Johns Hopkins University Whiting School of Engineering

Allison M. Okamura


Professor
Mechanical Engineering
aokamura@jhu.edu (primary)
ResearcherID webpage >>

Education

Ph.D. 1996, Stanford Univeristy
M.S. 1994, Stanford University
B.S. 1990, University of California at Berkeley

Experience

2011-2014: Research Professor, Department of Mechanical Engineering
2009-2011: Professor, Department of Mechanical Engineering
2001-2011: Secondary Appointment, Department of Computer Science
2006-2009: Associate Professor, Department of Mechanical Engineering
2000-2006: Assistant Professor, Department of Mechanical Engineering
1999-2000: Adjunct Faculty, College of San Mateo
1994-2000: Graduate Research Assistant, Stanford University
1998-1998: Visiting Researcher, Mechanical Engineering Laboratory (Tsukuba, Japan)
1998-1998: Teaching Fellow, Stanford University
1996-1998: Research Engineer, Immersion Corporation
1994-1994: Research and Development Engineer, Hewlett-Packard

Research Areas

Robotic fingers and hands; tactile sensing
Rehabilitation robotics
Reality-based modeling
Prosthetics
Medical robotics and surgical assistance
Human-machine collaborative systems
Haptic feedback in virtual environments
Education and learning using haptics

Journal Articles

Misra, S., Reed, K., Schafer, B., Ramesh, K., Okamura, A. (2010). Mechanics of Flexible Needles Robotically Steered through Soft Tissue. International Journal of Robotics Research. 29(13). 1640-1660.
DOI » View record in Web of Science SM
Blank, A., Okamura, A., Kuchenbecker, K. (2010). Identifying the Role of Proprioception in Upper-Limb Prosthesis Control: Studies on Targeted Motion. Acm Transactions on Applied Perception. 7(3).
DOI » View record in Web of Science SM
Misra, S., Ramesh, K., Okamura, A. (2010). Modelling of non-linear elastic tissues for surgical simulation. Computer Methods in Biomechanics and Biomedical Engineering. 13(6). 811-818.
DOI » View record in Web of Science SM
Okamura, A.M. (2009). Haptic feedback in robot-assisted minimally invasive surgery.. Current Opinion in Urology. 19(1). 102-107.
Misra, S., Macura, K., Ramesh, K., Okamura, A. (2009). The importance of organ geometry and boundary constraints for planning of medical interventions. Medical Engineering & Physics. 31(2). 195-206.
DOI » View record in Web of Science SM

Conference Proceedings

Reed, K.B., Okamura, A.M., Cowan, N.J. "Controlling a robotically steered needle in the presence of torsional friction", IEEE International Conference on Robotics and Automation, 2009.
Gibo, T.L., Verner, L.N., Yuh, D.D., Okamura, A.M. "Design considerations and human-machine performance of moving virtual and#64257;xtures", IEEE International Conference on Robotics and Automation, 2009.
Gwilliam, J., Mahvash, M., Vagvolgyi, B., Vacharat, A., Yuh, D.D., Okamura, A.M. "Eand#64256;ects of haptic and graphical force feedback for teleoperated palpation", IEEE International Conference on Robotics and Automation, 2009.
Verner, L., Okamura, A.M. "Force and torque feedback vs force only feedback", Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2009.
Lee, J., Okamura, A.M., Landau, B. "Haptics as an aid to copying for people with williams syndrome", Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2009.

