Howe, Robert D.- School of Engineering and Applied Sciences, Harvard University

• The Effect of Load Carrying on the Speed of Locomotion in Arthropods and a Biomimetic
• 1997 ASME Summer Bioengineering Conference. Sun River, Oregon June 1997. MODELING PROBE AND TISSUE INTERACTION FOR TUMOR FEATURE EXTRACTION
• The Effect of Joint Elasticity on Bilateral Teleoperation M. Tavakoli and R.D. Howe
• Proceedings of the 1st International Workshop on Underactuated Grasping, UG2010 August 19, 2010, Montreal, Quebec, Canada
• Validation and Explanation of Waterhammer-Based Ross L. Feller, Douglas P. Perrin, and Robert D. Howe
• 1997 International Symposium on Experimental Robotics, Barcelona, Spain. June 1997. Mechanical Design and Control of a High-
• REAL-TIME BLOCK FLOW TRACKING OF ATRIAL SEPTAL DEFECT MOTION IN 4D CARDIAC ULTRASOUND
• Breast Tissue Parameter Identification for a Nonlinear Constitutive Model Petr Jordan, Amy E. Kerdok, Simona Socrate, Robert D. Howe
• The Effects of Testing Environment on the Viscoelastic Properties of Soft Tissues
• Haptic Implications of Tool Flexibility in Surgical Teleoperation M. Tavakoli and Robert D. Howe
• Submitted to the Journal of Biomechanical Engineering, September 1996. A Distributed Pressure Sensor For Biomechanical
• D.N. Metaxas and L. Axel (Eds.): FIMH 2011, LNCS 6666, pp. 233240, 2011. Springer-Verlag Berlin Heidelberg 2011
• Abstract--Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error
• 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, 24-28 April. During teleoperation, a human operator often receives
• M. Tavakoli Department of Electrical and Computer Engineering,
• 0 0.5 1 1.5 Sensor Characterization
• Harvard International Office Full time international students in the various schools of Harvard University
• Kerdok, A.E., Howe, R.D., "Characterizing Large Deformation Behavior of Liver for Surgical Simulation", in Proceedings of BMES, Baltimore, MD, 2005.
• Mechanical Stresses in Vocal Fold Tissue during Voice Production A thesis presented by
• Int. Workshop on Deformable Modeling and Soft Tissue Simulation Bonn, Germany, November 14 -15, 2001 Kerdok, et al. Truth Cube
• To be presented at the International Conference on Robotics and Automation, Orlando, FL, May 15-19, 2006 Real-time 3D Ultrasound-based Servoing of a Surgical
• Proceedings of IMECE2005 2005 ASME International Mechanical Engineering Congress and Exposition
• BOSTON UNIVERSITY COLLEGE OF ENGINEERING
• Mapping Tactile Imaging Information: Parameter Estimation
• Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control
• Proceedings of IMECE2005 2005 ASME International Mechanical Engineering Congress and Exposition
• doi:10.1016/j.ultrasmedbio.2007.03.003 Original Contribution
• 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, 10-15 May. Abstract--During teleoperation, the automatic identification
• Designing Robust Robotic Graspers for Unstructured Environments
• The Effects of Testing Environment on Soft Tissue Properties Amy Elizabeth Kerdok
• Arthropod Grasping and Manipulation A Literature Review
• An Active Motion Compensation Instrument for Beating Heart Mitral Valve Surgery
• Haptic Identification of Remote Environment Properties Robert D. Howe
• Proceedings of the ASME Dynamic Systems and Control Division, presented at the ASME IMECE, Atlanta, GA, Nov 1996, DSCVol. 58, pp. 451458. AUTOMATIC IDENTIFICATION OF REMOTE ENVIRONMENTS
• 3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair
• Robotic Tissue Tracking for Beating Heart Mitral Valve Surgery Shelten G. Yuena
• Haptic Noise Cancellation: Restoring Force Perception in Robotically-Assisted Beating Heart Surgery
• Aaron M. Dollar Department of Mechanical Engineering
• IEEE TRANSACTIONS ON MEDICAL IMAGING 1 Mitral Annulus Segmentation from 3D Ultrasound
• Multichannel vibrotactile display for sensory substitution during teleoperation
• Kerdok, A. E., Socrate, S. and Howe, R. D., 2004. Soft tissue modeling and mechanics. 28th American Society of Biomechanics Annual Conference. X-CD Technologies Inc., Portland, OR. poster 235.
