Peer-Reviewed Publications
2023
Liu. Z., and Howe, R. D. Beyond Coulomb Stochastic Friction Models for Practical Grasping and Manipulation IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 5140-5147, Aug. 2023, doi: 10.1109/LRA.2023.3292580
Letizia Gionfrida, Richard W. Nuckols, Conor J. Walsh, Robert D. Howe. Age-Related Reliability of B-Mode Analysis for Tailored Exosuit Assistance, MDPI Sensors, vol. 23, issue 3, Feb. 2023, doi: https://www.mdpi.com/1424-8220/23/3/1670.
Manuel Zahn and Douglas P. Perrin. Efficient human-in-loop deep learning model training with iterative refinement and statistical result validation arXiv. 2023.
Roubert Martinez, S., Le Floch, P., Liu, J., Howe, R. D. Pure Conducting Polymer Hydrogels Increase Signal-to-Noise of Cutaneous Electrodes by Lowering Skin Interface Impedance Adv. Healthcare Mater. 2023, 2202661. https://doi.org/10.1002/adhm.202202661.
Daniel Hasegawa, Buse Aktas, Robert D. Howe. Tension Jamming for Deployable Structures, International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, Oct 1-5, 2023.
Letizia Gionfrida, Richard W. Nuckols, Conor J. Walsh, Robert D. Howe. Improved fascicle length estimates from ultrasound using a U-net-LSTM framework, International Consortium for Rehabilitation Robotics Conference, Singapore, September, 2023.
Maki Soumyajyoti, Sebastian Roubert Martinez, Robert D. Howe. Continuous Surface Electromyography and Bioimpedance Sensing from the Same Electrodes, IEEE Sensors Applications Symposium, Ottawa, Canada, July, 2023.
2022
Mohsen Moradi Dalvand, Saeid Nahavandi, and Robert D. Howe. General Forward Kinematics for Tendon-Driven Continuum Robots IEEE Access,2022
Alperen Degirmenci, Robert D. Howe , and Douglas P. Perrin. Gaussian process regression for ultrasound scanline interpolation, Journal of Medical Imaging, 2022, 9(3).
Clark B. Teeple, Buse Aktas, Michelle C. Yuen, Grace R. Kim, Robert D. Howe, Robert J. Wood. Controlling Palm-Object Interactions Via Friction for Enhanced In-Hand Manipulation, IEEE Robotics and Automation Letters, 2022, 7(2)
Nariman Khaledian, Pierre-Frederic Villard, Douglas P. Perrin, Marie-Odile Berger. Influence of Anisotropy on Fluid Structure Interaction Simulations of Image-Based and Generic Mitral Valves, International Conference on Functional Imaging and Modeling of the Heart.
Zixi Liu and Robert D. Howe. Friction Variability and Sensing Capabilities for Data-Driven Slip Detection, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) Workshop on The Role of Uncertainty and How it is Tackled in Robotic Grasping and Manipulation, Kyoto, Japan, Oct 23-27, 2022.
Alexander Koenig, Zixi Liu, Lucas Janson, and Robert D. Howe. The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms, International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, Oct 23-27, 2022.
Zixi Liu, Robert D. Howe. Overlooked Variables in Compliant Grasping and Manipulation, IEEE International Conference on Robotics and Automation (ICRA) Workshop on Compliant Robot Manipulation: Challenges and New Opportunities, May 2022.
2021
Richard W. Nuckols, Sangjun Lee, Krithika Swaminathan, Dorothy Orzel, Robert D. Howe, Conor J. Walsh. Individualization of exosuit assistance based on measured muscle dynamics during versatile walking, Science Robotics, 2021, 6(60):eabj1362.
Buse Aktas, Yashraj S. Narang, Nikolaos Vasios, Katia Bertoldi, and Robert D. Howe. A Modeling Framework for Jamming Structures, Advanced Functional Materials, 2021, 2007554.
2020
Mohsen Moradi Dalvand, Saeid Nahavandi, and Robert D. Howe. Slack and Excessive Loading Avoidance in n-Tendon Continuum Robots, IEEE Access, 2020.
Paul M. Loschak, Alperen Degirmenci, Cory M Tschabrunn, Elad Anter and Robert D. Howe. Automatically steering cardiac catheters in vivo with respiratory motion compensation, International Journal of Robotics Research, 2020.
