Bio

Bio


Salisbury worked on the development of the Stanford-JPL Robot Hand, the JPL Force Reflecting Hand Controller, the MIT-WAM arm, and the Black Falcon Surgical Robot. His work with haptic interface technology led to the founding of SensAble Technology, producers of the PHANToM haptic interface and software. He also worked on the development of telerobotic systems for dexterity enhancement in the operating room. His current research focuses on human-machine interaction, cooperative haptics, medical robotics, and surgical simulation.

Academic Appointments


Professional Education


  • PhD, Stanford University, Mechanical Engineering (1982)
  • MS, Stanford University, Mechanical Engineering (1977)
  • BS, Stanford University, Electrical Engineering (1975)

Teaching

2013-14 Courses


Postdoctoral Advisees


Publications

Journal Articles


  • High-Fidelity, Inexpensive Surgical Middle Ear Simulator OTOLOGY & NEUROTOLOGY Monfared, A., Mitteramskogler, G., Gruber, S., Salisbury, J. K., Stampfl, J., Blevins, N. H. 2012; 33 (9): 1573-1577

    Abstract

    A high-fidelity, inexpensive middle ear simulator could be created to enhance surgical training that would be rated as having high face validity by experts.With rapid prototyping using additive manufacturing technology (AMT), one can create high-resolution 3-dimensional replicas of the middle ear at low cost and high fidelity. Such a simulator could be of great benefit for surgical training, particularly in light of new resident training guidelines.AMT was used to create surgical middle ear simulator (SMS) with 2 different materials simulating bone and soft tissue. The simulator is composed of an outer box with dimensions of an average adult external auditory canal without scutum and an inner cartridge based on an otosclerosis model. The simulator was then rated by otology experts in terms of face validity and fidelity as well as their opinion on the usefulness of such a device.Eighteen otologists from 6 tertiary academic centers rated the simulator; 83.3% agreed or highly agreed that SMS has accurate dimensions and 66.6% that it has accurate tactile feedback. When asked if performance of stapedotomy with the SMS improves with practice, 46% agreed. As to whether practicing stapedotomy with the SMS translates to improvement with live surgery, 78% agreed with this statement. Experts' average rating of the components of SMS (of possible 5) was as follows: middle ear dimensions, 3.9; malleus, 3.7; incus, 3.6; stapes, 3.6; chorda tympani, 3.7; tensor tympani, 4.1; stapedius, 3.8; facial nerve, 3.7; and promontory, 3.5. Overall, 83% found SMS to be at least "very useful" in training of novices, particularly for junior and senior residents.Most experts found the SMS to be accurate, but there was a large discrepancy in rating of individual components. Most found it to be very useful for training of novice surgeons. With these results, we are encouraged to proceed with further refinements that will strengthen the SMS as a training tool for otologic surgery.

    View details for DOI 10.1097/MAO.0b013e31826dbca5

    View details for Web of Science ID 000311214500025

    View details for PubMedID 23047262

  • What You Can't Feel Won't Hurt You: Evaluating Haptic Hardware Using a Haptic Contrast Sensitivity Function IEEE TRANSACTIONS ON HAPTICS Salisbury, C. M., Gillespie, R. B., Tan, H. Z., Barbagli, F., Salisbury, J. K. 2011; 4 (2): 134-146

    View details for DOI 10.1109/ToH.2011.5

    View details for Web of Science ID 000291396300006

  • Demonstrating the Benefits of Variable Impedance to Telerobotic Task Execution 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Walker, D. S., Salisbury, J. K., Niemeyer, G. 2011: 1348-1353
  • A virtual surgical environment for rehearsal of tympanomastoidectomy. Studies in health technology and informatics Chan, S., Li, P., Lee, D. H., Salisbury, J. K., Blevins, N. H. 2011; 163: 112-118

    Abstract

    This article presents a virtual surgical environment whose purpose is to assist the surgeon in preparation for individual cases. The system constructs interactive anatomical models from patient-specific, multi-modal preoperative image data, and incorporates new methods for visually and haptically rendering the volumetric data. Evaluation of the system's ability to replicate temporal bone dissections for tympanomastoidectomy, using intraoperative video of the same patients as guides, showed strong correlations between virtual and intraoperative anatomy. The result is a portable and cost-effective tool that may prove highly beneficial for the purposes of surgical planning and rehearsal.

    View details for PubMedID 21335772

  • In Vivo Micro-Image Mosaicing IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING Loewke, K. E., Camarillo, D. B., Piyawattanametha, W., Mandella, M. J., Contag, C. H., Thrun, S., Salisbury, J. K. 2011; 58 (1): 159-171

    Abstract

    Recent advances in optical imaging have led to the development of miniature microscopes that can be brought to the patient for visualizing tissue structures in vivo. These devices have the potential to revolutionize health care by replacing tissue biopsy with in vivo pathology. One of the primary limitations of these microscopes, however, is that the constrained field of view can make image interpretation and navigation difficult. In this paper, we show that image mosaicing can be a powerful tool for widening the field of view and creating image maps of microanatomical structures. First, we present an efficient algorithm for pairwise image mosaicing that can be implemented in real time. Then, we address two of the main challenges associated with image mosaicing in medical applications: cumulative image registration errors and scene deformation. To deal with cumulative errors, we present a global alignment algorithm that draws upon techniques commonly used in probabilistic robotics. To accommodate scene deformation, we present a local alignment algorithm that incorporates deformable surface models into the mosaicing framework. These algorithms are demonstrated on image sequences acquired in vivo with various imaging devices including a hand-held dual-axes confocal microscope, a miniature two-photon microscope, and a commercially available confocal microendoscope.

