Publications

2014

Polygerinos, P., Wang, Z., Overvelde, J.T.B., Galloway, K., Wood, R., Bertoldi, K., Walsh, C.J. Soft Fiber-reinforced Bending Actuators. IEEE Transactions on Robotics (in review). 

Asbeck, A., De Rossi, S., Holt, K., Walsh, C.J. A Biologically Inspired Soft Exosuit. International Journal of Robotics Research (in review).

Asbeck, A., De Rossi, S., Galiana, I., Walsh, C.J. Anatomy of a Soft Exosuit. IEEE RAM Special Issue on Wearable Robots (accepted with revisions).

Asbeck, A., Schmidt, K., Walsh, C.J. Soft Exosuit for Hip Assistance. RAS Special Issue on Wearable Robotics (accepted with revisions).

Hastings, C.L., Roche, E.T., Hernandez, E., Layland, K-S., Mooney, D.J., Walsh, C.J., Duffy, G. Drug and Cell Delivery for Cardiac Regeneration. Special Issue of Advanced Drug Delivery Reviews (available online).

Polygerinos, P., Wang, Z., Galloway, K., Wood, R., Walsh, C.J. Soft Robotic Glove for Combined Assistance and at-Home Rehabilitation. RAS Special Issue on Wearable Robotics (accepted for publication). 

Mengüç, Y., Park, Y-L., Pei, H., Vogt, D., Aubin, P., Winchell, E., Fluke, L., Stirling, L., Wood, R., Walsh, C. Wearable Soft Sensing Suit for Human Gait Measurement, International Journal of Robotics Research (in press).

Holland, D., Park, E., Polygerinos, P., Bennett, G., Walsh, C.J. The Soft Robotic Toolkit: Shared Resources for Research and Design. Soft Robotics (in press).

Gupta, R., Walsh, C. Wang, I., Kachelreiss, M., Kuntz, I., Bartling, S. CT-guided interventions. Current practice and future directions. Book. Intraoperative imaging and image-guided therapy, Springer, pp 173-191, NY, 2014.

Torabi, M., Gupta, R., Walsh, C. Compact Robotically-Steerable Image-Guided Robot for Multi-Adjacent-Point (MAP) Targeting, IEEE Transactions on Robotics, Vol 30, Issue 4, pages 802-815, August 2014.

Roche, E.T., Hastings, C.L., Lewin, S., Shvartsman, D.E., Brudno, Y., Vasilyev, N., O’Brien, F.J., Walsh, C.J., Duffy, G., Mooney, D.J. Comparison of biomaterial delivery vehicles for improving acute retention of stem cells in the infarcted heart. Biomaterials Vol 35, Issue 25, Aug 2014, pp. 6850–6858.

Aubin, P.M., Petersen, K., Sallum, H., Walsh, C., Correia, A, Stirling, L. A Pediatric Robotic Thumb Exoskeleton for at-Home Rehabilitation: The Isolated Orthosis for Thumb Actuation, International Journal of Intelligent Computing and Cybernetics, Vol 7, No. 3, pages 233-252, Sept, 2014.

[Cover article] Mosadegh, B., Polygerinos, P., Keplinger, C., Wennstedt, S., Shepherd, R.F., Gupta, U., Shim, J., Bertoldi, K., Walsh, C., Whitesides, G.M. Pneumatic Networks for Soft Robotics that Actuate Rapidly, Advanced Functional Materials, Vol 24, Issue 15, pages 2163–2170, April 16, 2014.

[Cover article] Roche, E.T., Wohlfarth, R., Overvelde, J., Vasilyev, N., Pigula, F., Mooney, D., Bertoldi, K.,   Walsh, C. A Bioinspired Soft Actuated Material, Advanced Materials, Vol 26, Issue 8, pages 1200–1206, Feb 26, 2014.

Yeow, C.-H., Baisch, A., Talbot, S., Walsh, C. Cable-driven Finger Exercise Device with Extension Return Springs for Recreating Standard Therapy Exercises, ASME Journal of Medical Devices, 2014; 8(1):014502.

Isakov, A., Murdaugh, K., Burke, W., Zimmerman, S., Roche, E., Holland, D., Einarsson, Jon, Walsh, C. Faster and Safer Laparoscopic Morcellation Using an Actuated Wire Mesh and Bag, ASME Journal of Medical Devices, 2014; 8(1):011009.

Park, E., Holland, D., Polygerinos, P., Bennett, G., Walsh, C.J. Shared Design Tools to Support Research and Development in Soft Robotics, Advances in Soft Robotics Workshop, in conjunction with the 2014 Robotics: Science and Systems Conference (extended abstract, presentation), Berkeley, CA, July 2014.

