All Reports by Number since 1995

[073]
B. Hannaford, S. Venema, 'Kinesthetic Displays for Remote and Virtual Environments ,' In "Virtual Environments and Advanced Interface Design", pp. 415-436, W. Barfield and T. Furness, Ed., Oxford, 1995.

[074]
B. Hannaford, 'Ground Experiments towards Space Teleoperation with Time Delay ,' In "Manipulation, Automation, and Robotics in Space", pp. 87-106, S.B. Skaar, Ed., AIAA, 1994.

[080]
C.P. Chou, B. Hannaford, 'Measurement and Modeling of McKibben Pneumatic Artificial Muscles,' IEEE Transactions on Robotics and Automation, vol. 12, pp. 90-102, Feb. 1996.

[083]
P. Bhatti, B. Hannaford, 'Single Chip Optical Encoder Based Velocity Measurement System,' IEEE Transactions on Control Systems Technology, vol. 5, pp. 654-61, Nov. 1997.

[089]
P. Buttolo, B. Hannaford, 'Pen Based Force Display for Precision Manipulation of Virtual Environments,' Proceedings VRAIS-95, pp. 217-225, Raleigh, NC, March 1995.

[090]
M. Moreyra, P.H. Marbot, S. Venema, B. Hannaford, 'A 5-Axis Mini Direct Drive Robot for Time Delayed Teleoperation ,' In "Intelligent Robots and Systems 1994", pp. 445-462, V. Graefe, Ed., Elsevier Science, 1995.

[091]
B. Hannaford, J.M. Winters, C.P. Chou, P.H. Marbot, 'The Anthroform Arm: A System for the Study of Spinal Circuits,' Annals of Biomedical Engineering: L. Stark Special Issue, vol. 23, pp. 399-408, March 1995.

[092]
S. Venema, B. Hannaford, 'Kalman Filter Based Calibration of Precision Motion Control,' Proceedings of IROS-95, Pittsburg, PA, August 95.

[093]
B. Hannaford, P.H. Marbot, P. Buttolo, M. Moreyra, S. Venema, 'Scaling Properties of Direct Drive Serial Arms,' International Journal of Robotics Research, vol. 15, pp. 459-472, 1996.

[094]
P. Buttolo, D. Kung, B. Hannaford, 'Manipulation in Real, Virtual, and Remote Environments,' Video Proceedings, IEEE VRAIS-95, Raleigh, NC, March 1995.

[095]
B. Hannaford, K. Kuhn, 'A "Hands-On" Course in Consumer Electronics Design,' International Journal of Mechatronics: Special Issue on Mechatronics Education, vol. 5, pp. 753-762, Oct. 1995.

[096]
P. Buttolo, D. Kung, B. Hannaford, 'Manipulation in Real, Virtual, and Remote Environments,' Proceedings, IEEE International Conference on Systems, Man, and Cybernetics, Vancouver, BC, October, 1995.

[097]
B. Hannaford, A.K. Bejczy, P. Buttolo, M. Moreyra, S. Venema, 'Mini-Teleoperation Technology for Space Research,' Procedings International Symposium on Microsystems Intelligent Materials and Robots (MIMR-95), pp. 524-527, Sendai, Japan, September, 1995.

[098]
P. Buttolo, B. Hannaford, 'Advantages of Actuation Redundancy for the Design of Haptic Displays,' Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC-57-2, pp. 623-630, San Francisco, Nov. 1995.

[099]
S. Venema, B. Hannaford, 'Miniature Telerobots in Space Applications,' Proc. Int. Conf. on Integrated Micro-Nanotechnology for Space Applications, Houston Tx., October, 1995.

[101]
P. Buttolo, R. Oboe, B. Hannaford, W. McNeely, 'Force Feedback in Shared Virtual Simulations,' Proceedings MICAD, Paris, 1996.

[102]
P.J. Laughlin, J.W. Pitton, B Hannaford, 'Fast Approximations to Positive Time-Frequency Distributions with Applications,' Proceedings 1995 International Conference on Acoustics, Speech, and Signal Processing, vol. 2, pp. 1009-12, Detroit, May 1995.

[103]
B. Hannaford, M.R. Moreyra, P.H. Marbot, 'Five axis direct-drive mini-robot having fifth actuator located at a non-adjacent joint,' U.S. Patent #5,528,955, June 25, 1996 (issued).

[104]
N.E. Greivell, B. Hannaford, 'The Design of a Ferrofluid Magnetic Pipette,' IEEE Transactions on Biomedical Engineering, vol. 44, pp. 129-135, March 1997.

[105]
D.Y. Hwang, B. Hannaford, 'Teleoperation Performance with a Kinematically Redundant Slave Robot,' International Journal of Robotics Research, vol. 17, pp. 579-597, June, 1998.