    View details for DOI 10.1109/TBME.2010.2085082

    View details for Web of Science ID 000285515500020

    View details for PubMedID 20934939

  • Telerobotic System Concept for Real-Time Soft-Tissue Imaging During Radiotherapy Beam Delivery Med. Phys. Schlosser, J., Salisbury, K., Hristov, D. 2010; 37: 6357

    View details for DOI 10.1118/1.3515457

  • Reconstruction and exploration of virtual middle-ear models derived from Micro-CT datasets. Hearing Res. Lee, D. H., Chan, S., Salisbury, C., Kim, N., Salisbury, K., Puria, S. 2010; 1–2 (263): 198–203
  • Laser Cutting Speeds Robotics Prototyping Product Design and Development Salisbury, K., Lee, S. 2010
  • Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive IEEE TRANSACTIONS ON ROBOTICS Camarillo, D. B., Carlson, C. R., Salisbury, J. K. 2009; 25 (4): 798-808
  • Mechanics Modeling of Tendon-Driven Continuum Manipulators IEEE TRANSACTIONS ON ROBOTICS Camarillo, D. B., Milne, C. F., Carlson, C. R., Zinn, M. R., Salisbury, J. K. 2008; 24 (6): 1262-1273
  • Providing Metrics and Performance Feedback in a Surgical Simulator Computer Aided Surgery (2008) Sewell, C., Morris, D., Blevins, N., Dutta, S., Agrawal, S., Barbagli, F., Salisbury, J. K. 2008; 13 (2): 63–81
  • Automatic Preparation, Calibration, and Simulation of Deformable Objects Computer Methods in Biomechanics and Biomedical Engineering (Taylor & Francis Publishing) Morris, D., Salisbury, J, K. 2008; 11 (4): 263–279
  • Evaluating Drilling and Suctioning Technique in a Mastoidectomy Simulator MEDICINE MEETS VIRTUAL REALITY 15 Sewell, C., Morris, D., Blevins, N. H., Barbagli, F., Salisbury, K. 2007; 125: 427-432

    Abstract

    This paper presents several new metrics related to bone removal and suctioning technique in the context of a mastoidectomy simulator. The expertise with which decisions as to which regions of bone to remove and which to leave intact is evaluated by building a Naïve Bayes classifier using training data from known experts and novices. Since the bone voxel mesh is very large, and many voxels are always either removed or not removed regardless of expertise, the mutual information was calculated for each voxel and only the most informative voxels used for the classifier. Leave-out-one cross validation showed a high correlation of calculated expert probabilities with scores assigned by instructors. Additional metrics described in this paper include those for assessing smoothness of drill strokes, proper drill burr selection, sufficiency of suctioning, two-handed tool coordination, and application of appropriate force and velocity magnitudes as functions of distance from critical structures.

    View details for Web of Science ID 000270613800096

    View details for PubMedID 17377317

  • Real-Time Image Mosaicing for Medical Applications MEDICINE MEETS VIRTUAL REALITY 15 Loewke, K. E., Camarillo, D. B., Jobst, C. A., Salisbury, J. K. 2007; 125: 304-309

    Abstract

    In this paper we describe the development of a robotically-assisted image mosaicing system for medical applications. The processing occurs in real-time due to a fast initial image alignment provided by robotic position sensing. Near-field imaging, defined by relatively large camera motion, requires translations as well as pan and tilt orientations to be measured. To capture these measurements we use 5-d.o.f. sensing along with a hand-eye calibration to account for sensor offset. This sensor-based approach speeds up the mosaicing, eliminates cumulative errors, and readily handles arbitrary camera motions. Our results have produced visually satisfactory mosaics on a dental model but can be extended to other medical images.

    View details for Web of Science ID 000270613800069

    View details for PubMedID 17377290

  • An Optical Fiber Proximity Sensor for Haptic Exploration Robotics and Automation, 2007 IEEE International Conference on Robotics and Automation Walker, S., Loewke, K., Fischer, M., Liu, C., Salisbury, J., K. 2007: 473–478
  • Validating Metrics for a Mastoidectomy Simulator MEDICINE MEETS VIRTUAL REALITY 15 Sewell, C., Morris, D., Blevins, N. H., Agrawal, S., Dutta, S., Barbagli, F., Salisbury, K. 2007; 125: 421-426

    Abstract

    One of the primary barriers to the acceptance of surgical simulators is that most simulators still require a significant amount of an instructing surgeon's time to evaluate and provide feedback to the students using them. Thus, an important area of research in this field is the development of metrics that can enable a simulator to be an essentially self-contained teaching tool, capable of identifying and explaining the user's weaknesses. However, it is essential that these metrics be validated in able to ensure that the evaluations provided by the "virtual instructor" match those that the real instructor would provide were he/she present. We have previously proposed a number of algorithms for providing automated feedback in the context of a mastoidectomy simulator. In this paper, we present the results of a user study in which we attempted to establish construct validity (with inter-rater reliability) for our simulator itself and to validate our metrics. Fifteen subjects (8 experts, 7 novices) were asked to perform two virtual mastoidectomies. Each virtual procedure was recorded, and two experienced instructing surgeons assigned global scores that were correlated with subjects' experience levels. We then validated our metrics by correlating the scores generated by our algorithms with the instructors' global ratings, as well as with metric-specific sub-scores assigned by one of the instructors.