Yashraj S. Narang, Buse Aktas, Sarah Ornellas, Joost J. Vlassak, and Robert D. Howe. Lightweight Highly Tunable Jamming-Based Composites, Soft Robotics, 2020.
Buse Aktas and Robert D. Howe. Tunable Anisotropic Stiffness with Square Fiber Jamming , IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, April 2020.
Rui Ouyang and Robert D. Howe. Low-Cost Fiducial-based 6-Axis Force-Torque Sensor, IEEE International Conference on Robotics and Automation (ICRA), May 2020.
Richard W. Nuckols, Krithika Swaminathan, Sangjun Lee, Louis Awad, Conor J. Walsh, and Robert D. Howe. Automated detection of soleus concentric contraction in variable gait conditions for improved exosuit control, IEEE International Conference on Robotics and Automation (ICRA), May 2020.
2019
Sibo Cheng, Yashraj S. Narang, Canhui Yang, Zhigang Suo, Robert D. Howe. Stick-on large-strain sensors for soft robots,Advanced Materials Interfaces, 6(20):1900985, 2019.
Daisuke Yamada, Alperen Degirmenci, Robert D. Howe. Ultrasound imaging characterization of soft tissue dynamics of the seated human body, Journal of Biomechanical Engineering, BIO-19-1142, 2019.
Vasios N, Narang Y, Aktas B, Howe R, Bertoldi K. Numerical analysis of periodic laminar and fibrous media undergoing a jamming transition, European Journal of Mechanics-A/Solids, 75: 322-329, 2019.
Buse Aktas and Robert D. Howe. Flexure Mechanisms with Variable Stiffness and Damping Using Layer Jamming, Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Macau, China, November 3-7 2019.
2018
Mohsen Moradi Dalvand, Saeid Nahavandi, and Robert D. Howe. An Analytical Loading Model for n-Tendon Continuum Robots, IEEE Transactions on Robotics, Volume: PP, Issue: 99, July 2018.
Mohsen Moradi Dalvand, Saeid Nahavandi, Michael Fielding, James Mullins, Zoran Najdovski and Robert D. Howe. Modular Instrument for a Haptically-Enabled Robotic Surgical System (HeroSurg), IEEE Access, Volume: 6, June 2018.
Alperen Degirmenci, Douglas P. Perrin, and Robert D. Howe. High Dynamic Range Ultrasound Imaging, International Journal of Computer Assisted Radiology and Surgery, vol. 13, no. 5, pp. 721-729, May 2018.
Leah Gaffney, Paul M. Loschak, and Robert D. Howe. A Deployable Transseptal Brace for Stabilizing Cardiac Catheters, Journal of Mechanical Design, vol. 140, no. 7, May 2018.
Yashraj S. Narang, Joost J. Vlassak and Robert D. Howe. Mechanically Versatile Soft Machines Through Laminar Jamming, Advanced Functional Materials, vol. 28, no. 17, Apr 2018.
Qian Wan, and Robert D. Howe. Modeling the Effects of Contact Sensor Resolution on Grasp Success, IEEE Robotics and Automation Letters, vol. 3, no. 3, Apr 2018.
Yashraj S. Narang, Alperen Degirmenci, Joost J. Vlassak, and Robert D. Howe. Transforming the Dynamic Response of Robotic Structures and Systems Through Laminar Jamming, IEEE Robotics and Automation Letters, vol. 3, no. 2, Apr 2018.
Pierre-Frederic Villard, Peter E. Hammer, Douglas P. Perrin, Pedro J. del Nido, Robert D. Howe. Fast Image-Based Mitral Valve Simulation From Individualized Geometry, The International Journal of Medical Robotics and Computer Assisted Surgery, 14.2, 2018
2017
Jacob W. Guggenheim, Leif P. Jentoft, Yaroslav Tenzer, and Robert D. Howe. Robust and Inexpensive 6-Axis Force-Torque Sensors using MEMS Barometers, IEEE Transactions on Mechatronics, vol. 22, no. 2, April 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 Catheters, IEEE Transactions on Robotics, Volume 33, Issue 1, pp.81-91, Feb 2017
Paul M. Loschak, Alperen Degirmenci, and Robert D. Howe. Predictive Filtering in Motion Compensation with Steerable Cardiac Catheters, Proc. IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 – June 2, 2017.