[106]
C.P. Chou, B. Hannaford, 'Study of Human Forearm Posture Maintenance with a Physiologically Based Robotic Arm and Spinal Level Neural Controller,' Biological Cybernetics, vol. 76, pp. 285-298, 1997.

[107]
B. Hannaford, J. Hewitt, T. Maneewarn, S. Venema, M. Appleby, R. Ehresman, 'Telerobotic Remote Handling of Protein Crystals,' IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997.

[108]
B. Hannaford, J. Hewitt, T. Maneewarn, S. Venema, M. Appleby, R. Ehresman, 'Telerobotic Macros for Remote Handling of Protein Crystals,' Proceedings Intl. Conf. on Advanced Robotics, (ICAR97), Monterrey, CA, July 1997.

[109]
F. Boe, B. Hannaford, 'On-line Improvement of Speed and Tracking Performance on Repetetive Paths,' IEEE Transactions on Control Systems Technology, vol. 6, pp. 350-358, May 1998.

[110]
B. Hannaford, 'Telerobotics ,' In "Encyclopedia of Computer Science, 4th Edition", D. Hemmendinger and A. Ralston, Ed., McMillan, Aug 2000.

[111]
B. Hannaford, J. Trujillo, M. Sinanan, M. Moreyra, J. Rosen, J. Brown, R. Lueschke, M. MacFarlane, 'Computerized Endoscopic Surgical Grasper,' Proceedings, MMVR-98 (Medicine Meets Virtual Reality), San Diego, January 1998.

[112]
P. Buttolo, R. Oboe, B. Hannaford, 'Architectures for Shared Haptic Virtual Environments,' Computers and Graphics, vol. 21, pp. 421-9, July-Aug 1997.

[113]
R. Adams, B. Hannaford, 'A Two-Port Framework for the Design of Unconditionally Stable Haptic Interfaces,' Proceedings of IROS 98, pp. 1254-59, Victoria, B.C., Canada, Nov. 1998.

[114]
T. Maneewarn, B. Hannaford, 'Haptic Feedback of Kinematic Conditioning for Telerobotic Applications,' Proceedings of IROS 98, pp. 1260-65, Victoria, B.C., Canada, Nov. 1998.

[115]
R. Adams, M. Moreyra, B. Hannaford, 'Stability and Performance of Haptic Displays: Theory and Experiments,' Proceedings of the ASME Winter Annual Meeting Haptics Workshop, Nov 1998.

[116]
G. Klute, B. Hannaford, 'Fatigue Characteristics of McKibben Artificial Muscle Actuators,' Proceedings. IROS-98, pp. 1776-82, Victoria, B.C., Canada, Nov. 1998.

[117]
M. Moreyra, B. Hannaford, 'A Practical Measure of Dynamic Response of Haptic Devices,' Proc. IEEE Intl. Conf. on Robotics and Automation, Leuven, Belgium, May, 1998.

[118]
R. Seubert, M.V. Olson, D. Meldrum, B. Hannaford, P. Wiktor, N.A. Friedman, D.B. Snow, R. Kraft, 'Precision small volume fluid processing apparatus,' U.S. Patent #5,785,926, July 28, 1998.

[119]
P. Buttolo, B. Hannaford, 'Direct Drive Manipulator for pen-based force display,' U.S. Patent #5,642,469, June 24, 1997 (issued).

[120]
R. J. Adams, B. Hannaford, 'Stable Haptic Interaction with Virtual Environments,' IEEE Transactions on Robotics and Automation, vol. 15(3), pp. 465-74, January 1999.

[121]
M. MacFarlane, J. Rosen, B. Hannaford, C. Pellegrini, M. Sinanan, 'Force Feedback Grasper Helps Restore the Sense of Touch in Minimally Invasive Surgery.,' Journal of Gastrointestinal Surgery, vol. 3, pp. 278-285, 1999.

[122]
J. Rosen, B. Hannaford, M. MacFarlane, M. Sinanan, 'Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery - Experimental Performance Evaluation,' IEEE Transactions on Biomedical Engineering, vol. 46, pp. 1212-1221, October 1999.

[123]
G.K. Klute, J. Czerniecki, B. Hannaford, 'Development of Powered Prosthetic Lower Limb,' Proc. 1st National Mtg, Veterans Affairs Rehab. R&D Service, Washington, DC, October 1998.

[124]
J. Rosen J., M. MacFarlane, C. Richards, B. Hannaford, C. Pellegrini, M. Sinanan, 'Surgeon/Endoscopic Tool Force-Torque Signatures In The Evaluation of Surgical Skills During Minimally Invasive Surgery,' Proceedings, MMVR-99 (Medicine Meets Virtual Reality), San Francisco, January 1999.

[125]
T. Maneewarn, B. Hannaford, D. Storti, M. Ganter, 'Haptic Rendering For Internal Content Of An Implicit Object,' ASME Winter Annual Meeting Haptics Symposium, Nashville, TN, Nov. 1999.

