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Publications

Journal Publications

B. Hejrati, A. S. Merryweather, and J. J. Abbott, "Generating Arm-swing Trajectories in Real-time Using a Data-driven Model for Gait Rehabilitation with Self-selected Speed", under review.

S. E. Wright, A. W. Mahoney, K. M. Popek, and J. J. Abbott, "The Spherical-Actuator-Magnet Manipulator: A Permanent-Magnet Robotic End-Effector", IEEE Trans. Robotics, preprint available on IEEE Xplore.

J. J. Abbott, J. B. Brink, and B. Osting, "Computing Minimum-power Dipole Solutions for Interdipole Forces using Nonlinear Constrained Optimization with Application to Electromagnetic Formation Flight", IEEE Robotics and Automation Letters, 2(2):1008-1014, 2017.
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L. B. Kratchman, T. L. Bruns, J. J. Abbott, and R. J. Webster III, "Guiding Elastic Rods with a Robot-manipulated Magnet for Medical Applications", IEEE Trans. Robotics, 33(1):227-233, 2017.
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K. M. Popek, T. Schmid, and J. J. Abbott, "Six-degree-of-freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole", IEEE Robotics and Automation Letters, 2(1):305-312, 2017.
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M. Nambi, P. S. Bernstein, and J. J. Abbott, "Effect of Haptic-interface Virtual Kinematics on the Performance and Preference of Novice Users in Telemanipulated Retinal Surgery ," IEEE Robotics and Automation Letters, 2(1):64-71, 2017.
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T. K. Arbuckle, M. Nambi, J. E. Butner, W. R. Provancher, and J. J. Abbott, "Human Velocity Control of Admittance-type Robotic Devices with Scaled Visual Feedback of Device Motion," IEEE Trans. Human-Machine Systems, 46(6):859-868, 2016.
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B. Hejrati, S. Chesebrough, K. B. Foreman, J. J. Abbott, and A. S. Merryweather, "Comprehensive Quantitative Investigation of Arm Swing During Walking at Various Speed and Surface Slope Conditions," Human Movement Science, 49:104-115, 2016.
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M. Nambi, P. S. Bernstein, and J. J. Abbott, "A Compact Telemanipulated Retinal-surgery System that uses Commercially Available Instruments with a Quick-change Adapter," J. Medical Robotics Research, 1(2):1630001, 2016.
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M. L. Burroughs, K. B. Freckleton, J. J. Abbott, and M. A. Minor, "A Sarrus-Based Passive Mechanism For Rotorcraft Perching," J. Mechanisms and Robotics, 8:011010, 2016.
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A. W. Mahoney and J. J. Abbott, "Five-degree-of-freedom Manipulation of an Untethered Magnetic Device in Fluid using a Single Permanent Magnet with Application in Stomach Capsule Endoscopy," Int. J. Robotics Research, 35(1-3):129-147, 2016.
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J. J. Abbott, "Parametric Design of Tri-axial Nested Helmholtz Coils," Review of Scientific Instruments, 86:054701, 2015.
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B. Hejrati, K. L. Crandall, J. M. Hollerbach, and J. J. Abbott, "Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface," IEEE Trans. Haptics, 8(2):176-187, 2015.
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A. J. Petruska, A. W. Mahoney, and J. J. Abbott, "Remote Manipulation with a Stationary Computer-Controlled Magnetic Dipole Source," IEEE Trans. Robotics, 30(5):1222-1227, 2014.
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L. Leon, M. S. Cavilla, M. B. Doran, F. M. Warren, and J. J. Abbott, "Scala-Tympani Phantom with Cochleostomy and Round-Window Openings for Cochlear-Implant Insertion Experiments," J. Medical Devices, 8:041010, 2014.
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A. W. Mahoney, N. D. Nelson, K. E. Peyer, B. J. Nelson, and J. J. Abbott, "Behavior of Rotating Magnetic Microrobots Above the Step-out Frequency with Application to Control of Multi-microrobot Systems," Applied Physics Letters, 104:144101, 2014.
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A. J. Petruska and J. J. Abbott, "Omnimagnet: An Omnidirectional Electromagnet for Controlled Dipole-Field Generation," IEEE Trans. Magnetics, 50(7):8400810, 2014.
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J. Greer, A. J. Petruska, A. W. Mahoney, M. Nambi, E. Bamberg, and J. J. Abbott, "Experimental Investigation of Wire Electrical Discharge Machining of NdFeB Permanent Magnets with an RC-type Machine," J. Materials Engineering and Performance, 23(4):1392-1401, 2014.
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A. W. Mahoney and J. J. Abbott, "Generating Rotating Magnetic Fields with a Single Permanent Magnet for Propulsion of Untethered Magnetic Devices in a Lumen," IEEE Trans. Robotics, 30(2):411-420, 2014.
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C. E. Doyle, J. J. Bird, T. A. Isom, J. C. Kallman, D. F. Bareiss, D. J. Dunlop, R. J. King, J. J. Abbott, and M. A. Minor, "An Avian-Inspired Passive Mechanism for Quadrotor Perching," IEEE/ASME Trans. Mechatronics, 18(2):506-517, 2013.
