Winter Quarter Accomplishments, part 2

We’ve had many papers and conference submissions accepted!

-Two papers accepted to the 8th International IEEE Conference on Neural Engineering in Shanghai, China, May 25-28, 2017:

A. Haddock, A. Velisar, J. Herron, H. Bronte-Stewart, H. J. Chizeck, “Model Predictive Control of Deep Brain Stimulation for Parkinsonian Tremor”

B. Houston, M. Thompson, J. Ojemann, A. Ko, H. Chizeck, “Classifier Based Closed-Loop Deep Brain Stimulation for Essential Tremor”

-Paper accepted to be published in IEEE Robotics and Automation Letters:

M. Haghighipanah; M. Miyasaka; B. Hannaford, “Utilizing Elasticity of Cable Driven Surgical Robot to Estimate Cable Tension and External Force,” in IEEE Robotics and Automation Letters , vol.PP, no.99, pp.1-1

-Paper accepted to the Hybrid System Control Conference (HSCC):

A. Pace, S. Burden, “Piecewise–Differentiable Trajectory Outcomes in Mechanical Systems Subject to Unilateral Constraints”

-Paper accepted to the International Conference on Robotics and Automation (ICRA)

A. Pace, S. Burden, “Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation”

Spring and Summer Quarter announcements

Now that we’re in the full swing of summer quarter we’re looking back and highlighting some of the accomplishments of spring quarter and welcoming our summer research students.


C. Matlack; H. Chizeck; C. T. Moritz, “Empirical Movement Models for Brain Computer Interfaces,” in IEEE Transactions on Neural Systems and Rehabilitation Engineering , vol.PP, no.99, pp.1-1 doi: 10.1109/TNSRE.2016.2584101


Katherine Pratt was awarded as a member of the inaugural Husky 100 class.  This award recognizes 100 individuals from across the UW campuses for work in and out of the classroom.  Read more from the department here.

Summer Students:

We are super excited to have high school and college students from UW and beyond working with us in the lab this summer:

Hannah is a rising sophomore here at the University of Washington.  She’s worked in the lab previously, and is spending the summer working with Andrew Haddock on haptic diagnostic tools for patients with Parkinson’s Disease.







Matt Ehlert is going to be a junior this fall at the University of New Mexico.  He’s working with Katherine Pratt and Howard Chizeck on BCI security.







Gabriel Solia is a visiting masters student from Brazil.  His work includes the Microsoft Hololens, and he’s working with Sam Burden and Ryan Robinson.





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Jane Yi is a high school student working with Gabriel, Sam, and Ryan on the Microsoft Hololens project.







Anisha Uppugonduri is a sophomore here at the University of Washington, and is working with Maggie Thompson.





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Nishi Kaza is a rising junior at Skyline High School.  He’s working on the touchless touchscreen project.’





Magena Fura (not pictured) is working with us through the CSNE Research Experience for Undergraduates program.  She’s working with Maggie Thompson.

Alex Franke (not pictured) is working with us through the CSNE Research Experience for Undergraduates program.  He’s working on neuroethics with Tim Brown.

Welcome spring quarter 2016!

Spring break has ended and we’re ready for another busy quarter here at BRL.  We’d like to recognize the accomplishments of our students over winter quarter:

  • Maggie Thompson and our collaborators had a paper accepted for the 6th International Brain Computer Interface meeting
    • M. Thompson,  J. Herron, A. Ko, and H. Chizeck. (2016). Demonstration of a Chronic Brain-Computer Interface using a Deep Brain Stimulator. In: 6th International Brain-Computer Interface Meeting.
  • Bora Banjanin presented his work on estimating predictive dynamic models of legged locomotion from data at a conference and a workshop:
    • B. Banjanin, S. Burden, T. Moore, S. Revzen, and R. Full.  “Estimating predictive dynamical models of legged locomotion from
      data,” Society of Integrative and Comparative Biology, Portland, Oregon, Jan 5, 2016.
    • B. Banjanin.  “Estimating predictive dynamical models of legged locomotion from data,” Fifth Annual Winter Workshop on Neuromechanics and Dynamics of Locomotion, New Orleans, Louisiana, Jan 21-22, 2016.
  • We had three papers accepted to the 2016 IEEE International Conference on Robotics and Automation:
    • Yangming Li*, Muneaki Miyasaka, Mohammad Haghighipanah, Blake Hannaford
      Dynamic Modeling of Cable Driven Elongated Surgical Instruments for Sensorless Grip Force Estimation
    • Mohammad Haghighipanah*, Muneaki Miyasaka, Yangming Li, Blake Hannaford
      Unscented Kalman Filter and 3D Vision to Improve Cable Driven Surgical Robot Joint Angle Estimation
    • Muneaki Miyasaka*, Mohammad Haghighipanah, Blake Hannaford
      Hysteresis Model of Longitudinally Loaded Cable for Cable Driven Robots and Identification of the Parameters

Congratulations to all of our accepted authors and presenters!