[126]
R. Adams, M. Moreyra, B. Hannaford, 'Excalibur, A Three-Axis Force Display,' ASME Winter Annual Meeting Haptics Symposium, Nashville, TN, Nov. 1999.

[127]
B. Hannaford, 'Feeling is Believing: Haptics and Telerobotics Technology ,' In "The Robot in the Garden, Telerobotics and Telepistomology on the Internet.", J.K. Goldberg, Ed., MIT Press, Cambridge, MA, 1999.

[128]
R. Adams, D. Klowden, B. Hannaford, 'Stable Haptic Interaction Using the Excalibur Force Display,' IEEE Intl. Conf. on Robotics and Automation, San Francisco, CA, April 2000.

[129]
G.K. Klute, J.M. Czerniecki, B. Hannaford, 'McKibben Artificial Muscles: Pneumatic Actuators with Biomechanical Intelligence,' IEEE/ASME 1999 Intl. Conf. on Advanced Intelligent Mechatronics, Atlanta GA, September 19-22, 1999.

[130]
T. Maneewarn, B. Hannaford, 'Augmented Haptics of Manipulator Kinematic Condition,' Proc. SPIE Telemanipulator Workshop, Boston, MA, October, 1999.

[131]
G.K. Klute, B. Hannaford, 'Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators,' ASME Journal of Dynamic Systems, Measurements, and Control, vol. 122, pp. 386-388, June 2000.

[132]
S.C. Venema, B. Hannaford, 'Experiments in Fingertip Perception of Surface Discontinuities,' Intl. Journal of Robotics Research, vol. 19, pp. 684-696, July 2000.

[133]
C. Richards, J. Rosen, B. Hannaford, M. MacFarlane, C. Pellegrini, M. Sinanan, 'Skills Evaluation in Minimally Invasive Surgery Using Force/Torque Signatures,' Surgical Endoscopy, vol. 14, pp. 791-798, 2000.

[134]
J. Rosen, C. Richards, B. Hannaford, M. Sinanan, 'Hidden markov Models of Minimally Invasive Surgery,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 70, pp. 279-285, January, 2000.

[135]
J. Rosen, M. Solazzo, B. Hannaford, M. Sinanan, 'Objective Evaluation of Laparoscopic Surgical Skills Using Hidden Markov Models Based on Haptic Information and Tool/Tissue Interactions,' American College of Surgeons Annual Meeting - Washington State Chapter, Lake Chelan, WA, June 2000.

[136]
J. Dosher, G. Lee, B. Hannaford, 'How low can you go? Detection thresholds for small haptic effects.,' Touch in Virtual Environments, Proceedings USC Workshop on Haptic Interfaces, Prentice Hall, Feb 23, 2001.

[137]
B. Hannaford, J.H. Ryu, Y.S. Kim, 'Stable Control of Haptics ,' In "Touch in Virtual Environments: Proceedings USC Workshop on Haptic Interfaces,", Margret McLaughlin, Ed., Prentice Hall, Feb 23, 2001.

[138]
B. Hannaford, J.H Ryu, 'Time Domain Passivity Control of Haptic Interfaces,' Proc. IEEE Intl. Conference on Robotics and Automation, pp. 1863-1869, Seoul KOREA, May 2001.

[139]
S.C. Venema, B. Hannaford, 'Telerobotic Remote Handling of Protein Crystals via an Internet Link ,' In "Beyond Webcams, An Introduction to Online Robots", Roland Siegwart, Ed., MIT Press, Cambridge, MA, 2002.

[140]
S.C. Venema, E. Matthes, B. Hannaford, 'Flat Coil Actuator having Coil Embedded in Linkage,' U.S. Patent #6,437,770, 20-August-2002.

[141]
K.N. Jaax, P.H. Marbot, B. Hannaford, 'Development of a Biomimetic Position Sensor for Robotic Kinesthesia,' Proceedings, IROS 2000, Takamatsu, Japan, November, 2000.

[142]
J. Rosen, B. Hannaford, C. Richards, M. Sinanan, 'Markov Modeling of Minimally Invasive Surgery Based on Tool/Tissue Interaction and Force/Torque Signatures for Evaluating Surgical Skills,' IEEE Transactions on Biomedical Engineering, vol. 48, pp. 579-591, May 2001.

[143]
S. Venema, B. Hannaford, 'A Probabilistic Representation of Human Workspace for Use in the Design of Human Interface Mechanisms,' IEEE Trans. Mechatronics, vol. 6, pp. 286-294, 2001.

[144]
J. Longnion, J. Rosen, M. Sinanan, B. Hannaford, 'Effects of Geared Motor Characteristics on Tactile Perception of TissueStiffness,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 81, pp. 286-292, Newport Beach, CA, January 2001.