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A. J. Petruska and J. J. Abbott, "Optimal Permanent-Magnet Geometries for Dipole Field Approximation," IEEE Trans. Magnetics, 49(2):811-819, 2013.
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J. R. Clark, L. Leon, F. M. Warren, and J. J. Abbott, "Magnetic Guidance of Cochlear Implants: Proof-of-Concept and Initial Feasibility Study," J. Medical Devices, 6:035002, 2012.
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O. Ergeneman, J. Pokki, V. Počepcová, H. Hall, J. J. Abbott, and B. J. Nelson, "Characterization of Puncture Forces for Retinal Vein Cannulation," J. Medical Devices, 5:044504, 2011.
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A. W. Mahoney and J. J. Abbott, "Managing Magnetic Force Applied to a Magnetic Device by a Rotating Dipole Field," Applied Physics Letters, 99:134103, 2011.
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A. W. Mahoney, J. C. Sarrazin, E. Bamberg, and J. J. Abbott, "Velocity Control with Gravity Compensation for Magnetic Helical Microswimmers," Advanced Robotics, 25:1007-1028, 2011.
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M. Nambi, W. R. Provancher, and J. J. Abbott, "On the Ability of Humans to Apply Controlled Forces to Admittance-Type Devices," Advanced Robotics, 25:629-650, 2011.
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J. R. Clark, F. M. Warren, and J. J. Abbott, "A Scalable Model for Human Scala-Tympani Phantoms," J. Medical Devices, 5(014501):1-5, 2011.
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M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul, and B. J. Nelson, "OctoMag: An Electromagnetic Systems for 5-DOF Wireless Micromanipulation," IEEE Trans. Robotics, 26(6):1006-1017, 2010.
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C. Bergeles, K. Shamaei, J. J. Abbott, and B. J. Nelson, "Single-Camera Focus-Based Localizing of Intraocular Devices," IEEE Trans. Biomedical Engineering, 57(8):2064-2074, 2010.
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B. J. Nelson, I. K. Kaliakatsos, and J. J. Abbott, "Microrobots for Minimally Invasive Medicine," Annual Review of Biomedical Engineering, 12:55-85, 2010.
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Z. Nagy, M. Fluckiger, R. Oung, I. K. Kaliakatsos, E. W. Hawkes, B. J. Nelson, K. Harada, E. Susilo, A. Menciassi, P. Dario, and J. J. Abbott, "Assembling Reconfigurable Endoluminal Surgical Systems: Opportunities and Challenges," Int. J. Biomechatronics and Biomedical Robotics, 1(1):3-16, 2009.
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L. Zhang, J. J. Abbott, L. X. Dong, K. E. Peyer, B. E. Kratochvil, H. Zhang, C. Bergeles, and B. J. Nelson, "Characterizing the Swimming Properties of Artificial Bacterial Flagella ," Nano Lett., 9(10):3663-3667, 2009.
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J. J. Abbott, K. E. Peyer, M. Cosentino Lagomarsino, L. Zhang, L. X. Dong, I. K. Kaliakatsos, and B. J. Nelson, "How Should Microrobots Swim?," Int. J. Robotics Research, 28(11-12):1434-1447, 2009.
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L. Zhang, J. J. Abbott, L. X. Dong, B. E. Kratochvil, D. Bell, and B. J. Nelson, "Artificial Bacterial Flagella: Fabrication and Magnetic Control," Applied Physics Lett., 94:064107, 2009.
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O. Ergeneman, G. Dogangil, M. P. Kummer, J. J. Abbott, M. K. Nazeeruddin, and B. J. Nelson, "A Magnetically Controlled Wireless Optical Oxygen Sensor for Intraocular Measurements," IEEE Sensors J., 8(1):29-37, 2008.
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J. J. Abbott, O. Ergeneman, M. P. Kummer, A. M. Hirt, and B. J. Nelson, "Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies," IEEE Trans. Robotics, 23(6):1247-1252, 2007.
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J. J. Abbott and A. M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures," Int. J. Robotics Research, 26(8):865-884, 2007.
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J. J. Abbott, Z. Nagy, F. Beyeler, and B. J. Nelson, "Robotics in the Small, Part I: Microrobotics," IEEE Robotics and Automation Mag., 14(2):92-103, 2007.
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J. J. Abbott and S. G. Meek, "Digital Emulation of Pulse Frequency Modulation for Neuroprosthetic Sensory Feedback," IEEE Trans. Neural Systems and Rehabilitation Engineering, 15(1):131-135, 2007.
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J. J. Abbott and A. M. Okamura, "Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation," J. Dynamic Systems, Measurement, and Control, 128(1):53-64, 2006.
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J. J. Abbott and A. M. Okamura, "Effects of Position Quantization and Sampling Rate on Virtual-Wall Passivity,'' IEEE Trans. Robotics, 21(5):952-964, 2005.
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Conference Publications