• Annu. Rev. Biomed. Eng. 1999. 01:211240 Copyright 1999 by Annual Reviews. All rights reserved
• Stereoscopic vision display technology in real-time three-dimensional echocardiography-guided
• The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study
• Place, 2006 ASME Student Mechanism Design Competition (Graduate Division) A ROBUST ROBOTIC HAND FOR UNSTRUCTURED ENVIRONMENTS
• Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance Paul M. Novotny, Daniel T. Kettler, Petr Jordan,
• A mechanical model of vocal-fold collision with high spatial and temporal resolutiona)
• 2005 Summer Bioengineering Conference, June 22-26, Vail Cascade Resort & Spa, Vail, Colorado INTRODUCTION
• Abstract--Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces.
• Tool Localization in 3D Ultrasound Images Paul M. Novotny1
• The Effect of Force Feedback on Remote Palpation R. L. Feller, C. K. L. Lau, C. R. Wagner, D. P. Perrin, R. D. Howe
• Shelten G. Yuen Daniel T. Kettler
• Enhancement of Instrument Appearance in Ultrasound Images by Distribution and Spatial Analysis
• Algorithms for Tactile Rendering in Compliant Environments Camilla K. L. Lau
• BIOMECHANICS OF VOICE PRODUCTION Heather E. Gunter, S.M.
• Extracting Features from Tactile Maps Parris S. Wellman1
• Enhanced Mechanical Characterization of Tissue Response Using Full-Field Deformation Data from 3D Ultrasound
• Design Principles for Robust Grasping in Unstructured Environments
• Real-Time Processing of Three Dimensional Ultrasound for Intracardiac Surgery
• SOFT TISSUE CHARACTERIZATION: MECHANICAL PROPERTY DETERMINATION FROM BIOPSIES TO WHOLE ORGANS
• R. Larsen, M. Nielsen, and J. Sporring (Eds.): MICCAI 2006, LNCS 4190, pp. 596 603, 2006. Springer-Verlag Berlin Heidelberg 2006
• Fast Intersection Checking for Parametric Deformable Models Douglas P Perrina and Andrew M. Laddb and Lydia E. Kavrakib and Robert D. Howeb and Jeremy
• Presented at the Tenth Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 24-25, 2002, Orlando
• BAYESIAN CHANGEPOINT DETECTION THROUGH SWITCHING REGRESSIONS: CONTACT POINT DETERMINATION IN MATERIAL INDENTATION EXPERIMENTS
• Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing
• Advanced Robotics 25 (2011) 651673 brill.nl/ar
• Mass-Spring Model for Simulation of Heart Valve Tissue Mechanical Behavior Peter E. Hammer1,2,4,*
• 47/,3! 07/4 40# ,3/$4.7,90$ /03913,32,#044.,431:7,943%44147110.9;0,3/11.039 43899:9;04/0341$419%88:08 4:73,41420.,3.,330073 57 /4
• Exp Brain Res DOI 10.1007/s00221-010-2464-3
• Force Tracking with Feed-Forward Motion Estimation for Beating Heart Surgery
• 2010 Royal Statistical Society 00359254/10/59000 Appl. Statist. (2010)
• Author's personal copy J O U R N A L O F T H E M E C H A N I C A L B E H AV I O R O F B I O M E D I C A L M A T E R I A L S 2 ( 2 0 0 9 ) 1 9 2 2 0 1
• Task Performance is Prioritized Over Energy Reduction
• Intl. Journal of Clinical and Experimental Hypnosis, 56(1): 118, 2008 Copyright International Journal of Clinical and Experimental Hypnosis
• Author's personal copy GPU based real-time instrument tracking
• Real-Time Tracking and Shape Analysis of Atrial Septal Defects in 3D Echocardiography1
• REAL-TIME BLOCK FLOW TRACKING OF ATRIAL SEPTAL DEFECT MOTION IN 4D CARDIAC ULTRASOUND
• Copyright 2006 British Society of Experimental & Clinical Hypnosis Contemp. Hypnosis 23: 173180 (2006) Published by John Wiley & Sons, Ltd DOI: 10.1002/ch
• Journal of Biomechanics 39 (2006) 22212231 Effects of perfusion on the viscoelastic characteristics of liver
• Advanced Robotics, Vol. 19, No. 5, pp. 523543 (2005) VSP and Robotics Society of Japan 2005.