[145]
J. Rosen, M. Solazzo, B. Hannaford, M. Sinanan, 'Objective Laparoscopic Skills Assessments of Surgical Residents Using HiddenMarkov Models Based on Haptic Information and Tool/Tissue Interactions,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 81, pp. 417-423, Newport Beach, CA, January 2001.

[146]
R. Adams, B. Hannaford, 'Control Law Design for Haptic Interfaces to Virtual Reality,' IEEE Trans. Control Systems Technology, vol. 10, pp. 3-13, Jan 2002.

[147]
G. Klute, J. Czerniecki, B. Hannaford, 'Artificial tendons: biomechanical design properties for prosthetic lowerlimbs,' Proc. 22nd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society and World Congress on Medical Physics and Biomedical Engineering, vol. 3, pp. 1972-5, IEEE, Chicago, July 24-28, 2000.

[148]
Y.S. Kim, B. Hannaford, 'Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces,' Proceedings IROS 2001, Maui, Hawaii, October 2001.

[149]
K. Jaax, B. Hannaford, 'A Biorobotic Structural Model of the Mammalian Muscle Spindle Primary Afferent Response,' Annals of Biomedical Engineering, vol. 30, pp. 84-96, January 2002.

[150]
B. Hannaford, G. Klute, K. Jaax, 'Bio-inspired Actuation and Sensing,' Robotics, August 2000), vol. 11, pp. 267-272, Kluwer Academic Publishers, Boston/Dordrecht/London, November 2001.

[151]
B. Hannaford, J.H. Ryu, 'Time Domain Passivity Control of Haptic Interfaces,' IEEE Transactions on Robotics and Automation, vol. 18, pp. 1-10, February, 2002.

[152]
R. Adams, D. Klowden, B. Hannaford, 'Virtual Training for a Manual Assembly Task,' Haptics-e, the electronic journal of haptics research, vol. 2, 17-Oct-2001.

[153]
J. Dosher, B. Hannaford, 'Detection Thresholds for Small Haptic Effects,' Proceedings, SPIE Teleoperator and Telemanipulator Workshop, Boston MA, October 29, 2001.

[154]
J.H. Ryu, D.S. Kwon, B. Hannaford, 'Stable Teleoperation with Time Domain Passivity Control,' IEEE Intl. Conference on Robotics and Automation, ICRA 2002, pp. 3260-3265, Washington, DC, May 2002.

[155]
J. Rosen, J.D. Brown, M. Barreca, L. Chang, B. Hannaford, M. Sinanan, 'The Blue DRAGON - A system for Monitoring the Kinematics and Dynamics of Endoscopic Tools in Minimally Invasive Surgery for Objective Laparoscopic Skill Assessment,' Studies in Health Technology and Informatics - Medicine Meets VirtualReality, vol. 85, pp. 412-418, IOS Press, Newport Beach, CA, January 2002.

[156]
J.D. Brown, J. Rosen, M. Moreyra, M. Sinanan, B. Hannaford, 'Computer-Controlled Motorized Endoscopic Grasper for In Vivo Measurements of Soft Tissue Biomechanical Characteristics,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 85, pp. 71-73, IOS Press, Newport Beach, CA, January 2002.

[157]
J. Rosen, J.D. Brown, L. Chang, M. Barreca, M. Sinanan, B. Hannaford, 'The BlueDRAGON - A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In Vivo,' Proc. IEEE Intl. Conf. on Robotics and Automation ICRA-2002, pp. 1876-1881, Arlington VA, May, 2002.

[158]
B. Hannaford, J.H. Ryu, 'Time domain passivity control of haptic interfaces,' U.S. Patent # 7,027,965, 11-April-2006.

[159]
B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song, 'Testing Time Domain Passivity Control of Haptic Enabled Systems ,' In "Experimental Robotics 2002: Proceedings of the International Symposium on Experimental Robotics 2002 (ISER-02)", B. Siciliano and P. Dario, Ed., Springer Verlag, July 9-12, 2002.

[160]
B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song, 'Testing Time Domain Passivity Control of Haptic Enabled Systems,' Technical Report number UWEETR-2002-0010, 19-July-2002.

[161]
J. Rosen, M. Solazzo, B. Hannaford, M. Sinanan, 'Task Decomposition of Laparoscopic Surgery for Objective Evaluation of Surgical Residents' Learning Curve Using Hidden Markov Model,' Computer Aided Surgery, vol. 7, pp. 49-61, July 2002.

[162]
G Klute, J.M. Czerniecki, B. Hannaford, 'Artificial Muscles: Actuators for Biorobotic Systems,' Intl. Journal of Robotics Research, vol. 21, pp. 295-309, April 2002.

[163]
Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Stability Guaranteed Control: Time Domain Passivity Approach,' IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2002), pp. 2115-2121, Laussane, Switzerland, 2002.