Awards & Honors

2010: IEEE Fellow
2008: Stanford Alumni Distinguished Scholar. Recognition for alumni from underrepresented groups with successful academic careers.
2008: Medicine Meets Virtual Reality (MMVR) Conference Best Poster Award (with graduate student Sarthak Misra and Professor KT Ramesh)
2007: National Academy of Engineers Frontiers of Engineering Symposium (Invited Speaker)
2005: Liberati Club Award for Excellence - Outstanding paper of the year in Industrial Robot
2005: IEEE Robotics and Automation Society Early Academic Career Award
2004: National Academy of Engineers Frontiers of Engineering Symposium (Invited Participant)
2003: 2003 Johns Hopkins University Diversity Recognition Award
2000: American Society of Engineering Education Best Paper Award
1999: American Society of Mechanical Engineers Auxiliary Parsons Scholarship
1999: National Science Foundation Science and Engineering Education Scholars Program
1998: National Science Foundation Dissertation Enhancement Award
1993: American Society of Mechanical Engineers' Farbar Award
1993: Boeing Company Scholarship
1992: Japanese American Alumni Association Scholarship
1992: Pi Tau Sigma, Mechanical Engineering Honor Society
1991: UC Berkeley Mechanical Engineering Levens Prize
1990: UC Berkeley Alumni Scholarship
2007 - 2010: Decker Faculty Scholar, Johns Hopkins University. Awarded to a senior assistant professor or associate professor who exhibits exceptional achievement in their area of expertise. Provides flexible financial support to promote innovative research, teaching
2008 - 2009: Women Scholars Lecture Series (invited speaker), University of Victoria, Canada
2004 - 2009: National Science Foundation CAREER Award
2006 - 2007: Finalist, Best Paper Award, IEEE/RSJ International Conference on Intelligent Robots and Systems (out of approximately 700 papers; award presented in 2007)
2003 - 2006: Whitaker Foundation Biomedical Engineering Grant (for young investigators)
2004 - 2004: Johns Hopkins University George E. Owen Teaching Award - For Outstanding Teaching and Devotion to Undergraduates
1994 - 1997: National Science Foundation Graduate Fellowship

