Hanson
"Quantitative flow visualization in combustion gases," paper No. 82-60, Meeting of the Western States Section of The Combustion Institute, Livermore, CA, Oct. 11-12, 1982.

Theses

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Paul M. Loschak (2016), Ph.D. Harvard University
"Motion Compensation of Cardiac Catheters: Steering and Control"
Abstract, Complete Thesis (35.6MB)

Neil Tenenholtz (2014), Ph.D. Harvard University
"Fast Surgical Simulation to Improve Mitral Valve Repair"
Abstract, Complete Thesis (31.3MB)

Laura J. Brattain (2014), Ph.D. Harvard University
"Enhanced Ultrasound Visualization for Procedure Guidance"
Abstract, Complete Thesis (11.8MB)

Leif P. Jentoft (2014), Ph.D. Harvard University
"Sensing and Control for Robust Grasping With Simple Hardware"
Abstract, Complete Thesis (6.3MB)

Samuel B. Kesner (2011), Ph.D. Harvard University
"Robotic Catheters for Beating Heart Surgery"
Abstract, Complete Thesis (3.1MB)

Robert J. Schneider (2011), Ph.D, Harvard University
"Semi-Automatic Delineation of the Mitral Valve from Clinical Four-Dimensional Ultrasound Imaging"
Abstract, Complete Thesis (25.9MB)

Peter Hammer (2011), Ph.D. Tufts University
"Simulating Heart Valve Mechanical Behavior for Planning Surgical Repair"
Abstract, Complete Thesis (2.0MB)

Shelten Yuen (2009), Ph.D. Harvard University
"Robotic Motion Compensation for 3D Ultrasound-Guided Beating Heart Surgery"
Abstract, Complete Thesis (4.10MB)

Petr Jordan (2008), Ph.D. Harvard University
"Image-Based Mechanical Characterization of Soft Tissue using Three Dimensional Ultrasound"
Abstract, Complete Thesis (4.95MB)

Paul Martin Novotny (2007), Ph.D. Harvard University
"Real-Time Processing of Three Dimensional Ultrasound for Intracardiac Surgery"
Abstract, Complete Thesis (1.89MB)

Aaron Michael Dollar (2006), Ph.D. Harvard University
"Design Principles for Robust Grasping in Unstructured Environments"
Abstract, Complete Thesis (3.54MB)

Ryan Andrew Beasley (2006), Ph.D. Harvard University
"Model-Based Error Correction for Instrument Flexion in Robotic Surgery"
Abstract, Complete Thesis (1.85MB)

Amy Elizabeth Kerdok (2006), Ph.D. Harvard University
"Characterizing the Nonlinear Mechanical Response of Liver to Surgical Manipulation"
Abstract, Complete Thesis (4.35MB)

Christopher Robert Wagner (2006), Ph.D. Harvard University
"Force Feedback in Surgery: Physical Constraints and Haptic Information"
Abstract, Complete Thesis (4.37MB)

Thomas Debus (2006), Ph.D. Boston University
"Modeling By Manipulation – Enhancing Robot Perception Through Contact State Estimation"
Abstract, Complete Thesis (2.64 MB)

Solomon Gilbert Diamond (2004), Ph.D. Harvard University
"Cognitive Effects on the Neurophysiology and Biomechanics of Stroke Recovery"
Abstract, Complete Thesis (2.15MB)

Anna M Galea (2004), Ph.D. Harvard University
"Mapping Tactile Imaging Information: Parameter Estimation and Deformable Registration"
Abstract, Complete Thesis (5.00MB)

Heather Elspeth Gunter (2003), Ph.D. Harvard University
"Mechanical Stresses in Vocal Fold Tissue During Voice Production"
Abstract, Complete Thesis (6.40MB)

Jeremy Wynne Cannon (2003), S.M. Massachusetts Institute of Technology
"Spatial Compounding and Segmentation of Volumetric Ultrasound Data Sets for Generating Interactive Anatomic Models"
Abstract, Complete Thesis (5.66MB)

William Jeane Peine (1999), Ph.D. Harvard University
"Remote palpation instruments for minimally invasive surgery"
Abstract, Complete Thesis (5.57MB)

Parris Saxon Wellman (1999), Ph.D. Harvard University
"Tactile Imaging"
Abstract, Complete Thesis (5.15MB)

Aram Zaven Hajian (1997), Ph.D. Harvard University
"A characterization of the mechanical impedance of human hands"
Abstract, Complete Thesis (4.30MB)

Diane Tanya Victoria Pawluk (1997), Ph.D. Harvard University
"A viscoelastic model of the human fingerpad and a holistic model of human touch"
Abstract, Complete Thesis (4.36MB)

Jae S. Son (1996), Ph.D. Harvard University
"Integration of tactile sensing and robot hand control (grasp refinement)"
Abstract, Complete Thesis (6.61MB)

Dimitrios Apostolos Kontarinis (1995), Ph.D. Harvard University
"Tactile displays for dextrous telemanipulation (manipulation tasks, vibration, shape)"


Book Chapters

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Douglas P. Perrin, Nikolay V. Vasilyev, Paul Novotny, Jeffrey Stoll, Robert D. Howe, Pierre E. Dupont, Ivan S. Salgo, Pedro J. del Nido
Image Guided Surgical Interventions in Current Problems in Surgery 1 September 2009 (volume 46 issue 9 Pages 730-766)

M. R. Cutkosky, R. D. Howe, and W. R. Provancher
"Force and Tactile Sensors," in B. Siciliano and O. Khatib, eds., Springer Handbook of Robotics, Springer, 2008.