[164]
Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach,' The 2nd Joint IEEE CSS/RAS International Workshop on Control Problems in Robotics and Automation, pp. 89-101, Las Vegas, 2002.

[165]
J. D. Brown, J. Rosen, Y. S. Kim, L. Chang, M. Sinanan, B. Hannaford, 'In-Vivo and In-Situ Compressive Properties of Porcine Abdominal Soft Tissues,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 94, pp. 26-32, IOS Press, Newport Beach, CA., January 2003.

[166]
J. Rosen, L. Chang, J. D. Brown, B. Hannaford, M. Sinanan, R. Satava, 'Minimally Invasive Surgery Task Decomposition - Etymology of EndoscopicSuturing,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 94, pp. 295-301, IOS Press, Newport Beach, CA, January 2003.

[167]
Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford, 'Sampled and Continuous Time Passivity and Stability of Virtual Environments,' IEEE Int. Conf. on Robotics & Automation 2003, pp. 822-827, Taipei, Taiwan, Sept. 2003.

[168]
G.K. Klute, Czerniecki, J., B. Hannaford, 'Muscle-Like Pneumatic Actuators for Below-Knee Prostheses,,' Proceedings, Actuator 2000: 7th International Conference on New Actuators, pp. 289-292, Bremen, Germany, June 19-21,2000.

[169]
Lee G.S., Hannaford B, 'Preliminary two dimensional haptic thresholds and task performance enhancements,' Proceedings, 2003 Haptics Symposium, pp. 85-90, IEEE Computer Society Press, Los Angeles, CA, March 2003.

[170]
C. Preusche, G. Hirzinger, J.H. Ryu, B. Hannaford, 'Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays,' IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2944-9249, Las Vegas, October 2003.

[171]
G. Lee, B. Hannaford, 'Anisotropies of Touch in Haptic Icon Exploration,' IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, October 2003.

[172]
Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Stable Teleoperation with Time Domain Passivity Control,' IEEE Trans. on Robotics and Automation, vol. 20, pp. 365-373, April, 2004.

[173]
J. Dosher, B. Hannaford, 'Human Interaction with Small Haptic Effects,' PRESENCE, vol. 14, pp. 329-344, June 2005.

[174]
T.M. Kowalewski, J. Rosen, L. Chang, M. Sinanan, B. Hannaford, 'Optimization of a vector quantization codebook for objective evaluation of surgical skill.,' Proc. Medicine Meets Virtual Reality 12, pp. 174-179, January 2004..

[175]
M.J.H. Lum, J. Rosen, M. Sinanan, B. Hannaford, 'Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot.,' Proc. IEEE International Conference on Robotics and Automation, New Orleans, La, May 2004.

[176]
Brown, J. Rosen, M. N. Sinanan, B. Hannaford, 'In-Vivo and Postmortem Compressive Properties of Porcine Abdominal Organs,' Lecture Notes in Computer Science, Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003, vol. 2878, pp. 238 -245, Toronto, Canada., 2003.

[177]
J.D. Brown, J. Rosen, L. Chang, M. Sinanan, B. Hannaford, 'Quantifying Surgeon Grasping Mechanics in Laparoscopy Using the Blue DRAGON System,' Studies in Health Technology and Informatics - Medicine Meets Virtual Reality 13, pp. 34-36, IOS Press, 2004.

[178]
J.E. Speich, J. Rosen, 'Medical Robotics,' In Encyclopedia of Biomaterials and Biomedical Engineering, pp. 983-993, Marcel Dekker, New York, 2004.

[179]
Jee-Hwan Ryu, Carsten Preusche, Blake Hannaford, Gerd Hirzinger, 'Time Domain Passivity Control with Reference Energy Behavior,' IEEE Trans. on Control Systems Technology, vol. 13, pp. 737, Sept 2005.

[180]
Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford, 'Sampled and Continuous Time Passivity and Stability of Virtual Environments,' IEEE Trans. on Robotics and Automation, vol. 20, pp. 772-776, .

[181]
Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach,' IEEE Trans. on Robotics, vol. 20, pp. 776-780, 2004.

[182]
Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Stability Guaranteed Control: Time Domain Passivity Approach,' IEEE Trans. on Control Systems Technology, vol. 12, 2004.

[183]
J.H. Ryu, B. Hannaford, C. Preusche, G. Hirzinger, 'Time Domain Passivity Control with Reference Energy Behavior,' Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2932-2937, Las Vegas, 2003.

[184]
B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song, 'Testing Time Domain Passivity Control of Haptic Enabled Systems ,' In "Experimental Robotics", pp. 550-559, Springer Tracts in Advanced Robotics Series, 2003.

[185]
J.H. Ryu, D.S. Kwon, B. Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach ,' In "Control Problems in Robotics", pp. 121-134, Antonio Bicchi, Henrik I. Christensen, and Domenico Prattichizzo, Ed., Springer Tracts in Advanced Robotics Series, 003.