    View details for Web of Science ID 000270613800095

    View details for PubMedID 17377316

  • Visuohaptic Simulation of Bone Surgery for Training and Evaluation IEEE Computer Graphics and Applications Morris, D., Sewell, C., Barbagli, F., Blevins, N., Girod, S., Salisbury, K. 2006; 26 (4): 48–57
  • Force-Direction Discrimination is Not Influenced by Reference Force Direction The Electronic Journal of Haptics Research (www.haptics-e.org) Tan, H., Z., Morris, D., Maurer, C., R., Antony, A., K., Barbagli, F., Salisbury, K. 2006; 4 (1)
  • Achieving Proper Exposure in Surgical Simulation MEDICINE MEETS VIRTUAL REALITY 14 Sewell, C., Morris, D., Blevins, N., Barbagli, F., Salisbury, K. 2006; 119: 497-502

    Abstract

    One important technique common throughout surgery is achieving proper exposure of critical anatomic structures so that their shapes, which may vary somewhat among patients, can be confidently established and avoided. In this paper, we present an algorithm for determining which regions of selected structures are properly exposed in the context of a mastoidectomy simulation. Furthermore, our algorithm then finds and displays all other points along the surface of the structure that lie along a sufficiently short and straight path from an exposed portion such that their locations can be safely inferred. Finally, we present an algorithm for providing realistic visual cues about underlying structures with view-dependent shading of the bone.

    View details for Web of Science ID 000269690200106

    View details for PubMedID 16404107

  • Haptic Discrimination of Force Direction and the Influence of Visual Information ACM Transactions on Applied Perception Barbagli, F., Salisbury, K., Ho, C., Spence, C., Tan, H. 2006; 3 (2): 125–135
  • Visuohaptic Simulation of Bone Surgery Stanford University Department of Computer Science Technical Report Morris, D., Sewell, C., Barbagli, F., Blevins, N., Girod, S., Salisbury, J., K. 2006-13
  • Virtual 3D Planning and Guidance of Mandibular Distraction Osteogenesis Computer Aided Surgery Meehan, M., Morris, D., Maurer, C., R., Antony, A., K., Barbagli, F., Salisbury, K. 2006; 2 (11): 51-62
  • Quantifying Risky Behavior in Surgical Simulation MEDICINE MEETS VIRTUAL REALITY 13: THE MAGICAL NEXT BECOMES THE MEDICAL NOW Sewell, C., Morris, D., Blevins, N., Barbagli, F., Salisbury, K. 2005; 111: 451-457

    Abstract

    Evaluating a trainee's performance on a simulated procedure involves determining whether a specified objective was met while avoiding certain "injurious" actions that damage vulnerable structures. However, it is also important to teach the stylistic behaviors that minimize overall risk to the patient, even though these criteria may be more difficult to explicitly specify and detect. In this paper, we address the development of metrics that evaluate the risk in a trainee's behavior while performing a simulated mastoidectomy. Specifically, we measure the trainee's ability to maintain an appropriate field of view so as to avoid drilling bone that is hidden from view, as well as to consistently apply appropriate forces and velocities. Models of the maximum safe force and velocity magnitudes as functions of distances from key vulnerable structures are learned from model procedures performed by an expert surgeon on the simulator. In addition to quantitatively scoring the trainee's performance, these metrics allow for interactive 3D visualization of the performance by distinctive coloring of regions in which excessive forces or velocities were applied or insufficient visibility was maintained, enabling the trainee to pinpoint his/her mistakes and how to correct them. Although these risky behaviors relate to a mastoidectomy simulator, the objectives of maintaining visibility and applying safe forces and velocities are common in surgery, so it may be possible to extend much of this methodology to other procedures.

    View details for Web of Science ID 000273828700090

    View details for PubMedID 15718777

  • Robotic technology in surgery: past, present, and future AMERICAN JOURNAL OF SURGERY Camarillo, D. B., Krummel, T. M., Salisbury, J. K. 2004; 188 (4A): 2S-15S

    Abstract

    It has been nearly 20 years since the first appearance of robotics in the operating room. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation, as evidenced by the many thousands of successful robot-assisted cases. However, to build on past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons, engineers, entrepreneurs, and healthcare administrators. This article provides an introduction to medical robotic technologies, develops a possible taxonomy, reviews the evolution of a surgical robot, and discusses future prospects for innovation. Robotic surgery has demonstrated some clear benefits. It remains to be seen where these benefits will outweigh the associated costs over the long term. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. Such advances will enable continued progress in surgical instrumentation and, ultimately, surgical care.

