| 2025 | IROS | Effect of Haptic Feedback on Avoidance Behavior and Visual Exploration in Dynamic VR Pedestrian Environment. | Kyosuke Ishibashi, Atsushi Saito, Zin Y. Tun, Lucas Ray, Megan C. Coram, Akihiro Sakurai, Allison M. Okamura, Ko Yamamoto |
| 2025 | IROS | Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer. | O. Godson Osele, Kentaro Barhydt, Teagan Sullivan, H. Harry Asada, Allison M. Okamura |
| 2024 | ICRA | Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots. | O. Godson Osele, Kentaro Barhydt, Nicholas Cerone, Allison M. Okamura, H. Harry Asada |
| 2023 | CoRL | Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms. | Rianna M. Jitosho, Tyler Ga Wei Lum, Allison M. Okamura, C. Karen Liu |
| 2022 | ICRA | Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints. | Ioannis Exarchos, Karen Wang, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, C. Karen Liu |
| 2022 | ICRA | A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes. | O. Godson Osele, Allison M. Okamura, Brian H. Do |
| 2022 | IROS | Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force. | Hojung Choi, Dane Brouwer, Michael A. Lin, Kyle T. Yoshida, Carine Rognon, Benjamin Stephens-Fripp, Allison M. Okamura, Mark R. Cutkosky |
| 2022 | IROS | Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation. | Zonghe Chua, Allison M. Okamura |
| 2022 | IROS | A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation. | Cara M. Nunez, Brian H. Do, Andrew K. Low, Laura H. Blumenschein, Katsu Yamane, Allison M. Okamura |
| 2022 | IROS | Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality. | Jasmin E. Palmer, Mine Sarac, Aaron A. Garza, Allison M. Okamura |
| 2022 | IROS | Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence. | Mine Sarac, Massimiliano Di Luca, Allison M. Okamura |
| 2021 | ICRA | Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State. | Zonghe Chua, Anthony M. Jarc, Allison M. Okamura |
| 2021 | ICRA | Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays. | Brian H. Do, Allison M. Okamura, Katsu Yamane, Laura H. Blumenschein |
| 2021 | ICRA | A Dynamics Simulator for Soft Growing Robots. | Rianna M. Jitosho, Nathaniel Agharese, Allison M. Okamura, Zac Manchester |
| 2020 | ICRA | Evaluation of Non-collocated Force Feedback Driven by Signal-independent Noise. | Zonghe Chua, Allison M. Okamura, Darrel R. Deo |
| 2020 | ICRA | Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots. | Brian H. Do, Valory Banashek, Allison M. Okamura |
| 2020 | ICRA | Learning an Action-Conditional Model for Haptic Texture Generation. | Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg |
| 2020 | IROS | A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots. | Sang-Goo Jeong, Margaret M. Coad, Laura H. Blumenschein, Ming Luo, Usman Mehmood, Ji Hun Kim, Allison M. Okamura, Jee-Hwan Ryu |
| 2020 | ICRA | Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot. | Fabio Stroppa, Ming Luo, Kyle T. Yoshida, Margaret M. Coad, Laura H. Blumenschein, Allison M. Okamura |
| 2018 | ICRA | HapWRAP: Soft Growing Wearable Haptic Device. | Nathaniel Agharese, Tyler Cloyd, Laura H. Blumenschein, Michael Raitor, Elliot Wright Hawkes, Heather Culbertson, Allison M. Okamura |
| 2018 | ICRA | Avoiding Human-Robot Collisions Using Haptic Communication. | Yuhang Che, Cuthbert T. Sun, Allison M. Okamura |
| 2018 | ICRA | Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study. | Nima Enayati, Allison M. Okamura, Andrea Mariani, Edoardo Pellegrini, Margaret M. Coad, Giancarlo Ferrigno, Elena De Momi |
