@conference {1796286,
	title = {Pre-College Robotics: Best Practices for Adapting Research to Outreach},
	booktitle = {2023 ASEE Annual Conference \& Exposition},
	year = {2023},
	publisher = {ASEE PEER},
	organization = {ASEE PEER},
	address = {ASEE Annual Conference \& Exposition., Baltimore, MD, 2023},
	abstract = {
	Adapting research for K-12 outreach is critical for inspiring the next generation of engineers. Community-focused STEM fairs and events attract a wide range of students with varying degrees of knowledge and exposure to engineering. The challenge when creating programming for these events is the ability to adapt research for young students with a wide range of engineering backgrounds. Adding to the complexity, engineers are not trained teachers, therefore outreach events can often contain overly complex activities that do not take a student{\textquoteright}s dexterity or comprehension skills into consideration. Understanding students{\textquoteright} abilities and\&nbsp;interests are critical to developing pre-college curricula that are engaging for a variety of students. In this project, we present findings from an observational study conducted at a community-focused outreach event with over 200 participants. This paper is focused on a soft robot gripper activity consisting of two tendon-actuated fingers\&nbsp;and its utility as an outreach tool. In the activity, students must navigate various tests of dexterity and comprehension. Observations from these tests were used to record successes and pain points of the activity design. The data collected during the activity was organized into several categories based on age, dexterity, and spatial awareness. After collecting and analyzing data, we identified areas of improvement for wide dissemination of this soft gripper activity. We also categorized prior activities that lead to a successful gripper build. Overall results showed areas where the soft robotics activity could be improved to be more inclusive of a variety of skill and age levels.

},
	url = {https://peer.asee.org/pre-college-robotics-best-practices-for-adapting-research-to-outreach},
	author = {Jaylynn Kim and Katelynn Ohk and Dominique Kisantear and Jorge Jimenez and Gavin Tian and David Ricardo Medina and Conor Walsh and Holly M Golecki}
}
@conference {1607209,
	title = {Targeting post-stroke walking automaticity with a propulsion-augmenting soft robotic exosuit: toward a biomechanical and neurophysiological approach to assistance prescription},
	booktitle = {International IEEE/EMBS Conference on Neural Engineering},
	year = {2021},
	author = {Sloutsky, Regina and Yucel, Meryem A. and Collimore, Ashley N. and Ottman, El and Terry D. Ellis and Walsh, Conor J. and Boas, David A. and Louis N. Awad}
}
@conference {1511541,
	title = {Automated detection of soleus concentric contraction in variable gait conditions for improved exosuit control},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2020},
	author = {Nuckols, R. W. and Swaminathan, K. and Lee, S. and Awad, L. and C. J. Walsh and Howe, R.D.}
}
@conference {1511540,
	title = {Soft Sensing Shirt for Shoulder Kinematics Estimation},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2020},
	author = {Jin, Y. and Glover, C. and Cho, H. and Araromi, O. and Graule, M. and Li, N. and R.J. Wood and C. J. Walsh}
}
@conference {1587052,
	title = {Bayesian Optimization of Soft Exosuits Using a Metabolic Estimator Stopping Process.},
	booktitle = {The 36th IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2019},
	author = {Kim, Myunghee and Charles Liu and Jinsoo Kim and Lee, Sangjun and Adham Meguid and Walsh, Conor J. and Scott Kuindersma}
}
@conference {1449204,
	title = {Soft Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance Post Spinal Cord Injury},
	booktitle = {IEEE Internaional Conference on Robotics and Automation (ICRA)},
	year = {2019},
	address = {Montreal, Canada, May 20-24},
	author = {Zhou, Y. M. and Wagner, D. and Nuckols, K. and Heimgartner, R. and Correia, C. and Clarke, M. and Orzel, D. and O{\textquoteright}Neill, C. and Solinsky, R. and Paganoni, S. and C. J. Walsh}
}
@conference {1435711,
	title = {Variable Contraction Timing for a Soft Robotic Cardiac Assist Device},
	booktitle = {Hamlyn Symposium on Medical Robotics},
	year = {2019},
	author = {Payne, C. and D. Van Story and D. Bautista-Salinas and Saeed, M. and T. Thalhofer and P. del Nido and C. Walsh and Vasilyev, N.}
}
@conference {1614198,
	title = {An Evaluation of an Engineering Design Class using Mixed Methods Techniques},
	booktitle = {2018 ASEE Annual Conference and Exposition},
	year = {2018},
	author = {Moyne, M. and M. Herman and C. Walsh and Holland, D.}
}
@conference {1614197,
	title = {IUSE: A Web-Based Tool for Engineering Design Pedagogy Research},
	booktitle = {2018 ASEE Annual Conference and Exposition},
	year = {2018},
	author = {Moyne, M. and M. Herman and C. Walsh and Holland, D.}
}
@conference {1435793,
	title = {ExoBoot, a soft inflatable robotic boot to assist ankle during walking: Design, Characterization and Preliminary tests},
	booktitle = {7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB)},
	year = {2018},
	author = {J. Chung and Heimgartner, R. and O{\textquoteright}Neill, C. and Phipps, N. and C. Walsh}
}
@conference {1298570,
	title = {Compliant low profile textile-integrated multi-axis force sensors},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Araromi, O. and Castellanos, S. and C. Walsh and R. Wood}
}
@conference {1298569,
	title = {Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Lee, S. and Karavas, N. and Quinlivan, B. and Ryan, D. and Perry, D. and Eckert-Erdheim, A. and Murphy, P. and Greenberg Goldy, T. and Menard, N. and Athanassiu, M. and Kim, J. and Lee, G. and Galiana, I. and C. Walsh}
}
@conference {1298568,
	title = {Autonomous and portable soft exosuit for hip extension assistance with online walking and running detection algorithm},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Kim, J. and Heimgartner, R. and Lee, G. and Karavas, N. and Perry, D. and Ryan, D. and Eckert-Erdheim, A. and Murphy, P. and Choe, D. and Galiana, I. and C. Walsh}
}
@conference {1298567,
	title = {A Soft Pneumatic Fabric-Polymer Actuator for Wearable Biomedical Devices: Proof of Concept for Lymphedema Treatment},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Suarez, E. and Huaroto, J. and Reymundo, A. and Holland, D. and C. Walsh and Vela, E.}
}
@conference {1298564,
	title = {Force Control of Textile-Based Soft Wearable Robots for Mechanotherapy},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Payne, C. and Gallardo Hevia, E. and Phipps, N. and Atalay, A. and Atalay, O. and Seo, BR. and Mooney, D. and C. Walsh}
}
@conference {1298563,
	title = {A lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	address = {Brisbane, Australia, May 21-25},
