Haptics : Research - Publications browse

Publication Table of Contents

Journal Articles and Book Chapters
Peer-Reviewed Conference Papers
Short Peer-Reviewed Conference Papers and Posters
Demonstrations

Journal Articles and Book Chapters

Ernest D. Gomez, Rajesh Aggarwal, William McMahan, Karlin Bark, and Katherine J. Kuchenbecker. Objective assessment of robotic surgical skill using instrument contact vibrations. Surgical Endoscopy, 30(4):1419–1431, April 2016. (pdf)

Claudio Pacchierotti, Domenico Prattichizzo, and Katherine J. Kuchenbecker. Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery. IEEE Transactions on Biomedical Engineering, 63(2):278–287, February 2016. (pdf)

Claudio Pacchierotti, Domenico Prattichizzo, and Katherine J. Kuchenbecker. Displaying sensed tactile cues with a fingertip haptic device. IEEE Transactions on Haptics, 8(4):384–396, October–December 2015. (pdf)

Jacqueline K. Koehn and Katherine J. Kuchenbecker. Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery. Surgical Endoscopy, 29(10):2970–2983, October 2015. (pdf)

Rebecca P. Khurshid and Katherine J. Kuchenbecker. Data-driven motion mappings improve transparency in teleoperation. Presence: Teleoperators and Virtual Environments, 24(2):132–154, May 2015. (pdf)

Karlin Bark, Emily Hyman, Frank Tan, Elizabeth Cha, Steven A. Jax, Laurel J. Buxbaum, and Katherine J. Kuchenbecker. Effects of vibrotactile feedback on human motor learning of arbitrary arm motions. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(1):51–63, January 2015.

Vivian Chu, Ian McMahon, Lorenzo Riano, Craig G. McDonald, Qin He, Jorge Martinez Perez-Tejada, Michael Arrigo, Trevor Darrell, and Katherine J. Kuchenbecker. Robotic learning of haptic adjectives through physical interaction. Robotics and Autonomous Systems, 63(3):279–292, January 2015. (pdf)

Yosuke Kurihara, Seiya Takei, Yuriko Nakai, Taku Hachisu, Katherine J. Kuchenbecker, and Hiroyuki Kajimoto. Haptic robotization of human body via data-driven vibrotactile feedback. Entertainment Computing, 5(4):485–494, December 2014. (pdf)

Heather Culbertson, Juliette Unwin, and Katherine J. Kuchenbecker. Modeling and rendering realistic textures from unconstrained tool-surface interactions. IEEE Transactions on Haptics, 7(3):381–292, July–September 2014. (pdf)

W. McMahan, E. D. Gomez, L. Chen, K. Bark, J. C. Nappo, E. I. Koch, D. I. Lee, K. R. Dumon, N. N. Williams, and K. J. Kuchenbecker, A practical system for recording instrument interactions during live robotic surgery. Journal of Robotic Surgery, In Press, Published online April 2013. (pdf) (video)

K. Bark, W. McMahan, A. Remington, J. Gewirtz, A. Wedmid, D. I. Lee, and K. J. Kuchenbecker. In Vivo Validation of a System for Haptic Feedback of Tool Vibrations in Robotic Surgery. Surgical Endoscopy, Volume 27(2):656-664, February 2013. (pdf)

J. M. Romano, J. P Brindza, and K. J. Kuchenbecker. ROS open source audio recognizer: ROAR environmental sound detection tools for robot programming. Autonomous Robots, Volume 34(3):207-215, 2013. (pdf)

A. A. Stanley, and K. J. Kuchenbecker. Evaluation of Tactile Feedback Methods for Wrist Rotation Guidance. IEEE Transactions on Haptics, Volume 5(3):240-251, July-September 2012. (pdf)

J. M. Romano, and K. J. Kuchenbecker. Creating Realistic Virtual Textures from Contact Acceleration Data. IEEE Transactions on Haptics, Volume 5(2):109-119, April-June 2012. (pdf)

J. M. Romano, K. Hsiao, G. Niemeyer, S. Chitta, and K. J. Kuchenbecker. Human-Inspired Robotic Grasp Control With Tactile Sensing. IEEE Transactions on Robotics. Volume 27(6):1067-1079, Dec. 2011. (pdf)