[186]
B. Hannaford, J.H. Ryu, Y.S. Kim, 'Chapter 3 Stable Control of Haptics ,' In "Touch in Virtual Environments", pp. 47-70, Margaret L. McLaughlin, Ed., Prentice Hall PTR, IMSC Press Multimedia Series, 2001.

[187]
D.P. Ferris, J.M. Czerniecki, B. Hannaford, 'An ankle-foot orthosis powered by artificial pneumatic muscles,' Journal of Applied Biomechanics, vol. 21, pp. 189-197, 2005.

[188]
J. Rosen, M. Lum, D. Trimble, B. Hannaford, M. Sinanan, 'Spherical Mechanism Analysis of a Surgical Robot for Minimally Invasive Surgery - Analytical and Experimental Approaches,' Medicine Meets Virtual Reality, (MMVR05), vol. 111, pp. 422-428, IOS Press, January, 2005.

[189]
M.J.H. Lum, J. Rosen, M. N. Sinanan, B. Hannaford, 'Kinematic Optimization of Serial and Parallel Spherical Mechanism for a Minimally Invasive Surgical Robot,' IEEE Transactions on Biomedical Engineering, vol. 53, pp. 1440-1445, July 2006..

[190]
M.J.H. Lum, D. Warden, J. Rosen, M.N. Sinanan, B. Hannaford, 'Hybrid analysis of a spherical mechanism for a minimally invasive surgical (MIS) robot - design concepts for multiple optimizations,' Proceedings of Medicine Meets Virtual Reality, pp. 349-354, Long Beach, CA, January 2006..

[191]
K. Fodero, H. King, M. J.H. Lum, C. Bland, J. Rosen, M.N. Sinanan, B. Hannaford, 'Control System Architecture for a Minimally Invasive Surgical Robot,' Proceedings of Medicine Meets Virtual Reality, pp. 156-158, Long Beach, CA, January 2006..

[192]
T. Mackel, J. Rosen, C. Pugh, 'Data Mining of the E-pelvis Simulator Database A Quest for a Generalized Algorithm for Objectively Assessing Medical Skill,' Proceedings of Medicine Meets Virtual Reality, pp. 355-360, Long Beach, CA, January 2006..

[193]
M.J.H. Lum, D. Trimble, J. Rosen, H. King, G. Sankarayanaranan, J. Dosher, R. Leuschke, B Martin-Anderson, M.N. Sinanan, B. Hannaford, 'Multidisciplinary approach for developing a  new minimally invasive surgical robot system,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.

[194]
J.C. Perry, J. Rosen, 'Design of a 7 Degree-of-Freedom Upper-Limb Powered Exoskeleton,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.

[195]
S. De, P. Swanson, M.N. Sinanan, J. Rosen, A. Dagon, B. Hannaford, 'Tissue Damage due to Mechanical Stresses as applied during Minimally Invasive Surgery,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.

[196]
G. Sankaranarayanan, B. Hannaford, 'Virtual Coupling Schemes for Causality Control in Networked Haptic Environments,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.

[197]
J. Lester, B. Hannaford, G. Borriello, ''Are You with Me?' - Using Accelerometers to Determine If Two Devices Are Carried by the Same Person,' Pervasive Computing, pp. 33-50, Vienna, Austria, 2004.

[198]
J. Lester, T. Choudhury, N. Kern, G. Borriello, B. Hannaford, 'A Hybrid Discriminative/Generative Approach for Modeling Human Activities,' Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence, pp. 766 - 722, Edinburgh, Scotland, 2005.

[199]
J. Rosen, J.D. Brown, L. Chang, M. Sinanan, B. Hannaford, 'Generalized Approach for Modeling Minimally Invasive Surgery as a Stochastic Process Using a Discrete Markov Model,' IEEE Transactions on Biomedical Engineering, vol. 53, pp. 399-413, March 2006.

[200]
R. Leuschke, A. Bhandari, B. Sires, B. Hannaford, 'Low Cost Eye Surgery Simulator with Skill Assessment Component,' Proceedings MMVR 2007, Long Beach, CA, Feb 6-9, 2007.

[201]
S. De, A. Dagan, P. Roan, J. Rosen, M. Sinanan, M. Gupta, B. Hannaford, 'CIELab and sRGB color values of in vivo normal and grasped porcine liver,' Proceedings MMVR 2007, Long Beach, CA, Feb 6-9, 2007.

[202]
D.W. Friedman, J. Dosher, T. Kowalewski, J. Rosen, B. Hannaford, 'Automated Tool Handling for the Traumapod Surgical Robot,' Proceedings of IEEE Int. Conf. on Robotics and Automation, ICRA2007, Rome Italy, May 2007.