    View details for DOI 10.1016/j.amjsung.2004.08.025

    View details for Web of Science ID 000224479800003

    View details for PubMedID 15476646

  • Playing it safe IEEE ROBOTICS & AUTOMATION MAGAZINE Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 11 (2): 12-21
  • An event-driven framework for the simulation of complex surgical procedures MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2004, PT 2, PROCEEDINGS Sewell, C., Morris, D., Blevins, N., Barbagli, F., Salisbury, K. 2004; 3217: 346-354
  • New Actuation Approach for Human-friendly Robot Design International Journal of Robotics Research Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 4/5 (23): 379–398
  • Haptic Rendering: Introductory Concepts in Haptic Rendering: Beyond Visual Computing, Special Issue of IEEE Computer Graphics and Applications Salisbury, K. J., Conti, F., Barbagli, F. 2004; 24 (2): 24–32
  • Toward Virtual Manipulation: From One Point of Contact to Four Sensor Review (special issue on Haptic Devices) Barbagli, F., Devengenzo, R., Salisbury, K. 2004; 24 (1): 51–59
  • A collaborative virtual environment for the simulation of temporal bone surgery MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2004, PT 2, PROCEEDINGS Morris, D., Sewell, C., Blevins, N., Barbagli, F., Salisbury, K. 2004; 3217: 319-327
  • Macro-micro control to improve bilateral force-reflecting teleoperation EXPERIMENTAL ROBOTICS VI Madhani, A. J., Niemeyer, G., Salisbury, J. K. 2000; 250: 413-422
  • Making Graphics Physically Tangible Making Graphics Physically Tangible Salisbury, K., J 1999; 42 (8): 75–81
  • Dexterity Enhancement in Endoscopic Surgery by a Computer Controlled Mechanical Wrist Min Inv Therapy & Allied Technology Falk, V., McLoughlin, J., Guthart, G., Salisbury, K., Walther, T., Gummert, J. 1999; 4 (8): 235–242
  • The Black Falcon: A teleoperated surgical instrument for minimally invasive surgery 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 Madhani, A. J., Niemeyer, G., Salisbury, J. K. 1998: 936-944
  • The heart of microsurgery Mechanical Engineering Magazine Salisbury, K., J 1998; 12 (120): 47–51
  • Medical Miracles for the Next Millennium LIFE Magazine Special Issue, Fall 1998. Report on Telesurgical System that Salisbury helped develop Salisbury, K., J 1998
  • Parallel Coupled Micro-Macro Actuators International Journal of Robotics Research Morrell, J., B., Salisbury, J., K. 1998; 17 (7): 773–791
  • Scientific and Technical Report: Development of Haptic Interfaces Contract: N61339-96-K-0002, CDRL Number: A002 Naval Air Warfare Center Training Systems Division, ORLANDO, FL Salisbury, K., J., Srinivasan, M., A. 1997
  • Phantom-Based Haptic Interaction with Virtual Objects IEEE Computer Graphics and Applications Salisbury, J., K., Srinivasan, M., A. 1997; 17 (5): 6–10
  • Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1996 through September 30, 1997, ARPA Contract Number DAMD17-94-C-4123 Salisbury, K., J., Madhani, A. 1997
  • Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1995 through September 30, 1996, ARPA Contract Number DAMD17-94-C-4123 Salisbury, K., J., Madhani, A., Tarr, C., Ottensmeyer, M., Green, D., Lee, P. 1996
  • Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1994 through September 30, 1995, ARPA Contract Number DAMD17- 94-C-4123 Salisbury, K., J. 1995
  • Application of Change Detection to Dynamic Contact Sensing International Journal of Robotics Research Eberman, B., Salisbury, J., K. 1994; 12 (5): 369–394
  • Contact Sensing from Force Measurements International Journal of Robotics Research Bicchi., A, Salisbury, J., K., Brock, D., L. 1993; 12 (3): 249–262
  • Application of Change Detection to Dynamic Contact Sensing MIT AI Lab Memo No. 1421 Salisbury, K., J. 1993
  • Dynamic Modeling, Simulation and Parameter Identification for the WAM Arm MIT AI Lab Memo No. 1387 Eberman, B., S., Salisbury, Kenneth Jr., J 1992
  • Line Kinematics for Whole-Arm Manipulation AI Memo No. 1255 Salisbury, K., J., Eberman, B., Brock, D. 1991
  • Contact Sensing from Force Measurements MIT AI Lab Memo No. 1262 Bicchi., A, Salisbury, K., J., Brock, D., L. 1990
  • Exploiting the Redundancy of an Hand-Arm Robotic System AI Memo No. 1261, Artificial Intelligence Laboratory, MIT, Cambridge MA Melchiorri, C., Salisbury, K. 1990
  • Exploiting the Redundancy of a Hand-Arm Robotic System AI Memo No. 1261 Melchiorri, C., Salisbury, K., J. 1990
  • Criterion for the Optimal Design of Multiaxis Force Sensors MIT AI Lab Memo No. 1263 Salisbury, K., J., Bicchi, A. 1990
  • Analysis and Implementation of Robust Grasping Behaviors NASA/JSC Progress Report Chammas, C., Z., Salisbury, K., J. 1990
  • Contact Sensing Palm for the Salisbury Hand Progress Report 2, Sandia Contract No. 75-2608 Brock, David, L., Salisbury, K., J. 1990
  • Exploiting the Redundancy of a Hand/Arm Robotic System A.I. Memo No. 1261, Artificial Intelligence Laboratory, M.I.T., Cambridge, MA Melchiorri, C., Salisbury, K., J. 1990
  • Force Sensing Fingertip Investigation Progress Report 1, Sandia Contract No. 23-2299 Brock, David, L., Salisbury, K., J. 1989
  • Hands: An Automatic Grasping Approach NASA Chammas, C., Z., Salisbury, K., J. 1989
  • Analysis and Construction of Contact and Tactile Sensors Contractor report SAND87-7120, Sandia National Laboratories Salisbury, J., K., Hollerbach, J., M., Brock, D., L., Siegel, D., M. 1989
  • The Efficiency Limit of Belt and Cable Drives ASME Journal of Mechanisms, Transmissions, and Automation in Design Townsend, W., T., Salisbury, J., K. 1988; 110: 303–307
  • Issues in Human/Computer Control of Dextrous Remote Hands Transactions on Aerospace and Electronic Systems Salisbury, J., K. 1988: 591–596
  • Model-X Force-Reflecting Hand Controller MIT AI Lab Townsend, W., Salisbury, K., J. 1987
  • Dextrous Robot Hand MIT Industrial Liaison Office Salisbury, K., J 1985
  • KINEMATIC AND FORCE ANALYSIS OF ARTICULATED MECHANICAL HANDS JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Salisbury, J. K., Roth, B. 1983; 105 (1): 35-41
  • Controlling Remote Manipulators Through Kinesthetic Coupling ASME Computers in Mechanical Engineering Bejczy, A., K., Salisbury, J., K. 1983; 2 (1): 48–60
  • Study to Design and Develop Remote Manipulator Systems Stanford Research Institute Report, NAS2-8652, Quaterly Reports 7 & 8 Hill, J., W 1977
  • Remote Manipulator Performance Measures and Display Design NASA/Ames Research Center Report Starr, G., Salisbury, J. K. 1975