W. McMahan, J. Gewirtz, D. Standish, P. Martin, J. A. Kunkel, M. Lilavois, A. Wedmid, D. I. Lee, and K. J. Kuchenbecker. Tool Contact Acceleration Feedback for Telerobotic Surgery. IEEE Transactions on Haptics, Special Issue on Haptics in Medicine and Clinical Skill Acquisition. Volume 4(3):210-220, July 2011. (pdf) (bib)

S. Kim, G. Spencer, G. Makar, N. Ahmad, D. Jaffe, G. Ginsberg, K. J. Kuchenbecker, and M. Kochman. Lack of Discriminatory Function for Endoscopy Skills on a Computer-based Simulator. Surgical Endoscopy. Volume 24(12):3008–3015, 2010. (bib)

A. Blank, A. M. Okamura, and K. J. Kuchenbecker. Identifying the Role of Proprioception in Upper-Limb Prosthesis Control: Studies on Targeted Motion. ACM Transactions on Applied Perception. Volume 7(3):1–23, June 2010. (bib)

K. J. Kuchenbecker, J. M. Romano, and W. McMahan. Haptography: Capturing and recreating the rich feel of real surfaces. Invited paper at International Symposium on Robotics Research, August 2009. To appear as a chapter in a Springer Tracts in Advanced Robotics book. (bib)

A. M. Okamura, K. J. Kuchenbecker, and M. Mahvash. Measurement-Based Modeling for Haptic Display. Chapter in Haptic Rendering: Foundations, Algorithms, and Applications. Eds. M. Lin and M. Otaduy. A. K. Peters Ltd. 2008. (bib)

K. J. Kuchenbecker and G. Niemeyer. Induced Master Motion in Force-Reflecting Teleoperation. ASME Journal of Dynamic Systems, Measurement, and Control. Volume 128(4):800-810, December 2006. (bib)

K. J. Kuchenbecker, J. Fiene, and G. Niemeyer. Improving Contact Realism Through Event-Based Haptic Feedback. IEEE Transactions on Visualization and Computer Graphics. Volume 12(2):219-230, March/April 2006. (bib)

W. R. Provancher, M. R. Cutkosky, K. J. Kuchenbecker, and G. Niemeyer. Contact Location Feedback for Haptic Perception of Curvature and Object Motion. International Journal of Robotics Research, Volume 24(9):691-702, September 2005. (bib)

Peer-Reviewed Conference Papers

Yang Gao, Lisa Anne Hendricks, Katherine J. Kuchenbecker, and Trevor Darrell. Deep learning for tactile understanding from visual and haptic data. Accepted to IEEE International Conference on Robotics and Automation, 2016.

Jeremy D. Brown, Mary Ibrahim, Elyse D. Z. Chase, Claudio Pacchierotti, and Katherine J. Kuchenbecker. Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery. In Proc. IEEE Haptics Symposium, pages 147–154, Philadelphia, Pennsylvania, USA, April 2016.

Jennifer C. T. Hui, Alexis E. Block, Camillo J. Taylor, and Katherine J. Kuchenbecker. Robust tactile perception of artificial tumors using pairwise comparisons of sensor array readings. In Proc. IEEE Haptics Symposium, pages 305–312, Philadelphia, Pennsylvania, USA, April 2016.

Heather Culbertson and Katherine J. Kuchenbecker. Should haptic texture vibrations respond to user force and speed? In IEEE World Haptics Conference, pages 106–112, Evanston, Illinois, USA, June 2015.

Jennifer C. T. Hui and Katherine J. Kuchenbecker. Evaluating the BioTac’s ability to detect and characterize lumps in simulated tissue. In M. Auvray and C. Duriez, editors, Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part II, volume 8619 of Lecture Notes in Computer Science, pages 295–302, Berlin Heidelberg, June 2014. Springer-Verlag.

Claudio Pacchierotti, Domenico Prattichizzo, and Katherine J. Kuchenbecker. A data-driven approach to remote tactile interaction: From a BioTac sensor to any fingertip cutaneous device. In M. Auvray and C. Duriez, editors, Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part I, volume 8618 of Lecture Notes in Computer Science, pages 418–424, Berlin Heidelberg, June 2014. Springer-Verlag.

Heather Culbertson, Juan José López Delgado, and Katherine J. Kuchenbecker. One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects. In Proc. IEEE Haptics Symposium, pages 319–325, Houston, Texas, USA, February 2014.