Holland, D., Park, E., Polygerinos, P., Bennett, G., Walsh, C.J. Shared Online Resources to Support On-Demand Design and Fabrication of Soft Robotic Devices, RobotMakers: The future of digital rapid design and fabrication of robots (RoMa), in conjunction with the 2014 Robotics: Science and Systems Conference (extended abstract, presentation), Berkeley, CA, July 2014.

Park, E., Mehandru, N., Lievano, T., Kraus, E., Holland, D., Polygerinos, P., Vasilyev, N., Walsh, C.J. An Intraventricular Soft Robotic Pulsatile Assist Device For Right Ventricular Heart Failure, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 2014.

Gafford, J., Kesner, S., Wood, R.J., Walsh, C.J. Monolithic Fabrication of Millimeter-Scale Surgical Tools with Integrated Sensing, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 2014.

Gafford, J., Ding, Y., Harris, A., McKenna, T., Polygerinos, P., Holland, D., Moser, A., Walsh, C. Shape Deposition Manufacturing of a Soft, Atraumatic, Deployable Surgical Grasper, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 2014.

Degirmenci, A., Goldberg, B., Bielskis, L., Wiggins, S., Polygerinos, P., Holland, D., Walsh, C. Cervical Spine Immobilization Device for Emergency Response, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 2014.

Maeder-York, P., Clites, T., Boggs, E., Neff, R., Polygerinos, P., Holland, D., Stirling, L., Galloway, K., Wee, C., Walsh, C. Biologically Inspired Soft Robot for Thumb Rehabilitation, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 2014.

Marechal, L., Foong, S., Ding, S., Madhavan, D., Wood, K., Gupta, R., Patil, V., Walsh, C. Optimal Spatial Design of Non-Invasive Magnetic Field-based Localization Systems (presentation and paper), in Proc. Inter.  Conf. on Robotics and Automation, Hong Kong, China, 2014.

Gafford, J., Kesner, S., Degirmenci, A., Wood, R.J., Howe, R., Walsh, C.J. A Monolithic Approach to Fabricating Low-Cost, Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery (presentation and paper), in Proc. Inter.  Conf. on Robotics and Automation, Hong Kong, China, 2014.

Ding, Y., Galiana, I., Asbeck, A., Quinlivan, B., De Rossi, S., Walsh, C. Multi-joint Actuation Platform for Lower Extremity Soft Exosuits, 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.

Roche, E.T., Hastings, C.L., Lewin, S.A., Shvartsman, D.E., Brudno, Y.B., Vasilyev, N.V., O'Brien, F.J., Walsh, C.J., Duffy, G.P., Mooney, D.J. The Promise of Biomaterial Delivery Vehicles for Improving Stem Cell Retention in the Infarcted Heart (Oral Presentation), Cardiovascular Research Foundation 9th International Conference on Cell Therapy and Cardiovascular Disease, New York, 2014.

2013

Polygerinos, P., Wang, Z., Galloway, K., Overvelde, J.T.B., Wood, R.J., Bertoldi, K., Walsh, C.J. Soft Elastomeric Actuators with Fiber Reinforcement, Materials and Research Society (MRS) Fall Meeting & Exhibit, Boston, Massachusetts, Dec. 1-6, 2013.

Roche, E.T., Wohlfarth, R., Overvelde, J.T.B., Vasilyev, N.V.V., Pigula, F.A., Mooney, D.J., Bertoldi, K., Walsh, C.J. Physiological and Pathological Cardiac Motion Generation Using a Soft Robotic Approach (Poster Presentation), Materials Research Society Fall Meeting Boston, MA, November 2014.

Hanumara, N., Begg, N., Walsh, C., Custer, D., Gupta, R., Osborn, L., Slocum, A. Classroom to Clinic: Merging Education and Research to Efficiently Prototype Medical Devices, IEEE Journal of Translational Engineering in Health and Medicine. Aug 2013;1.

Galloway, K., Polygerinos, P., Walsh, C., Wood, R. Mechanically Programmable Bend Radius for Fiber-Reinforced Soft Actuators, International Conference on Advanced Robotics, Uruguay, 2013.

Roche, E., Hastings, C., Lewin, S., Shvartsman, D., Brudno, Y., Vasilyev, N., Walsh, C., Duffy, G., O’Brien, F., Mooney, D., Biomaterial delivery vehicles improve acute retention of cells in the infarcted heart (abstract and presentation), at American Heart Association’s Scientific Sessions, 2013.