Presentations

Robotics and Intelligent Machines Seminar, Georgia Institute of Technology, Atlanta, GA., February 17, 2011
Department of Electrical Engineering and Computer Science Seminar, University of California at Berkeley, Berkeley, CA., April 15, 2010
Controls, Robotics, and Embedded Systems Seminar, University of California at Berkeley, Berkeley, CA., January 28, 2010
Department of Mechanical Engineering Distinguished Lecture Series, Stanford University, Stanford, CA., January 27, 2010
SHARP Project Grenoble, France 2000-10-23 (Inivited), January 12, 2010
Human Factors Experiments: Design, Analysis, and HSRB Approval ERC-CISST/Laboratory for Computational Sensing and Robotics Professional Development Seminar. Johns Hopkins University, Baltimore, Maryland,. 2008-11-12. (Invited), November 12, 2008
Haptics for Medical Robotics: Surgery, Simulation, and Rehabilitation Center for Adaptive Neural Systems Seminar. Arizona State University, Tempe, Arizona. 2008-10-21. (Invited), October 21, 2008
The Role of Haptics in Teleoperated Minimally Invasive Surgery Workshop on Surgical Robotics, Second IEEE RAS-EMBS BIOROB Conference. Scottsdale, Arizona. 2008-10-19. (Invited), October 19, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Department of Mechanical Engineering Seminar. Tufts University, Medford, Massachusetts. 2008-10-03. (Invited), October 3, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Plenary talk, Performance Metrics for Intelligent Systems Workshop. National Institute of Standards and Technology, Gaithersburg, Maryland. 2008-08-19. (Invited), August 19, 2008
Medical Robotics Research in the U.S. NSF/ JST US-Japan Robotics Workshop on Safety, Security, and Society. San Francisco, California. 2008-08-15., August 15, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Center for Intelligent Machines, Electrical and Computer Engineering Seminar. McGill University, Montreal, Canada. 2008-07-10. (Invited), July 10, 2008
Tissue Modeling for Realistic Simulation 5th Annual Innovations in the Surgical Environment Conference. University of Maryland Medical Center, Baltimore, Maryland. 2008-06-27. (Invited), June 27, 2008
Medical Robotics Meyerhoff Scholars Bridge Program, University of Maryland Baltimore County. Johns Hopkins University, Baltimore, Maryland. 2008-06-24. (Invited), June 24, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Department of Mechanical Engineering Seminar. Massachusetts Institute of Technology, Boston, Massachusetts. 2008-06-02. (Invited), June 2, 2008
Robotics with a Human Touch: Haptics and Medical Applications IEEE Baltimore Section Annual Awards Dinner. Baltimore, Maryland. 2008-05-14. (Invited), May 14, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Laboratory for Computational Sensing and Robotics Seminar. Johns Hopkins University, Baltimore, Maryland. 2008-04-30. (Invited), April 30, 2008
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation Booz Allen Hamilton Distinguished Colloquium in Electrical and Computer Engineering. University of Maryland, College Park, Maryland. 2008-03-28. (Invited), March 28, 2008
Reality-Based Modeling for Simulation and Robot-Assisted Surgery Scientific Computing Applications in Surgical Simulation of Soft Tissues. Institute for Pure and Applied Mathematics, Los Angeles, California. 2008-01-10. (Invited), January 10, 2008
Haptics for Robot-Assisted Minimally Invasive Surgery International Symposium on Robotics Research. Hiroshima, Japan. 2007-11-29. (Invited), November 29, 2007
Haptics for Robot-Assisted Surgery (and more) Departmental Seminar. Department of Mechanical Engineering, University of Delaware, Newark, DE . 2007-10-19. (Invited), October 19, 2007
Haptics for Robot-Assisted Surgery Seminar. School of Health, Physical Education, and Recreation, University of Nebraska at Omaha, Omaha, Nebraska. 2007-08-24. (Invited), August 24, 2007
Haptics for Robot-Assisted Surgery Special Seminar. Department of Robotics, Deutsches Zentrum fur Luft- und Raumfahrt (DLR), Munich, Germany. 2007-07-17. (Invited), July 17, 2007
Haptics for Robot-Assisted Surgery Institute of Automatic Control Engineering. Technischen Universitat Munchen, Munich, Germany. 2007-07-16. (Invited), July 16, 2007
Medical Robotics Meyerhoff Scholars' Bridge Program. University of Maryland Baltimore County / Johns Hopkins University, Baltimore, MD . 2007-06-26. (Invited), June 26, 2007
Robot-Assisted Surgery 10th German-American Frontiers of Engineering Symposium / Alexander Van Humboldt Foundation. Hamburg, Germany. 2007-04-26. (Invited), April 26, 2007
Haptics and Human Performance in Robot-Assisted Surgery Workshop on Computer-Integrated Surgery and Interventional Robotics, ICRA. Rome, Italy. 2007-04-10. (Invited), April 10, 2007
Haptics for Robot-Assisted Surgery Immersion Medical. Gaithersburg, MD . 2007-03-15. (Invited), March 15, 2007
Haptics for Robot-Assisted Surgery Robotics and Controls Seminar. University of Washington, Seattle, wa. 2007-03-02. (Invited), March 2, 2007