[203]
J. Rosen, B. Hannaford, 'Doc at a Distance,' IEEE Spectrum, pp. 34-39, October 2006.

[204]
B. Hannaford, R. Leuschke, 'Fast Rendering for a Multifinger Haptic Display,' Proceedings of World Haptics 2007, Japan, March 22, 2007.

[205]
R. Donlin, R. Leuschke, B. Hannaford, 'Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device,' Proceedings of World Haptics 2007, Japan, March 22, 2007.

[206]
M.H. Lum, D.C.W. Friedman, H.H. King, T. Broderick, M.N. Sinanan, J. Rosen, B. Hannaford, 'Field Operation of a Surgical Robot via Airborne Wireless Radio Link,' IEEE Int. Conf. on Field and Service Robotics, 2007.

[207]
S. De, J. Rosen, A. Dagan, P. Swanson, M. Sinanan, B. Hannaford, 'Tissue Damage due to Mechanical Stresses as applied during Minimally Invasive Surgery,' International Journal of Robotics Research, vol. 26, pp. 1159-1171, Nov-2007.

[208]
R. Leuschke, E.K.T. Kurihara, J. Dosher, B. Hannaford, 'High Fidelity Multi Finger Haptic Display,' Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. WHC 2005., pp. 606-608, 2005.

[209]
X. Yu, H.J. Chizeck, B. Hannaford, 'Comparison of Transient Performance in the Control of Soft Tissue Grasping,' Proceedings of IROS 2007, San Diego, CA, 2007.

[210]
G. Sankaranarayanan, L. Potter, B. Hannaford, 'Measurement and Simulation of Time Varying Packet Delay with Applications to Networked Haptic Virtual Environments,' Proceedings of Robocom 2007, Athens, Greece, October 2007.

[211]
R. Leuschke, R. Donlin, M. Claus, M. Nugent, D. van der Reyden, B. Hannaford, 'Haptic Characteristics of Document Conservation Tasks,' Proceedings 2008 Haptics Symposium, Reno NV., 5P 383-386.

[212]
G. Sankaranarayanan, B. Hannaford, 'Experimental Internet Haptic Collaboration Using Virtual Coupling Schemes,' Proceedings 2008 Haptics Symposium, Reno NV., 2008.

[213]
G. Sankaranarayanan, H. King, S.Y. Ko, M.J.H Lum, D.C.W. Friedman, J. Rosen, B. Hannaford, 'Portable Surgery Master Station for Mobile Robotic Telesurgery,' Proceedings of Robocom 2007, Athens, Greece, October 2007.

[214]
G. Sankaranarayanan, B. Hannaford, 'Comparison of Performance of Virtual Coupling Schemes for Haptic Collaboration using Real and Emulated Internet Connections,' Proceedings of Robocom 2007, Athens, Greece, October 2007.

[215]
M.J.H Lum, J. Rosen, H. King, D.C.W. Friedman, G. Donlin, G. Sankaranarayanan, B. Harnett, L. Huffnam, C. Doarn, T. Broderick, B. Hannaford, Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot, a Field Deployable Surgical Robot, ed Internet Connections, ll Assessment, 'Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot,' Proceedings, Medicine Meets Virtual Reality (MMVR), Long Beach, CA, 2007.

[216]
M.J.H. Lum, D.C.W. Friedman, G. Sankaranarayanan, H. King, A. Wright, M. Sinanan, T. Lendvay, J. Rosen, B. Hannaford, 'Objective Assessment of Telesurgical Robot Systems: Telerobotic FLS,' Proceedings, Medicine Meets Virtual Reality (MMVR), Long Beach, CA, 29-Jan --- 1-Feb, 2008.

[217]
J. Rosen, J. Brown, S. De, M. Sinanan, B. Hannnaford, 'Biomechanical Properties of Abdominal Organs In Vivo and Postmortem Under Compression Loads,' J. Biomechancal Engineering, vol. 130, 8-Apr-2008.

[M001]
B. Hannaford, 'Comments on the Article "Process Control Simulation using Spreadsheets",' Letter to TAPPI Journal, 1988.

[M002]
W.S. Kim, B. Hannaford, 'Active Compliance for Shared Control,' Jet Propulsion Laboratory Engineering Memorandum 347-89-259, Jan 1989.

[M003]
B. Hannaford, et al., 'Force-Feedback Cursor Control,' NASA Tech Briefs, vol. 13, Nov. 1989..

[M004]
B. Hannaford, 'Non-linear Phasic Dynamics of Muscle Activation and Force Generation,' Abstract: Proceedings ISEK 90, pp. 345-348, Baltimore MD, August, 1990.

[M005]
P. Buttolo, J. Hewitt, R. Oboe, B. Hannaford, 'Force Feedback in Virtual and Shared Environments,' Poster: IEEE Intl. conf. on System, Man and Cybernetics, Vancouver BC, October 1995.