K. M. Popek, T. Hermans, and J. J. Abbott, "First Demonstration of Simultaneous Localization and Propulsion of a Magnetic Capsule in a Lumen using a Single Rotating Magnet", IEEE Int. Conf. Robotics and Automation, 2017, to appear. Best Medical Robotics Paper Award Finalist.

D. Bareiss, J. van den Berg, J. J. Abbott, and K. K. Leang, "Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles", IEEE Int. Symp. Safety, Security and Rescue Robotics, pp. 118-124, 2016.
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M. Nambi, P. S. Bernstein, and J. J. Abbott, "A Compact Retinal-surgery Telemanipulator that uses Disposable Instruments," In N. Navab et al. (Eds.): MICCAI 2015, Part I, LNCS 9349, pp. 258–265, Springer, 2015.
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K. M. Popek and J. J. Abbott, "6-D Localization of a Magnetic Capsule Endscope Using at a Stationary Rotating Magnetic Dipole Field," Hamlyn Symp. Medical Robotics, pp. 47-48, 2015.
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A. J. Petruska, J. B. Brink, and J. J. Abbott, "First Demonstration of a Modular and Reconfigurable Magnetic-Manipulation System," IEEE Int. Conf. Robotics and Automation, pp. 149-155, 2015. Best Robotic Manipulation Paper Award Finalist.
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O. R. Barnes, B. Hejrati, and J. J. Abbott, "An Underactuated Wearable Arm-swing Rehabilitator for Gait Training," IEEE Int. Conf. Robotics and Automation, pp. 4998-5003, 2015.
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N. D. Nelson and J. J. Abbott, "Generating Two Independent Rotating Magnetic Fields with a Single Magnetic Dipole for the Propulsion of Untethered Magnetic Devices," IEEE Int. Conf. Robotics and Automation, pp. 4056-4061, 2015.
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S. E. Wright, A. W. Mahoney, K. M. Popek, and J. J. Abbott, "A Spherical-magnet End-effector for Robotic Magnetic Manipulation," IEEE Int. Conf. Robotics and Automation, pp. 1190-1195, 2015.
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A. W. Mahoney and J. J. Abbott, "5-DOF Manipulation of an Untethered Magnetic Device in Fluid using a Single Permanent Magnet" Robotics: Science and Systems, pp. 1-9, 2014.
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J. B. Brink, A. J. Petruska, D. E. Johnson, and J. J. Abbott, "Factors Affecting the Design of Untethered Magnetic Haptic Interfaces," IEEE Haptics Symp., pp. 107-114, 2014. Best Paper Award.
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A. W. Mahoney and J. J. Abbott, "5-DOF Manipulation of a Magnetic Capsule in Fluid using a Single Permanent Magnet: Proof-of-concept for Stomach Endoscopy," Hamlyn Symp. Medical Robotics, pp. 114-115, 2013. Best Poster Award.
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A. W. Mahoney, S. E. Wright, and J. J. Abbott, "Managing the Attractive Magnetic Force between an Untethered Magnetically Actuated Tool and a Rotating Permanent Magnet," IEEE Int. Conf. Robotics and Automation, pp. 5346-5351, 2013.
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N. D. Nelson, J. Delacenserie, and J. J. Abbott, "An Empirical Study of the Role of Magnetic, Geometric, and Tissue Properties on the Turning Radius of Magnetically Driven Screws," IEEE Int. Conf. Robotics and Automation, pp. 5352-5357, 2013.
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A. J. Petruska and J. J. Abbott, "An Omnidirectional Electromagnet for Remote Manipulation," IEEE Int. Conf. Robotics and Automation, pp. 814-819, 2013. The definitive version of this work is in the journal paper "Omnimagnet: An Omnidirectional Electromagnet for Controlled Dipole-Field Generation."