| 2018 | ICRA | Obstacle-Aided Navigation of a Soft Growing Robot. | Joseph D. Greer, Laura H. Blumenschein, Allison M. Okamura, Elliot Wright Hawkes |
| 2018 | ICRA | Magnified Force Sensory Substitution for Telemanipulation via Force-Controlled Skin Deformation. | Yasuhisa Kamikawa, Nima Enayati, Allison M. Okamura |
| 2018 | IROS | Gaussian Process Dynamic Programming for Optimizing Ungrounded Haptic Guidance. | Julie M. Walker, Allison M. Okamura, Mykel J. Kochenderfer |
| 2018 | ICRA | Scaling Inertial Forces to Alter Weight Perception in Virtual Reality. | Jacob M. Suchoski, Susana Martnez, Allison M. Okamura |
| 2018 | ICRA | APAM: Antagonistic Pneumatic Artificial Muscle. | Nathan S. Usevitch, Allison M. Okamura, Elliot Wright Hawkes |
| 2018 | ICRA | Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback. | Zane A. Zook, Allison M. Okamura, Yasuhisa Kamikawa |
| 2017 | CHI | WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues. | Heather Culbertson, Julie M. Walker, Michael Raitor, Allison M. Okamura |
| 2017 | CHI | Fingertip Tactile Devices for Virtual Object Manipulation and Exploration. | Samuel B. Schorr, Allison M. Okamura |
| 2017 | ICRA | Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot. | Joseph D. Greer, Tania K. Morimoto, Allison M. Okamura, Elliot Wright Hawkes |
| 2017 | ICRA | WRAP: Wearable, restricted-aperture pneumatics for haptic guidance. | Michael Raitor, Julie M. Walker, Allison M. Okamura, Heather Culbertson |
| 2017 | IROS | Propagation of joint space quantization error to operational space coordinates and their derivatives. | Nick Colonnese, Allison M. Okamura |
| 2017 | IROS | Design of a soft catheter for low-force and constrained surgery. | Patrick Slade, Alex Gruebele, Zachary M. Hammond, Michael Raitor, Allison M. Okamura, Elliot Wright Hawkes |
| 2017 | ICRA | Exomuscle: An inflatable device for shoulder abduction support. | Cole S. Simpson, Allison M. Okamura, Elliot Wright Hawkes |
| 2016 | ICRA | Design and implementation of a 300% strain soft artificial muscle. | Elliot Wright Hawkes, David L. Christensen, Allison M. Okamura |
| 2016 | ICRA | Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task. | Kirsten E. Kaplan, Kirk A. Nichols, Allison M. Okamura |
| 2016 | ICRA | Closed-loop shape control of a Haptic Jamming deformable surface. | Andrew A. Stanley, Kenji Hata, Allison M. Okamura |
| 2016 | ICRA | Comparison of kinesthetic and skin deformation feedback for mass rendering. | Jacob M. Suchoski, Aaron C. Barron, Connie Wu, Zhan Fan Quek, Sean J. Keller, Allison M. Okamura |
| 2016 | MICCAI | Plane Assist: The Influence of Haptics on Ultrasound-Based Needle Guidance. | Heather Culbertson, Julie M. Walker, Michael Raitor, Allison M. Okamura, Philipp J. Stolka |
| 2016 | SIGGRAPH | Haptic technologies for direct touch in virtual reality. | Miguel A. Otaduy, Allison M. Okamura, Sriram Subramanian |
| 2015 | HRI | Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures. | Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura |
| 2015 | HRI | Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation. | Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura |
| 2015 | ICRA | Remote electromagnetic vibration of steerable needles for imaging in power Doppler ultrasound. | Sarah S. Cabreros, Nina M. Jimenez, Joseph D. Greer, Troy K. Adebar, Allison M. Okamura |
