Conference publications

2018

  • M Kaya, A Denasi, S Scheggi, E Agbahca, C Yoon, D H Gracias, and S Misra, “A multi-rate state observer for visual tracking of magnetic micro-agents using slow medical imaging modalities”, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5386–5393, Madrid, Spain, October 2018.

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  • J Sikorski, E S A A M Rutting, and S Misra, “Grasping using magnetically-actuated tentacle catheter: A proof-of-concept study”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 609–614, Enschede, Netherlands, August 2018.

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  • G J Vrooijink, H Irzan, and S Misra, “A beating heart testbed for the evaluation of robotic cardiovascular interventions”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 1076–1082, Enschede, Netherlands, August 2018.

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  • I S M Khalil, M Ehab, A Klingner, S Scheggi, B Adel, and S Misra, “Near surface effects on the flagellar propulsion of soft robotic sperms”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 384–389,  Enschede, Netherlands, August 2018.

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  • A Denasi, F Khan, K J Boskma, M Kaya, C Hennersperger, R Gobl, M Tirindelli, N Navab, and S Misra, “An observer-based fusion method using multicore optical shape sensors and ultrasound images for magnetically-actuated catheters”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 50–57, Brisbane, Australia, May 2018.

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  • F Sojoodi Farimani and S Misra, “Introducing PneuAct – Parametrically-designed non-electromagnetic pneumatic stepper actuator”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 200–205, Brisbane, Australia, May 2018.

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  • J Chevrie, N Shahriari, M Babel, A Krupa, and S Misra, “Flexible needle steering in moving biological tissue with motion compensation using ultrasound and force feedback”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1–8, Brisbane, Australia, May 2018.

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2017

  • F Khan, R J Roesthuis, and S Misra, “Force sensing in continuum manipulators using Fiber Bragg Grating sensors”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pages 2531–2536, September 2017.

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  • M A Seif, A Hassan, A El-Shaer, S Misra, and I S M Khalil, “A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects”, in Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, pages 1095–1102, July 2017.  

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  • J Sikorski, I Dawson, A Denasi, E E G Hekman, and S Misra, “Introducing BigMag –– A novel system for 3D magnetic actuation of flexible surgical manipulators”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3594–3559, Singapore, May–June 2017.

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  • S Scheggi, T C Krishna Kumar, C Yoon, B Sawaryn, G van de Steeg, D H Gracias, and S Misra, “Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 6156–6161, Singapore, May–June 2017.  

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  • P Moreira , K J Boskma, and S Misra, “Towards MRI-guided flexible needle steering using Fiber Bragg Grating-based tip tracking”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4849–4854, Singapore, May–June 2017.  

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2016

  • S Scheggi, C Yoon, D H Gracias, and S Misra, “Model-based tracking of miniaturized grippers using particle swarm optimization”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, pages 454-459, October 2016.

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  • S Scheggi and S Misra, “An experimental comparison of path planning techniques applied to micro-sized magnetic agents”, in Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS), Paris, France, pages 1-6, July 2016.

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  • A Denasi and S Misra, “A Robust controller for microsized agents – The prescribed performance approach”, in Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS), Paris, France, pages 1-6, July 2016.

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  • I S M Khalil, Y Michel, B Su, and S Misra, “Feeling paramagnetic micro-particles trapped in gas bubbles: A tele-manipulation study”, in Proceedings of the 6th International Conference on Manipulation, Manufacturing, Measurement on the Nanoscale (3M-NANO), Chongqing, China, pages 225-230, July 2016. (Best Conference Paper Award)

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  • H Abbass, M S Shoukry, A Klingner, A Hosney, S Misra, and I S M Khalil, “Robust motion control of paramagnetic micro-particles against time-varying flow rates”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore,  pages 67-72, June 2016.

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  • F Ongaro, C Yoon, F van den Brink, M Abayazid, S H Oh, D H Gracias, and S Misra, “Control of soft untethered grippers for pick-and-place tasks”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pages 299-304, June 2016. (Best Poster Award)

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  • F Ongaro, C Pacchierotti, C Yoon, D Prattichizzo, D H Gracias, and S Misra, “Evaluation of electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pages 908-913, June 2016.  

