Robert D. Howe

Lael 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. CoRR abs/1301.4394 (2013)

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe: Real-time image-based rigid registration of three-dimensional ultrasound. Medical Image Analysis 16(2): 402-414 (2012)

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe: Mitral annulus segmentation from four-dimensional ultrasound using a valve state predictor and constrained optical flow. Medical Image Analysis 16(2): 497-504 (2012)

Frank L. Hammond, Jonathan Weisz, Andres A. de la Llera Kurth, Peter K. Allen, Robert D. Howe: Towards a design optimization method for reducing the mechanical complexity of underactuated robotic hands. ICRA 2012: 2843-2850

Laura J. Brattain, Nikolay V. Vasilyev, Robert D. Howe: Enabling 3D Ultrasound Procedure Guidance through Enhanced Visualization. IPCAI 2012: 115-124

Frank L. Hammond, Rebecca K. Kramer, Qian Wan, Robert D. Howe, Robert J. Wood: Soft tactile sensor arrays for micromanipulation. IROS 2012: 25-32

Ignacio Galiana, Frank L. Hammond, Robert D. Howe, Marko B. Popovic: Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments. IROS 2012: 317-322

Michael C. Yip, Mahdi Tavakoli, Robert D. Howe: Performance Analysis of a Haptic Telemanipulation Task under Time Delay. Advanced Robotics 25(5): 651-673 (2011)

Aaron M. Dollar, Robert D. Howe: Joint coupling design of underactuated hands for unstructured environments. I. J. Robotic Res. 30(9): 1157-1169 (2011)

Samuel B. Kesner, Robert D. Howe: Position Control of Motion Compensation Cardiac Catheters. IEEE Transactions on Robotics 27(6): 1045-1055 (2011)

Robert J. Schneider, William C. Burke, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe: Modeling Mitral Valve Leaflets from Three-Dimensional Ultrasound. FIMH 2011: 215-222

Peter E. Hammer, Pedro J. del Nido, Robert D. Howe: Anisotropic Mass-Spring Method Accurately Simulates Mitral Valve Closure from Image-Based Models. FIMH 2011: 233-240

Samuel B. Kesner, Robert D. Howe: Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart. World Haptics 2011: 13-18

Samuel B. Kesner, Robert D. Howe: Force control of flexible catheter robots for beating heart surgery. ICRA 2011: 1589-1594

Neil A. Tenenholtz, Peter E. Hammer, Robert J. Schneider, Nikolay V. Vasilyev, Robert D. Howe: On the design of an interactive, patient-specific surgical simulator for mitral valve repair. IROS 2011: 1327-1332

Leif P. Jentoft, Robert D. Howe: Determining object geometry with compliance and simple sensors. IROS 2011: 3468-3473

Laura J. Brattain, Robert D. Howe: Real-Time 4D Ultrasound Mosaicing and Visualization. MICCAI (1) 2011: 105-112

Robert J. Schneider, Neil A. Tenenholtz, Douglas P. Perrin, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe: Patient-Specific Mitral Leaflet Segmentation from 4D Ultrasound. MICCAI (3) 2011: 520-527

Aaron M. Dollar, Leif P. Jentoft, Jason H. Gao, Robert D. Howe: Contact sensing and grasping performance of compliant hands. Auton. Robots 28(1): 65-75 (2010)

Aaron M. Dollar, Robert D. Howe: The Highly Adaptive SDM Hand: Design and Performance Evaluation. I. J. Robotic Res. 29(5): 585-597 (2010)

Michael C. Yip, Shelten G. Yuen, Robert D. Howe: A Robust Uniaxial Force Sensor for Minimally Invasive Surgery. IEEE Trans. Biomed. Engineering 57(5): 1008-1011 (2010)

Robert J. Schneider, Douglas P. Perrin, Nikolay V. Vasilyev, Gerald R. Marx, Pedro J. del Nido, Robert D. Howe: Mitral Annulus Segmentation From 3D Ultrasound Using Graph Cuts. IEEE Trans. Med. Imaging 29(9): 1676-1687 (2010)

Shelten G. Yuen, Douglas P. Perrin, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe: Force Tracking With Feed-Forward Motion Estimation for Beating Heart Surgery. IEEE Transactions on Robotics 26(5): 888-896 (2010)

Samuel B. Kesner, Robert D. Howe: Design and control of motion compensation cardiac catheters. ICRA 2010: 1059-1065

Samuel B. Kesner, Shelten G. Yuen, Robert D. Howe: Ultrasound Servoing of Catheters for Beating Heart Valve Repair. IPCAI 2010: 168-178