William McMahan and Katherine J. Kuchenbecker. Dynamic modeling and control of voice-coil actuators for high-fidelity display of haptic vibrations. In Proc. IEEE Haptics Symposium, pages 115–122, Houston, Texas, USA, February 2014.

Rebecca M. Pierce, Elizabeth A. Fedalei, and Katherine J. Kuchenbecker. A wearable device for controlling a robot gripper with fingertip contact, pressure, vibrotactile, and grip force feedback. In Proc. IEEE Haptics Symposium, pages 19–25, Houston, Texas, USA, February 2014.

Joseph M. Romano and Katherine J. Kuchenbecker. Methods for robotic tool-mediated haptic surface recognition. In Proc. IEEE Haptics Symposium, pages 49–56, Houston, Texas, USA, February 2014.

Yosuke Kurihara, Taku Hachisu, Katherine J. Kuchenbecker, and Hiroyuki Kajimoto. Virtual robotization of the human body via data-driven vibrotactile feedback. In Dennis Reidsma, Haruhiro Katayose, and Anton Nijholt, editors, Advances in Computer Entertainment, Proc. International Conference on Advances in Computer Entertainment Technology, volume 8253 of Lecture Notes in Computer Science, pages 109–122, Enschede, Netherlands, November 2013. Springer.

Yosuke Kurihara, Taku Hachisu, Katherine J. Kuchenbecker, and Hiroyuki Kajimoto. Virtual robotization of the human body using vibration recording, modeling and rendering. In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, September 2013.

Yosuke Kurihara, Taku Hachisu, M. Sato, S. Fukushima, Katherine J. Kuchenbecker, and Hiroyuki Kajimoto. Virtual alteration of body material by reality-based periodic vibrotactile feedback. In Proc. JSME Robotics and Mechatronics Conference, Tsukuba, Japan, May 2013.

Vivian Chu, Ian McMahon, Lorenzo Riano, Craig G. McDonald, Qin He, Jorge Martinez Perez-Tejada, Michael Arrigo, Naomi Fitter, John Nappo, Trevor Darrell, and Katherine J. Kuchenbecker. Using robotic exploratory procedures to learn the meaning of haptic adjectives. In Proc. IEEE International Conference on Robotics and Automation, pages 3048–3055, Karlsruhe, Germany, May 2013. Best Cognitive Robotics Paper Award.

Heather Culbertson, Juliette Unwin, Benjamin E. Goodman, and Katherine J. Kuchenbecker. Generating haptic texture models from unconstrained tool-surface interactions. In Proc. IEEE World Haptics Conference, pages 295–300, Daejeon, South Korea, April 2013. Finalist for Best Paper Award.

Craig G. McDonald and Katherine J. Kuchenbecker. Dynamic simulation of tool-mediated texture interaction. In Proc. IEEE World Haptics Conference, pages 307–312, Daejeon, South Korea, April 2013.

Diane Tam, Karon E. MacLean, Joanna McGrenere, and Katherine J. Kuchenbecker. The design and field observation of a haptic notification system for oral presentations. In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages 1689–1698, Paris, France, May 2013. ACM.

Rahul Chaudhari, Burak Çizmeci, Katherine J. Kuchenbecker, Seungmoon Choi, and Eckehard Steinbach. Low bitrate source-filter model based compression of vibrotactile texture signals in haptic teleoperation. In Proc. ACM Multimedia, pages 409–418, Nara, Japan, 2012.

R. M. Pierce and K. J. Kuchenbecker. A Data-Driven Method for Determining Natural Human-Robot Motion Mappings in Teleoperation. In Proceedings, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 169–176, June 2012.

W. McMahan and K. J. Kuchenbecker. Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals. In Proceedings, EuroHaptics, pages 326-337, June 2012.

Y. Wang, K. J. Kuchenbecker. HALO: Haptic Alerts for Low-hanging Obstacles in white cane navigation. In Proceedings, IEEE Haptics Symposium, 527-532, March 2012. (pdf)

A. A. Stanley, S. K. Healey, M. R. Maltese, K. J. Kuchenbecker. Recreating the feel of the human chest in a CPR manikin via programmable pneumatic damping. In Proceedings, IEEE Haptics Symposium, 37-44, March 2012. (pdf)

H. Culbertson, J. M. Romano, P. Castillo, M. Mintz, K. J. Kuchenbecker. Refined methods for creating realistic haptic virtual textures from tool-mediated contact acceleration data. In Proceedings, IEEE Haptics Symposium, 385-391, March 2012. Best Poster Nominee (pdf)