Robotics Research at Johns Hopkins University American Society of Mechanical Engineers, Baltimore Section Meeting. Johns Hopkins University, Baltimore, Maryland. 2007-02-21. (Invited), February 21, 2007
Haptics for Robot-Assisted Surgery MARC Scholarship Program. University of Maryland, Baltimore County, Baltimore, MD. 2007-02-20. (Invited), February 20, 2007
Human-Machine Interaction with Haptics Bodian Seminar, Krieger Mind-Brain Institute. JHU, Baltimore, MD. 2006-12-04. (Invited), December 4, 2006
Needle Steering for Percutaneous Therapy Technion-JHU symposium. JHU, Baltimore, MD. 2006-10-30. (Invited), October 30, 2006
Haptics for Robot-Assisted Surgery and Surgical Simulation IEEE-RAS/IFRR School of Robotics Science on Haptic Interaction. Paris, France. 2006-09-28. (Invited), September 28, 2006
Haptics for Robot-Assisted Surgery Sciences, technologies et applications haptiques. Universit Pierre et Marie Curie, Paris, France. 2006-09-25. (Invited), September 25, 2006
Haptic Sensing, Modeling and Feedback in Robot-Assisted Surgery GRASP Laboratory, University of Pennsylvania. Philadelphia, PA . 2005-12-02. (Invited), December 2, 2005
Academic Publishing Faculty Workshop on Academic Publishing, Morgan State University. Baltimore, MD . 2005-05-17. (Invited), May 17, 2005
Robotics in Medicine and Biology: Inspiration and Application Johns Hopkins University Alumni College. Baltimore, MD. 2005-05-06. (Invited), May 6, 2005
Human Factors Experiments: Design, Analysis, and HSRB Approval Engineering Research Center for Computer-Integrated Surgical Systems and Technology, Johns Hopkins University. Baltimore, MD. 2005-05-04. (Invited), May 4, 2005
Haptic Sensing, Feedback and Augmentation for Robot-Assisted Minimally Houston Society for Engineering in Medicine and Biology. Houston, Texas. 2005-02-10. (Invited), February 10, 2005
Haptic Sensing, Modeling and Feedback in Robot-Assisted Surgery CIMIT Forum. Boston, MA. 2004-11-23. (Invited), November 23, 2004
A Sufficient Condition for Passive Virtual Walls with Quantization Effects International Symposium on Advances in Robot Dynamics and Control (ASME IMECE). Anaheim, CA. 2004-11-18., November 18, 2004
Haptic Sensing, Modeling and Feedback in Robot-Assisted Surgery Department of Mechanical and Aerospace Engineering, Cornell University. Ithaca, NY. 2004-11-02. (Invited), November 2, 2004
Impedance-Reflecting Teleoperation with a Real-Time Evolving Neural Network Controller IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai, Japan. 2004-09-30., September 30, 2004
Human-Machine Collaborative Systems Workshop on Issues and Approaches to Task Level Control, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai, Japan. 2004-09-28. (Invited), September 28, 2004
Vision-Based Assistance for Ophthalmic Microsurgery Seventh International Conference on Medical Image Computing and Computer Assisted Intervention – MICCAI. St. Malo, France. 2004-09-28., September 28, 2004
Nonholonomic Modeling of Needle Steering 9th International Symposium on Experimental Robotics. Singapore. 2004-06-18., June 18, 2004
A Magnetically-Actuated Friction Feedback Mouse Eurohaptics. Munich, Germany. 2004-06-06., June 6, 2004
Design and Performance of a Two-Dimensional Tactile Slip Display Eurohaptics. Munich, Germany. 2004-06-06., June 6, 2004
Virtual Environment for Exploring Atomic Bonding Eurohaptics. Munich, Germany. 2004-06-06., June 6, 2004
A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound IEEE International Conference on Robotics and Automation. New Orleans, LA. 2004-04-27., April 27, 2004
The Effects of Gripping and Translational Forces on Teleoperation Workshop on Multi-point Interaction in Robotics and Virtual Reality, 2004 IEEE International Conference on Robotics and Automation. New Orleans, LA. 2004-04-27. (Invited), April 27, 2004
Understanding by Feeling: Using Haptics in Education Workshop on Educational Robotics, 2004 IEEE International Conference on Robotics and Automation. New Orleans, LA. 2004-04-27. (Invited), April 27, 2004
Haptics: Engineering Touch New Techne Symposium, The Johns Hopkins University. Baltimore, MD. 2004-04-09. (Invited), April 9, 2004
Teleoperation with Sensor/Actuator Asymmetry: Task Performance with Partial Force Feedback 12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems. Chicago, IL. 2004-03-27., March 27, 2004
Control of Human-Machine Collaborative Systems Robotics Seminar, University of California at Berkeley. Berkeley, CA. 2004-03-05. (Invited), March 5, 2004
Adventures of an Assistant Professor Mechanical Engineering Women’s Seminar, Stanford University. Stanford, CA. 2004-03-04. (Invited), March 4, 2004
Control of Human-Machine Collaborative Systems Robotics Seminar, Stanford University. Stanford, CA. 2004-03-04. (Invited), March 4, 2004
Human-Machine Collaborative Systems Controls Seminar, University of Michigan. Ann Arbor, MI. 2004-02-06. (Invited), February 6, 2004