	author = {Jaehyun Bae and Siviy, Christoper J. and Rouleau, M. and Menard, N. and O{\textquoteright}Donnell, K. and Galiana, I. and Athanassiu, M. and Ryan, D. and Bibeau, C. and Sloot, L. and Kudzia, P. and Ellis, T. and Awad, L. and C. Walsh}
}
@conference {1113156,
	title = {Hybrid carbon fiber-textile compliant force sensors for high-load sensing in soft exosuits},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	address = {Vancouver, BC, Canada, September 24-28},
	author = {Oluwaseun Araromi and Walsh, Conor J. and Wood, Robert J.}
}
@conference {1113151,
	title = {Improved assistive profile tracking for walking and jogging soft exosuits with off-board actuation},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	address = {Vancouver, BC, Canada, September 24-28},
	author = {Lee, Giuk and Ye Ding and Ignacio B. Galiana and Nikolaos Karavas and Zhou, Y. M. and Walsh, Conor J.}
}
@conference {1113146,
	title = {Distal Proprioceptive Sensor for Feedback Control of Modular Roboendoscopic Systems},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	address = {Vancouver, BC, Canada, September 24-28},
	author = {Joshua B. Gafford and Wood, Robert J. and Walsh, Conor J.}
}
@conference {1113046,
	title = {Design and Preliminary Evaluation of a Multi-Robotic System with Pelvic and Hip Assistance for Pediatric Gait Rehabilitation},
	booktitle = {15th IEEE International Conference on Rehabilitation Robotics (ICORR)},
	year = {2017},
	address = {London, July 17-20},
	author = {Park, Evelyn J. and Kang, Jiyeon and Su, Hao and Stegall, Paul and Miranda, Daniel L. and Wen-Hao Hsu and Karabas, Mustafa and Phipps, Nathan and Agrawal, Sunil K. and Goldfield, Eugene C. and Walsh, Conor J.}
}
@conference {1113036,
	title = {Soft Robotic Shoulder Support: Design, Characterization, and Preliminary Testing},
	booktitle = {15th IEEE International Conference on Rehabilitation Robotics (ICORR)},
	year = {2017},
	address = {London, July 17-20},
	author = {O{\textquoteright}Neill, Ciaran and Phipps, Nathan and Cappello, Leonardo and Paganoni, Sabrina and Walsh, Conor J.}
}
@conference {973671,
	title = {Deployable stabilization mechanisms for endoscopic procedures},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	address = {Singapore},
	abstract = {Abstract:Flexible endoscopes are still the gold standard in most natural orifice translumenal endoscopic surgery (NOTES) procedures; however their flexibility (necessary for navigating through the GI tract) limits their capabilities in terms of distal manipulation and stability. We propose a deployable endoscopic add-on aimed at locally counteracting forces applied at the tip of an endoscope. We analyze different designs: a fully soft version and two hybrid soft-folded versions. The hybrid designs exploit either an inextensible structure pressurized by a soft actuator or the stiffness provided by the unfolded {\textquotedblleft}magic cube{\textquotedblright} origami structure. We focus on the fabrication and experimental characterization of the proposed structures and present some preliminary designs and integration strategies to mount them on top of current flexible endoscopes.},
	url = {https://doi.org/10.1109/ICRA.2017.7989134},
	author = {Ranzani, Tommaso and Sheila Russo and Schwab, F. and Conor J Walsh and Wood, Robert J.}
}
@conference {973676,
	title = {A high-force, high-stroke distal robotic add-on for endoscopy},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	address = {Singapore},
	abstract = {{\textquoteleft}Snap-On{\textquoteright} robotic modules that can integrate distally with existing commercially-available endoscopic equipment have the potential to provide new capabilities such as enhanced dexterity, bilateral manipulation and feedback sensing with minimal disruption of the current clinical workflow. However, the desire for fully-distal integration of sensors and actuators and the resulting form factor requirements preclude the use of many off-the-shelf actuators capable of generating the relevant strokes and forces required to interact with tools and tissue. In this work, we investigate the use of millimeter-scale, optimally-packed helical shape memory alloy (SMA) actuators in an antagonistic configuration to provide distal actuation without the need for a continuous mechanical coupling to proximal, off-board actuation packages to realize a truly plug-and-play solution. Using phenomenological modeling, we design and fabricate antagonistic helical SMA pairs and implement them in an at-scale roboendoscopic module to generate strokes and forces necessary for deflecting tools passed through the endoscope working port, thereby providing a controllable robotic {\textquoteleft}wrist{\textquoteright} inside the body to otherwise passive flexible tools. Bandwidth is drastically improved through the integration of targeted fluid cooling. The integrated system can generate maximum lateral forces of 10N and demonstrates an additional 96 degrees of distal angulation, expanding the reachable workspace of tools passed through a standard endoscope.},
	url = {https://doi.org/10.1109/ICRA.2017.7989133},
	author = {Joshua B. Gafford and Wood, Robert J. and Conor J Walsh}
}
@conference {973616,
	title = {Fabrication of Stretchable Composites with Anisotropic Electrical Conductivity for Compliant Pressure Transducers},
	booktitle = {IEEE Sensors Conference 2016},
	year = {2016},
	month = {31 Oct},
	address = {Orlando, Florida},
	abstract = {We present a simple fabrication approach for anisotropically conductive stretchable composites, towards novel flexible pressure transducers. Flexible electronic systems have gained great interest in recent years, and within this space, anisotropic conducting materials have been explored for enhanced sensing performance. However, current methods for producing these materials are complex or are limited to small fabrication areas. Our method uses film applicator coating to render commercially available conductive RTVs anisotropically conductive. A ratio of in-plane surface resistance to through-thickness resistance of 1010 was achieved using our method. Furthermore, we show that when a normal pressure is applied to such films, the in-plane resistance can be reduced by seven orders of magnitude for an applied pressure of 10 kPa. Hence these materials show great promise for the development of novel, robust pressure transducers.},
	url = {dx.doi.org/10.1109/ICSENS.2016.7808424},
	author = {Oluwaseun Araromi and Walsh, Conor J. and Wood, Robert J.}
}
@conference {123,
	title = {Controlling Negative and Positive Power at the Ankle with a Soft Exosuit},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	month = {16-21 May 2016},
	pages = {3509-3515},
	address = {Stockholm, Sweden},