Books and Book Chapters


  • Multi-Contact Haptic Interaction with Deformable Objects: a Multi-rate Approach chapter in Robotics Research XI - STAR (Springer Tracts on Advanced Robotics) Barbagli, F., Prattichizzo, D., Salisbury, K. Springer-Verlag.
  • Integration of Patient- Specific Paranasal Sinus Computed Tomographic Data Into a Virtual Surgical Environment American Journal of Rhinology & Allergy Parikh, Sachin, S., Chan, S., Agrawal, Sumit, K., Hwang, Peter, H., Salisbury, Curt, M., Rafii, Benjamin, Y. OceanSide Publications, Inc.. 2009: 442-447
  • Multi-Point Interaction in Robotics and Virtual-Reality, Springer-Verlag in their STAR (Springer Tracts on Advanced Robotics) series edited by Barbagli, F., Salisbury, K., Prattichizzo, D. Springer Verlag. 2005
  • Multi-point Interaction with Real and Virtual Objects Springer Tracts in Advanced Robotics edited by Barbagli, F., Prattichizzo, D., Salisbury, K. 2005; 18
  • Experimental Robotics IV: The 4th International Symposium edited by Khatib, O., Salisbury, J., K. Springer-Verlag. 1997
  • Using an Articulated Hand to Manipulate Objects Artificial Intelligence at MIT: Expanding Frontiers Salisbury, J., K. edited by Winston, P. H., Shellard, S. A. MIT Press. 1990: 211-227
  • An Experimental Whole-Arm Manipulator Artificial Intelligence at MIT: Expanding Frontiers Salisbury, J., K. edited by Winston, P. H., Shellard, S. A. MIT Press. 1990: 229-249
  • Experiments in Force Control of Robotic Manipulators The Robotics Review 1 Salisbury, J., K., Maples, J., A., Becker, J. edited by Khatib, O., Craig, J., J., Lozano-P´erez, T. MIT Press. 1989
  • Using an Articulated Hand to Manipulate Objects Robotics Science Salisbury, J., K., Brock, D., O’Donnell, P. edited by Michael, B. MIT Press. 1989: 540-562
  • Articulated Hands: Force Control and Kinematic Issues Natural Computation, Natural Computation Salisbury, J., K., Craig, J. edited by Whitman, R. MIT Press. 1988: 4-17
  • Kinematic and Force Analysis or Articulated Hands Recent Advances in Robotics Salisbury, J., K. edited by Beni, G., Hackwood, S. John Wiley and Sons. 1985: 131-174
  • Robot Hands and the Mechanics of Manipulation Mason, M., T., Salisbury, K., J. M.I.T. Press, Cambridge. 1985
  • Articulated Hands: Force Control and Kinematic Issues International Journal of Robotics Research Salisbury, J., K., Craig, J., J. MIT Press, Cambridge, MA, Spring. 1982: 4-17

