Note: paper downloads are for personal use only. Permission from the respective publisher must be obtained for all other uses, in any current or future media, including reprinting or republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Patents:
- US Patent – Interleaved Manipulator – USP Application 14049511 – Oct 2013
- US Patent – Robotic catheter system – US 8394054 B2 – Mar 2013
- US Patent – Robotic catheter system – US 7972298 B2 – Jul 2011
- US Patent – Robotic catheter system – US 7974681 B2 – Jul 2011
- Japan Patent – Robotic catheter system – 4755638 (Japan) – Jul 2010
- EU Patent – Systeme de catheter robotique – WO 2005087128 A1 – Sept 2005
- US Patent – Instrument driver for robotic catheter system – US 8021326 B2 – Sept 2011
- US Patent – Robotic catheter system and methods – US 8052636 B2 – Nov 2011
- US Patent – Robotic catheter system and methods – US 8257303 B2 – Nov 2011
- US Patent – Methods using a robotic catheter system – US 7850642 – Dec 2010
Journal / Refereed Archival Conference Publications
-
Read more DocumentDills, P., A. Dawson-Elli, K. Gruben, P. Adamczyk, and M. Zinn. “Stability and Rendering Limitations of a Parallel Hybrid Active-Passive Haptic Interface”. IEEE Haptics Symposium (HAPTICS), 2022, p. 8.
-
Read more Document DocumentDills, P., K. Gabardi, and M. Zinn. “Stability and Rendering Limitations of High-Performance Admittance Based Haptic Interfaces”. IEEE Haptics Symposium (HAPTICS), 2022, p. 8.
-
DocumentDoshi, M., B. Zhang, M. Hagenow, M. Gleicher, B. Mutlu, R. Radwin, and M. Zinn. “Bidirectional 1-DOF Handheld Haptic Device for Precise Differential Process Control”. IEEE Haptics Symposium 2022 Work in Progress , 2022.
-
Read moreSenft, E., M. Hagenow, P. Praveena, R. Radwin, M. Zinn, M. Gleicher, and B. Mutlu. “A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation”. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 7704-11.
-
Read moreHagenow, M., E. Senft, E. Laske, K. Hambuchen, T. Fong, R. Radwin, M. Zinn, M. Gleicher, and B. Mutlu. “Registering Articulated Objects With Human-in-the-Loop Corrections”. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 2343-50.
-
Read more Read moreZhang, B., M. Gleicher, M. Hagenow, B. Mutlu, and M. Zinn. Assessing the Perceived Realism of Kinesthetic Haptic Renderings Under Parameter Variations. IEEE Haptics Symposium (HAPTICS), 2022.
-
Read moreHagenow, M., E. Senft, R. Radwin, M. Gleicher, B. Mutlu, and M. Zinn. “Informing Real-Time Corrections in Corrective Shared Autonomy Through Expert Demonstrations”. IEEE Robotics and Automation Letters, Vol. 6, no. 4, 2021, pp. 6442-9.
-
DocumentDills, P., A. Dawson-Elli, K. Gruben, P. Adamczyk, and M. Zinn. “An Investigation of A Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction”. IEEE Robotics and Automation Letters (RAL), 2021, p. 8.
-
DocumentGabardi, K., P. Dills, B. Zhang, and M. Zinn. “Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices”. IEEE World Haptics Conference (WHC), 2021, p. 1.
-
Read moreHagenow, M., M. Gleicher, B. Mutlu, B. Zhang, and M. Zinn. “Recognizing Orientation Slip in Human Demonstrations”. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 2790-7.
-
Read moreHagenow, M., E. Senft, R. Radwin, M. Gleicher, B. Mutlu, and M. Zinn. “Corrective Shared Autonomy for Addressing Task Variability”. IEEE Robotics and Automation Letters, Vol. 6, no. 2, 2021, pp. 3720-7.
-
Read moreHagenow, M., K. H., T. Fong, E. Laske, and M. Zinn. Affordance Template Registration via Human-in-the-Loop Corrections. Advances in Space Robotics and Back to Earth Workshop, 2021.
-
Read moreSenft, E., M. Hagenow, K. Welsh, R. Radwin, M. Zinn, M. Gleicher, and B. Mutlu. “Task-Level Authoring for Remote Robot Teleoperation”. Frontiers in Robotics and AI, Vol. 8, 2021, p. 707149.