P. Y. Huang, J. A. Kunkel, J. Brindza, K. J. Kuchenbecker. Haptically Assisted Golf Putting Through a Planar Four-Cable System. In Proceedings, IEEE World Haptics Conference, 191-196, June 2011. (pdf) (bib)

K. Bark, P. Khanna, R. Irwin, P. Kapur, S. A. Jax, L. J. Buxbaum, K. J. Kuchenbecker. Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions. In Proceedings, IEEE World Haptics Conference, 261-266, June 2011. (pdf) (bib)

A. Stanley, K. J. Kuchenbecker. Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact. In Proceedings, IEEE World Haptics Conference, 563-568, June 2011. (bib)

K. J. Kuchenbecker, J. Gewirtz, W. McMahan, D. Standish, P. Martin, J. Bohren, P. J. Mendoza, and D. I. Lee. VerroTouch: High-frequency acceleration feedback for telerobotic surgery. In Proceedings, EuroHaptics, pages 189-196, July 2010. (pdf) (bib)

N. Landin, J. M. Romano, W. McMahan, and K. J. Kuchenbecker. Dimensional reduction of high-frequency accelerations for haptic rendering. In Proceedings, EuroHaptics, pages 79-86, July 2010. (bib)

J. M. Romano, T. Yoshioka, and K. J. Kuchenbecker. Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data. In Proceedings, IEEE International Conference on Robotics and Automation, pages 1815-1821, May 2010. (bib)

K. N. Winfree, J. M. Romano, J. Gewirtz, and K. J. Kuchenbecker. Control of a High Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.1. In Proceedings, IEEE International Conference on Robotics and Automation, pages 1347-1352, May 2010. (bib)

P. Kapur, M. Jensen, L. J. Buxbaum, S. A. Jax, and K. J. Kuchenbecker. Spatially Distributed Tactile Feedback for Kinesthetic Motion Guidance. In Proceedings, IEEE Haptics Symposium, pages 519-526, March 2010. (pdf) (bib)

W. McMahan, J. M. Romano, A. M. Abdul Rahuman, and K. J. Kuchenbecker. High Frequency Acceleration Feedback Significantly Increases the Realism of Haptically Rendered Textured Surfaces. In Proceedings, IEEE Haptics Symposium, pages 141-148, March 2010. (video) (pdf) (bib)

M. Yang, J. Lu, A. Safonova, and K. J. Kuchenbecker. GPU Methods for Real-Time Haptic Interaction with 3D Fluids. In Proceedings, IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE), pages 24-29, November 2009. (pdf) (bib)

Q. J. Lindsey, N. A. Tenenholtz, D. I. Lee, and K. J. Kuchenbecker. Image-Enabled Force Feedback for Robotic Teleoperation of a Flexible Surgical Tool. In Proceedings, IASTED International Conference on Robotics and Applications, pages 224-233, November 2009. (bib)

W. McMahan and K. J. Kuchenbecker. Haptic Display of Realistic Tool Contact Via Dynamically Compensated Control of a Dedicated Actuator. In Proceedings, IEEE Intelligent RObots and Systems Conference, pages 3171-3177, October 2009. (pdf) (bib)

K. J. Kuchenbecker, J. Romano, and W. McMahan. Haptography: Capturing and Recreating the Rich Feel of Real Surfaces (Invited Paper). In Proceedings, International Symposium on Robotics Research, August 2009. (bib)

J. M. Romano and K. J. Kuchenbecker. The AirWand: Design and Characterization of a Large-Workspace Haptic Device. In Proceedings, IEEE International Conference on Robotics and Automation, pages 1461-1466, May 2009. (pdf) (bib)

N. Gurari, K. J. Kuchenbecker, and A. M. Okamura. Stiffness Discrimination with Visual and Proprioceptive Cues. In Proceedings, IEEE World Haptics Conference, 121-126, 2009. (pdf) (bib)

J. M. Romano, S. R. Gray, N. T. Jacobs, and K. J. Kuchenbecker. Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile Actuation. In Proceedings, IEEE World Haptics Conference, 279-284,2009. (pdf) (bib)

K. N. Winfree, J. Gewirtz, T. Mather, J. Fiene, and K. J. Kuchenbecker. A High Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.0. In Proceedings, IEEE World Haptics Conference, 261-266, 2009. (pdf) (bib)