Effect of Sensory Substitution on Suture Manipulation Forces for Surgical Teleoperation Medicine Meets Virtual Reality 12. Newport Beach, CA. 2004-01-16., January 16, 2004
Human-Machine Collaborative Systems Controls and Robotics Seminar, University of Washington. Seattle, WA. 2004-01-09. (Invited), January 9, 2004
Steady-Hand Teleoperation with Virtual Fixtures 12th IEEE Workshop Robot and Human Interactive Communication. San Francisco, CA. 2003-11-02., November 2, 2003
Measurement and Modeling of Needle Insertion Forces Workshop on Reality-based Modeling of Tissues for Simulation and Robot-Assisted Surgery, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, NV. 2003-10-31. (Invited), October 31, 2003
Analysis of Virtual Fixture Contact Stability for Telemanipulation IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, NV. 2003-10-30., October 30, 2003
Human-Machine Collaborative Systems Department of Mathematical Sciences Seminar, Johns Hopkins University. Baltimore, MD. 2003-10-09. (Invited), October 9, 2003
Methods for Intelligent Localization and Mapping during Haptic Exploration IEEE International Conference on Systems, Man and Cybernetics. Washington, DC. 2003-10-08., October 8, 2003
VisHap: Augmented Reality Combining Haptics and Vision IEEE International Conference on on Systems, Man and Cybernetics. Washington, DC. 2003-10-08., October 8, 2003
Robotic Needle Insertion: Effects of Friction and Needle Geometry IEEE International Conference on Robotics and Automation. Taipei, Taiwan. 2003-09-17., September 17, 2003
Spatial Motion Constraints: Theory and Demonstrations for Robot Guidance using Virtual Fixtures IEEE International Conference on Robotics and Automation. Taipei, Taiwan. 2003-09-17., September 17, 2003
Virtual Fixture Architectures for Telemanipulation IEEE International Conference on Robotics and Automation. Taipei, Taiwan. 2003-09-17., September 17, 2003
The Haptic Scissors: Cutting in Virtual Environments IEEE International Conference on Robotics and Automation. Taipei, Taiwan. 2003-09-16., September 16, 2003
Automatic Motion Recognition and Skill Evaluation for Dynamic Tasks Eurohaptics. Dublin, Ireland. 2003-07-09., July 9, 2003
The Role of Haptics in Minimally Invasive Surgery Multi-Disciplinary Minimally Invasive Surgery Conference, Johns Hopkins Medical Institutions. Baltimore, MD. 2003-06-25. (Invited), June 25, 2003
The Role of Haptics in Minimally Invasive Surgery Robotics and Energetic Machines Group, Oak Ridge National Laboratories. Oak Ridge, TN. 2003-05-12. (Invited), May 12, 2003
Haptics: Feeling is Believing IEEE Engineer's Week Dinner, Baltimore Chapter. Baltimore, MD. 2003-04-09. (Invited), April 9, 2003
Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality. Los Angeles, CA. 2003-03-22., March 22, 2003
Human-Machine Collaborative Systems Society of Women Engineers Meeting, JHU Chapter. Baltimore, MD. 2003-02-13., February 13, 2003
Human-Machine Collaborative Systems School of Electrical and Computer Engineering, Purdue University. West Lafayette, Indiana. 2003-02-06. (Invited), February 6, 2003
Haptics Research at JHU Intuitive Surgical, Inc.. Sunnyvale, CA. 2002-12-20. (Invited), December 20, 2002
Human Machine Collaborative Systems Massachusettes Institute of Technology. Boston, MA. 2002-12-17. (Invited), December 17, 2002
Human Machine Collaborative Systems Naval Research Laboratory. Washington, DC. 2002-11-18. (Invited), November 18, 2002
Human Machine Collaborative Systems Dept. of Mechanical Engineering. University of Maryland Baltimore County. 2002-11-01. (Invited), November 1, 2002
Effect of Virtual Fixture Compliance on Human-Machine Cooperative Manipulation on Human-Machine Cooperative Manipulation. Lausanne, Switzerland. 2002-10-02., October 2, 2002
Interactive Haptic Rendering of Deformable Surfaces Based on the Medial Axis Transform Eurohaptics. Edinburgh, UK. 2002-09-15., September 15, 2002
Haptic Feedback for Robotic Surgery Johns Hopkins Division of Cardiac Surgery. Baltimore, MD. 2002-05-29. (Invited), May 29, 2002
Vision Assisted Control for Manipulation Using Virtual Fixtures: Experiments at Macro and Micro Scales IEEE International Conference on Robotics and Automation. Washington, DC. 2002-05-15., May 15, 2002
Haptic Modeling of Needle Insertion for Robot-Assisted Percutaneous Therapy IEEE International Conference on Robotics and Automation. Washington, DC. 2002-05-14., May 14, 2002
Building a Task Language for Segmentation and Recognition of User Input to Cooperative Manipulation Systems 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Orlando, FL. 2002-03-25., March 25, 2002
On the Display of Haptic Recordings for Cutting Biological Tissues IEEE Virtual Reality, Symposium on Haptic Interfaces in Teleoperated and Virtual Environments . Orlando, FL. 2002-03-24., March 24, 2002
Introduction to Haptics JHU Society of Women Engineers. Baltimore, MD. 2002-02-28., February 28, 2002