Alireza Mohammadi, Jim Lavranos, Robert D. Howe, Peter Choong, Denny Oetomo. Grasp Specific and User Friendly Interface Design towards Lowering the Difficulty in Learning to Operate a Myoelectric Hand Prosthesis. IEEE-RAS-EMBS International Conference on Rehabilitation Robotics, 2017.
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
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.
2015
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 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.
2014
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.
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.
2013
Frank L. Hammond III, Robert D. Howe, Robert J. Wood. Dexterous High-Precision Robotic Wrist for Micromanipulation, Proceedings of 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 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.
2012
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).
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.
2011
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. 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.
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.
2010
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.
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.
2009
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.
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.
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.
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.
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.
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.
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.
2007
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).
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.
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).
2006
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.
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.
2005
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.
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.
2004
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)
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., Proceedings 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.
2003
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.
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.
2002
Gunter H.E. Modeling Mechanical Stresses as a Factor in the Etiology of Benign Vocal Fold Lesions, submitted to the Journal of Biomechanics, 2002 Manuscript Number JB2002-187.
Diamond S.G., Howe R.D., Measuring Hypnosis: Relating the Subjective Experience to Systematic Physiological Changes, InterJournal of Complex Systems, Article, Manuscript Number 541.
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 vibrotactile display 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.
2001
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.
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.
2000
T. Debus, P. Dupont and R.D. Howe. Automatic Identification 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.
1999
Pawluk, D.T.V. and Howe, R.D. Dynamic contact of the human fingerpad against a flat surface, ASME Journal of Biomechanical Engineering 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 Biomechanical Engineering 121(2):178- 184, April 1999.
R. D. Howe and Y. Matsuoka. Robotics for surgery, Annual Review of Biomedical Engineering, 1:211-240, 1999.
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.
1998
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.
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.
1997
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.
1996
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.
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.
1995
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, 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.
1994
R. D. Howe. Tactile sensing and control of robotic manipulation, Journal of Advanced Robotics, 8(3):245-261, 1994.
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.
1993
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.
1992
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.
1991
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. “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.
1990
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.
1989
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.
1988
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.
1986
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.
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.
1985
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.
1984
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.
1983
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.
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.
Contributed Papers
2023
Manuel Zahn and Douglas P. Perrin. Efficient human-in-loop deep learning model training with iterative refinement and statistical result validation arXiv. 2023.
2019
Buse Aktas, Sarah Ornellas, Yashraj S. Narang, Joost Vlassak and Robert D. Howe. Stiff-Soft Transitioning Wrist Brace Using Composite Layer Jamming. Workshop on Opportunities and Challenges in Soft Robotics Across Length Scales, International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019.
Richard Nuckols, Krithika Swaminathan, Sangjun Lee, Dheepak Arumukhom Revi, Conor J. Walsh and Robert D. Howe. Investigating the role of muscle dynamics in individual response to soft exosuit assistance. Workshop on Human movement science for physical human-robot collaboration, International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019.
2018
Richard Nuckols, Sangjun Lee, Dheepak Arumukhom Revi, Alperen Degirmenci, Conor Walsh, Robert Howe. Comparison of subject-specific exosuit assistance profiles to ultrasound measurements of gastrocnemius fascicle dynamics during human walking. World Congress of Biomechanics. Dublin, Ireland, July 8-12 2018.
Richard Nuckols, Sangjun Lee, Dheepak Arumukhom Revi, Alperen Degirmenci, Conor Walsh, Robert Howe. Evaluating Muscle Response to Exosuit Assistance, Dynamic Walking, May 21-25, 2018.
Saeed MY, Shin B, Payne CJ, Narang YS, Perrin D, Howe RD, Vasilyev, N, Ad N, del Nido PJ. Innovative Minimal Invasive Technology for Epicardial Ventricular Ablation. AATS Annual Meeting. San Diego, CA, April 28-May 1, 2018.
2017
Alperen Degirmenci, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter and Robert D. Howe. Enabling Autonomous Ultrasound-based Procedure Guidance In Cardiac Interventions, Workshop C4 Surgical Robots: Compliant, Continuum, Cognitive, and Collaborative, IEEE International Conference on Robotics and Automation (ICRA), Singapore, June 2, 2017. Finalist of Best Poster Paper Award.
Qian Wan, and Robert D. Howe. Tactile Resolution and Grasp Stability Prediction. Workshop on Robotic Sense of Touch, Singapore, May 29, 2017.