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K. M. Popek, A. W. Mahoney, and J. J. Abbott, "Localization Method for a Magnetic Capsule Endoscope Propelled by a Rotating Magnetic Dipole Field," IEEE Int. Conf. Robotics and Automation, pp. 5328-5333, 2013.
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A. W. Mahoney, N. D. Nelson, E. M. Parsons, and J. J. Abbott, "Non-ideal Behaviors of Magnetically Driven Screws in Soft Tissue," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3559-3564, 2012.
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K. M. Miller, A. W. Mahoney, T. Schmid, and J. J. Abbott, "Proprioceptive Magnetic-Field Sensing for Closed-loop Control of Magnetic Capsule Endoscopes," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1994-1999, 2012.
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B. Hejrati, D. Hull, J. Black, J. J. Abbott, and J. M. Hollerbach, "Investigation of the Treadport for Gait Rehabilitation of Spinal Cord Injury," Int. Conf. IEEE Engineering in Medicine and Biology Society, pp. 4553-4558, 2012.
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A. W. Mahoney and J. J. Abbott, "Control of Untethered Magnetically Actuated Tools with Localization Uncertainty using a Rotating Permanent Magnet," IEEE Int. Conf. Biomedical Robotics and Biomechatronics, pp. 1632-1637, 2012.
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A. Damani, M. Nambi, and J. J. Abbott, "An Empirical Study of Static Loading on Piezoelectric Stick-Slip Actuators of Micromanipulators," Int. Symp. Experimental Robotics, 2012.
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A. W. Mahoney, D. L. Cowan, K. M. Miller, and J. J. Abbott, "Control of Untethered Magnetically Actuated Tools using a Rotating Permanent Magnet in any Position," IEEE Int. Conf. Robotics and Automation, pp. 3375-3380, 2012. The definitive version of this work is in the journal paper "Generating Rotating Magnetic Fields with a Single Permanent Magnet for Propulsion of Untethered Magnetic Devices in a Lumen."
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M. Nambi, A. Damani, and J. J. Abbott, "Toward Intuitive Teleoperation of Micro/Nano-Manipulators with Piezoelectric Stick-Slip Actuators," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 445-450, 2011.
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C. E. Doyle, J. J. Bird, T. A. Isom, C. J. Johnson, J. C. Kallman, J. A. Simpson, R. J. King, J. J. Abbott, and M. A. Minor, "Avian-Inspired Passive Perching Mechanism for Robotic Rotorcraft," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4975-4980, 2011.
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J. R. Clark, L. Leon, F. M. Warren, and J. J. Abbott, "Investigation of Magnetic Guidance of Cochlear Implants," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1321-1326, 2011. The definitive version of this work is in the journal paper "Magnetic Guidance of Cochlear Implants: Proof-of-Concept and Initial Feasibility Study."
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M. Nambi, W. R. Provancher, and J. J. Abbott, "Revisiting the Effect of Velocity on Human Force Control," In A. M. L. Kappers et al. (Eds.): EuroHaptics 2010, Part I, LNCS 6191, pp. 144-151, 2010.
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A. V. Shah, S. Teuscher, E. W. McClain, and J. J. Abbott, "How to Build an Inexpensive 5-DOF Haptic Device using Two Novint Falcons, In A. M. L. Kappers et al. (Eds.): EuroHaptics 2010, Part I, LNCS 6191, pp. 136-143, 2010.
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T. W. R. Fountain, P. V. Kailat, and J. J. Abbott, "Wireless Control of Magnetic Helical Microrobots using a Rotating-Permanent-Magnet Manipulator," IEEE Int. Conf. Robotics and Automation, pp. 576-581, 2010. Best Medical Robotics Paper Award Finalist.