K. J. Kuchenbecker, D. Ferguson, M. Kutzer, M. Moses, and A. M. Okamura. The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction. In Proceedings, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 239-246, March 2008. (pdf) (bib)

K. J. Kuchenbecker, N. Gurari, and A. M. Okamura. Effects of Visual and Haptic Position Feedback on Human Control of Targeted Movement. In Proceedings, IEEE International Conference on Rehabilitation Robotics, pages 513-524, June 2007. (pdf) (bib)

J. Fiene and K. J. Kuchenbecker. Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics. In Proceedings, IEEE World Haptics Conference, pages 170-175, March 2007. Best Haptic Technology Paper Award (pdf) (bib)

Short Peer-Reviewed Conference Papers and Posters

Krista Fjeld, Siyao Hu, Katherine J. Kuchenbecker, and Erin V. Vasudevan. Design and evaluation of a novel mechanical device to improve hemiparetic gait: a case report. Submitted to the 2016 Biomechanics and Neural Control of Movement Conference.

Alex Burka, Siyao Hu, Stuart Helgeson, Shweta Krishnan, Yang Gao, Lisa Anne Hendricks, Trevor Darrell, and Katherine J. Kuchenbecker. Design and implementation of a visuo-haptic data acquisition system for robotic learning of surface properties. In Proc. IEEE Haptics Symposium, pages 350–352, April 2016. Work-in-progress paper.

Naomi T. Fitter and Katherine J. Kuchenbecker. Using IMU data to teach a robot hand-clapping games. In Proc. IEEE Haptics Symposium, pages 353–355, April 2015. Work-in-progress paper.

Alex Burka, Siyao Hu, Shweta Krishnan, Katherine J. Kuchenbecker, Lisa Anne Hendricks, Yang Gao, and Trevor Darrell. Toward a large-scale visuo-haptic dataset for robotic learning. In Proc. CVPR Workshop on the Future of Datasets in Vision, June 2015.

Jeremy D. Brown, Conor O’Brien, Kiyoyuki Miyasaka, Kristoffel R. Dumon, and Katherine J. Kuchenbecker. Analysis of the instrument vibrations and contact forces caused by an expert robotic surgeon doing FRS tasks. In Proc. Hamlyn Symposium on Medical Robotics, pages 75–76, London, England, June 2015.

Naomi T. Fitter, Michelle Neuburger, and Katherine J. Kuchenbecker. Enabling the Baxter robot to play hand-clapping games. In Proc. IEEE World Haptics Conference, June 2015. Work-in-progress paper.

Jennifer Hui, Alexis Block, and Katherine J. Kuchenbecker. Detecting lumps in simulated tissue via palpation with a BioTac. In Proc. IEEE World Haptics Conference, June 2015. Work-in-progress paper.

Andrés M. Bur, Ernest D. Gomez, Christopher H. Rassekh, Jason G. Newman, Gregory S. Weinstein, and Katherine J. Kuchenbecker. Haptic feedback in transoral robotic surgery: A feasibility study. In Proc. Annual Meeting of the Triological Society at COSM, April 2015.

Andrés M. Bur, Ernest D. Gomez, Ara A. Chalian, Jason G. Newman, Gregory S. Weinstein, and Katherine J. Kuchenbecker. Design and validation of a practical simulator for transoral robotic surgery. In Proc. Society for Robotic Surgery Annual Meeting: Transoral Program, number T8, February 2015.

Sarah Leung and Katherine J. Kuchenbecker. Automatic skill evaluation for a needle passing task in robotic surgery. In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, September 2014. Best Poster Award.

Claudio Pacchierotti, Priyanka Shirsat, Jacqueline K. Koehn, Domenico Prattichizzo, and Katherine J. Kuchenbecker. Cutaneous feedback of planar fingertip deformation and vibration on a da Vinci surgical robot. In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, September 2014.

Naomi T. Fitter and Katherine J. Kuchenbecker. Analyzing human high-fives to create an effective high-fiving robot. In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages 156–157, Bielefeld, Germany, March 2014.

Ernest D. Gomez, Gregory S. Weinstein, Bert W. O’Malley, Jr., William McMahan, Liting Chen, and Katherine J. Kuchenbecker. A practical system for recording instrument contacts and collisions during transoral robotic surgery. In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013.