2016
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.
2015
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.
2014
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.
2013
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.
2012
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.
2011
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.
2010
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.
2009
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.
2008
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.
2007
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.
2006
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.
2005
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.
2004
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.
2003
Kerdok, A. E., Howe, R. D. A Technique for Measuring Mechanical Properties of Perfused Solid Organs, ASME Summer Bioengineering Conference, Key Biscayne, FL, 2003.
2002
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.
2001
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.
2000
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.
1999
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.
1998
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.
1997
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.
1996
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.
1995
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.
1994
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.
1993
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.
1992
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.
1991
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.
1987
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.
1986
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.
1983
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.
1982
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
Paul M. Loschak (2016), Ph.D. Harvard University “Motion Compensation of Cardiac Catheters: Steering and Control”.
Neil Tenenholtz (2014), Ph.D. Harvard University “Fast Surgical Simulation to Improve Mitral Valve Repair”
Laura J. Brattain (2014), Ph.D. Harvard University “Enhanced Ultrasound Visualization for Procedure Guidance”
Leif P. Jentoft (2014), Ph.D. Harvard University “Sensing and Control for Robust Grasping With Simple Hardware”
Samuel B. Kesner (2011), Ph.D. Harvard University “Robotic Catheters for Beating Heart Surgery”
Robert J. Schneider (2011), Ph.D, Harvard University “Semi-Automatic Delineation of the Mitral Valve from Clinical Four-Dimensional Ultrasound Imaging”
Peter Hammer (2011), Ph.D. Tufts University “Simulating Heart Valve Mechanical Behavior for Planning Surgical Repair”
Shelten Yuen (2009), Ph.D. Harvard University “Robotic Motion Compensation for 3D Ultrasound-Guided Beating Heart Surgery”
Petr Jordan (2008), Ph.D. Harvard University “Image-Based Mechanical Characterization of Soft Tissue using Three Dimensional Ultrasound”
Paul Martin Novotny (2007), Ph.D. Harvard University “Real-Time Processing of Three Dimensional Ultrasound for Intracardiac Surgery”
Aaron Michael Dollar (2006), Ph.D. Harvard University “Design Principles for Robust Grasping in Unstructured Environments”
Ryan Andrew Beasley (2006), Ph.D. Harvard University “Model-Based Error Correction for Instrument Flexion in Robotic Surgery”
Amy Elizabeth Kerdok (2006), Ph.D. Harvard University “Characterizing the Nonlinear Mechanical Response of Liver to Surgical Manipulation”
Christopher Robert Wagner (2006), Ph.D. Harvard University “Force Feedback in Surgery: Physical Constraints and Haptic Information”
Thomas Debus (2006), Ph.D. Boston University. “Modeling By Manipulation – Enhancing Robot Perception Through Contact State Estimation”
Solomon Gilbert Diamond (2004), Ph.D. Harvard University “Cognitive Effects on the Neurophysiology and Biomechanics of Stroke Recovery”
Anna M Galea (2004), Ph.D. Harvard University “Mapping Tactile Imaging Information: Parameter Estimation and Deformable Registration”
Heather Elspeth Gunter (2003), Ph.D. Harvard University “Mechanical Stresses in Vocal Fold Tissue During Voice Production”
Jeremy Wynne Cannon (2003), S.M. Massachusetts Institute of Technology “Spatial Compounding and Segmentation of Volumetric Ultrasound Data Sets for Generating Interactive Anatomic Models”
William Jeane Peine (1999), Ph.D. Harvard University “Remote palpation instruments for minimally invasive surgery”
Parris Saxon Wellman (1999), Ph.D. Harvard University “Tactile Imaging”
Aram Zaven Hajian (1997), Ph.D. Harvard University “A characterization of the mechanical impedance of human hands”
Diane Tanya Victoria Pawluk (1997), Ph.D. Harvard University “A viscoelastic model of the human fingerpad and a holistic model of human touch”
Jae S. Son (1996), Ph.D. Harvard University “Integration of tactile sensing and robot hand control (grasp refinement)”
Dimitrios Apostolos Kontarinis (1995), Ph.D. Harvard University “Tactile displays for dextrous telemanipulation (manipulation tasks, vibration, shape)”
Book Chapters
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
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.
R. D. Howe, “Optical inverse-square displacement sensor”, U.S. Patent No. 4865443A, September 9, 1989.
Technical Reports