Gafford, J., Kesner, S., Wood, R.J., Walsh, C.J. Force-Sensing Surgical Grasper Enabled by Pop-Up Book MEMS (presentation and paper), in Proc. Inter.  Conf. on Intelligent Robots and Systems, Tokyo, 2013.

Polygerinos, P., Lyne, S., Wang, Z., Mosadegh, B., Whitesides, G., Walsh, C. Towards a Soft Pneumatic Glove for Hand Rehabilitation (presentation and paper), in Proc. Inter.  Conf. on Intelligent Robots and Systems, Tokyo, 2013.

Polygerinos, P., Holland, D. Bennett, G.J. Walsh, C. Towards Educational Kits for Soft Robotics applied to Medical Device Design (extended abstract). 2013 International Workshop on Soft Robotics and Morphological Computation.

Asbeck, A.T., Dyer, R., Larusson, A., Walsh, C. Biologically-inspired Soft Exosuit, 13th International Conference on Rehabilitation Robotics (ICORR), on the University of Washington campus, June 24-26, 2013.

Aubin, P.M., Sallum, H., Walsh, C., Correia, A, Stirling, L. A Pediatric Robotic Thumb Exoskeleton for at-Home Rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA), 13th International Conference on Rehabilitation Robotics (ICORR), on the University of Washington campus, June 24-26, 2013.

Obiajulu, S.C., Roche, E.T., Pigula, F.A., Walsh, C.J. Soft Pneumatic Artificial Muscles with Low Threshold Pressures for Cardiac Compression Device,  in Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, August 4-7, 2013, Portland, Oregon, USA.

Gafford, J., Kesner, S., Wood, R.J., Walsh, C.J. Microsurgical devices by Pop-up Book MEMS (paper, poster), in Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, August 4-7, 2013, Portland, Oregon, USA.

Loschak, P., Xiao, K., Pei, H., Kesner, S.B., Thomas, A.J., Walsh, C. Assured Safety Drill with Bi-stable Bit Retraction Mechanism (paper, poster), in Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, August 4-7, 2013, Portland, Oregon, USA.

Wu, F., Torabi, M., Yamada, A., Golden, A., Fischer, G., Tuncali, K., Frey, D., Walsh, C. An MRI Coil Mounted Multi-probe robotic positioner for cryoablation, in Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, August 4-7, 2013, Portland, Oregon, USA.

Wehner, M., Quinlivan, B., Aubin, P., Martinez-Villalpando, E., Bauman, M., Stirling, L., Holt, K., Wood, R., Walsh, C. A Lightweight Soft Exosuit for Gait Assistance, 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013, 3354.

Menguc, Y., Park, YL., Martinez-Villalpando, E., Aubin, P., Zisook, M., Stirling, L., Wood, R., Walsh, C. Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements, 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013, 5289-5296.

Orozco, D., Davoudi, K., Ding, C., Field, R., Yasin, R., Roche, E., Holland, D., Walsh, C. Laparoscopic tool with adjustable sponge at distal tip for direct/indirect suction modulation, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2013.

Wan, Q., Schoppe, O., Gunasekaran, S., Holland, D., Roche, E., Hur, H-C., Walsh, C. Multifunctional laparoscopic trocar with built-in fascial closure and stabilization, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2013.

Pardo-Martin, C., Duffy, M., Hoffman, K., Poddar, R., Roche, E., Loughlin, K., Walsh, C. Minimally-invasive device for rapid urethrovesical anastomosis, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2013.

Holland, D., Walsh, C., Bennett, G.J., An assessment of student needs in project-based mechanical design courses. 120th ASEE Annual Conference and Exposition (paper and presentation), Atlanta, GA, 23-26 June 2013.

Holland, D., Walsh, C., Bennett, G.J., Tools for assessing student learning in mechanical design courses. 9th International CDIO Conference (poster), Cambridge, MA, 9-13 June 2013.

Menguc, Y., Park, YL., Martinez-Villalpando, E., Aubin, P., Zisook, M., Stirling, L., Wood, R., Walsh, C. Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements, (extended abstract), 2013 International Workshop on Soft Robotics and Morphological Computation.

Roche, E., Menz, A., Pranoti, H., Vasilyev, N., Walsh, C., Design and fabrication of a soft, anatomically accurate, patient-specific cardiac simulator with sensing and controls (extended abstract), 2013 International Workshop on Soft Robotics and Morphological Computation.

Walsh, C., A Lightweight Soft Exosuit for Gait Assistance (extended abstract). 2013 International Workshop on Soft Robotics and Morphological Computation.