• DESIGN AND PERFORMANCE OF A TACTILE SHAPE DISPLAY USING RC SERVOMOTORS
• Medical Image Analysis 7 (2003) 283291 www.elsevier.com/locate/media
• Journal of Biomechanics ] (]]]]) ]]]]]] Short communication
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• 1 Copyright 2011 by ASME Proceedings of the 2011 Design of Medical Devices Conference
• Proceedings of the 2011 Design of Medical Devices Conference April 12-14, 2011, Minneapolis, MN, USA
• Abstract--Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive
• Robotic Force Stabilization for Beating Heart Intracardiac Surgery
• A Whole-Arm Tactile Display System Riichiro Tadakuma and Robert D. Howe
• A Nonrigid Image Registration Framework for Identification of Tissue Mechanical Parameters
• Quasiperiodic Predictive Filtering for Robot-Assisted Beating Heart Surgery
• Guiding Grasping with Proprioception and Markov Peter Deckers, Aaron M. Dollar, and Robert D. Howe
• Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound
• Simple, Robust Autonomous Grasping in Unstructured Environments
• GPU Based Real-time Instrument Tracking with Three Dimensional Ultrasound
• Force Feedback in a Three-Dimensional Ultrasound-Guided Surgical Task Christopher R. Wagner, Douglas P. Perrin, Robert D. Howe
• Mechanisms of Performance Enhancement With Force Feedback Christopher R. Wagner Robert D. Howe
• Integrating Tactile and Force Feedback with Finite Element Models
• A Nonlinear Finite Element Model of Soft Tissue Indentation
• Liver Vessel Parameter Estimation from Tactile Imaging Information Anna M. Galea, Robert D. Howe
• A Novel Actuated Tether Design for Rescue Robots Using Hydraulic Transients
• Towards Grasping in Unstructured Environments: Optimization of Grasper Compliance and Configuration
• Spatial Low Pass Filters for Pin Actuated Tactile Displays Jaime M. Lee
• Presented at the Tenth Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 24-25, 2002, Orlando
• Virtual Fixtures for Robotic Cardiac Surgery Shinsuk Park1
• DO HUMANS SENSE FINGER DEFORMATION OR DISTRIBUTED PRESSURE TO DETECT LUMPS IN SOFT TISSUE?
• Presented at the Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,
• To be presented at the First International Symposium on Medical Robotics and Computer-Assisted Surgery, Pittsburgh, Sept. 22-24, 1994
• Guiding Robotic Surgery with 3D Ultrasound: A Study of Instrument Size on Surgical Performance
• 2005 Summer Bioengineering Conference, June 22-26, Vail Cascade Resort & Spa, Vail, Colorado INTRODUCTION
• Haptic Interface for Cardiac Cell Exploration Using AFMHaptic Interface for Cardiac Cell Exploration Using AFM Douglas P. Perrin, Christopher R. Wagner, Nicholas Geisse,
• A TECHNIQUE FOR MEASURING LOCAL INTERNAL MECHANICAL PROPERTIES OF PERFUSED SOLID ORGANS
• Mechanical Stress Levels in Vocal Fold Tissue as Predictors of Tissue Injury Heather E. Gunter, S.M.