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M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul, and B. J. Nelson, "OctoMag: An Electromagnetic Systems for 5-DOF Wireless Micromanipulation," IEEE Int. Conf. Robotics and Automation, pp. 1610-1616, 2010. Best Manipulation Paper Award. The definitive version of this work is in the journal paper with the same title.
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B. E. Kratochvil, M. P. Kummer, J. J. Abbott, O. Ergeneman, and B. J. Nelson, "OctoMag: An Electromagnetic Systems for 5-DOF Wireless Manipulation," IEEE Int. Conf. Robotics and Automation, pp. 1080-1081, 2010, Video. Best Video Award Finalist.
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L. Zhang, J. J. Abbott, L. X. Dong, B. E. Kratochvil, H. Zhang, K. E. Peyer, and B. J. Nelson, "Micromanipulation Using Artificial Bacterial Flagella," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1401-1406, 2009.
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Z. Nagy, S. Miyashita, S. Muntwyler, A. K. Cherukuri, J. J. Abbott, R. Pfeifer, and B. J. Nelson, "Morphology Detection for Magnetically Self-Assembled Modular Robots," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 5281-5286, 2009.
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C. Bergeles, K. Shamaei, J. J. Abbott, and B. J. Nelson, "Wide-Angle Localization of Intraocular Devices from Focus," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4523-4528, 2009.
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C. Bergeles, K. Shamaei, J. J. Abbott, and B. J. Nelson, "Wide-Field Intraocular Imaging and Localization," Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 540-548, 2009.
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C. Bergeles, G. Fagogenis, J. J. Abbott, and B. J. Nelson, "Tracking Intraocular Microdevices Based on Colorspace Evaluation and Statistical Color/Shape Information," IEEE Int. Conf. Robotics and Automation, pp. 3934-3939, 2009.
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C. Bergeles, K. Shamaei, J. J. Abbott, and B. J. Nelson, "On Imaging and Localizing Untethered Intraocular Devices with a Stationary Camera," IEEE Int. Conf. Biomedical Robotics and Biomechatronics, pp. 489-494, 2008. Best Paper Award Finalist and Best Student Paper Award Finalist.
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O. Ergeneman, J. J. Abbott, G. Dogangil, and B. J. Nelson, "Functionalizing Intraocular Microrobots with Surface Coatings," IEEE Int. Conf. Biomedical Robotics and Biomechatronics, pp. 232-237, 2008.
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Z. Nagy, R. Oung, J. J. Abbott, and B. J. Nelson, "Experimental Investigation of Magnetic Self-Assembly for Swallowable Modular Robots," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1915-1920, 2008.
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G. Dogangil, O. Ergeneman, J. J. Abbott, S. Pane, H. Hall, S. Muntwyler, and B. J. Nelson, "Toward Targeted Retinal Drug Delivery with Wireless Microrobots," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1921-1926, 2008.
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B. E. Kratochvil, L. X. Dong, L. Zhang, J. J. Abbott, and B. J. Nelson, "Nanohelices as Motion Converters," IEEE/RSJ Int. Conf. Intelligent Robots and Systems 2008, pp. 4141-4142, 2008, Video.
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Z. Nagy, O. Ergeneman, J. J. Abbott, M. Hutter, A. M. Hirt, and B. J. Nelson, "Modeling Assembled-MEMS Microrobots for Wireless Magnetic Control," IEEE Int. Conf. Robotics and Automation, pp. 874-879, 2008.
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J. J. Abbott, K. E. Peyer, L. X. Dong, and B. J. Nelson, "How Should Microrobots Swim?," Int. Symp. Robotics Research, 2007. The definitive version of this work is in the journal paper with the same title.