Conference Proceedings


  • An Interactive Simulation Environment for Craniofacial Surgical Procedures Salisbury, K., J.
  • A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics Brewer, R., Leeper, A., Salisbury, J. K. IEEE. 2011
  • Multi-DOF Equalization of Haptic Devices for Accurate Rendering at High Frequencies Wilson, R. P., Chan, S., Salisbury, J. K., Niemeyer, G. IEEE. 2010
  • Visual Vein-Finding for Robotic IV Insertion Brewer, R. D., Salisbury, J. K. IEEE. 2010: 4597-4602
  • Intelligent Road Sign Detection Using 3D Scene Geometry Schlosser, J., Montemerlo, M., Salisbury, K. 2010
  • Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments Leeper, A., Hsiao, K., Chu, E., Salisbury, K. 2010
  • Effects of Haptic Device Attributes on Psychophysical Detection Thresholds of Sinusoidal Vibrations Salisbury, C., Gillespie, R., B., Tan, H., Barbagli, F., Kenneth, Salisbury, J. 2009
  • Effects of Haptic Device Attributes on Vibration Detection Thresholds Salisbury, C., Gillespie, R. B., Tan, H., Barbagli, F., Salisbury, J. K. IEEE. 2009: 115-120
  • Task-Space Control of Continuum Manipulators with Coupled Tendon Drive Camarillo, D. B., Carlson, C. R., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2009: 271-280
  • Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot Wyrobek, K. A., Berger, E. H., Van der Loos, H. F., Salisbury, J. K. IEEE. 2008: 2165-2170
  • Force Control of a Permanent Magnet for Minimally-Invasive Procedures Brewer, R. D., Loewke, K. E., Duval, E. F., Salisbury, J. K. IEEE. 2008: 580-586
  • Large workspace haptic devices - A new actuation approach Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. IEEE COMPUTER SOC. 2008: 185-192
  • Vision based 3-D shape sensing of flexible manipulators Camarillo, D. B., Loewke, K. E., Carlson, C. R., Salisbury, J. K. IEEE. 2008: 2940-2947
  • Pushing using learned manipulation maps Walker, S., Salisbury, J. K. IEEE. 2008: 3808-3813
  • Difference-based Estimation of Support Friction Walker, S., Salisbury, J. K. IEEE. 2008: 59-64
  • A Microsurgery-Specific Haptic Device for Telerobotic Medical Treatment Salisbury, C., Salisbury, K., Blevins, N., Gillespie, R. 2008
  • Voxel-Based Haptic Rendering Using Implicit Sphere Trees Ruffaldi, E., Morris, J., Barbagli, F., Salisbury, K., Bergamasco, M. 2008
  • Real-Time Image Mosaicing with a Dual-Axes Confocal Microscope Loewke, K., Camarillo, D., Piyawattanametha, W., Salisbury, J., K. 2008
  • An optical fiber proximity sensor for haptic exploration Walker, S., Loewke, K., Fischer, M., Liu, C., Salisbury, J. K. IEEE. 2007: 473-478
  • The Probabilistic Robotics Studio: Interactive Robot Programming Walker, S., Salisbury, K., J. 2007
  • Haptic Feedback Enhances Force Skill Learning Morris, D., Tan, H., Barbagli, F., Chang, T., Salisbury, J. K. 2007
  • Deformable Image Mosaicing for Optical Biopsy Loewke, K., Camarillo, D., Salisbury, J., K., Thrun, S. 2007
  • The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency Sewell, C., Blevins, N., H., Peddamatham, S., Tan, H., Z., Morris, D., Salisbury, K. 2007
  • Stability of haptic rendering: Discretization, quantization, time delay, and Coulomb effects Diolaiti, N., Niemeyer, G., Barbagli, F., Salisbury, J. K. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 2006: 256-268
  • Isotropy and Visual Modulation of Haptic Force Direction Discrimination on the Human Finger Ho, C., Tan, H., Z., Barbagli, F., Salisbury, K., Spence, C. 2006
  • Haptically Annotated Movies: Reaching Out and Touching the Silver Screen Gaw, D., Morris, D., Salisbury, K. 2006
  • A Limit-Curve Based Soft Finger god-object Algorithm Frisoli, A., Barbagli, F., Ruffaldi, E., Salisbury, K., Bergamasco, M. 2006
  • A criterion for the passivity of haptic devices Diolaiti, N., Niemeyer, G., Barbagli, F., Salisbury, J. K. IEEE. 2005: 2452-2457
  • The effect of quantization and Coulomb friction on the stability of haptic rendering Diolaiti, N., Niemeyer, G., Barbagli, F., Salisbury, J. K., Melchiorri, C. IEEE COMPUTER SOC. 2005: 237-246
  • A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts Barbagli, F., Prattichizzo, D., Salisbury, K. 2005
  • An Interactive Simulation Environment for Craniofacial Surgical Procedures Morris, D., Girod, S., Barbagli, F., Salisbury, K. 2005
  • Force-feedback in Craniofacial Surgery Simulation Morris, D., Girod, S., Barbagli, F., Salisbury, K. 2005
  • A new actuation approach for human friendly robot design Zinn, M., Roth, B., Khatib, O., Salisbury, J. K. SAGE PUBLICATIONS LTD. 2004: 379-398
  • Haptic Rendering: Beyond Visual Computing edited by Lin, Srinivasan 2004