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  • G J Vrooijink, M P Jansen, M L Tolhuisen, J G Grandjean, and S Misra, “Ultrasound-guided stabilization of a robotically-actuated delivery sheath (RADS) for beating heart mitral valve motions”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pages 73-79, June 2016. (Best Conference Paper Award)

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  • K J Boskma, S Scheggi, and S Misra, “Closed-loop control of a magnetically-actuated catheter using two-dimensional ultrasound images”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages 61-66, Singapore, June 2016.

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  • N Shahriari, R J Roesthuis, N J van de Berg, J J van den dobbelsteen, and S Misra, “Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),  Stockholm, Sweden, pages 4443-4449, May 2016.

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2015

  • A El-Gazzar, L Al-khouly, A Klingner, S Misra, and I S M Khalil, “Non-contact manipulation of microbeads via pushing and pulling using magnetically controlled clusters of paramagnetic microparticles”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 778-783, September-October 2015.

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  • P Moreira, M Abayazid, and S Misra, “Towards physiological motion compensation for flexible needle interventions”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 831-836, September-October 2015.

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  • A Hosney, A Klingner, S Misra, and I S M Khalil, “Propulsion and steering of helical magnetic microrobots using two synchronized rotating dipole fields in three-dimensional space”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pages 1988-1993, September-October 2015.

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  • N A Patel, T van Katwijk, G Li, P Moreira, W Shang, S Misra, and G S Fischer, “Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance”, in Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, Italy, pages 4869-4874, August 2015.

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  • R J Roesthuis, N J van de Berg, J J van den dobbelsteen, and S Misra, “Modeling and steering of a novel actuated-tip needle through a soft-tissue simulant using fiber bragg grating sensors”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, pages 2284-2289, May-June 2015.

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  • K Youakim, M Ehab, O Hatem, S Misra, and I S M Khalil, “Paramagnetic microparticles sliding on a surface: characterization and closed-loop motion control”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, pages 4068-4073, May-June 2015.

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2014

  • C Pacchierotti, M Abayazid, S Misra, and D Prattichizzo, “Steering of flexible needles combining kinesthetic and vibratory force feedback”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, pages 1202-1207, September 2014.

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  • I S M Khalil,  K Youakim, A Sánchez , and S Misra, “Magnetic-based motion control of sperm-shaped microrobots using weak oscillating magnetic fields”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, USA,  pages 4686-4691, September 2014.

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  • M E Alshafeei, A Hosney, A Klingner, S Misra and I S M Khalil, “Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pages 151-156, August 2014.

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  • M Abayazid, N Shahriari, and S Misra, “Three-dimensional needle steering towards a localized target in a prostate phantom”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pages 7-12, August 2014.

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  • P Moreira, G van de Steeg, F van der Heijden, J J Fütterer, and S Misra, “A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback”,  in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pages 314-319, August 2014.

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  • A Sánchez , V Magdanz, O G Schmidt, and S Misra, “Magnetic control of self-propelled microjets under ultrasound image guidance”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pages 169-174, August 2014. (Best Conference Paper Award)

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  • W Sun, I S M Khalil, S Misra, and R Alterovitz, “Motion planning for paramagnetic microparticles under motion and sensing uncertainty”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp.~5811-5817, May-June 2014.

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  • I S M Khalil, P Ferreira, R Eleutério, C L de Korte, and S Misra, “Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pages 3807-3812, May-June 2014.

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  • P Moreira, S Patil, R Alterovitz, and S Misra, “Needle steering in biological tissue using ultrasound-based online curvature estimation”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pages 4368-4373, May-June 2014.

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  • G J Vrooijink, T T M Ellenbroek, P Breedveld, J G Grandjean, and S Misra, “A preliminary study on using a robotically-actuated delivery sheath (RADS) for transapical aortic valve implantation”,  in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pages 4380-4386, May-June 2014.