Z. Nagy, J. J. Abbott, and B. J. Nelson, "The Magnetic Self-Aligning Hermaphroditic Connector: A Scalable Approach for Modular Microrobots," IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 2007.
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J. J. Abbott, O. Ergeneman, M. P. Kummer, A. M. Hirt, and B. J. Nelson, "Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies," IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 2007. The definitive version of this work is in the journal paper with the same title.

M. P. Kummer, J. J. Abbott, S. Dinser, and B. J. Nelson, "Artificial Vitreous Humor for In Vitro Experiments," IEEE Int. Conf. Engineering in Medicine and Biology Society, pp. 6406-6409, 2007.
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O. Ergeneman, G. Dogangil, J. J. Abbott, M. K. Nazeeruddin, and B. J. Nelson, "A Magnetically Controlled Wireless Intraocular Oxygen Sensor: Concept, Prototype, and In Vitro Experiments," IEEE Int. Conf. Engineering in Medicine and Biology Society, pp. 4189-4193, 2007. The definitive version of this work is in the journal paper "A Magnetically Controlled Wireless Optical Oxygen Sensor for Intraocular Measurements."

M. P. Kummer, J. J. Abbott, K. Vollmers, and B. J. Nelson, "Measuring the Magnetic and Hydrodynamic Properties of Assembled-MEMS Microrobots," IEEE Int. Conf. Robotics and Automation, pp. 1122-1127, 2007.
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J. J. Abbott, O. Ergeneman, M. P. Kummer, A. M. Hirt, and B. J. Nelson, "A Continuous Model for Magnetization Torque on Axially Symmetric Bodies," Joint MMM/Intermag Conf., 2007 (poster). The definitive version of this work is in the journal paper "Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies."

J. J. Abbott and A. M. Okamura, "Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures," IEEE Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 169-175, 2006. Best Student Paper Award Finalist. The definitive version of this work is in the journal paper with the same title.
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J. J. Abbott, P. Marayong, and A. M. Okamura, "Haptic Virtual Fixtures for Robot-Assisted Manipulation," Int. Symp. Robotics Research, 2005. The pdf below is the proceedings published by Springer in 2007.
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M. Wu, J. J. Abbott, and A. M. Okamura, "Effect of Velocity on Human Force Control," Proc. Joint Eurohaptics Conf. and Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), pp. 73-79, 2005.
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J. J. Abbott and A. M. Okamura, "A Sufficient Condition for Virtual Wall Passivity with Quantization Effects," ASME Int. Mechanical Engineering Congress and Exposition, pp. 1065-1073, 2004. The definitive version of this work is in the journal paper "Effects of Position Quantization and Sampling Rate on Virtual-Wall Passivity."