	abstract = {The soft exosuit is a new approach for applying assistive forces over the wearer{\textquoteright}s body through load paths configured by the textile architecture. In this paper, we present a body-worn lower-extremity soft exosuit and a new control approach that can independently control the level of assistance that is provided during negative- and positive-power periods at the ankle. The exosuit was designed to create load paths assisting ankle plantarflexion and hip flexion, and the actuation system transmits forces from the motors to the suit via Bowden cables. A load cell and two gyro sensors per leg are used to measure real-time data, and the controller performs position control of the cable on a step-by-step basis with respect to the power delivered to the wearer{\textquoteright}s ankle by controlling two force parameters, the pretension and the active force. Human subjects testing results demonstrate that the controller is capable of modulating the amount of power delivered to the ankle joint. Also, significant reductions in metabolic rate (11\%-15\%) were observed, which indicates the potential of the proposed control approach to provide benefit to the wearer during walking.},
	url = {http://dx.doi.org/10.1109/ICRA.2016.7487531},
	author = {Lee, Sangjun and Simona Crea and Philippe Malcolm and Ignacio B. Galiana and Alan T. Asbeck and Walsh, Conor J.}
}
@conference {703231,
	title = {Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopy},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	month = {16-21 May 2016},
	pages = {4398-4405},
	address = {Stockholm, Sweden},
	abstract = {Burgeoning transendoscopic procedures, such as endoscopic submucosal dissection (ESD), provide a promising means of treating early-stage gastric neoplasia in a minimally-invasive way. However, the remote locations of these lesions, coupled with their origination in the submucosal layers of the gastrointestinal tract, often lead to extreme technical, cognitive and ergonomic challenges which combat the widespread applicability and adoption of these techniques. Among these challenges is achieving the in vivo dexterity required to retract and dissect tissue. By leveraging workspace and force data obtained through clinical studies, we developed a modular, disposable, distally-mounted actuator (an {\textquoteright}active endcap{\textquoteright}) that can augment an endoscopist{\textquoteright}s distal dexterity in ways that are not achievable with the endoscope{\textquoteright}s built-in degrees-of-freedom. The device consists of a flexible articulating {\textquoteright}exoskeleton{\textquoteright} manufactured via printed-circuit MEMS (PCMEMS) which engages and deflects electrosurgical tools that are passed through the endoscopic working channel. Embedded proprioceptive sensing is implemented on-board using distributed LED/phototransistor pairs and the principle of light intensity modulation (LIM). The distal degree-of-freedom is actuated using shape memory alloy (SMA) technology, and the actuation transmission system is fully contained within a 1-inch-long end cap that can be mounted on the distal end of the endoscope, thereby obviating the need for a mechanical connection to a proximal source. Proof-of-concept tests demonstrate that the actuator adds over 50 degrees of distal articulation to existing tools and can generate 450 mN of lateral force which has been clinically determined to be sufficient for performing circumferential incisions in ESD.},
	url = {http://doi.org/10.1109/ICRA.2016.7487639},
	author = {Joshua B. Gafford and Sheila Russo and Ranzani, Tommaso and Wood, Robert J. and Walsh, Conor J.}
}
@conference {703211,
	title = {Soft pop-up mechanisms for micro surgical tools: design and characterization of compliant millimeter-scale articulated structures},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	month = {16-21 May 2016},
	pages = {750-757},
	address = {Stockholm, Sweden},
	abstract = {This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm. Such a technique represents a promising approach to the design and fabrication of low cost and scalable articulated mechanisms provided with sensing capabilities and on-board actuation with potential applications in the field of minimally invasive surgery. Design and integration of soft components in the rigid-flex laminates is described along with the resulting soft pop-up mechanisms realized at different scales. Prototype characterization is presented, demonstrating forces and dexterity in a range suitable for surgical applications, as well as the possibility to integrate sensing capabilities. Based on these results, a multi-articulated robotic arm is fabricated and mounted on top of an endoscope model to provide a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario.},
	url = {http://dx.doi.org/10.1109/ICRA.2016.7487203},
	author = {Sheila Russo and Ranzani, Tommaso and Joshua B. Gafford and Walsh, Conor J. and Wood, Robert J.}
}
@conference {697851,
	title = {IMU-based Iterative Control for Hip Extension Assistance with a Soft Exosuit},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	month = {16-21 May},
	pages = {3501-3508},
	address = {Stockholm, Sweden},
	abstract = {
	In this paper we describe an IMU-based iterative controller for hip extension assistance where the onset timing of assistance is based on an estimate of the maximum hip flexion angle. The controller was implemented on a mono-articular soft exosuit coupled to a lab-based multi-joint actuation platform that enables rapid reconfiguration of different sensors and control strategy implementation. The controller design is motivated by a model of the suit-human interface and utilizes an iterative control methodology that includes gait detection and step-by-step actuator position profile generation to control the onset timing, peak timing, and peak magnitude of the delivered force. This controller was evaluated on eight subjects walking on a treadmill at a speed of 1.5 m/s while carrying a load of 23 kg. Results showed that assistance could be delivered reliably across subjects. Specifically, for a given profile, the average delivered force started concurrently with the timing of the maximum hip flexion angle and reached its peak timing 22.7 {\textpm} 0.63\% later in the gait cycle (desired 23\%) with a peak magnitude of 198.2 {\textpm} 1.6 N (desired 200 N), equivalent to an average peak torque of 30.5 {\textpm} 4.7 Nm. This control approach was used to assess the metabolic effect of four different assistive profiles. Metabolic reductions ranging from 5.7\% to 8.5\% were found when comparing the powered conditions with the unpowered condition. This work enables studies to assess the biomechanical and physiological responses to different assistive profiles to determine the optimal hip extension assistance during walking.