-
Read moreSenft, E., M. Hagenow, R. Radwin, M. Zinn, M. Gleicher, and B. Mutlu. “Situated Live Programming for Human-Robot Collaboration”. The 34th Annual ACM Symposium on User Interface Software and Technology, Vol. 8, 2021, pp. 613-25.
-
Read more DocumentDills, P., N. Colonnese, P. Agarwal, and M. Zinn. “A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics”. IEEE Haptics Symposium (HAPTICS), 2020, p. 8.
-
Read more DocumentParthiban, C., P. Dills, I. Fufuengsin, N. Colonnese, P. Agarwal, and M. Zinn. “A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics”. IEEE World Haptics Conference (WHC), 2019, p. 6.
-
DocumentDills, P., C. Parthiban, I. Fufuengsin, N. Colonnese, P. Agarwal, and M. Zinn. “Design and Analysis of a High Performance Impedance Based Hybrid Haptic Interface”. IEEE Haptics Symposium (HAPTICS), 2018, p. 3.
-
Read moreParthiban, C., and M. Zinn. “Performance and Stability Limitations of Admittance-Based Haptic Interfaces”. IEEE Haptics Symposium 2018, IEEE, 2018.
-
Read moreSubramani, G., M. Gleicher, and M. Zinn. “Recognizing Geometric Constraints in Human Demonstrations Using Force and Position Signals”. IEEE Robotics and Automation Letters 2018, IEEE, 2018.
-
Read moreDuffie, N. A., D. Franke, J. D. Morrow, F. E. Pfefferkorn, and M. Zinn. “Solid State Infiltration of 6061-T6 Aluminum Alloy into Carbon Fibers via Friction Stir Welding”. ASME Journal of Manufacturing Science and Engineering, ASME, 2017.
-
Read moreShrivastava, A., M. Zinn, N. Duffie, N. Ferrier, C. Smith, and F. Pfefferkorn. “Force Measurement-Based Discontinuity Detection During Friction Stir welding”. SME Journal of Manufacturing Processes, SME, 2017.
-
Read moreSubramani, G., D. Rakita, H. Wang, J. Black, M. Zinn, and M. Gleicher. “Recognizing Actions During Tactile Manipulations During Force Sensing”. IEEE Intelligent Robots and Systems (IROS) 2017, IEEE, 2017.
-
Read moreConrad, B., and M. Zinn. “Interleaved Continuum-Rigid Manipulation: An Approach to Increase the Capability of Minimally-Invasive Surgical System”. ASME/IEEE Transactions on Mechatronics, ASME/IEEE, 2016.
-
Read moreGuenther, J., D. Farley, H. Ploeg, and M. Zinn. “Feedback Control for Patient Specific Limb Lengthening and Limb Deformity Correction”. Journal of Medical Devices, Transaction of the ASME, ASME, 2015.
-
Read moreFarley, D., M. Zinn, and H. Ploeg. “Evaluation of Extension Mechanism in an Implantable Limb Lengthening Device”. Journal of Medical Devices, Transaction of the ASME, ASME, 2015.
-
Read moreShrivastava, A., C. Dingler, M. Zinn, and F. Pfefferkorn. “Physics-Based Interpretation of Tool-Workpiece Interface Temperature Signals for Detection of Defect Formation During Friction Stir welding”. Manufacturing Letters, SME, 2015.
-
Read moreShrivastava, A., F. Pfefferkorn, N. Duffie, N. Ferrier, C. Smith, K. Malukhin, and M. Zinn. “Physics-Based Process Model Approach for Detecting Discontinuity During Friction Stir welding”. International Journal of Advanced Manufacturing Technology, Springer, 2015.
-
Read moreConrad, B., and M. Zinn. “Closed Loop Task Space Control of an Interleaved Continuum-Rigid Manipulator”. IEEE International Conference of Robotics and Automation, IEEE, 2015.
-
Read moreSubramani, G., and M. Zinn. “Multi-Modal Localization Algorithm for Catheter Interventions”. IEEE International Conference of Robotics and Automation, IEEE, 2015.
-
Read moreZhang, B., M. Gleicher, M. Hagenow, B. Mutlu, and M. Zinn. Characterizing the Effects of Haptic Rendering Parameter Variations on Perceived Kinesthetic Rendering accuracy.