Michael C. Yip, Mahdi Tavakoli, Robert D. Howe: Performance analysis of a manipulation task in time-delayed teleoperation. IROS 2010: 5270-5275

Mahdi Tavakoli, Robert D. Howe: Haptic Effects of Surgical Teleoperator Flexibility. I. J. Robotic Res. 28(10): 1289-1302 (2009)

Shelten G. Yuen, Daniel T. Kettler, Paul M. Novotny, Richard D. Plowes, Robert D. Howe: Robotic Motion Compensation for Beating Heart Intracardiac Surgery. I. J. Robotic Res. 28(10): 1355-1372 (2009)

Ravi Balasubramanian, Robert D. Howe, Yoky Matsuoka: Task Performance is Prioritized Over Energy Reduction. IEEE Trans. Biomed. Engineering 56(5): 1310-1317 (2009)

Ryan A. Beasley, Robert 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)

Robert D. Howe: Fixing the Beating Heart: Ultrasound Guidance for Robotic Intracardiac Surgery. FIMH 2009: 97-103

Riichiro Tadakuma, Robert D. Howe: A whole-arm tactile display system. WHC 2009: 446-451

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. ISBI 2009: 779-782

Shelten G. Yuen, Michael C. Yip, Nikolay V. Vasilyev, Douglas P. Perrin, Pedro J. del Nido, Robert D. Howe: Robotic Force Stabilization for Beating Heart Intracardiac Surgery. MICCAI (1) 2009: 26-33

Marius George Linguraru, Nikolay V. Vasilyev, Gerald R. Marx, Wayne Tworetzky, Pedro J. del Nido, Robert D. Howe: Fast block flow tracking of atrial septal defects in 4D echocardiography. Medical Image Analysis 12(4): 397-412 (2008)

Shelten G. Yuen, Daniel T. Kettler, Robert D. Howe: Robotic motion compensation for beating intracardiac surgery. ICARCV 2008: 617-622

Shelten G. Yuen, Paul M. Novotny, Robert D. Howe: Quasiperiodic predictive filtering for robot-assisted beating heart surgery. ICRA 2008: 3875-3880

Aaron M. Dollar, Robert D. Howe: The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments. ISER 2008: 3-11

Shelten G. Yuen, Samuel B. Kesner, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe: 3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair. MICCAI (1) 2008: 711-719

Petr Jordan, Simona Socrate, Todd E. Zickler, Robert D. Howe: A Nonrigid Image Registration Framework for Identification of Tissue Mechanical Parameters. MICCAI (2) 2008: 930-938

Mark R. Cutkosky, Robert D. Howe, William R. Provancher: Force and Tactile Sensors. Springer Handbook of Robotics 2008: 455-476

Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Todd E. Zickler, Robert D. Howe: GPU based real-time instrument tracking with three-dimensional ultrasound. Medical Image Analysis 11(5): 458-464 (2007)

Christopher R. Wagner, Nicholas Stylopoulos, Patrick G. Jackson, Robert D. Howe: The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection. Presence 16(3): 252-262 (2007)

Christopher R. Wagner, Robert D. Howe: Force Feedback Benefit Depends on Experience in Multiple Degree of Freedom Robotic Surgery Task. IEEE Transactions on Robotics 23(6): 1235-1240 (2007)

Riichiro Tadakuma, Kenjiro Tadakuma, Robert D. Howe: Few D.O.F. Walking Robot with Outer-Wheels. CASE 2007: 1117-1124

María Oyarzábal, Masashi Nakatani, Robert D. Howe: Vibration Enhances Geometry Perception with Tactile Shape Displays. WHC 2007: 44-49

Paul M. Novotny, Jeffrey A. Stoll, Pierre E. Dupont, Robert D. Howe: Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound. ICRA 2007: 2655-2660

Aaron M. Dollar, Robert D. Howe: Simple, Robust Autonomous Grasping in Unstructured Environments. ICRA 2007: 4693-4700

Daniel T. Kettler, Richard D. Plowes, Paul M. Novotny, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe: An active motion compensation instrument for beating heart mitral valve surgery. IROS 2007: 1290-1295

Mahdi Tavakoli, Robert D. Howe: The effect of joint elasticity on bilateral teleoperation. IROS 2007: 1618-1623

Marius George Linguraru, Alexandre Kabla, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe: Real-Time Block Flow Tracking of Atrial Septal Defect Motion in 4d Cardiac Ultrasound. ISBI 2007: 356-359

Christopher R. Wagner, Douglas P. Perrin, Robert D. Howe, Nikolay V. Vasilyev, Pedro J. del Nido: Force Feedback in a Three-Dimensional Ultrasound-Guided Surgical Task. HAPTICS 2006: 5

Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont: Real-time 3D Ultrasound-based Servoing of a Surgical Instrument. ICRA 2006: 613-618

Ross L. Feller, Douglas P. Perrin, Robert D. Howe: Validation and Explanation of Waterhammer-based Locomotion. ICRA 2006: 4264-4269

Paul M. Novotny, Jeffrey A. Stoll, Nikolay V. Vasilyev, Pedro J. del Nido, Pierre E. Dupont, Robert D. Howe: GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. MICCAI (1) 2006: 58-65

Marius George Linguraru, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe: Atrial Septal Defect Tracking in 3D Cardiac Ultrasound. MICCAI (1) 2006: 596-603

Aaron M. Dollar, Robert D. Howe: Towards grasping in unstructured environments: grasper compliance and configuration optimization. Advanced Robotics 19(5): 523-543 (2005)

Thomas Debus, Pierre E. Dupont, Robert D. Howe: Distinguishability and identifiability testing of contact state models. Advanced Robotics 19(5): 545-566 (2005)

Christopher R. Wagner, Robert D. Howe: Mechanisms of Performance Enhancement with Force Feedback. WHC 2005: 21-29

Christopher R. Wagner, Douglas P. Perrin, Ross L. Feller, Robert D. Howe, Olivier Clatz, Hervé Delingette, Nicholas Ayache: Integrating Tactile and Force Feedback with Finite Element Models. ICRA 2005: 3942-3947

Ryan A. Beasley, Robert D. Howe: Model-Based Error Correction for Flexible Robotic Surgical Instruments. Robotics: Science and Systems 2005: 359-364

Thomas Debus, Pierre E. Dupont, Robert D. Howe: Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models. I. J. Robotic Res. 23(4-5): 399-413 (2004)

Camilla K. L. Lau, Christopher R. Wagner, Robert D. Howe: Compliant Background Subration Algorithms for Tactile Rendering. HAPTICS 2004: 32-39

Susan J. Lederman, Robert D. Howe, Roberta L. Klatzky, Cheryl L. Hamilton: Force Variability during Surface Contact with Bare Finger or Rigid Probe. HAPTICS 2004: 154-160

Ryan A. Beasley, Robert D. Howe, Pierre E. Dupont: Kinematic Error Correction for Minimally Invasive Surgical Robots. ICRA 2004: 358-364

Ross L. Feller, Camilla K. L. Lau, Christopher R. Wagner, Douglas P. Perrin, Robert D. Howe: The Effect of Force Feedback on Remote Palpation. ICRA 2004: 782-788

Douglas P. Perrin, Albert Kwon, Robert D. Howe: A Novel Actuated Tether Design for Rescue Robots using Hydraulic Transients. ICRA 2004: 3482-3487

Mark P. Ottensmeyer, Amy E. Kerdok, Robert D. Howe, Steven Dawson: The Effects of Testing Environment on the Viscoelastic Properties of Soft Tissues. ISMS 2004: 9-18

Anna M. Galea, Robert D. Howe: Liver Vessel Parameter Estimation from Tactile Imaging Information. ISMS 2004: 59-66

Yi Liu, Amy E. Kerdok, Robert D. Howe: A Nonlinear Finite Element Model of Soft Tissue Indentation. ISMS 2004: 67-76

Amy E. Kerdok, Stephane Cotin, Mark P. Ottensmeyer, Anna M. Galea, Robert D. Howe, Steven Dawson: Truth cube: Establishing physical standards for soft tissue simulation. Medical Image Analysis 7(3): 283-291 (2003)

Jeremy W. Cannon, Jeffrey A. Stoll, Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana: Port placement planning in robot-assisted coronary artery bypass. IEEE Transactions on Robotics 19(5): 912-917 (2003)

Jaime M. Lee, Christopher R. Wagner, Susan J. Lederman, Robert D. Howe: Spatial Low Pass Filters for Pin Actuated Tactile Display. HAPTICS 2003: 57-62

Aaron M. Dollar, Robert D. Howe: Towards grasping in unstructured environments: optimization of grasper compliance and configuration. IROS 2003: 3410-3416

Anna M. Galea, Robert D. Howe: Mammography Registered Tactile Imaging. IS4TH 2003: 183-193

Paul M. Novotny, Jeremy W. Cannon, Robert D. Howe: Tool Localization in 3D Ultrasound Images. MICCAI (2) 2003: 969-970

Christopher R. Wagner, Nicholas Stylopoulos, Robert D. Howe: The Role of Force Feedback in Surgery: Analysis of Blunt Dissection. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2002: 73-79

