Journal Papers since 1995

[251]
B. Hannaford, J. Rosen, Diana CW Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S.N. Kosari, L. White, 'Raven-II: AN Open Platform for Surgical Robotics Research,' IEEE Transactions on Biomedical Engineering, vol. 60, pp. 954-959, April 2013.

[250]
Diana CW Friedman, T. Lendvay, B. Hannaford, 'Instrument Failures for the da Vinci Surgical System: a Food and Drug Administration MAUDE Database Study,' Surgical Endoscopy, vol. 27, pp. 1503-1508, 14-Dec-2012.

[247]
F. Rydén, 'Tech to the future: Making a "Kinection" with haptic interaction,",' IEEE Potentials, pp. 34-36, May 4, 2012..

[244]
Edvard Naerum, Ole Jakob Elle, Blake Hannaford, 'The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation,' IEEE Transactions on Haptics, vol. 5, April 2012.

[234]
P. Roan, A.S. Wright, M. N. Sinanan, B. Hannaford, 'An Instrumented Minimally Invasive Surgical Tool: Design and Calibration,' Applied Bionics and Biomechanics, vol. Special Issue on Surgical Robotics, 2010.

[233]
D.W. Friedman, T. Kowalewski, R. Jovanovic, J. Rosen, B. Hannaford, 'Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints,' Applied Bionics and Biomechanics, vol. 7, pp. 209-216, 2010.

[220]
M. Lum, D. Friedman, J. Rosen, G. Sankaranarayanan, H. King, K. Fodero, R. Leuschke, M. Sinanan, B. Hannaford, 'The RAVEN - Design and Validation of a Telesurgery System,' International Journal of Robotics Research, vol. 28, pp. 1183-1197, September 2009.

[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.

[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.

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

[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.

[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..

[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.

[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.

[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.

[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, .

[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.

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

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.

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

[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.

[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.

[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.

[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.

[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.

[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.

[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.

[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.