| 2015 | ICRA | Effects of master-slave tool misalignment in a teleoperated surgical robot. | Lawrence H. Kim, Clifford Bargar, Yuhang Che, Allison M. Okamura |
| 2015 | ICRA | Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users. | Ilana Nisky, Yuhang Che, Zhan Fan Quek, Matthew Weber, Michael H. Hsieh, Allison M. Okamura |
| 2015 | ICRA | Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback. | Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura |
| 2015 | IROS | Models of human-centered automation in a debridement task. | Kirk A. Nichols, Adithyavairavan Murali, Siddarth Sen, Ken Goldberg, Allison M. Okamura |
| 2015 | IROS | A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. | Kamran Shamaei, Yuhang Che, Adithyavairavan Murali, Siddarth Sen, Sachin Patil, Ken Goldberg, Allison M. Okamura |
| 2015 | ICRA | Design and experimental evaluation of a skin-stretch haptic device for improved control of brain-computer interfaces. | Sean M. Sketch, Darrel R. Deo, Jayant P. Menon, Allison M. Okamura |
| 2014 | ICRA | Design and evaluation of duty-cycling steering algorithms for robotically-driven steerable needles. | Ann Majewicz, Joshua J. Siegel, Andrew A. Stanley, Allison M. Okamura |
| 2014 | IROS | Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering. | Troy K. Adebar, Allison M. Okamura |
| 2014 | ICRA | Time-delayed teleoperation for interaction with moving objects in space. | Ryder C. Winck, Sean M. Sketch, Elliot Wright Hawkes, David L. Christensen, Hao Jiang, Mark R. Cutkosky, Allison M. Okamura |
| 2014 | MICCAI | Real-Time 3D Curved Needle Segmentation Using Combined B-Mode and Power Doppler Ultrasound. | Joseph D. Greer, Troy K. Adebar, Gloria L. Hwang, Allison M. Okamura |
| 2013 | ICRA | Autonomous robotic palpation: Machine learning techniques to identify hard inclusions in soft tissues. | Kirk A. Nichols, Allison M. Okamura |
| 2013 | ICRA | A framework for analysis of surgeon arm posture variability in robot-assisted surgery. | Ilana Nisky, Michael H. Hsieh, Allison M. Okamura |
| 2013 | ICRA | Sensory substitution via cutaneous skin stretch feedback. | Samuel B. Schorr, Zhan Fan Quek, Robert Y. Romano, Ilana Nisky, William R. Provancher, Allison M. Okamura |
| 2013 | ICRA | Tissue fixation by suction increases the accuracy of robotic needle insertion. | Thomas R. Wedlick, Denis J. Lin, Allison M. Okamura |
| 2012 | ICRA | Wearable haptic device for cutaneous force and slip speed display. | Dana D. Damian, Marvin Ludersdorfer, Yeongmi Kim, Alejandro Hernndez Arieta, Rolf Pfeifer, Allison M. Okamura |
| 2011 | ICRA | Task-dependent impedance improves user performance with a virtual prosthetic arm. | Amy A. Blank, Allison M. Okamura, Louis L. Whitcomb |
| 2011 | IROS | Coaxial needle insertion assistant for epidural puncture. | Yoshihiko Koseki, Danilo De Lorenzo, Kiyoyuki Chinzei, Allison M. Okamura |
| 2010 | ICRA | Plugfest 2009: Global interoperability in Telerobotics and telemedicine. | Hawkeye H. I. King, Blake Hannaford, Ka-Wai Kwok, Guang-Zhong Yang, Paul G. Griffiths, Allison M. Okamura, Ildar Farkhatdinov, Jee-Hwan Ryu, Ganesh Sankaranarayanan, Venkata Sreekanth Arikatla, Kotaro Tadano, Kenji Kawashima, Angelika Peer, Thomas Schau, Martin Buss, Levi Makaio Miller, Daniel Glozman, Jacob Rosen, Thomas Low |
| 2010 | ICRA | Evaluation of robotic needle steering in ex vivo tissue. | Ann Majewicz, Thomas R. Wedlick, Kyle Brandon Reed, Allison M. Okamura |