Ernest D. Gomez, Rajesh Aggarwal, William McMahan, Eza Koch, Daniel A. Hashimoto, Ara Darzi, Kenric M. Murayama, Kristoffel R. Dumon, Noel N. Williams, and Katherine J. Kuchenbecker. Instrument contact vibrations are a construct-valid measure of technical skill in fundamentals of laparoscopic surgery training tasks. In Proc. Annual Meeting of the Association for Surgical Education (ASE), Orlando, Florida, USA, April 2013.

William McMahan, Ernest D. Gomez, Liting Chen, Karlin Bark, John C. Nappo, Eza I. Koch, David I. Lee, Kristoffel Dumon, Noel Williams, and Katherine J. Kuchenbecker. A practical system for recording instrument interactions during live robotic surgery. In Proc. Medicine Meets Virtual Reality, 2013.

Ian McMahon, Vivian Chu,Lorenzo Riano, Craig G. McDonald, Qin (Karen) He, Jorge Martinez Perez-Tejada, Michael Arrigo, Naomi Fitter, John Nappo, Trevor Darrell, and Katherine J. Kuchenbecker. Robotic learning of haptic adjectives through physical interaction. In Proc. IROS Workshop on Advances in Tactile Sensing and Touch-based Human-robot Interaction, Vilamoura, Algarve, Portugal, 2012.

Ernest D. Gomez, Karlin Bark, Charlotte Rivera, William McMahan, Austin Remington, David I. Lee, Noel Williams, Kenric Murayama, Kristoffel Dumon, and Katherine J. Kuchenbecker. Construct validity of instrument vibrations as a measure of robotic surgical skill. Journal of the American College of Surgeons, 215(3):S119–120, 2012.

K. Bark, E. D. Gomez, C. Rivera, W. McMahan, A. C. Remington, K. M. Murayama, D. I. Lee, K. R. Dumon, N. N. Williams, and K. J. Kuchenbecker. Surgical instrument vibrations are a construct-valid measure of technical skill in robotic peg transfer and suturing tasks. In G. Z. Yang and A. Darzi, editors, Proc. Hamlyn Symposium on Medical Robotics, pp 50–51, July 2012.

E. D. Gomez, K. Bark, C. Rivera, W. McMahan, A. C. Remington, D. I. Lee, N. N. Williams, K. M. Murayama, K. R. Dumon, and K. J. Kuchenbecker. Construct validity of instrument vibrations as a measure of robotic surgical skill. Accepted for presentation at the American College of Surgeons (ACS) Clinical Congress, 2012.

W. McMahan, J. M. Romano, and K. J. Kuchenbecker. Using accelerometers to localize tactile contact events on a robot arm. In Proc. Workshop on Advances in tactile sensing and touch based human-robot interaction, ACM/IEEE International Conference on Human-Robot Interaction, March 2012. (pdf)

M. P. Maggio, R. Parajon, and K. J. Kuchenbecker. VerroTeach: Visuo-audio-haptic training for dental caries detection. In Proc. Annual American Dental Educator’s Association (ADEA)Conference, March 2012.

E. D. Gomez, K. Bark, W. McMahan, C. Rivera, A. Remington, D. I. Lee, and K. J. Kuchenbecker. ''VerroTouch: Detection of instrument vibrations for haptic feedback and skill assessment in robotic surgery''. In Proc. Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), March 2012. Emerging Technology Poster available at http://thesagesmeeting.org/.

W. McMahan, K. Bark, J. Gewirtz, D. Standish, P. D. Martin, J. A. Kunkel, M. Lilavois, A. Wedmid, D. I. Lee, K. J. Kuchenbecker. Tool Vibration Feedback May Help Expert Robotic Surgeons Apply Less Force During Manipulation Tasks. In G. Z. Yang and A. Darzi, editors, Proc. Hamlyn Symposium on Medical Robotics, pages 37–38, June 2011. (pdf) (bib)

J. M. Romano, A. Safonova, and K. J. Kuchenbecker. Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture. In Proceedings, Medicine Meets Virtual Reality, January 2009. (bib)

M. Yang, J. Lu, Z. Zhou, A. Safonova, and K. J. Kuchenbecker. A GPU-Based Approach for Real-Time Haptic Rendering of 3D Fluids. In Proceedings, SIGGRAPH Asia, December 2008. (bib)