    View details for DOI 24

  • Evaluating Haptics and Haptic Virtual Environments and their Applications (HAVE 2004), Ottawa Chun, K., Verplank, B., Barbagli, F., Salisbury, K. 2004
  • A Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery Morris, D., Sewell, C., Blevins, N., Barbagli, F., Salisbury, K. 2004
  • Simulating Human Fingers: a Soft Finger Proxy Model and Algorithm Barbagli, F., Frisoli, A., Salisbury, K., Bergamasco, M. 2004
  • Training the Cognitive and Stylistic Aspects of Surgery Through Simulation Sewell, C., Morris, D., Blevins, N., Barbagli, F., Salisbury, K. 2004
  • A Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery Morris, D., Sewell, C., Blevins, N., Barbagli, F., Salisbury, K. 2004
  • An Event-Driven Framework for the Simulation of Complex Surgical Procedures Sewell, C., Morris, D., Blevins, N., Barbagli, F., Salisbury, K. 2004
  • Large Haptic Topographic Maps: MarsView and the Proxy Graph Algorithm Walker, S. P., Salisbury, K., J. 2003
  • A new actuation approach for human friendly robot design Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 113-122
  • Actuation methods for human-centered robotics and associated control challenges Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 105-119
  • Enabling Multi-finger, Multi-hand Virtualized Grasping Barbagli, F., Salisbury, K., Devengenzo, R. 2003
  • Toward Virtual Manipulation: From One Point of Contact to Four Barbagli, F., Devengenzo, R., Salisbury, K. 2003
  • The CHAI Libraries Conti, F., Barbagli, F., Balaniuk, R., Halg, M., Lu, C., L., D., Morris, Salisbury, J. K. 2003
  • Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects Barbagli, F., Prattichizzo, D., Salisbury, K. 2003
  • Soft-Tissue Simulation Using the Radial Elements Method Balaniuk, R., Salisbury, K. edited by Ayache, N., Delingette, H. 2003
  • Haptic Interaction to Simulate Complex Surgical Procedures Sewell, C., Salisbury, K., Barbagli, F., Krummel, T., Latombe, J., C. 2003
  • Phantom-X Gretarsdottir, U., Barbagli, F., Salisbury, K. 2003
  • The Effect of Sensor/Actuator Asymmetries in Haptic Interfaces Barbagli, F., Salisbury, K. 2003
  • Dynamic Simulation of Deformable Objects Using the Long Elements Method Balaniuk, R., Salisbury, K. 2002
  • Multirate analysis of Haptic Interaction Stability with Deformable Objects Barbagli, F., Prattichizzo, D., Salisbury, K. 2002
  • LEM - An Approach for Real Time Physically Based Soft Tissue Simulation. Costa, I., Balaniuk, R., Balaniuk, R. 2001
  • Development of a 5-DOF force feedback laparoscopic interface for simulation and telesurgery Ben-Ur, E., Salisbury, K., J. edited by Suresh, R., Pien, H., H. 2000
  • Comparision of three high-end endoscopic visualization systems on telesurgical performance Mintz, D., Falk, V., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2000: 385-394
  • Optimized Port Placement for the Totally Endoscopic Coronary Artery Bypass Grafting using the da Vinci Robotic System Coste-Manire, E., Adhami, L., Severac-Bastide, R., Lobontiu, A., Salisbury, K., Boissonnat, J. 2000
  • The Intuitive Telesurgery System: Overview and Application Guthart, G., S., Salisbury, K., J. 2000
  • Telerobotically Enhanced Surgical Dexterity Salisbury, K., J. 2000
  • In vivo mechanical tissue property measurement for improved simulations Ottensmeyer, M., P., Salisbury, K., J. edited by Suresh, R., Pien, H., H. 2000
  • Input and Output for Surgical Simulation: Devices to Measure Tissue Properties in vivo and a Haptic Interface for Laparoscopy Simulators Ottensmeyer, Mark, P., Ela, B., Salisbury, K., J. 2000
  • Proceedings of the Fourth PHANTOM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1999
  • Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces Salisbury, K., J. 1999
  • Obstacle Negotiation in Robotic Excavation Hong, W., J., Salisbury, K., J. 1999
  • Design and Clinical Experience with Teleoperated Minimaly Invasive Surgical Robots Madhani, Akhil, J., Niemeyer, G., Salisbury, K., J. 1999
  • Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces Salisbury, K., J. 1998
  • Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces Salisbury, K., J. 1998
  • Proceedings of the Third PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1998
  • Hot and Cold Running VR: Adding Thermal Stimuli to the Haptic Experience Ottensmeyer, M., Salisbury, K. 1997
  • Haptic Geology Salisbury, K., J. 1997
  • Toward Dexterous Gaits and Hands Leveroni, S., Shah, V., Salisbury, K. 1997
  • From Force Control to Force Display Salisbury, K., J. 1997
  • Haptic Rendering of Implicit Surfaces Salisbury, K., J. 1997
  • Proceedings of the Second PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1997
  • Texture Sensing and Simulation Using the PHANToM: Towards Remote Sensing of Soil Properties Green, D., Salisbury, K. 1997
  • Haptic Rendering of Surfaces Defined by Implicit Functions Salisbury, K., J., Tarr, C. 1997
  • A Unified Approach to Haptic Rendering and Collision Detection Latimer, C., Salisbury, K. 1997
  • Proceedings of the First PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1996
  • Performance Measurements for Robotic Actuators Morrell, John, B., Salisbury, K., J. 1996
  • Autonomous Rock Acquisition Theobald, D., A., Hong, W., J., Madhani, A., Hoffman, B., Niemeyer, G., Cadapan, L., Salisbury, J. K. 1996
  • An Overview of Haptics Research at MIT’s AI Lab. Salisbury, K., J. edited by Salisbury, J., K., Srinivasan, M., A. 1996
  • Cooperative Control Of Multiple Robots to Manipulate Objects Leveroni, S., R., Salisbury, K., J. 1996
  • RECRUITMENT OF MATERNAL GAMMA-TUBULIN TO THE BOVINE SPERM CENTROSOME Navara, C. S., Zoran, S. S., Salisbury, J. L., Simerly, C., Stearns, T., Schatten, G. AMER SOC CELL BIOLOGY. 1995: 227-227
  • Haptic Rendering: Programming Touch Interaction with Virtual Objects Kenneth, S., Brock, D., Massie, T., Swarup, N., Zilles, C. 1995
  • Grasp Quality Analysis Prattichizzo, D., Salisbury, K., J., Bicci, A. 1995