| 2010 | ICRA | Estimation of model parameters for steerable needles. | Wooram Park, Kyle Brandon Reed, Allison M. Okamura, Gregory S. Chirikjian |
| 2009 | ICRA | Design considerations and human-machine performance of moving virtual fixtures. | Tricia L. Gibo, Lawton N. Verner, David D. Yuh, Allison M. Okamura |
| 2009 | ICRA | Effects of haptic and graphical force feedback on teleoperated palpation. | James C. Gwilliam, Mohsen Mahvash, Balzs Vgvlgyi, Alexander Vacharat, David D. Yuh, Allison M. Okamura |
| 2009 | ICRA | Observations and models for needle-tissue interactions. | Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, K. T. Ramesh, Allison M. Okamura |
| 2009 | ICRA | Controlling a robotically steered needle in the presence of torsional friction. | Kyle B. Reed, Allison M. Okamura, Noah J. Cowan |
| 2009 | ICRA | Tissue property estimation and graphical display for teleoperated robot-assisted surgery. | Tomonori Yamamoto, Balzs Vgvlgyi, Kamini Balaji, Louis L. Whitcomb, Allison M. Okamura |
| 2008 | IROS | Control methods for guidance virtual fixtures in compliant human-machine interfaces. | Panadda Marayong, Gregory D. Hager, Allison M. Okamura |
| 2007 | ICRA | Virtual Fixture Control for Compliant Human-Machine Interfaces. | Panadda Marayong, Hye Sun Na, Allison M. Okamura |
| 2007 | ICRA | Dynamic Guidance with Pseudoadmittance Virtual Fixtures. | Zachary A. Pezzementi, Allison M. Okamura, Gregory D. Hager |
| 2007 | ICRA | Teleoperation of Steerable Needles. | Joseph M. Romano, Robert J. Webster III, Allison M. Okamura |
| 2007 | ISRR | Haptics for Robot-Assisted Minimally Invasive Surgery. | Allison M. Okamura, Lawton N. Verner, Carol E. Reiley, Mohsen Mahvash |
| 2006 | ICRA | Portability and Applicability of Virtual Fixtures across Medical and Manufacturing Tasks. | Henry C. Lin, Keith Mills, Peter Kazanzides, Gregory D. Hager, Panadda Marayong, Allison M. Okamura, Ray Karam |
| 2006 | ICRA | Friction Compensation for a Force-feedback Telerobotic System. | Mohsen Mahvash, Allison M. Okamura |
| 2006 | IROS | Toward Active Cannulas: Miniature Snake-Like Surgical Robots. | Robert J. Webster III, Allison M. Okamura, Noah J. Cowan |
| 2005 | ICRA | Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. | Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura |
| 2005 | ICRA | Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model. | Wooram Park, Jin Seob Kim, Yu Zhou, Noah J. Cowan, Allison M. Okamura, Gregory S. Chirikjian |
| 2005 | IROS | Steering flexible needles under Markov motion uncertainty. | Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura |
| 2005 | ICRA | Design Considerations for Robotic Needle Steering. | Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura |
| 2005 | ISRR | Haptic Virtual Fixtures for Robot-Assisted Manipulation. | Jake J. Abbott, Panadda Marayong, Allison M. Okamura |
| 2005 | MICCAI | A Velocity-Dependent Model for Needle Insertion in Soft Tissue. | Jessica R. Crouch, Chad M. Schneider, Joshua Wainer, Allison M. Okamura |
| 2005 | MICCAI | Automatic Detection and Segmentation of Robot-Assisted Surgical Motions. | Henry C. Lin, Izhak Shafran, Todd E. Murphy, Allison M. Okamura, David D. Yuh, Gregory D. Hager |
| 2004 | IROS | Impedance-reflecting teleoperation with a real-time evolving neural network controller. | Sung-Ouk Chang, Allison M. Okamura |
| 2004 | ICRA | A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound. | Chad M. Schneider, Allison M. Okamura, Gabor Fichtinger |