Upcoming BRL Papers at IROS 2015

The BioRobotics Lab has had four papers accepted to the 2015 IEEE International Conference on Intelligent Robots and Systems in Hamburg, Germany this coming Fall. We’re looking forward to presenting our recent research and contributions to the robotics field. The 2015 ICRA papers authored by BRL researchers are:

Improving Position Precision of a Servo-Controlled Elastic Cable Driven Surgical Robot Using Unscented Kalman Filter” by Mohammad Haghighipanah, Yangming Li, Muneaki Miyasaka, and Blake Hannaford.

Path Planning for Semi-automated Simulated Robotic Neurosurgery” by Danying Hu, Yuanzheng Gong, Blake Hannaford, and Eric J. Seibel.

Measurement of the Cable-Pulley Coulomb and Viscous Friction for a Cable-Driven Surgical Robotic System” by Muneaki Miyasaka, Joseph Matheson, Andrew Lewis, and Blake Hannaford.

Haptic Passwords” by Junjie Yan, Kevin Huang, Tamara Bonaci, and Howard J. Chizeck.


Additionally, incoming EE Professor Sam Burden, who will be joining the BRL, has also coauthored a paper to be presented at IROS:

Personalized Kinematics for Human–Robot Collaborative Manipulation” by Aaron M. Bestick, Samuel A. Burden, Giorgia Willits, Nikhil Naikal , S. Shankar Sastry, and Ruzena Bajcsy.

BRL Contributes two papers to We Robot 2015


We Robot posted the papers to be discussed next week at upcoming conference at the University of Washington. The conference deals with various ethical and legal issues surrounding near-future technologies. The BioRobotics lab contributed two papers to the conference that refer to our ongoing work in teleoperation security and closed-loop DBS systems. We are really looking forward to seeing what discussions these papers generate!

Feel free to read the papers or watch the panel discussions from the conference which have been published online at the below links-

Read more

Upcoming Publications and Conferences

Members of the BRL will be presenting a number of papers at upcoming conferences this spring. The final papers will be posted to this website after each of the respective conferences.


WeRobot 2015, the fourth annual conference on Robotics, Law and policy, will be held in Seattle on April 10-11, 2015. This innovative conference includes formal (and informal) discussions of papers by experts from government, NGO’s, corporations and legal experts, as well as academics. Two of the papers to be addressed in this conference involve our lab:

I Did It My Way: On Law And Operator Signatures for Teleoperated Robots by Tamara Bonaci, Aaron Alva, Jeffrey Herron, Ryan Calo, Howard Jay Chizeck

Personal Responsibility in the Age of User-Controlled Neuroprosthetics by Patrick Moore, Timothy Brown, Jeffrey Herron, Margaret Thompson, Tamara Bonaci, Sara Goering, and Howard Chizeck.


The 2015 Cyberphysical Systems Week Conference  will be held in Seattle from April 14-16, 2014. This international conference (since 2008) now encompasses four ACM and IEEE conferences. Our lab’s contribution is:

Experimental Analysis of Denial-of-Service Attacks on Teleoperated Robotic Systems by Tamara Bonaci, Junjie Yan, Jeffrey Herron, Tadayoshi Kohno, Howard Jay Chizeck


The 2015 7th International IEEE/EMBS Conference on Neural Engineering  will be held in Montpellier, France from April 22-24. One of the papers at that conference will be:

Closed-Loop DBS with Movement Intention by Jeffrey Herron, Tim Denison, and Howard Jay Chizeck


The 2015 IEEE International Conference on Robotics and Automation (ICRA)  will be held in Seattle from May25-May 30, 2015.  From our lab, the following papers have been accepted:

Semi-autonomous Simulated Brain Tumor Ablation with RavenII Surgical Robot using Behavior Tree by Danying Hu, Yuanzheng Gong, Blake Hannaford, and Eric J. Seibel

Sensor-Aided Teleoperated Grasp of Transparent Objects by Kevin Huang, Liang-Ting Jiang, Joshua R. Smith, and Howard Jay Chizeck



BioRobotics Lab attends annual Society for Neuroscience Meeting in Washington DC

This last week members of the BioRobotics Lab traveled to Washington DC to present ongoing work in the areas of BCI privacy and security, BCI optimization, and closed-loop DBS at the annual Society for Neuroscience (SFN) meeting ( In addition to attending the main SFN conference, BRL researchers attended and discussed their research at several satellite conferences including the IEEE EMBS Brain Grand Challenges Conference and the 2014 INS Annual Meeting.

Read more

BRL attends Conference on Norbert Wiener in the 21st Century

wiener-norbertWe presented two papers at the 2014 IEEE Conference on Norbert Wiener in the 21st Century! The conference was a discussion about the father of cybernetics and his contributions to technology and society. The papers presented were:

T. Bonaci, J. Herron, C. Matlack, H. J. Chizeck, ‘Securing the Exocortex: A Twenty-First Century Cybernetics Challenge’, the Proceedings of the IEEE 2014 Conference on Norbert Wiener in the 21st Century, Boston, MA, June 2014

J. Herron and H. J. Chizeck. Prototype Closed-Loop Deep Brain Stimulation Systems Inspired by Norbert Wiener. In the Proceedings of the IEEE 2014 Conference on Norbert Wiener in the 21st Century, Boston, MA, June 2014.