},
	url = {http://dx.doi.org/10.1109/ICRA.2016.7487530},
	author = {Ye Ding and Ignacio Galiana and Christopher Siviy and Panizzolo, Fausto A. and Conor J Walsh}
}
@conference {7281175,
	title = {EMG controlled soft robotic glove for assistance during activities of daily living},
	booktitle = {14th IEEE International Conference on Rehabilitation Robotics (ICORR)},
	year = {2015},
	month = {11-14 Aug 2015},
	pages = {55-60. [Best Paper Award]},
	address = {Singapore},
	abstract = {This paper presents further developments, characterization and initial evaluation of a recently developed assistive soft robotic glove for individuals with hand pathologies. The glove technology utilizes a combination of elastomeric and inextensible materials to create soft actuators that conform to the user{\textquoteright}s hand and can generate sufficient hand closing force to assist with activities of daily living. User intent (i.e. desire to close or open hand) is detected by monitoring gross muscle activation signals with surface electromyography electrodes mounted on the user{\textquoteright}s forearm. In particular, we present an open-loop sEMG logic that distinguishes muscle contractions and feeds the information to a low-level fluidic pressure controller that regulates pressure in pre-selected groups of the glove{\textquoteright}s actuators. Experiments are conducted to determine the level of assistance provided by the glove by monitoring muscle effort and mapping the pressure distribution during a simple grasping task when the glove is worn. Lastly, quantitative and qualitative results are presented using the sEMG-controlled glove on a healthy participant and on a patient with muscular dystrophy.},
	keywords = {Activities of Daily Living, actuators, assisted living, elastomeric materials, Electromyography, EMG, EMG controlled soft robotic glove, force control, Grasping, gross muscle activation signals, hand assistance, hand closing force generation, hand pathology, inextensible materials, low-level fluidic pressure controller, medical control systems, medical signal processing, Muscles, open-loop sEMG logic, patient with muscular dystrophy, pressure control, pressure regulation, Robot sensing systems, soft actuator, soft robotic glove, Thumb},
	issn = {1945-7898},
	doi = {10.1109/ICORR.2015.7281175},
	url = {http://dx.doi.org/10.1109/ICORR.2015.7281175},
	author = {Panagiotis Polygerinos and Galloway, Kevin C. and Siddharth Sanan and Maxwell Herman and Conor J Walsh}
}
@conference {527241,
	title = {A soft exosuit for patients with stroke: Feasibility study with a mobile off-board actuation unit},
	booktitle = {14th International Conference on Rehabilitation Robotics (ICORR)},
	year = {2015},
	month = {11-14 Aug 2015},
	pages = {131-138. [Runner up Best Paper Award]},
	address = {Singapore},
	url = {http://dx.doi.org/10.1109/ICORR.2015.7281188},
	author = {Jaehyun Bae and De Rossi, Stefano M.M. and Kathleen O{\textquoteright}Donnell and Kathryn L. Hendron and Louis N. Awad and Teles Dos Santos, Thiago R. and De Araujo, Vanessa L. and Ye Ding and Kenneth G. Holt and Terry D. Ellis and Conor J Walsh}
}
@conference {405026,
	title = {Force Transfer Characterization of a Soft Exosuit for Gait Assistance},
	booktitle = {ASME 2015 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference (IDETC/CIE 2015)},
	year = {2015},
	month = {2-5 Aug 2015},
	address = {Boston, MA, USA},
	abstract = {Recently, there has been a growing interest in moving away from traditional rigid exoskeletons towards soft exosuits that can provide a variety of advantages including a reduction in both the weight carried by the wearer and the inertia experienced as the wearer flexes and extends their joints. These advantages are achieved by using structured functional textiles in combination with a flexible actuation scheme that enables assistive torques to be applied to the biological joints. Understanding the human-suit interface in these systems is important, as one of the key challenges with this approach is applying force to the human body in a manner that is safe, comfortable, and effective. This paper outlines a methodology for characterizing the structured functional textile of soft exosuits and then uses that methodology to evaluate several factors that lead to different suit-human series stiffnesses and pressure distributions over the body. These factors include the size of the force distribution area and the composition of the structured functional textile. Following the test results, design guidelines are suggested to maximize the safety, comfort, and efficiency of the exosuit.},
	url = {http://dx.doi.org/10.1115/DETC2015-47871},
	author = {Brendan Quinlivan and Alan T. Asbeck and Diana Wagner and Ranzani, Tommaso and Sheila Russo and Conor J Walsh}
}
@conference {399996,
	title = {Design And Fabrication Of A Soft Robotic Direct Cardiac Compression Device},
	booktitle = {Proceedings of the ASME 2015 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference (IDETC/CIE 2015)},
	year = {2015},
	month = {2-5 Aug 2015},
	address = {Boston, MA},
	url = {https://doi.org/10.1115/DETC2015-47355},
	author = {Ellen T Roche and Markus A. Horvath and Ali A. Nodeh and Galloway, Kevin C. and Nikolay V. Vasilyev and Mooney, David J and Frank A Pigula and Conor J Walsh}
}
@conference {399991,
	title = {Soft Pressure Sensing Sleeve For Direct Cardiac Compression Device},
	booktitle = {Proceedings of the ASME 2015 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference (IDETC/CIE 2015)},
	year = {2015},
	month = {2-5 Aug.},
	address = {Boston, MA, USA, August 2-5},
	abstract = {A direct cardiac compression (DCC) device is a non-blood contacting sleeve placed around the failing heart to actively assist blood pumping function. For design optimization of a DCC device, it is necessary to monitor the surface pressure exerted on the heart surface at multiple points during active assist, and to correlate this with device performance and cardiac output. In this paper, we present the design, fabrication and characterization of a soft, elastic, conformable pressure sensing sleeve that is placed at the heart/device interface to monitor device performance without affecting device function. This sleeve enables identification of optimal pre-tensioning, positioning and user-controlled parameters of the DCC device. Individual sensors (8{\texttimes}8{\texttimes}3 mm) were fabricated using a surface mount device (SMD) barometer on a custom double-sided flexible printed circuit board and casting the assembly in urethane rubber. A typical sensor has a dynamic range of 2.5 kPa to 50 kPa with a sensitivity of 11.3 counts per kPa. An array of up to 24 sensors was integrated into a flexible, stretchable circuit embedded in a thin (500 micron) silicone sheet using a multi-step layering fabrication process. Continuous magnet wires were wrapped around an alignment fixture, soldered to individual sensors in place and the entire circuit was transfer printed on to a silicone sheet. This assembly allows stretch corresponding to the fractional shortening of the heart muscles (up to 50\%). The sleeve successfully measured static and dynamic pressures with a mechanical tensile tester and did not affect DCC device performance. Preliminary results demonstrated that the sleeve is robust enough to withstand \&gt;10000 cycles, compression forces from the DCC device and can achieve sensing range and repeatability suitable for procedural pressure monitoring for a DCC device. In addition to allowing performance measurements for iterating DCC device designs, the sensing sleeve can enable increased understanding of the response of the cardiovascular system to compressive assistance.},