| 2004 | MICCAI | Vision-Based Assistance for Ophthalmic Micro-Surgery. | Maneesh Dewan, Panadda Marayong, Allison M. Okamura, Gregory D. Hager |
| 2003 | ICRA | Virtual fixture architectures for telemanipulation. | Jake J. Abbott, Allison M. Okamura |
| 2003 | ICRA | Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures. | Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager |
| 2003 | ICRA | Robotic needle insertion: effects of friction and needle geometry. | Mark D. O'Leary, Christina Simone, Toshikatsu Washio, Kiyoshi Yoshinaka, Allison M. Okamura |
| 2003 | ICRA | The haptic scissors: cutting in virtual environments. | Allison M. Okamura, Robert J. Webster III, Jason T. Nolin, K. W. Johnson, H. Jafry |
| 2003 | IROS | Analysis of virtual fixture contact stability for telemanipulation. | Jake J. Abbott, Allison M. Okamura |
| 2003 | ISRR | Erratum: Human-Machine Collaborative Systems for Microsurgical Applications. | Danica Kragic, Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager |
| 2003 | MICCAI | Virtual Remote Center of Motion Control for Needle Placement Robots. | Emad Boctor, Robert J. Webster III, Herv Mathieu, Allison M. Okamura, Gabor Fichtinger |
| 2003 | MICCAI | A Modular 2-DOF Force-Sensing Instrument For Laparoscopic Surgery. | Srinivas K. Prasad, Masaya Kitagawa, Gregory S. Fischer, Jason Zand, Mark Talamini, Russell H. Taylor, Allison M. Okamura |
| 2003 | SMC | Methods for intelligent localization and mapping during haptic exploration. | Monika A. Schaeffer, Allison M. Okamura |
| 2003 | SMC | VisHap: augmented reality combining haptics and vision. | Guangqi Ye, Jason J. Corso, Gregory D. Hager, Allison M. Okamura |
| 2002 | ICRA | Vision Assisted Control for Manipulation using Virtual Fixtures: Experiments at Macro and Micro Scales. | Alessandro Bettini, Samuel Lang, Allison M. Okamura, Gregory D. Hager |
| 2002 | IROS | Effect of virtual fixture compliance on human-machine cooperative manipulation. | Panadda Marayong, Alessandro Bettini, Allison M. Okamura |
| 2002 | ICRA | Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy. | Christina Simone, Allison M. Okamura |
| 2002 | MICCAI | The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion. | Oleg Gerovichev, Panadda Marayong, Allison M. Okamura |
| 2002 | MICCAI | Measurement of the Tip and Friction Force Acting on a Needle during Penetration. | Hiroyuki Kataoka, Toshikatsu Washio, Kiyoyuki Chinzei, Kazuyuki Mizuhara, Christina Simone, Allison M. Okamura |
| 2002 | MICCAI | Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback. | Masaya Kitagawa, Allison M. Okamura, Brian T. Bethea, Vincent L. Gott, William A. Baumgartner |
| 2001 | ICRA | Feature-Guided Exploration with a Robotic Finger. | Allison M. Okamura, Mark R. Cutkosky |
| 2001 | IROS | Vision assisted control for manipulation using virtual fixtures. | Alessandro Bettini, Samuel Lang, Allison M. Okamura, Gregory D. Hager |
| 2001 | ISRR | Uniting Haptic Exploration and Display. | Allison M. Okamura |
| 2000 | ICRA | An Overview of Dexterous Manipulation. | Allison M. Okamura, Niels Smaby, Mark R. Cutkosky |
| 1999 | ICRA | Haptic Exploration of Fine Surface Features. | Allison M. Okamura, Mark R. Cutkosky |
| 1998 | ICRA | Vibration Feedback Models for Virtual Environments. | Allison M. Okamura, Stanford Dennerlein, Robert D. Howe |
| 1997 | ICRA | Haptic exploration of objects with rolling and sliding. | Allison M. Okamura, Michael L. Turner, Mark R. Cutkosky |