2012

Goldfield, E., Park, Y-L., Chen, B-R., Hsu, W-H., Young, D., Wehner, M., Kelty-Stephen, D., Stirling, L., Weinberg, M., Newman, D., Nagpal, R., Saltzman, E., Holt, K., Walsh, C., Wood, R. Bio-Inspired Design of Soft Robotic Assistive Devices: The Interface of Physics, Biology, and Behavior, Ecological Psychology, Vol. 24, Iss. 4, 2012.

Walsh, C., Meskers, A., Slocum, A., Gupta, R. CT-Compatible Medical Drilling Stylet for Percutaneous Interventions. ASME Journal of Medical Devices, December 2012, Volume 6,  Issue 4, 041001 (8 pages).

Hopkins, B., Wu, H., Marks, W., Quan, Q., Kesner, S., Ozaki, K., Walsh, C. Hemodialysis graft resistance adjustment device. ASME Journal of Medical Devices, June 2012, Volume 6,  Issue 2, 021011 (6 pages).

Holland, D., Walsh, C., Bennett, G.J., Troublesome knowledge in engineering design courses, 6th Annual Conference of the National Academy for the Integration of Research, Teaching and Learning, and the 4th Biennial Threshold Concepts Conference, Trinity College Dublin, 28-29 June 2012 (under review for proceedings).

Hanumara, N., Walsh, C., Osborn, L., Gupta, R., Slocum, A. Classroom to Clinic: Merging Education and Research to Efficiently Prototype Medical Devices, in Proceedings of the First IEEE Healthcare Technology Conference: Translational Engineering in Health and Medicine, Methodist Hospital Research Institute, Houston, TX, November 7-9, 2012.

Wehner, M., Park, Y.-L., Moore, T., Walsh, C., Nagpal, R., Goldfield, E., and Wood, R.J. Experimental Characterization of Components for Active Soft Orthotics, IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, Rome, Italy, June, 2012.

Graves, C., Slocum, A., Gupta, R., Walsh, C. Towards a Compact Robotically Steerable Thermal Ablation Probe (oral presentation and paper), in Proceedings of the IEEE International Conference on Robotics and Automation, pages(s) 709-714, 2012.

Yeow, C.-H., Baisch, A., Howe, R., Talbot, S., Walsh, C. Differential Spring Stiffness Design for Finger Therapy Device: Bioinspired from Stiff Pathological Finger Joints (paper, poster), ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2012.

Loschak, P., Xiao, K., Pei, H., Kesner, S.B., Thomas, A.J., Walsh, C. Cranial Drilling Tool with Retracting Drill Bit Upon Skull Penetration, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2012.

Before 2012

Walsh, C., Sapkota, B., Kalra, M., Hanumara, N., Liu, B., Shepard, J., Gupta, R. Smaller and Deeper Lesions Increase the Number of Acquired Scan Series in CT-guided Lung Biopsy, Journal of Thoracic Imaging, 26:196-203, 2011.

Walsh, C., Franklin, J., Slocum, A., Gupta, R. Design of a robotic tool for percutaneous instrument distal tip repositioning. 33rd Annual International Conference of the IEEE EMBS, Boston, Massachusetts USA, Page(s):  2097 – 2100, August 30 - September 3, 2011

Brattain, L., Corn, S., Floryan, C., Hauser O., Kesner, S., Nguyen, M., Yong, J., Walsh, C. Design of an Ultrasound Needle Guidance System. 33rd Annual International Conference of the IEEE EMBS Boston, Massachusetts USA, Pages 8090-8093, August 30 - September 3, 2011

Chen, X., Tuncali, K., Slocum, A.H., Walsh, C. Design of an instrument guide for mri-guided percutaneous interventions, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2011

Berns, M.S., Tsai, E., Austin-Breneman, J., Schulmesiter, J., Sung, E., Ozaki, C.K., Walsh, C. Single Entry Tunneler [SET] for Hemodialysis Graft Procedures, ASME Design of Medical Devices Conference (extended abstract, poster), Minneapolis, Minnesota, USA, April 10-12, 2011.

Walsh, C., Slocum, A.,  Gupta, R. Preliminary Evaluation of Robotic Needle Distal Tip Repositioning in Ballistics Gelatin (oral presentation and paper). Proc. SPIE 7901, Energy-based Treatment of Tissue and Assessment VI, 790108 (February 22, 2011).

Walsh, C. Phan, C., Misra, M., Bredella, M, Miller, K., Fazeli, P., Bayraktar, H, Kilbanski, A., Gupta, R. Women with Anorexia Nervosa: Finite Element and Trabecular Structure Analysis by Using Flat-Panel Volume CT, Radiology, Volume 257: Number 1, October 2010, Pages 167-174.