• Analysis of factors affecting vocal fold impact stress using a mechanical model Heather E. Gunter, Robert D. Howe (Division of Eng. & App. Sci., Harvard Univ., 29
• TACTILE IMAGING: A METHOD FOR DOCUMENTING BREAST LUMPS Parris S. Wellman1
• Breast Tissue Stiffness in Compression is Correlated to Histological Diagnosis
• Robotic Motion Compensation for 3D Ultrasound-Guided Beating Heart Surgery
• Characterizing the Nonlinear Mechanical Response of Liver to Surgical Manipulation
• Force Feedback In Surgery: Physical Constraints and Haptic Information
• Cognitive Effects on the Neurophysiology and Biomechanics of Stroke Recovery
• New College Park Garage
• THE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY Int J Med Robotics Comput Assist Surg 2006; 2: 279285. ORIGINAL ARTICLE
• "Copyright (c) 2008 IEEE. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the IEEE by sending an email to pubs-permissions@ieee.org."
• A Comparison of the Force Dynamics of the Precision Grip of Humans and Robots Aaron M. Dollar
• Presence: Teleoperators and Virtual Environments (awaiting publication in 2007) The Benefit of Force Feedback in Surgery
• Abstract Limitations in modern sensing technologies result in large errors in sensed target object geometry and location in unstructured
• MRI Evaluation of RF Ablation Scarring for Atrial Fibrillation Treatment
• Fast block flow tracking of atrial septal defects in 4D echocardiography Marius George Linguraru a,*, Nikolay V. Vasilyev b
• Copyright 2010 by ASME1 MASS-SPRING VS. FINITE ELEMENT MODELS OF ANISOTROPIC HEART VALVES
• IEEE TRANSACTIONS ON ROBOTICS, VOL. 23, NO. 6, DECEMBER 2007 1235 Short Papers
• 1302. P6.51. Using Real-Time Three-Dimensional Ultrasound To Characterize Mitral Valve Motion , M. LINGURARU
• Abstract--Recent developments in cardiac catheter technology promise to allow physicians to perform most cardiac
• Aaron M. Dollar and Robert D. Howe Division of Engineering and Applied Sciences, Harvard University, Cambridge, MA
• The Visitor's Guide to Larger Lectures is produced by the Office of the FAS Registrar. Ron Cooper, Manager of Classroom Scheduling
• MITRAL ANNULUS SEGMENTATION FROM THREE-DIMENSIONAL ULTRASOUND Robert J. Schneider1
• Image-Based Mechanical Characterization of Soft Tissue using Three Dimensional Ultrasound
• DETC2006-99645 JOINT COUPLING DESIGN OF UNDERACTUATED GRIPPERS
• 154 IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 11, NO. 2, APRIL 2006 A Robust Compliant Grasper via Shape
• Abstract--Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces.
• On the Design of an Interactive, Patient-Specific Surgical Simulator for Mitral Valve Repair
• Real-time 4D Ultrasound Mosaicing and Visualization Laura J Brattain1,2
• Modeling Mitral Valve Leaflets from Three-Dimensional Ultrasound
• Abstract--Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural
• Patient-Specific Mitral Leaflet Segmentation from 4D Ultrasound
• Determining Object Geometry with Compliance and Simple Sensors
• Abstract--Strokes affect over 750,000 people annually in the United States. This significant and disabling condition can
• 866 IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 16, NO. 5, OCTOBER 2011 Design Principles for Rapid Prototyping Forces
• Human Grasp Choice and Robotic Grasp Analysis
• IEEE TRANSACTIONS ON ROBOTICS, VOL. 27, NO. 6, DECEMBER 2011 1045 Position Control of Motion Compensation
• Original Article Computational Model of Aortic Valve Surgical Repair using Grafted Pericardium
• Spring u Summer 2012 HARVARDuniversity press
• The new Harvard Library organizational design and strategic direction will benefit the entire Harvard community. For Library Users o Ability to borrow materials University-wide based on consistent loan