	url = {https://doi.org/10.1115/DETC2015-47567},
	author = {Markus A. Horvath and Ellen T Roche and Daniel M. Vogt and Mooney, David J and Frank A Pigula and Conor J Walsh}
}
@conference {368711,
	title = {Multi-joint Soft Exosuit for Gait Assistance},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2015},
	month = {26-30 May 2015},
	pages = {6197-6204},
	address = {Seattle, WA},
	abstract = {Exosuits represent a new approach for applying assistive forces to an individual, using soft textiles to interface to the wearer and transmit forces through specified load paths. In this paper we present a body-worn, multi-joint soft exosuit that assists both ankle plantar flexion and hip flexion through a multiarticular load path, and hip extension through a separate load path, at walking speeds up to 1.79m/s (4.0mph). The exosuit applies forces of 300N in the multiarticular load path and 150N in hip extension, which correspond to torques of 21\% and 19\% of the nominal biological moments at the ankle and hip during unloaded walking. The multi-joint soft exosuit uses a new actuation approach that exploits joint synergies, with one motor actuating the multiarticular load paths on both legs and one motor actuating the hip extension load paths on both legs, in order to reduce the total system weight. Control is accomplished by an algorithm that uses only a gyroscope at the heel and a load cell monitoring the suit tension, and is shown to adapt within a single step to changes in cadence. Additionally, the control algorithm can create slack in the suit during non-level-ground walking motions such as stepping over obstacles so that the system can be transparent to the wearer when required. The resulting system consumes 137W, and has a mass of 6.5kg including batteries.},
	url = {http://dx.doi.org/10.1109/ICRA.2015.7140069},
	author = {Alan T. Asbeck and Kai Schmidt and Ignacio Galiana and Diana Wagner and Conor J Walsh}
}
@conference {368706,
	title = {Soft Robotic Glove for Hand Rehabilitation and Task Specific Training},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2015},
	month = {26-30 May 2015},
	pages = {2913-2919},
	address = {Seattle, Washington, USA},
	abstract = {This paper presents advancements in the design of a portable, soft robotic glove for individuals with functional grasp pathologies. The robotic glove leverages soft material actuator technology to safely distribute forces along the length of the finger and provide active flexion and passive extension. These actuators consist of molded elastomeric bladders with anisotropic fiber reinforcements that produce specific bending, twisting, and extending trajectories upon fluid pressurization. In particular, we present a method for customizing a soft actuator to a wearer{\textquoteright}s biomechanics and demonstrate in a motion capture system that the ranges of motion (ROM) of the two are nearly equivalent. The active ROM of the glove is further evaluated using the Kapandji test. Lastly, in a case study, we present preliminary results of a patient with very weak hand strength performing a timed Box-and-Block test with and without the soft robotic glove.},
	url = {http://dx.doi.org/10.1109/ICRA.2015.7139597},
	author = {Panagiotis Polygerinos and Galloway, Kevin C. and Savage, E. and Maxwell Herman and Kathleen O{\textquoteright}Donnell and Conor J Walsh}
}
@conference {260021,
	title = {A Monolithic Approach to Fabricating Low-Cost, Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery},
	booktitle = {Inter. Conf. on Robotics and Automation (ICRA)},
	year = {2014},
	pages = {1419-1425},
	address = {Hong Kong, China},
	abstract = {In this paper we have rapidly prototyped customized, highly-sensitive, mm-scale multi-axis force sensors for medical applications. Using a composite laminate batch fabrication process with biocompatible constituent materials, we have fabricated a fully-integrated, 10{\texttimes}10 mm three-axis force sensor with up to 5 V/N sensitivity and RMS noise on the order of ~1.6 mN, operational over a range of -500 to 500 mN in the x- and y-axes, and -2.5 to 2.5 N in the z-axis. Custom foil-based strain sensors were fabricated in parallel with the mechanical structure, obviating the need for post-manufacturing alignment and assembly. The sensor and its custom-fabricated signal conditioning circuitry fit within a 1{\texttimes}1{\texttimes}2 cm volume to realize a fully-integrated force transduction platform with potential haptics and control applications in minimally-invasive surgical tools. The form factor, biocompatibility, and cost of the sensor and signal conditioning makes this method ideal for rapid-prototyping low-cost, mm-scale distal force sensors. Sensor performance is validated in a simulated tissue palpation task using a robotic master-slave platform.},
	url = {http://dx.doi.org/10.1109/ICRA.2014.6907038},
	author = {Gafford, J. and Degirmenci, A. and Kesner, S. and R.J. Wood and Howe, R. and C.J. Walsh}
}
@conference {259986,
	title = {Multi-joint Actuation Platform for Lower Extremity Soft Exosuits},
	booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2014},
	month = {31 May-7 June},
	pages = {1327-1334},
	address = {Hong Kong, China},
	abstract = {Lower-limb wearable robots have been proposed as a means to augment or assist the wearer{\textquoteright}s natural performance, in particular, in the military and medical field. Previous research studies on human-robot interaction and biomechanics have largely been performed with rigid exoskeletons that add significant inertia to the lower extremities and provide constraints to the wearer{\textquoteright}s natural kinematics in both actuated and non-actuated degrees of freedom. Actuated lightweight soft exosuits minimize these effects and provide a unique opportunity to study human-robot interaction in wearable systems without affecting the subjects underlying natural dynamics. In this paper, we present the design and control of a reconfigurable multi-joint actuation platform that can provide biologically realistic torques to ankle, knee, and hip joints through lower extremity soft exosuits. Two different soft exosuits have been designed to deliver assistive forces through Bowden cable transmission to the ankle and hip joints. Through human subject experiments, it is demonstrated that with a real-time admittance controller, accurate force profile tracking can be achieved during walking. The average energy delivered to the test subject was calculated while walking at 1.25 m/s and actuated with 15\% of the total torque required by the biological joints. The results show that the ankle joint received an average of 3.02J during plantar flexion and that the hip joint received 1.67J during flexion each gait cycle. The efficiency of the described suit and controller in transferring energy to the human biological joints is 70\% for the ankle and 48\% for the hip.},
	url = {http://dx.doi.org/10.1109/ICRA.2014.6907024},
	author = {Ding, Y. and Galiana, I. and Asbeck, A. and Quinlivan, B. and De Rossi, S. and Walsh, C.}
}
@conference {260036,
	title = {Optimal Spatial Design of Non-Invasive Magnetic Field-based Localization Systems},
	booktitle = {Inter.  Conf. on Robotics and Automation (ICRA)},
