Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency (2008)
Christopher Sewell, Nikolas H. Blevins, Sumanth Peddamatham, Hong Z. Tan, Dan Morris, Kenneth Salisbury
This sketch presents the design and preliminary results of a study that investigates the transference of motor skills learned in a haptic-enabled virtual environment to performance on a...
Kenneth Salisbury, Francois Conti, Federico Barbagli
In the last decade we’ve seen an enormous increase in interest in the science of haptics. The quest for better understanding and use of haptic abilities (both human and nonhuman) has manifested...
Federico Barbagli, Domenico Prattichizzo, Kenneth Salisbury, Federico Barbagli, Domenico Prattichizzo, Kenneth Salisbury
In this paper we describe a new solution for stable haptic interaction with deformable object simulations featuring low servo rates and computational delays. The solution presented is a combination...
The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency (2008)
Christopher Sewell, Nikolas H. Blevins, Sumanth Peddamatham, Hong Z. Tan, Dan Morris, Kenneth Salisbury
This sketch presents the design and preliminary results of a study that investigates the transference of motor skills learned in a haptic-enabled virtual environment to performance on a...
ABSTRACT A Limit-Curve Based Soft Finger god-object Algorithm (2008)
Antonio Frisoli, Federico Barbagli, Emanuele Ruffaldi, Kenneth Salisbury, Massimo Bergamasco
This paper presents a new soft-finger haptic rendering algorithm based on the concept of limit curve which was previously used by the robotic manipulation community to study sliding contacts. The...
Haptically Annotated Movies: Reaching Out and Touching the Silver Screen (2008)
Derek Gaw, Daniel Morris, Kenneth Salisbury
The film industry consistently strives to make the movie-going experience more immersive and more captivating, through larger screens, higher-quality images, and increasingly sophisticated speaker...
Visuohaptic Simulation of Bone Surgery (2008)
Dan Morris, Christopher Sewell, Federico Barbagli, Nikolas H. Blevins, Sabine Girod, Kenneth Salisbury
Abstract—We present techniques for the visual and haptic simulation of bone surgery, with a specific focus on procedures involving the temporal bone and the mandible. We discuss our approaches to...
The Pastdecjo We've, Kenneth Salisbury, Francois Conti, Federico Barbagli
This article surveys current haptic systems and discusses some basic haptic-rendering algorithms. andpercES es audiovisual feedbac k from audio (cd puter speakers, headphones, and so on) and visual...
Haptic Feedback Enhances Force Skill Learning”, to appear (2007)
Dan Morris, Hong Tan, Federico Barbagli, Timothy Chang, Kenneth Salisbury
This paper explores the use of haptic feedback to teach an abstract motor skill that requires recalling a sequence of forces. Participants are guided along a trajectory and are asked to learn a...
Haptic Feedback Enhances Force Skill Learning”, to appear (2007)
Dan Morris, Hong Tan, Federico Barbagli, Timothy Chang, Kenneth Salisbury
This paper explores the use of haptic feedback to teach an abstract motor skill that requires recalling a sequence of forces. Participants are guided along a trajectory and are asked to learn a...
K.: Quantifying risky behavior in surgical simulation (2005)
Christopher Sewell, Dan Morris, Nikolas Blevins, Federico Barbagli, Kenneth Salisbury
Abstract. Evaluating a trainee's performance on a simulated procedure involves determining whether a specified objective was met while avoiding certain “injurous” actions that damage...
An Interactive Simulation Environment for Craniofacial Surgical Procedures (2005)
Dan Morris, Sabine Girod, Federico Barbagli, Kenneth Salisbury
Abstract. Recent advances in medical imaging and surgical techniques have made possible the correction of severe facial deformities and fractures. Surgical correction techniques often involve the...
Simulating human fingers: a soft finger proxy model and algorithm (2004)
Federico Barbagli, Antonio Frisoli, Kenneth Salisbury, Massimo Bergamasco
This paper presents models and algorithms that can be used to simulate contact between one or more fingertips and a virtual object. First, the paper presents various models for rotational friction...
An Event-Driven Framework for the Simulation of Complex Surgical Procedures (2004)
Christopher Sewell, Dan Morris, Nikolas Blevins, Federico Barbagli, Kenneth Salisbury
Abstract. Existing surgical simulators provide a physical simulation that can help a trainee develop the hand-eye coordination and motor skills necessary for specific tasks, such as cutting or...
An Event-Driven Framework for the Simulation of Complex Surgical Procedures (2004)
Christopher Sewell, Dan Morris, Nikolas Blevins, Federico Barbagli, Kenneth Salisbury
Abstract. Existing surgical simulators provide a physical simulation that can help a trainee develop the hand-eye coordination and motor skills necessary for specific tasks, such as cutting or...
A Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery (2004)
Dan Morris, Christopher Sewell, Nikolas Blevins, Federico Barbagli, Kenneth Salisbury
Abstract. We describe a framework for training-oriented simulation of temporal bone surgery. Bone dissection is simulated visually and haptically, using a hybrid data representation that allows...
Dynamic local models for stable multi-contact haptic interaction with deformable objects (2003)
Federico Barbagli, Kenneth Salisbury
This paper describes a new technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner. Stability has been approached in the past...
Enabling Multifinger, Multihand Virtualized Grasping (2003)
Federico Barbagli, Roman Devengenzo, Kenneth Salisbury
This paper presents a series of kinematic and haptic analyses which lead to the design of a particularly simple, yet useful multi-hand multi-finger haptic interface. We also discuss rendering issues...
Stanford Workshop on Surgical Simulation (1998)
The following document reports the results of the Stanford Workshop on Surgical Simulation. The goal of this workshop was to bring together researchers and developers from around the world who focus...
Autonomous Rock Acquisition (1996)
Daniel A. Theobald, W. Jesse Hong, Akhil Madhani, Brian Hoffman, Gunter Niemeyer, Loreli Cadapan, ...
In order to perform efficient, robust planetary exploration with robotic systems that use manipulation during science experiments, we will be increasingly reliant on vehiclebased autonomous and...
Whole-arm manipulation: Kinematics and control (1989)
Brian Scott Eberman, Kenneth Salisbury, Brian S. Eberman
Abstract. This thesis explores the kinematics and control issues associated with an approach to manipulation that employs all of the available surfaces of a robot to interact with the workspace. This...