Conference Papers since 1995

[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.

[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, 'Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot,' Proceedings, Medicine Meets Virtual Reality (MMVR), Long Beach, CA, 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.

[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.

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

[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.

[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.

[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.

[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.

[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.

[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.

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

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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, B. Hannaford, Multidisciplinary approach for developing a  new minimally invasive surgical robot system, minimally invasive surgical robot system, 'Multidisciplinary approach for developing a  new minimally invasive surgical robot system,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 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..

[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..

[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..

[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.

[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.

[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.

[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.

[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.

[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..

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

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

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

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

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

[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.

[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.

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

[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.

[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.

[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.

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

[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.

[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.

[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.

[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.

[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.

[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.

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

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

[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.

[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.

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

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

[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.