	year = {2014},
	pages = {3510-3516},
	address = {Hong Kong, China},
	abstract = {Magnetic localization systems based on passive permanent magnets (PM) are of great interest due to their ability to provide non-contact sensing and without any power requirement for the PM. Medical procedures such as ventriculostomy can benefit greatly from real-time feedback of the inserted catheter tip. While the effects of the number of sensors on the localization accuracy in such systems has been reported, the spatial design of the sensor layout has been largely overlooked. Here in this paper, a framework for determining an optimal sensor assembly for enhanced localization performance is presented and investigated through numerical simulations and direct experiments. Two approaches are presented: one based on structured grid configuration and the other derived using Genetic Algorithms. Simulation results verified by experiments strongly suggest that the layout of the sensors not only has an effect on the localization accuracy, but also has an effect far more pronounced than improvements brought by increasing the number of sensors.},
	url = {http://dx.doi.org/10.1109/ICRA.2014.6907365},
	author = {Luc Marechal and Shaohui Foong and Shuoyu Ding and Dushyanth Madhavan and Kristen L. Wood and Rajiv Gupta and Vaibhav Patil and Conor J Walsh}
}
@conference {261716,
	title = {Microsurgical devices by Pop-up Book MEMS},
	booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE 2013},
	year = {2013},
	month = {4-7 Aug.},
	address = {Portland, Oregon, USA},
	author = {Joshua Gafford and Samuel B Kesner and Wood, Robert J. and Conor J Walsh}
}
@conference {109186,
	title = {Assured Safety Drill with Bi-stable Bit Retraction Mechanism},
	booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE 2013},
	year = {2013},
	month = {4-7 Aug.},
	address = {Portland, OR},
	abstract = {A handheld, portable cranial drilling tool for safely creating holes in the skull without damaging brain tissue is presented. Such a device is essential for neurosurgeons and mid-level practitioners treating patients with traumatic brain injury. A typical procedure creates a small hole for inserting sensors to monitor intra-cranial pressure measurements and/or removing excess fluid. Drilling holes in emergency settings with existing tools is difficult and dangerous due to the risk of a drill bit unintentionally plunging into brain tissue. Cranial perforators, which counter-bore holes and automatically stop upon skull penetration, do exist but are limited to large diameter hole size and an operating room environment. The tool presented here is compatible with a large range of bit diameters and provides safe, reliable access. This is accomplished through a dynamic bi-stable linkage that supports drilling when force is applied against the skull but retracts upon penetration when the reaction force is diminished. Retraction is achieved when centrifugal forces from rotating masses overpower the axial forces, thus changing the state of the bi-stable mechanism. Initial testing on ex-vivo animal structures has demonstrated that the device can withdraw the drill bit in sufficient time to eliminate the risk of soft tissue damage. Ease of use and portability of the device will enable its use in unregulated environments such as hospital emergency rooms and emergency disaster relief areas.},
	author = {Paul Loschak and Kechao Xiao and Hao Pei and Samuel B Kesner and Ajith J Thomas and Conor J Walsh}
}
@conference {261661,
	title = {A Lightweight Soft Exosuit for Gait Assistance},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2013},
	month = {6-10 May},
	address = {Karlsruhe, Germany},
	author = {Michael Wehner and Brendan Quinlivan and Patrick M. Aubin and Ernesto Martinez-Villalpando and Michael Baumann and Leia Stirling and Kenneth Holt and Wood, Robert J. and Conor J Walsh}
}
@conference {261731,
	title = {Biologically-inspired Soft Exosuit},
	booktitle = {13th International Conference on Rehabilitation Robotics (ICORR)},
	year = {2013},
	month = {24-26 June},
	pages = {24-26},
	address = {Seattle, WA},
	abstract = {In this paper, we present the design and evaluation of a novel soft cable-driven exosuit that can apply forces to the body to assist walking. Unlike traditional exoskeletons which contain rigid framing elements, the soft exosuit is worn like clothing, yet can generate moments at the ankle and hip with magnitudes of 18\% and 30\% of those naturally generated by the body during walking, respectively. Our design uses geared motors to pull on Bowden cables connected to the suit near the ankle. The suit has the advantages over a traditional exoskeleton in that the wearer{\textquoteright}s joints are unconstrained by external rigid structures, and the worn part of the suit is extremely light, which minimizes the suit{\textquoteright}s unintentional interference with the body{\textquoteright}s natural biomechanics. However, a soft suit presents challenges related to actuation force transfer and control, since the body is compliant and cannot support large pressures comfortably. We discuss the design of the suit and actuation system, including principles by which soft suits can transfer force to the body effectively and the biological inspiration for the design. For a soft exosuit, an important design parameter is the combined effective stiffness of the suit and its interface to the wearer. We characterize the exosuit{\textquoteright}s effective stiffness, and present preliminary results from it generating assistive torques to a subject during walking. We envision such an exosuit having broad applicability for assisting healthy individuals as well as those with muscle weakness.},
	url = {http://dx.doi.org/10.1109/ICORR.2013.6650455},
	author = {Alan T. Asbeck and Robert J. Dyer and Arnar F. Larusson and Conor J Walsh}
}
@conference {261751,
	title = {Force-Sensing Surgical Grasper Enabled by Pop-Up Book MEMS},
	booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2013},
	month = {3-7 Nov.},
	pages = {2552-2558},
	address = {Tokyo, Japan},
	abstract = {The small scale of minimally-invasive surgery (MIS) presents significant challenges to developing robust, smart, and dexterous tools for manipulating millimeter and sub-millimeter anatomical structures (vessels, nerves) and surgical equipment (sutures, staples). Robotic MIS systems offer the potential to transform this medical field by enabling precise repair of these miniature tissue structures through the use of teleoperation and haptic feedback. However, this effort is currently limited by the inability to make robust and accurate MIS end effectors with integrated force and contact sensing. In this paper, we demonstrate the use of the novel Pop-Up Book MEMS manufacturing method to fabricate the mechanical and sensing elements of an instrumented MIS grasper. A custom thin-foil strain gage was manufactured in parallel with the mechanical components of the grasper to realize a fully-integrated electromechanical system in a single manufacturing step, removing the need for manual assembly, bonding and alignment. In preliminary experiments, the integrated grasper is capable of resolving forces as low as 30 mN, with a sensitivity of approximately 408 mV/N. This level of performance will enable robotic surgical systems that can handle delicate tissue structures and perform dexterous procedures through the use of haptic feedback guidance.},