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I. Emeagwali, P. Marayong, J. J. Abbott, and A. M. Okamura, "Performance Analysis of Steady-Hand Telemanipulation versus Cooperative Manipulation," Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 316-322, 2004.
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J. J. Abbott, G. D. Hager, and A. M. Okamura, "Steady-Hand Teleoperation with Virtual Fixtures," IEEE Int. Workshop on Robot and Human Interactive Communication (RO-MAN), pp. 145-151, 2003.
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J. J. Abbott and A. M. Okamura, "Analysis of Virtual Fixture Contact Stability for Telemanipulation," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2699-2706, 2003. The definitive version of this work is in the journal paper "Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation." info

J. J. Abbott and A. M. Okamura, "Virtual Fixture Architectures for Telemanipulation," IEEE Int. Conf. Robotics and Automation, pp. 2798-2805, 2003.
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Book Chapters

K. E. Peyer, A. W. Mahoney, L. Zhang, J. J. Abbott, and B. J. Nelson, "Bacteria-Inspired Microrobots," in M. J. Kim et al. (eds.), Microbiorobotics: Biologically Inspired Microscale Robotic Systems, pp. 165-199, 2012.
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O. Ergeneman, C. Bergeles, M. P. Kummer, J. J. Abbott, and B. J. Nelson, "Wireless Intraocular Microrobots: Opportunities and Challenges," in J. Rosen et al. (eds.), Surgical Robotics: Systems Applications and Visions, pp. 271-311, 2011.
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J. J. Abbott, P. Marayong, and A. M. Okamura, "Haptic Virtual Fixtures for Robot-Assisted Manipulation," In S. Thrun, R. Brooks, and H. Durrant-Whyte, editors, Robotics Research: Results of the 12th International Symposium ISRR, pp. 49-64. Springer, 2007. This is the published proceedings of Int. Symp. Robotics Research 2005.
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Nonreviewed Papers

A. M. Okamura and J. J. Abbott, "Virtual Fixtures for Telemanipulation: Control and Applications in Robot-Assisted Minimally Invasive Surgery," SPIE Robotics and Machine Perception Technical Group Newsletter, 13(1), April 2004.
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Ph.D. Dissertations and Master's Theses

B. Hejrati, 2016, "Advances in Robot-assisted Gait Rehabilitation with Self-selected Speed," Ph.D. Dissertation, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.

M. Nambi, 2015, "Intuitive Telemanipulation of Micromanipulators with Piezoelectric Stick-slip Actuators with Application in Retinal Surgery," Ph.D. Dissertation, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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O. R. Barnes, 2015, "A Wearable Underactuated Kinesthetic Device for Inducing Arm Swing During Gait Rehabilitation," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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S. E. Wright, 2014, "A Singularity-free Mechanism for Holonomic Orientation Control of a Spherical Permanent Magnet," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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A. J. Petruska, 2014, "Design and Control of a Magnetic Dipole Source for Noncontact Manipulation," Ph.D. Dissertation, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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A. W. Mahoney, 2014, "Advanced Methods for Controlling Untethered Magnetic Devices Using Rotating Magnetic Fields," Ph.D. Dissertation, School of Computing, University of Utah, Salt Lake City, Utah.
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M. L. Burroughs, 2014, "A Sarrus-based Passive Mechanism for Rotorcraft Perching," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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A. Damani, 2013, "An Empirical Model of Piezoelectric Stick-Slip Actuation of the Kleindiek MM3A Micromanipulator," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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T. K. Arbuckle, 2012, "Velocity-Control Performance with a Fingertip Controlled Admittance-Type Haptic Device," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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J. Greer, 2011, "Wire Electrical Discharge Machining of Helical Devices from Permanent Magnets," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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C. E. Doyle, 2011, “Avian-Inspired Passive Landing Mechanisms for Perching Rotorcraft,” Master’s Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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J. R. Clark, 2011, "Toward Improved Cochlear Implant Insertion Using Magnetic Guidance," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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J. J. Abbott, 2005, "Virtual Fixtures for Bilateral Telemanipulation," Ph.D. Dissertation, Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland.
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J. J. Abbott, 2001, "Design Tools for Pulse-Frequency-Modulated Control Systems: Error Analysis and Limit-Cycle Prediction," Master's Thesis, Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah.
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Patents

A. W. Mahoney and J. J. Abbott. CONTROL OF MAGNETICALLY ACTUATED TOOLS IN ANY POSITION USING A ROTATING MAGNETIC SOURCE. US 8,803,643 B2. August 12, 2014.
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