Vision-Assisted Control for Manipulation Using Virtual Fixtures Washington Area Computer-Aided Surgery Society. University of MD. 2002-02-19. (Invited), February 19, 2002
Vision-Assisted Control for Manipulation Using Virtual Fixtures JHU ERC Seminar. Baltimore, MD. 2002-02-06. (Invited), February 6, 2002
Haptic Reality-Based Modeling ERC NSF Site Visit. Baltimore, MD. 2002-01-22. (Invited), January 22, 2002
Uniting Haptic Exploration and Display International Symposium on Robotics Research. Lorne, Victoria, Australia. 2001-11-10., November 10, 2001
Reality-based Modeling of Haptic Information Department of Mechanical Engineering, University of Wisconsin, Madison. Madison, WI. 2001-10-11. (Invited), October 11, 2001
Reality-Based Modeling for Haptic Virtual Environments Department of Mechanical Engineering and Mechanics, Drexel University. Philadelphia, PA. 2001-09-28. (Invited), September 28, 2001
Reality-Based Haptic Rendering Institute for Mathematics and its Applications, Workshop on Haptics,. Minneapolis, MN. 2001-06-14. (Invited), June 14, 2001
Feature-Guided Exploration with a Robotic Finger 2001 IEEE International Conference on Robotics and Automation. Seoul, Korea. 2001-05-23., May 23, 2001
Improving Reality-Based Models for Vibration Feedback American Society of Mechanical Engineers Haptics Symposium. Orlando, FL. 2000-11-10., November 10, 2000
Haptics for Robotics and Virtual Environments Krieger Mind-Brain Institute, the Johns Hopkins University. Baltimore, MD. 2000-10-30. (Invited), October 30, 2000
Vibration Feedback in Virtual Environments TIMC/IMAG Laboratory. Grenoble, France. 2000-10-24. (Invited), October 24, 2000
Vibration Feedback in Virtual Environments INRIA, SHARP Project. Grenoble, France. 2000-10-23. (Invited), October 23, 2000
Haptic Exploration of Unknown Objects with Robotic Fingers Department of Mechanical Engineering, The Johns Hopkins University. Baltimore, MD. 2000-09-28. (Invited), September 28, 2000
Reality-Based Modeling for Haptic Virtual Environments NSF Engineering Research Center for Computer Integrated Surgical Systems and Technology, The Johns Hopkins University. Baltimore, MD. 2000-09-27. (Invited), September 27, 2000
Haptic Exploration of Unknown Objects with Robotic Fingers Workshop on Reality-based Modeling and Applications in Reverse Engineering, Computer Graphics, and VR, 2000 IEEE International Conference on Robotics and Automation. San Francisco, CA. 2000-04-28. (Invited), April 28, 2000
An Overview of Dexterous Manipulation 2000 IEEE International Conference on Robotics and Automation, Symposium on Dexterous Manipulation. San Francisco, CA. 2000-04-25., April 25, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, University of California at Berkeley. Berkeley, CA. 2000-04-10. (Invited), April 10, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, University of Washington. Seattle, WA. 2000-03-30. (Invited), March 30, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, University of Utah. Salt Lake City, UT. 2000-03-23. (Invited), March 23, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, The Johns Hopkins University. Baltimore, MD. 2000-03-00. (Invited), February 29, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, University of Illinois. Urbana-Champaign, IL. 2000-03-00. (Invited), February 29, 2000
Haptics for Robotics and Virtual Environments Department of Mechanical Engineering, California State University. San Jose, CA. 2000-02-18. (Invited), February 18, 2000
Understanding by Feeling: Using Haptics in Education Stanford Workshop on Manufacturing Education '99, Alliance for Innovative Manufacturing. Stanford, Ca. 1999-06-14. (Invited), June 14, 1999
Haptic Exploration of Fine Surface Features 1999 IEEE International Conference on Robotics and Automation. Detroit, MI. 1999-05-12., May 12, 1999
Haptic Surface Exploration 1999 International Symposium on Experimental Robotics. Sydney, Australia. 1999-03-26., March 26, 1999
Getting a Feel for Dynamics: Using Haptic Interface Kits for Teaching Dynamics and Controls Human Computer Interface Technology, Department of Computer Science, Stanford University. Stanford, CA. 1998-11-19. (Invited), November 19, 1998
Vibration Feedback Models for Virtual Environments 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium. 1998-05-18., May 18, 1998
Haptic Exploration with Robotic Fingers Robotics Seminar, Department of Computer Science, Stanford University. Stanford, CA. 1997-11-10. (Invited), November 10, 1997
Exploratory Procedures with Robotic Fingers Design Theory and Methodology Forum, Department of Mechanical Engineering, Stanford University. Stanford, CA. 1997-04-30. (Invited), April 30, 1997
Haptic Exploration of Objects with Rolling and Sliding 1997 IEEE International Conference on Robotics and Automation. Albuquerque, NM. 1997-04-24., April 24, 1997
Enhancing Graphics Education with Stereoscopic Images in PC Based CAD American Society for Engineering Education, Design Graphics Division. San Francisco, CA. 1993-01-10., January 10, 1993