A. Blank, A. M. Okamura, and K. J. Kuchenbecker. Effects of Proprioceptive Motion Feedback on Sighted and Unsighted Control of a Virtual Hand Prosthesis. In Proceedings, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 141-142, March 2008. (pdf) (bib)

K. J. Kuchenbecker. Haptography: Capturing the feel of real objects to enable authentic haptic rendering (invited paper). In Proceedings, Haptic in Ambient Systems (HAS) Workshop, in conjunction with the ICST First International Conference on Ambient Media and Systems, February 2008. (pdf) (bib)

K. J. Kuchenbecker, N. Gurari, and A. M. Okamura. Quantifying the Value of Visual and Haptic Position Feedback in Force-Based Motion Control. In Proceedings, IEEE World Haptics Conference, pages 561-562, March 2007. (pdf) (bib)

Demonstrations

Jeremy D. Brown, Mary Ibrahim, Elyse D. Z. Chase, Claudio Pacchierotti, and Katherine J. Kuchenbecker. One sensor, three displays: A comparison of tactile rendering from a BioTac sensor. Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, USA, April 2016.

Heather Culbertson and Katherine J. Kuchenbecker. Haptic textures for online shopping. Interactive demonstrations in The Retail Collective exhibit, presented for two days at the Dx3 Conference in Toronto, Canada, March 2015.

Heather Culbertson, Juan Jos&eacute L&oacutepez Delgado, and Katherine J. Kuchenbecker. The Penn Haptic Texture Toolkit. Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014.

Katherine J. Kuchenbecker, Alexandre Miranda Anon, Tyler Barkin, Kent deVillafranca, and Michael Lo. A modular tactile motion guidance system. Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014.

Rebecca M. Pierce, Elizabeth A. Fedalei, and Katherine J. Kuchenbecker. Control of a virtual robot with fingertip contact, pressure, vibrotactile, and grip force feedback. Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014.

Yosuke Kurihara, Taku Hachisu, Katherine J. Kuchenbecker, and Hiroyuki Kajimoto. Jointonation: Robotization of the human body by vibrotactile feedback. Emerging Technologies Demonstration with Talk at ACM SIGGRAPH Asia, November 2013. Hands-on demonstration given by Kurihara, Takei, and Nakai. Best Demonstration Award as voted by the Program Committee.

Katherine J. Kuchenbecker (Station Coordinator) with Anna Brzezinski, Ernest D. Gomez, Michael Gosselin, Jennifer Hui, Eza Koch, Jackie Koehn, William McMahan, Kunal Mahajan, John Nappo, and Neel Shah. Adding haptics to robotic surgery. Learning Center Station at SAGES (Society of American Gastrointestinal and Endoscopic Surgeons) Annual Meeting, Baltimore, Maryland, USA, April 2013.

Heather Culbertson, Craig G. McDonald, Benjamin E. Goodman, and Katherine J. Kuchenbecker. Data-driven modeling and rendering of isotropic textures. Hands-on demonstration presented at IEEE World Haptics Conference, Daejeon, South Korea, April 2013. Best Demonstration Award (by audience vote).

Karlin Bark, Elizabeth Cha, Frank Tan, Steven A. Jax, Laurel J. Buxbaum, and Katherine J. Kuchenbecker. StrokeSleeve: Real-time vibrotactile feedback for motion guidance. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012.

Pablo Castillo, Joseph M. Romano, and Katherine J. Kuchenbecker. Simon game with data-driven visuo-audio-haptic buttons. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012.

Pablo Castillo, Joseph M. Romano, Heather Culbertson, Max Mintz, and Katherine J. Kuchenbecker. Pen tablet drawing program with haptic textures. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012

Simon K. Healey, William McMahan, and Katherine J. Kuchenbecker. Haptic vibration feedback for a teleoperated ground vehicle. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012.

Margrit P. Maggio, Robert Parajon, and Katherine J. Kuchenbecker. VerroTeach: Visuo-audio-haptic training for dental caries detection. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012. Best Hands-on Demonstration Award (three-way tie).

Andrew A. Stanley, Simon K. Healey, Matthew R. Maltese, and Katherine J. Kuchenbecker. A biofidelic CPR manikin with programmable pneumatic damping. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012. Finalist for Best Hands-on Demonstration Award.

Diane Tam, Katherine J. Kuchenbecker, Karon MacLean, and Joanna McGrenere. Exploring presentation timing through haptic reminders. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012.