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2013

  • I S M Khalil, R M P Metz, B A Reefman, and S Misra, “Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pages 2053-2058, November 2013.

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  • R J Roesthuis, S L Janssen, and S Misra, “On using an array of fiber bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pages 2545-2551, November 2013. (Finalist for Best Application Paper Award)

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  • I S M Khalil, V Magdanz, S Sanchez, O G Schmidt, and S Misra, “Magnetotactic bacteria and microjets: a comparative study”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pages 2035-2040, November 2013.

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  • I S M Khalil, V Magdanz, S Sanchez, O G Schmidt, L Abelmann, and S Misra, “Magnetic control of potential microrobotic drug delivery systems: nanoparticles, magnetotactic bacteria and self-propelled microjets”, in Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC), pages 5299-5302, Osaka, Japan, July 2013.

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  • I S M Khalil, F van den Brink, O S Sukas, L Abelmann, and S Misra, “Microassembly using a cluster of paramagnetic microparticles”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 5507-5512, May 2013.

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  • M Abayazid, M Kemp, and S Misra, “3D flexible needle steering in soft-tissue phantoms using fiber bragg grating sensors”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 5823-5829, May 2013.

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  • I S M Khalil, M P Pichel, B A Reefman, O S Sukas, L Abelmann, and S Misra, “Control of magnetotactic bacterium in a micro-fabricated maze”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 5488-5493, May 2013.

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  • G J Vrooijink, M Abayazid, and S Misra, “Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 1680-1685, May 2013.

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2012

  • I S M Khalil, L Abelmann, and S Misra, “Interaction force estimation during manipulation of microparticles”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, pages 950-956, October 2012.

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  • I S M Khalil, L Abelmann, and S Misra, “An energy-based state observer for dynamical subsystems with inaccessible state variables”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, pages 3734-3740, October 2012.

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  • N van der Stap, R Reilink, S Misra, I A M J Broeders, and F van der Heijden, “The use of the focus of expansion for automated steering of flexible endoscopes”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 13-18, June 2012.

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  • B Peerdeman, U Fabrizi, G Palli, C Melchiorri, S Stramigioli, and S Misra, “Development of prosthesis grasp control systems on a robotic testbed”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 1110-1115, June 2012.

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  • B Peerdeman, G Smit, S Stramigioli, D H Plettenburg, and S Misra, “Evaluation of pneumatic cylinder actuators for hand prostheses”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 1104-1109, June 2012.

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  • A Jahya, F van der Heijden, and S Misra, “Observations of three-dimensional needle deflection during insertion into soft tissue”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 1205-1210, June 2012.

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  • I S M Khalil, J D Keuning, L Abelmann, and S Misra, “Wireless magnetic-based control of paramagnetic microparticles”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 460-466, June 2012.

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  • B Peerdeman, G J Pieterse, S Stramigioli, J S Rietman, E E G Hekman, D M Brouwer, and S Misra, “Design of joint locks for underactuated fingers”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 488-493, June 2012.

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  • M Abayazid, J op den Buijs, C L de Korte, and S Misra, “Effect of skin thickness on target motion during needle insertion into soft-tissue phantoms”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pages 755-760, June 2012.

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  • M Franken, S Misra, and S Stramigioli, “Stability of position-based bilateral telemanipulation systems by damping injection”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA, pages 4300-4306, May 2012.

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  • R Reilink, S Stramigioli, and S Misra, “Pose reconstruction of flexible instruments from endoscopic images using markers”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA, pages 2938-2943, May 2012.

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2011

  • J op den Buijs, M Abayazid, C L de Korte, and S. Misra, “Target motion predictions for pre-operative planning during needle-based interventions”,  in Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC), pages 5380-5385, Boston, USA, August-September 2011.

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  • N Kuperij, R Reilink, M P Schwartz, S Stramigioli, S Misra, and I A M J Broeders, “Design of a user interface for intuitive colonoscope control”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA,  pages 937-942, September 2011. (Finalist for Best Application Paper Award)

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  • R Reilink, S Stramigioli, and S Misra, “Three-dimensional shape reconstruction of flexible instruments from endoscopic images”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pages 2076-2082, September 2011.