Rothenhofer, G., Walsh, C., Slocum, A. Transmission Ratio Based Analysis and Robust Design of Mechanisms, Precision Engineering, Volume 34: issue 4, October 2010, Pages 790-797.

Walsh, C., Slocum, H., Vosburgh, Gupta, R. Electromagnetic Guidance of a Patient-mounted Telerobot. Computer Assisted Radiology and Surgery (oral presentation).

Walsh, C., Franklin, J., Slocum, A. Gupta, R. Characterization of Pre-curved Needles for use in Distal Tip Manipulation Mechanisms (poster and paper), in Proceedings of the 2010 Design of Medical Devices Conference, Minneapolis, MN, USA (paper and poster)

Patil, V., Estepar, R.S.E, Walsh, C. and Vosburgh, K. Dynamic CT Scanner Environment Effects on a DC Electro-magnetic Tracking System. Jour Computer Assisted Radiology & Surgery, 4 (1), Supp. 1, pp. S339-340, 2009.

Seitel, A., Walsh, C., Hanumara, N., Shepard, J, Slocum, A., Meinzer, H-P., Gupta, R. and Maier-Hein, L. Development and Evaluation of a New Image-Based User Interface for Robot-Assisted Needle Placements with the Robopsy System (oral presentation and paper). Proc. SPIE, vol. 7261, pp. 72610X-72610X-9, 2009.

Maier-Hein, L., Walsh, C., Seitel, A., Hanumara, N., Shepard, J., Pianka, F., Muller, B., Slocum, A., Gupta, R. and Meinzer, H-P. Human vs. Robot Operator Error in a Needle-Based Navigation System for Percutaneous Liver Interventions (oral presentation and paper). Proc. SPIE, vol. 7261, pp. 72610Y-72610Y-12, 2009.

Walsh, C., Heaton, J., Kobler, J., Szabo, T., Zeitels, S. Imaging of the Calf Vocal Fold with High Frequency Ultrasound, The Laryngoscope, 118 (Oct.): 1894-1899, 2008.

Walsh, C., Hanumara, N., Slocum, A., Shepard, J., Gupta, R. A Patient-Mounted, Telerobotic Tool for CT-Guided Percutaneous Interventions, ASME Journal of Medical Devices, 2(1): 2008.

Walsh, C., Kearney, C. Engineering, Science and Medicine: Transforming Healthcare. Royal College of Surgeons in Ireland Student Medical Journal, 1(1): 56-59, 2008.

Walsh, C., Endo, K., Herr, H.A Quasi-Passive Leg Exoskeleton for Load Carrying Augmentation. International Journal of Humanoid Robotics, Special Issue: Active Exoskeletons, 4(3): 487-506, 2007.

Hanumara, N., Walsh, C., Gupta, R., Shepard, J., Slocum, A. Human Factors Design for Intuitive Operation of a Low-cost, Image-Guided, Tele-Robotic Biopsy Assistant (poster and paper), in Proceedings of the IEEE Engineering in Medicine and Biology Conference, p. 1257-1260, Lyon, France, 2007.

Walsh, C., Hanumara, N., Gupta, R., Shepard, J., Slocum, A. Evaluation of a Patient-Mounted, Remote Needle Guidance and Insertion System for CT-Guided, Percutaneous Lung Biopsies (oral presentation and paper), in Proc. 2nd Frontiers in Biomedical Devices Conference, Irvine, California, 2007.

Ottensmeyer, M.P., Yip, M., Walsh, C.J., Kobler, J.B., Heaton, J.T., Zeitels, S.M. Intra-operative Laryngoscopic Instrument for Characterizing Vocal Fold Visco-elasticity (poster and paper), in Proceedings of the 2nd Frontiers in Biomedical Devices Conference, Irvine, California, 2007.

Walsh, C., Pasch, K., Herr, H. An Autonomous, Underactuated Exoskeleton for Load Carrying Augmentation (presentation and paper), in Proc. Inter.  Conf. on IROS, p. 1410-1415, Beijing, China, 2006.

Walsh, C., Paluska, D., Pasch, K., Grand, W., Valiente, A., Herr, H. Development of a Lightweight, Under-actuated Exoskeleton to Assist in Load Carrying in Walking (oral presentation and paper), in Proceedings of the IEEE International Conference on Robotics and Automation, p. 3485-3491, Orlando, Florida, 2006.

Barrett, S., Gupta, R., Hanumara, N., Slocum, A., Walsh, C. A Remote Needle Guidance System for Percutaneous Image Guided Biopsies (oral presentation and paper), in Proc. American Society of Mechanical Engineers International Design Engineering and Technical Conferences, Long Beach, California, 2005.