A. Z. Hajian and R. D. Howe
Biomechanics of Manipulation: Grasping the Task at Hand, in J. Winters and P. Crago, eds, Neural Control of Posture and Movement, Springer-Verlag, 2000, pp.382-389.

W. J. Peine, D. A. Kontarinis, and R. D. Howe
"A tactile sensing and display system for surgical applications," in R. M. Satava et al., eds., Interactive Technology and the New Paradigm for Healthcare, Amsterdam, IOS Press, 1995.

R. D. Howe and M. R. Cutkosky
"Touch sensing for robotic manipulation and recognition," in O. Khatib et al., eds., Robotics Review 2, Cambridge, MIT Press, 1992, pp. 55-112.

M. R. Cutkosky and R. D. Howe
"Human grasp choice and robotic grasp analysis," in S. T. Venkataraman and T. Iberall, eds., Dextrous Robot Hands, New York, Springer-Verlag, 1990.

M. R. Cutkosky, P. Akella, R. D. Howe, and I. Kao
"Grasping as a contact sport," in R. Bolles and B. Roth, eds., Robotics Research, Cambridge, MIT Press, pp. 199-206, 1987.

Other Publications and Presentations

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R. D. Howe and R. E. Kronauer
Thomas McMahon: A Dedication In Memoriam,” Annual Review of Biomedical Engineering vol. 3, 2001.

P. S. Wellman. J.S. Son, R.D. Howe
System generating a pressure profile across a pressure sensitive membrane,” U.S. Patent No. 5,983,727, November 16, 1999.

"Robots, surgery, and the sense of touch," Harvard University Science Center Research Lecture, April 19, 1995.

Invited testimony, Hearing on the Future of Research-Intensive Universities and Their Relationship with the Federal Government, President’s Council of Advisors on Science and Technology, Dr. D. Allan Bromley, Chair, Massachusetts Institute of Technology, June 24, 1992.

R. D. Howe and G. Kychakoff
"Fiber-optic Inverse-square Displacement Sensor," U.S. Patent No. 4,865,443, September 12, 1989.

Technical Reports

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Aaron M. Dollar
"Arthropod Grasping and Manipulation: A Literature Review," Harvard BioRobotics Laboratory Technical Report, April 5, 2001.

Aaron M. Dollar
"The Effect of Load Carrying on the Speed of Locomotion in Arthropods and a Biomimetic Arthropod Robot," Harvard BioRobotics Laboratory Technical Report, May 23, 2001.

Aaron M. Dollar
"A Comparion of the Force Dynamics of the Precision Grip of Humans and Robots" Harvard BioRobotics Laboratory Technical Report, January 17, 2001.

Fuji Lai and Robert D. Howe
Virtual Fixtures for Robotic Endoscopic Surgery, Harvard BioRobotics Laboratory Technical Report, December, 2000.

Parris Wellman, Robert Howe, Edward Dalton, Kenneth A. Kern
Breast Tissue Stiffness in Compression is Correlated to Histological Diagnosis, Harvard BioRobotics Laboratory Technical Report, 1999


Press Coverage

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Our work on Advanced Real-Time Visualization for Robotic Heart Surgery is featured on the NVIDIA Developer website.

Inexpensive, Durable Plastic Hands Let Robots Get a Grip - The iHY Hand was featured on IEEE Spectrum

Laura Brattain's paper on instrument tracking and visualization was voted one of the three best papers at the AECAI Workshop, MICCAI 2014

Peripheral Vision 0013: Robert Howe on why simplicity is the key to building a better robot hand - Engadget

Robots to the rescue - Harvard Gazette

Biorobotics Lab members present at NERC

TakkTile was featured on Science World Report, GizMag, Discovery News, and more.

Laura Brattain's presentation was voted second prize in the Audience Awards and selected for extended oral presentation at the 3rd International Conference on Information Processing in Computer-Assisted Interventions (IPCAI 2012) on June 27, 2012 in Pisa, Italy.

High performance tactile array sensor using off-the-shelf components.Open source design

The Economist | Monitor:An open-source robo-surgeon

The Economists:Surgical robots The kindness of strangers

Rob Howe is named a 2012 Fellow of the IEEE for contributions in haptic interfaces and robotic manipulation

The SDM hand was featured in the Harvard Crimson: Robots in Motion

Paul Novotny's GPU instrument tracking paper was one of two runners up for the Young Investigator Publication Impact Award at MiCCAI 2011

The SDM Hand won TreeHugger's Best of Green Award in Science & Technology for bio-inspired design

Samuel Kesner's work on Robotic Catheters was selected for the University Research and Entrepreneurship Symposium (URES): (Mass High Tech, SEAS Website, Harvard Gazette)

Biorobotics Lab alum Amy Kerdok '06 was featured in SEAS's Q&A with Amy Kerdok '06 (Ph.D.)

The Cathbot was featured on SEAS website: Biorobotics: Driving a Less Invasive Approach To Cardiac Surgery

Samuel Kesner's Paper "Design and Control of Motion Compensation Cardiac Catheters" was a finalist for Best Medical Robotics Paper Award at the IEEE International Conference on Robotics and Automation - ICRA 2010

Research from the BioRobotics Lab has recently been covered in the news:
The January 22, 2004 edition of the Harvard Gazette features an article about the exciting undergraduate design course "Computer-Aided Machine Design" led by Professor Robert Howe and staffed by BioRobotics Lab members.

The May 30, 2002 edition of the New York Times, "Circuits" section features an article on some of our research entitled "Restoring the Human Touch to Remote-Controlled Surgery"

The October 25, 2001 edition of the Harvard Gazette features an article about some of our research in Robot Assisted Surgery.