	url = {http://dx.doi.org/10.1109/IROS.2013.6696716},
	author = {Joshua Gafford and Samuel B Kesner and Wood, Robert J. and Conor J Walsh}
}
@conference {261776,
	title = {Mechanically Programmable Bend Radius for Fiber-Reinforced Soft Actuators},
	booktitle = {16th International Conference on Advanced Robotics (ICAR)},
	year = {2013},
	month = {25-29 Nov 2013},
	pages = {1-6},
	address = {Montevideo, Uruguay},
	abstract = {Established design and fabrication guidelines exist for achieving a variety of motions with soft actuators such as bending, contraction, extension, and twisting. These guidelines typically involve multi-step molding of composite materials (elastomers, paper, fiber, etc.) along with specially designed geometry. In this paper we present the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion. Several soft actuators were fabricated and their displacement and force capabilities were measured experimentally and compared to demonstrate the utility of this approach. Finally, a prototype two-digit end-effector was designed and programmed with the conformal covering to shape match a rectangular object. We demonstrated improved gripping force compared to a pure bending actuator. We envision this approach enabling rapid customization of soft actuator function for grasping applications where the geometry of the task is known a priori.},
	url = {http://dx.doi.org/10.1109/ICAR.2013.6766586},
	author = {Galloway, Kevin C. and Panagiotis Polygerinos and Walsh, Conor J. and Wood, Robert J.}
}
@conference {261726,
	title = {A Pediatric Robotic Thumb Exoskeleton for at-Home Rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA)},
	booktitle = {13th International Conference on Rehabilitation Robotics (ICORR)},
	year = {2013},
	month = {24-26 June},
	address = {University of Washington},
	author = {Patrick M. Aubin and Hani Sallum and Conor J Walsh and Annette Correia and Leia Stirling}
}
@conference {261666,
	title = {An MRI Coil Mounted Multi-probe robotic positioner for cryoablation},
	booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference},
	year = {2013},
	month = {4-7 Aug.},
	address = {Portland, Oregon, USA},
	author = {Faye Y. Wu and Meysam Torabi and Atsushi Yamada and Alex Golden and Gregory S. Fischer and Kemal Tuncali and Dan D. Frey and Conor J Walsh}
}
@conference {261521,
	title = {An assessment of student needs in project-based mechanical design courses},
	booktitle = {120th ASEE Annual Conference and Exposition (paper and presentation)},
	year = {2013},
	month = {23-26 June},
	address = {Atlanta, GA},
	author = {Donal Holland and Conor J Walsh and Gareth J. Bennett}
}
@conference {109186,
	title = {Soft Pneumatic Artificial Muscles with Low Threshold Pressures for Cardiac Compression Device},
	booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference IDETC/CIE 2013},
	year = {2013},
	month = {4-7 Aug.},
	address = {Portland, OR},
	url = {https://doi.org/10.1115/DETC2013-13004},
	author = {Steven C Obiajulu and Ellen T Roche and Frank A Pigula and Conor J Walsh}
}
@conference {261621,
	title = {Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements},
	booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2013},
	month = {6-10 May},
	pages = {5309-5316},
	address = {Karlsruhe, Germany},
	abstract = {Motion sensing has played an important role in the study of human biomechanics as well as the entertainment industry. Although existing technologies, such as optical or inertial based motion capture systems, have relatively high accuracy in detecting body motions, they still have inherent limitations with regards to mobility and wearability. In this paper, we present a soft motion sensing suit for measuring lower extremity joint motion. The sensing suit prototype includes a pair of elastic tights and three hyperelastic strain sensors. The strain sensors are made of silicone elastomer with embedded microchannels filled with conductive liquid. To form a sensing suit, these sensors are attached at the hip, knee, and ankle areas to measure the joint angles in the sagittal plane. The prototype motion sensing suit has significant potential as an autonomous system that can be worn by individuals during many activities outside the laboratory, from running to rock climbing. In this study we characterize the hyperelastic sensors in isolation to determine their mechanical and electrical responses to strain, and then demonstrate the sensing capability of the integrated suit in comparison with a ground truth optical motion capture system. Using simple calibration techniques, we can accurately track joint angles and gait phase. Our efforts result in a calculated trade off: with a maximum error less than 8\%, the sensing suit does not track joints as accurately as optical motion capture, but its wearability means that it is not constrained to use only in a lab.},
	url = {http://dx.doi.org/10.1109/ICRA.2013.6631337},
	author = {Yigit Menguc and Yong-Lae Park and Ernesto Martinez-Villalpando and Patrick Aubin and Miriam Zisook and Leia Stirling and Wood, Robert J. and Conor J Walsh}
}
@conference {261746,
	title = {Towards a Soft Pneumatic Glove for Hand Rehabilitation},
	booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2013},
	month = {3-7 Nov.},
	address = {Tokyo, Japan},
	abstract = {This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motion. Bending curvature and force response of these actuators are investigated using geometrical analysis and a finite element model (FEM) prior to fabrication. The fabrication procedure of the chosen actuator is described followed by a series of experiments that mechanically characterize the actuators. The experimental data is compared to results obtained from FEM simulations showing good agreement. Finally, an open-palm glove design and the integration of the actuators to it are described, followed by a qualitative evaluation study.},
	url = {http://dx.doi.org/10.1109/IROS.2013.6696549},
	author = {Panagiotis Polygerinos and Lyne, Stacey and Wang, Zheng and Nicolini, Luis Fernando and Mosadegh, Bobak and Whitesides, George M. and Conor J Walsh}
}
@conference {259991,
	title = {Towards a Compact Robotically Steerable Thermal Ablation Probe},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	year = {2012},
	month = {14-18 May},
	pages = {709-714},
	address = {Saint Paul, Minnesota},
	author = {Carmen M. Graves and Alexander H. Slocum and Rajiv Gupta and Conor J Walsh}
}
@conference {109146,
	title = {Classroom to Clinic: Merging Education and Research to Efficiently Prototype Medical Devices},
	booktitle = {Proceedings of the 2012 IEEE Healthcare Innovation Conference: Translational Engineering in Health \& Medicine},
	year = {2012},
	month = {November 7-9},
	address = {Methodist Hospital Research Institute, Houston, TX},
	author = {Nevan C. Hanumara and Conor J Walsh and Lynn R. Osborn and Rajiv Gupta and Alexander H. Slocum}
}
@conference {260006,
	title = {Experimental Characterization of Components for Active Soft Orthotics},
	booktitle = {IEEE International Conference on Biomedical Robotics and Biomechatronics},
	year = {2012},
	month = {24-27 June},
	pages = {1586-1592},
	address = {Rome, Italy},
	author = {Michael Wehner and Yong-Lae Park and Talia Moore and Conor J Walsh and Radhika Nagpal and Eugene Goldfield and Wood, Robert J.}
}
@conference {109126,
	title = {Design of an Ultrasound Needle Guidance System},
	booktitle = {33rd Annual International Conference of the IEEE EMBS},