[M006]
J. Brown, J. Rosen, B. Hannaford, M. Sinanan, 'A Passive Mechanical Pantograph System for Measuring Tool Position During Minimally Invasive Surgery (Poster),' Bioengineering, vol. 28, Supplement 1, Seattle, WA, October 2000.

[M007]
J. Rosen, M. Solazzo, B. Hannaford, M. Sinanan, 'Task Decomposition of Minimally Invasive Surgery for Objective Evaluation of Laparoscopic Surgical Skills Using Hidden Markov Models,' of Bioengineering, vol. 28, Supplement 1, Seattle, WA, October 2000.

[M008]
J.D. Brown, J. Rosen, J. Longnion, M. Sinanan, B. Hannaford, 'Design and Performance of a Surgical Tool Tracking System for Minimally Invasive Surgery,' Engineering Congress and Exposition: Advances in Bioengineering, BED, vol. 51, pp. 169-170, ASME, New York, Nov. 11-16, 2001.

[M009]
D. Wilson, B. Hannaford, 'Robust Electronic Design: What's That?,' Proc. Frontiers in Engineering Education, Reno, NV, Oct 10-13, 2001.

[M010]
G. Klute, J. Czerniecki, B. Hannaford, 'ARTIFICIAL MUSCLES: ACTUATORS FOR LOWER LIMB PROSTHESES,' Proceedings of the 2nd Annual Meeting of the VA Rehabilitation Research and Development Service, pp. 107, Washington DC, February 20-22, 2000.

[M011]
G. Borriello, T. Choudhury, B. Hannaford, N. Kern, J. Lester, 'Choosing the Right Modalities and Features for Activity Recognition,' Neural Information Processing Systems 2004 Workshop on Multimodal Signal Processing, Whistler, British Columbia, 2004..

[M012]
C. Doarn, K. Hufford, T. Low, J. Rosen, B. Hannaford, 'Roundtable Discussion: Telesurgery and Robotics,' Telemedicine and e-Health, vol. 13, Mary Ann Liebert, Inc., 2007.

[Th013]
P.H. Marbot, 'Ia Response of a Mechanical Spindle Replica,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, March 1995.

[Th014]
N.E. Greivell, 'The Design of a Ferrofluid Magnetic Pipette,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June 1995.

[Th015]
D.Y. Hwang, 'Teleoperation Performance with a Kinematically Redundant Slave Robot,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, December 1995.

[Th016]
P. Buttolo, 'Characterization of Human Pen Grasp with Haptic Displays,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, June 1996.

[Th017]
C.P. Chou, 'Study of Human Motion Control with a Physiologically Based Robotic Arm and Spinal Level Neural Controller,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, June 1996.

[Th018]
H. Takenaka, 'Hidden Markov Model Approach to Skill Analysis in Violin Bowing,' MSEE Thesis, University of Washington, Department of Electrical Engineering, December, 1995.

[Th019]
M. Moreyra, 'Design of a Planar High Bandwidth Force Display with Force Sensing,' MSEE Thesis, University of Washington, Department of Electrical Engineering, August, 1996.

[Th020]
J.M. Trujillo, 'Enhancing the Sense of Touch in Minimally Invasive Surgery: Design of the Force Reflective Endoscopic Grasper,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June, 1997.

[Th021]
S.C. Venema, 'Experiments in Surface Perception Using a Haptic Display,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, April, 1999.

[Th022]
R. J. Adams, 'Stable Haptic Interaction with Virtual Environments,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, September, 1999.

[Th023]
T. Maneewarn, 'Haptic Feedback of Manipulator Kinematic Conditioning for Teleoperation,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, September, 1999.

[Th024]
G.K. Klute, 'Artificial Muscles: Actuators for Biorobotic Systems,' Ph.D. Thesis, University of Washington, Department of Bioengineering, December, 1999.

[Th025]
K.N. Jaax, 'A Robotic Muscle Spindle: Neuromechanics of Individual and Ensemble Response,' Ph.D. Thesis, University of Washington, Department of Bioengineering, June 2001.

[Th026]
J. Dosher, 'Detection Thresholds and Performance Gains for Small Haptic Effects,' MSEE Thesis, University of Washington, Department of Electrical Engineering, December 2002.

[Th027]
J.D. Brown, ' In-Vivo and Postmortem Biomechanics of Abdominal Organs Under Compressive Loads: Experimental Approach in a Laparoscopic Surgery Setup,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, December 2003.

[Th028]
G.S. Lee, 'Low Power Haptic Devices: Ramifications on Perception and Device Design,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, June 2004.

[Th029]
M. Lum, 'Kinematic Optimization of a 2-DOF Spherical Mechanism for a Minimally Invasive Surgical Robot,' MSEE Thesis, University of Washington, Department of Electrical Engineering, December 2004.

[]
Y, 'X,' B, C.