Yunqing Wang, Eza Koch, and Katherine J. Kuchenbecker. HALO: Haptic alerts for low-hanging obstacles in white cane navigation. Hands-on demonstration presented at IEEE Haptics Symposium, March 2012. Finalist for Best Hands-on Demonstration Award.

Joseph M. Romano and Katherine J. Kuchenbecker. Please touch the robot. Hands-on demonstration presented at IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), San Francisco, California, September 2011.

Andrew A. Stanley and Katherine J. Kuchenbecker. Body-grounded tactile actuators for playback of human physical contact. Hands-on demonstration presented at IEEE World Haptics Conference,Istanbul, Turkey, June 2011.

Joseph M. Romano, Nils Landin, William McMahan, and Katherine J. Kuchenbecker. TexturePad: Realistic rendering of haptic textures. Hands-on demonstration to be presented at EuroHaptics, Amsterdam, the Netherlands, July 2010. (bib)

Katherine J. Kuchenbecker, Jamie Gewirtz, William McMahan, Dorsey Standish, Paul Martin, Jonathan Bohren, Pierre J. Mendoza, and David I. Lee. VerroTouch: High-frequency acceleration feedback for telerobotic surgery. Hands-on demonstration to be presented at EuroHaptics, Amsterdam, the Netherlands, July 2010. (bib)

Joseph M. Romano and Katherine J. Kuchenbecker. Realistic haptic contacts and textures for tablet computing. Hands-on demonstration presented at the Stanford Medical Innovation Conference on Medical Robotics, Stanford, California, April 2010. (bib)

Dorsey Standish, Jamie Gewirtz, William McMahan, Paul Martin, and Katherine J. Kuchenbecker. High-frequency tactile feedback for the da Vinci surgical system. Hands-on demonstration presented at the Stanford Medical Innovation Conference on Medical Robotics, April 2010. (bib)

Zhihao Jiang, Mohit Bhoite, and Katherine J. Kuchenbecker. The haptic board. Hands-on demonstration presented at IEEE Haptics Symposium, Boston, Massachusetts, March 2010. (bib)

Saurabh Palan, Ruoyao Wang, Nathaniel Naukam, Edward Li, and Katherine J. Kuchenbecker. Tactile gaming vest (TGV). Hands-on demonstration presented at IEEE Haptics Symposium, Boston, Massachusetts, March 2010. (bib)

Joseph M. Romano and Katherine J. Kuchenbecker. Realistic haptic contacts and textures for tablet computing. Hands-on demonstration presented at IEEE Haptics Symposium, Boston, Massachusetts, Best Teaser Award, March 2010. (bib)

Dorsey Standish, Jamie Gewirtz, William McMahan, Paul Martin, and Katherine J. Kuchenbecker. High-frequency tactile feedback for the da Vinci surgical system. Hands-on demonstration presented at IEEE Haptics Symposium, Boston, Massachusetts, March 2010. (bib)

Meng Yang, Jingwan Lu, Alla Safonova, and Katherine J. Kuchenbecker. GPU-based haptic rendering of 3D smoke. Hands-on demonstration presented at IEEE Haptics Symposium, Boston, Massachusetts, March 2010. (bib)

P. Kapur, S. Premakumar, S. Jax, L. Buxbaum, A. Dawson, and K. J. Kuchenbecker. Vibrotactile Feedback System for Intuitive Upper-Limb Rehabilitation. Hands-on demonstration presented at IEEE World Haptics Conference, March 2009. (bib)

W. McMahan and K. J. Kuchenbecker. Displaying Realistic Contact Accelerations Via a Dedicated Vibration Actuator. Hands-on demonstration presented at IEEE World Haptics Conference, March 2009. Best Haptic Technology Demonstration Award (bib)

J. M. Romano, S. R. Gray, N. T. Jacobs, and K. J. Kuchenbecker. Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile Actuation. Hands-on demonstration (with associated paper) presented at IEEE World Haptics Conference, March 2009.

K. N. Winfree, J. Gewirtz, T. Mather, J. Fiene, and K. J. Kuchenbecker. A High Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.0. Hands-on demonstration (with associated paper) presented at IEEE World Haptics Conference, March 2009.

K. J. Kuchenbecker, D. Ferguson, and A. M. Okamura. The Touch Thimble. Hands-on demonstration presented at IEEE Haptics Symposium, March 2008. (bib)