Christopher R. Wagner, Susan J. Lederman, Robert D. Howe: A Tactile Shape Display Using RC Servomotors. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2002: 354-356

Thomas Debus, Tae-Jeong Jang, Pierre E. Dupont, Robert D. Howe: Multi-Channel Vibrotactile Display for Teleoperated Assembly. ICRA 2002: 592-597

Ryan A. Beasley, Robert D. Howe: Tactile Tracking of Arteries in Robotic Surgery. ICRA 2002: 3801-3806

Thomas Debus, Pierre E. Dupont, Robert D. Howe: Contact State Estimation using Multiple Model Estimation and Hidden Markov Models. ISER 2002: 517-526

Jaydev P. Desai, Robert D. Howe: Towards the Development of a Humanoid Arm by Minimizing Interaction Forces Through Minimum Impedance Control. ICRA 2001: 4214-4219

Shinsuk Park, Robert D. Howe, David F. Torchiana: Virtual Fixtures for Robotic Cardiac Surgery. MICCAI 2001: 1419-1420

Shaun Selha, Pierre E. Dupont, Robert D. Howe, David F. Torchiana: Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. MICCAI 2001: 1435-1436

Fuji Lai, Robert D. Howe: Evaluating Control Modes for Constrained Robotic Surgery. ICRA 2000: 603-609

Thomas Debus, Pierre E. Dupont, Robert D. Howe: Automatic Identification of Local Geometric Properties During Teleoperation. ICRA 2000: 3428-3434

Thomas Debus, Jeffrey A. Stoll, Robert D. Howe, Pierre E. Dupont: Cooperative Human and Machine Perception in Teleoperated Assembly. ISER 2000: 51-60

Pierre E. Dupont, Timothy M. Schulteis, Paul A. Millman, Robert D. Howe: Automatic Identification of Environment Haptic Properties. Presence 8(4): 394-411 (1999)

Thomas Debus, Pierre E. Dupont, Robert D. Howe: Automatic Property Identification via Parameterized Constraints. ICRA 1999: 1876-1881

Parris S. Wellman, Robert D. Howe: Extracting Features from Tactile Maps. MICCAI 1999: 1133-1142

Allison M. Okamura, Stanford Dennerlein, Robert D. Howe: Vibration Feedback Models for Virtual Environments. ICRA 1998: 674-679

Aram Z. Hajian, Daniel S. Sanchez, Robert D. Howe: Drum roll: increasing bandwidth through passive impedance modulation. ICRA 1997: 2294-2299

Pierre E. Dupont, Timothy M. Schulteis, Robert D. Howe: Experimental identification of kinematic constraints. ICRA 1997: 2677-2682

Parris S. Wellman, William J. Peine, Gregg Favalora, Robert D. Howe: Mechanical Design and Control of a High-Bandwidth Shape Memory Alloy Tactile Display. ISER 1997: 56-66

Robert D. Howe, Mark R. Cutkosky: Practical Force-Motion Models for Sliding Manipulation. I. J. Robotic Res. 15(6): 557-572 (1996)

Jae S. Son, Mark R. Cutkosky, Robert D. Howe: Comparison of contact sensor localization abilities during manipulation. Robotics and Autonomous Systems 17(4): 217-233 (1996)

Eric R. Dunn, Robert D. Howe: Foot placement and velocity control in smooth bipedal walking. ICRA 1996: 578-583

Dimitrios A. Kontarinis, Robert D. Howe: Tactile Display of High-Frequency Information in Teleoperation and Virtual Environments. Presence 4(4): 387-402 (1995)

Dimitrios A. Kontarinis, Jae S. Son, William J. Peine, Robert D. Howe: A Tactile Shape Sensing and Display System for Teleoperated Manipulation. ICRA 1995: 641-646

Jae S. Son, Robert D. Howe: Performance Limits and Stiffness Control of Multifingered Hands. ISER 1995: 91-102

Jae S. Son, Eduardo A. Monteverde, Robert D. Howe: A Tactile Sensor for Localizing Transient Events in Manipulation. ICRA 1994: 471-476

Eric R. Dunn, Robert D. Howe: Towards Smooth Bipedal Walking. ICRA 1994: 2489-2494

Robert D. Howe: Tactile sensing and control of robotic manipulation. Advanced Robotics 8(3): 245-261 (1993)

Benoni B. Edin, Robert D. Howe, Göran Westling, Mark R. Cutkosky: A physiological method for relaying frictional information to a human teleoperator. IEEE Transactions on Systems, Man, and Cybernetics 23(2): 427-432 (1993)

Robert D. Howe, Dimitrios A. Kontarinis: High-Frequency Force Information in Teleoperated Manipulation. ISER 1993: 343-352