Committees

: Founding Member, IEEE Technical Committee on Haptics
2007 - 2010: Member, program and organizing committee, Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
2008 - 2009: Area Chair, 2009 Robotics: Science and Systems Conference
2008 - 2009: Associate Editor, 2009 World Haptics Conference
2008 - 2009: Video Proceedings program committee, 2009 IEEE International Conference on Robotics and Automation
2008 - 2009: Member, IEEE Robotics and Automation Society Awards Nomination Committee
2008 - 2009: Co-leader of Medical Robotics Area, 2008-2009 CCC/CRA Robotics Roadmap Committee
2007 - 2009: Chair, Department of Mechanical Engineering Graduate Admissions Committee
2007 - 2009: Curriculum Committee for the Department of Mechanical Engineering
2006 - 2009: Vice Chair for Finance, IEEE Technical Committee on Haptics
2004 - 2008: Machine Shop/Undergraduate Laboratories Committee for Department of Mechanical Engineering
2007 - 2007: Co-organized (with George Bekey) the first IEEE RAS Fellowship for a female graduate student in robotics and automation
2007 - 2007: Editor-in-Chief Search Committee, IEEE Transactions on Haptics
2007 - 2007: Co-chair, special sessions committee, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2007 - 2007: Program Committee, Robotics: Science and Systems
2007 - 2007: Scientific Review Committee, Medical Image Computing and Computer-Aided Intervention (MICCAI)
2007 - 2007: Vdeo Proceedings Program Committee, IEEE International Conference on Robotics and Automation
2006 - 2007: Member, Haptics Journal Steering Committee
2006 - 2007: Member, Search Committee for JHU Director of Biomedical Engineering
2006 - 2007: Membership co-Chair, IEEE Robotics and Automation Society
2006 - 2007: Led the organization of the first IEEE RAS Birds of a Feather Lunch for Women at ICRA 2007. Co-organizers were Danica Kragic, Nancy Amato, Mihoko Otake, Aude Billard, and Robin Murphy. Over 100 people attended the event, which included presentations and a discussion panel with a Q & A session.
2004 - 2007: Chair, Department of Mechanical Engineering Undergraduate Recruiting Committee
2004 - 2007: Department of Mechanical Engineering Student Affairs Committee
2002 - 2007: ME Dept. Undergraduate Recruiting/Admissions Committee
2002 - 2007: ME Dept. Student Affairs Committee
2006 - 2006: On thesis committee of JHU ME Ph.D. student Jin Seob Kim and Psychology & Brain Sciences Ph.D. student Melanie Palomares. On GBO committees of Robert Webster, Wooram Park, Aris Skliros, Brian Weibeler, and Henry Lin. GBO alternate for Kiju Lee, Stephen Martin, Axel Krieger. On departmental qualifying exam committees for 7 students.
2004 - 2006: ME Dept. Machine Shop and Undergraduate Labs Committee
2005 - 2005: ME Dept. Graduate Recruiting and Admissions Committee
2004 - 2005: ME Dept. Undergraduate Recruiting and Admissions Committee Chair (starting Fall 2004)
2004 - 2005: Surgical Assistants Thrust Leader, NSF Engineering Research Center for Computer-Integrated Surgical Systems and Technology (appointed Fall 2004)
2004 - 2004: On Ph.D. thesis committees of JHU ME graduate students Yu Zhou and Alexandru Patriciu, and McGill Univeristy Student Hsin Yun Yao
2004 - 2004: On GBO Committees of JHU students Guanqi Ye (CS), Panadda Marayong (ME), Emad Boctor (CS), Ralf Philipp (ECE), Jason Corso (CS), and Ming Li (CS). Also an alternate for several other students.
2002 - 2004: ME Dept. Web/Publicity Committee Chair (through Summer 2004)
2002 - 2002: On Ph.D. thesis committees of JHU ME graduate student David Smallwood, and McGill Univeristy Student Dingrong Yi
: SHARP Project Grenoble, France 2000-10-23 (Inivited)