	year = {2011},
	month = {30 Aug.-3 Sept.},
	pages = {8090-8093},
	address = {Boston, MA},
	abstract = {In this paper, we describe our prototype of an ultrasound guidance system to address the need for an easy-touse, cost-effective, and portable technology to improve ultrasound-guided procedures. The system consists of a lockable, articulating needle guide that attaches to an ultrasound probe and a user-interface that provides real-time visualization of the predicted needle trajectory overlaid on the ultrasound image. Our needle guide ensures proper needle alignment with the ultrasound imaging plane. Moreover, the calculated needle trajectory is superimposed on the real-time ultrasound image, eliminating the need for the practitioner to estimate the target trajectory, and thereby reducing injuries from needle readjustment. Finally, the guide is lockable to prevent needle deviation from the desired trajectory during insertion. This feature will also allow the practitioner to free one hand to complete simple tasks that usually require a second practitioner to perform. Overall, our system eliminates the experience required to develop the fine hand movement and dexterity needed for traditional ultrasound-guided procedures. The system has the potential to increase efficiency, safety, quality, and reduce costs for a wide range of ultrasound-guided procedures. Furthermore, in combination with portable ultrasound machines, this system will enable these procedures to be more easily performed by unskilled practitioners in non-ideal situations such as the battlefield and other disaster relief areas.},
	author = {Laura J Brattain and Caspar Floryan and Oliver P Hauser and Michael Nguyen and Steven B Corn and Robert J. Yong and Samuel B Kesner and Conor J Walsh}
}
@conference {259721,
	title = {Design of a robotic tool for percutaneous instrument distal tip repositioning},
	booktitle = {33rd Annual International Conference of the IEEE EMBS},
	year = {2011},
	month = {30 Aug.-3 Sept.},
	pages = {2097-2100},
	address = {Boston, MA},
	author = {Conor J Walsh and Jeremy C. Franklin and Alexander H. Slocum and Rajiv Gupta}
}
@conference {259631,
	title = {Development and Evaluation of a New Image-Based User Interface for Robot-Assisted Needle Placements with the Robopsy System},
	booktitle = {Proc. SPIE},
	volume = {7261},
	year = {2009},
	month = {7 Feb.},
	pages = {72610X-72610X-9},
	address = {Lake Buena Vista, FL},
	abstract = {The main challenges of Computed Tomography (CT)-guided organ puncture are the mental registration of the medical imaging data with the patient anatomy, required when planning a trajectory, and the subsequent precise insertion of a needle along it. An interventional telerobotic system, such as Robopsy, enables precise needle insertion, however, in order to minimize procedure time and number of CT scans, this system should be driven by an interface that is directly integrated with the medical imaging data. In this study we have developed and evaluated such an interface that provides the user with a point-and-click functionality for specifying the desired trajectory, segmenting the needle and automatically calculating the insertion parameters (angles and depth). In order to highlight the advantages of such an interface, we compared robotic-assisted targeting using the old interface (non-image-based) where the path planning was performed on the CT console and transferred manually to the interface with the targeting procedure using the new interface (image-based). We found that the mean procedure time (n=5) was 22{\textpm}5 min (non-image-based) and 19{\textpm}1 min (image-based) with a mean number of CT scans of 6{\textpm}1 (non-image-based) and 5{\textpm}1 (image-based). Although the targeting experiments were performed in gelatin with homogenous properties our results indicate that an image-based interface can reduce procedure time as well as number of CT scans for percutaneous needle biopsies.},
	url = {http://dx.doi.org/10.1117/12.811507},
	author = {Alexander Seitel and Conor J Walsh and Nevan C. Hanumara and Jo-Anne Shepard and Alexander H. Slocum and Hans-Peter Meinzer and Rajiv Gupta and Lena Maier-Hein}
}
@conference {259626,
	title = {Human vs. Robot Operator Error in a Needle-Based Navigation System for Percutaneous Liver Interventions},
	booktitle = {Proc. SPIE},
	volume = {7261},
	year = {2009},
	month = {7 Feb.},
	pages = {72610Y-72610Y-12},
	address = {Lake Buena Vista, FL},
	abstract = {Computed tomography (CT) guided percutaneous punctures of the liver for cancer diagnosis and therapy (e.g. tumor biopsy, radiofrequency ablation) are well-established procedures in clinical routine. One of the main challenges related to these interventions is the accurate placement of the needle within the lesion. Several navigation concepts have been introduced to compensate for organ shift and deformation in real-time, yet, the operator error remains an important factor influencing the overall accuracy of the developed systems. The aim of this study was to investigate whether the operator error and, thus, the overall insertion error of an existing navigation system could be further reduced by replacing the user with the medical robot Robopsy. For this purpose, we performed navigated needle insertions in a static abdominal phantom as well as in a respiratory liver motion simulator and compared the human operator error with the targeting error performed by the robot. According to the results, the Robopsy driven needle insertion system is able to more accurately align the needle and insert it along its axis compared to a human operator. Integration of the robot into the current navigation system could thus improve targeting accuracy in clinical use.},
	url = {http://dx.doi.org/10.1117/12.811334},
	author = {Lena Maier-Hein and Conor J Walsh and Alexander Seitel and Nevan C. Hanumara and Jo-Anne Shepard and A. M. Franz and F. Pianka and Sascha A. M{\"u}ller and Bruno Schmied and Alexander H. Slocum and Rajiv Gupta and Hans-Peter Meinzer}
}
@conference {259601,
	title = {Human Factors Design for Intuitive Operation of a Low-cost, Image-Guided, Tele-Robotic Biopsy Assistant},
	booktitle = {Proceedings of the IEEE Engineering in Medicine and Biology Conference},
	year = {2007},
	pages = {1257-1260},
	address = {Lyon, France},
	author = {Nevan C. Hanumara and Conor J Walsh and Rajiv Gupta and Jo-Anne Shepard and Alexander H. Slocum}
}
@conference {259586,
	title = {An Autonomous, Underactuated Exoskeleton for Load Carrying Augmentation},
	booktitle = {Proc. Inter.  Conf. on IROS},
	year = {2006},
	pages = {1410-1415},
	address = {Beijing, China},
	author = {Conor J Walsh and Kenneth Pasch and Hugh Herr}
}
@conference {259576,
	title = {Development of a Lightweight, Under-actuated Exoskeleton to Assist in Load Carrying in Walking},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	year = {2006},
	pages = {3485-3491},
	address = {Orlando, Florida},
	author = {Conor J Walsh and Daniel Paluska and Kenneth Pasch and William Grand and Andrew Valiente and Hugh Herr}
}
@conference {259571,
	title = {Remote Needle Guidance System for Percutaneous Image Guided Biopsies},
	booktitle = {Proc. American Society of Mechanical Engineers International Design Engineering and Technical Conferences},
	year = {2005},
	address = {Long Beach, California},
	author = {Steven R. H. Barrett and Rajiv Gupta and Nevan C. Hanumara and Alexander H. Slocum and Conor J Walsh}
}