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  • J D Keuning, J de Vries, L Abelmann, and S Misra, “Image-based magnetic control of paramagnetic microparticles in water”,  in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pages 421-426, September 2011.

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  • R J Roesthuis, Y R J van Veen, A Jahya, and S Misra, “Mechanics of needle-tissue interaction”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pages 2557-2563, September 2011.

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  • M Franken, B Willaert, S Misra, and S Stramigioli, “Bilateral telemanipulation: improving the complimentarily of the frequency- and time-domain passivity approaches”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 2104-2110, Shanghai, China, May 2011.

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2010

  • M Franken, S Misra, and S Stramigioli, “Friction compensation in energy-based bilateral tele manipulation”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pages 5264-5269, October 2010.

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  • R Reilink, S Stramigioli, and S Misra, “Image-based flexible endoscope steering”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pages 2339-2344, October 2010.

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  • B Peerdeman, D van Baal, L Kallenberg, S Stramigioli, and S Misra, “A biomechanical model for the development of myoelectric hand prosthesis control systems”, in Proceedings of the IEEE International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, Buenos Aires, Argentina, pages 519-523, August-September 2010.

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  • R Reilink, G de Bruin, M Franken, M Mariani, S Misra, and S Stramigioli, “Endoscopic camera control by head movements for thoracic surgery”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, pages 510-515, September 2010.

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  • M Franken, R Reilink, S Misra, and S Stramigioli, “Multi-dimensional passive sampled port-hamiltonian systems”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1320-1326, Anchorage, USA, May 2010.

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2009

  • S Misra, K B Reed, K T Ramesh, and A M Okamura, “Observations of needle-tissue interactions”, in Proceedings of the IEEE International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Minneapolis, USA, pages 262-265, September 2009.

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  • S Misra, K B Reed, B W Schafer, K T Ramesh, and A M Okamura, “Observations and models for needle-tissue interactions”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, pages 2687-2692, May 2009.

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  • S Misra, P Fuernstahl, K T Ramesh, A M Okamura and M Harders, “Quantifying perception of nonlinear elastic tissue models using multidimensional scaling”, in Proceedings of the 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), Salt Lake City, USA, pages 570-575, March 2009.

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2008

  • S Misra, K B Reed, A S Douglas, K T Ramesh, and A M Okamura, “Needle-tissue interaction forces for bevel-tip steerable needles”, in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, USA, pages 224-231, October 2008.

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  • Z Pezzementi, D Ursu, S Misra, and A M Okamura, “Modeling realistic tool-tissue Interactions with haptic feedback: a learning-based method”, in Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (IEEE Virtual Reality), Reno, USA, pages 209-215, March 2008.

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  • S Misra, K T Ramesh, and A M Okamura, “Physically valid surgical simulators: linear versus nonlinear tissue models”, in Proceedings of the Medicine Meets Virtual Reality 16 Conference, Long Beach, USA, pages 293-295, January 2008.

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2007

  • S Misra, A M Okamura, and K T Ramesh, “Force feedback is noticeably different for linear versus nonlinear elastic tissue models”, in Proceedings of the 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), Tsukuba, Japan, pages 519-524, March 2007.

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2006

  • S Misra and A M Okamura, “Environment parameter estimation during bilateral tele manipulation”, in Proceedings of the 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (IEEE Virtual Reality), Alexandria, USA, pages 301-307, March 2006.

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2003

  • O Ma, M Liu, S Misra, and J Wang, “Validation plan for SPDM task verification facility”, in Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space (I-SAIRAS), Nara, Japan, I-SAIRAS Paper AM-21, pages 1-8, May 2003.

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2002

  • S Misra and A Misra, “Object-oriented modeling of the dynamics of space systems with reaction wheels”, in Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit, Monterey, USA, AIAA Paper 2002-5043, pages 1-11, August 2002.

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