  • In Pursuit of Dynamic Range: Using Parallel Coupled Actuators to Overcome Hardware Limitations Morrell, J., Salisbury, K., J. 1995
  • A Constraint-Based God Object Method for Haptic Display Zilles, C., Salisbury, K. 1995
  • Parallel Coupled Actuators for High Performance Force Control: A Micro-Macro Concept Morrell, J., Salisbury, K. 1995
  • Reorienting Objects with a Robot Hand Using Grasp Gaits Leveroni, S., Salisbury, K. 1995
  • The PHANToM Haptic Interface: A Device for Probing Virtual Objects Massie, Thomas, H., Salisbury, K. 1994
  • The PHANToM Haptic Interface Salisbury, K., J., Massie, T. 1994
  • 3 Grasps Salisbury, K., J. 1993
  • Segmentation and Interpretation of Temporal Contact Force Signals Eberman, B., Salisbury, K. 1993
  • Implementation of Behavorial Control on a Robot Hand/Arm System Brock, D., M., Salisbury, K., J. 1992
  • Automatic Grasping and Whole Arm Manipulation Salisbury, K., J. 1992
  • Experimental Evaluation of Friction Characteristics with an Articulated Robotic Hand Bicchi, A., Salisbury, K., Brock, D. 1992
  • Automatic Grasping and Whole Arm Manipulation Salisbury, K., J. 1992
  • co-chair and speaker at MIT Industrial Liaison Program Telerobotics Symposium Salisbury, K., J. 1991
  • Whole-Arm Control and Utilization in Hazardous Environments, The Application of Robotics to the Handling of Hazardous Wastes, Materials, and Equipment Salisbury, K., J. 1991
  • An Algorithm for the Control of a Hand-Arm Robotic Systems Melchiorri, C., Salisbury, K., J. 1991
  • Automatic Grasping and Whole Arm Manipulation Salisbury, K., J. 1990
  • How Not To Make A Bad Situation Worse Salisbury, K., J. 1990
  • Whole-Arm Manipulation and Sensing Salisbury, K., J. 1990
  • Determination of Manipulator Contact Information from Joint Torque Measurements Eberman, B., S., Salisbury, K., J. edited by Hayward, V., Khatib, O. 1990
  • Overview of Hand and Arm Research at MIT Salisbury, K., J. 1990
  • Whole Arm Manipulation: Mechanics and Control Salisbury, K., J. 1989
  • The Design and Control of an Experimental Whole-Arm Manipulator Salisbury, K., J., Eberman, B., S., Levin, M., D., Townsend, W., T. 1989
  • Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing Bicchi, A., Salisbury, K., J., Dario, P. 1989
  • Mechanical Bandwidth as a Guideline to High-Performance Manipulator Design Townsend, W., T., Salisbury, K., J. 1989
  • Fundamentals of Dextrous Manipulation Salisbury, K., J. 1989
  • Design of an Actively Compliant Manipulator Salisbury, K., J. 1989
  • Flight Qualification Issues for the JPL Force Reflecting Hand Controller Salisbury, K., J. 1988
  • Why Can’t a Robot Be More Like a Man Salisbury, K., J. 1988
  • Remote Robot Hand and Arm Challenges Salisbury, K., J. 1988
  • Overview of Hand and Arm Research at MIT’s AI Lab Salisbury, K., J. 1988
  • MIT WAM Arm Salisbury, K., J. 1988
  • System Design of WHOI/MIT Whole Arm Manipulator Salisbury, K., J. 1988
  • Overview of Hand Control Salisbury, K., J. 1988
  • Teleoperator Hand Calibration Salisbury, K., J. 1988
  • Control Architecture for Implementing Hand Reflex Control Salisbury, K., J. 1988
  • Manipulation of Multiple Fingers Salisbury, K., J. 1988
  • Preliminary Design of a Whole-Arm Manipulation System (WAM) Salisbury, K., J., Townsend, W., T., Eberman, B., S., DiPietro, D., M. 1988
  • Issues in Human/Computer Control of Dextrous Remote Hands Salisbury, K., J. 1987
  • Design for Force Control Salisbury, K., J. 1987
  • Analytical and Experimental Techniques for Articulated Hand Design Salisbury, K., J. 1987
  • Whole Arm Manipulation Salisbury, K., J. 1987
  • Design Proposal for Dextrous Underwater Manipulator Salisbury, K., J. 1987
  • Whole Arm Manipulation Salisbury, K., J. 1987
  • Integration of Touch Sensing with Articulated Hands Salisbury, K., J. 1987
  • Film of Salisbury Hand at Boston Computer Museum Salisbury, K., J. 1987
  • Integration of Hand and Arm Control for Space Applications Salisbury, K., J. 1987
  • Segment on Salisbury Hand Salisbury, K., J. 1987
  • The Effect of Coulomb Friction and Stiction on Force Control Townsend, W., T., Salisbury, K., J. 1987
  • Film of Salisbury Hand at Boston Museum of Science Salisbury, K., J. 1987
  • invited discussant Ro.Man.Sy 1986 Salisbury, K., J. 1986
  • Nerves of Steel Salisbury, K., J. 1986
  • New Design Ideas for the JPL Force Reflecting Hand Controller Salisbury, K., J. 1986
  • Integrated Language, Sensing and Control for a Robot Hand Salisbury, K., J., Brock, D., L., Chiu, S., L. 1986
  • Autonomous and Human Controlled Robot Hands Salisbury, K., J. 1986
  • Force Reflecting Articulated Hand Masters Salisbury, K., J. 1986
  • An Experimentation Environment for Robot Hand Manipulation Salisbury, K., J. 1985
  • Design and Control of a Redundant Mechanism for Small Motion Salisbury, K., J., Abramowitz, J., D. 1985
  • Hand Grip Design for a Force Reflecting Master Salisbury, K., J. 1985
  • Taking the Biscuit Salisbury, K., J. 1985
  • An Experimentation Environment for Robot Hand Manipulation Salisbury, K., J. 1985
  • Potentials for Dextrous Remote Manipulation Salisbury, K., J. 1985
  • Miraculous Machines Salisbury, K., J. 1985
  • Design, Sensor, and Control Issues for Grasping and Manipulation with a Robot Hand Salisbury, K., J. 1985
  • An Experimentation Environment for Robot Hand Manipulation Salisbury, K., J. 1985
  • Articulated Hand Design and Control Salisbury, K., J. 1984
  • Articulated Hand Design and Control Salisbury, K., J. 1984
  • Robot Hand Kinematic Analysis Salisbury, K., J. 1984
  • Design and Control of an Articulated Hand Salisbury, K., J. 1984
  • Force and Position Control of a Robot Hand Salisbury, K., J. 1984
  • Robot Hand Control Salisbury, K., J. 1984
  • Interpretation of Contact Geometries from Force Measurements Salisbury, K., J. 1984
  • invited discussant Salisbury, K., J. 1984
  • Interpretation of Contact Geometries from Force Measurements Salisbury, K., J. 1984
  • The Design of the Stanford/JPL Hand Salisbury, K., J. 1983
  • The Design of the Stanford/JPL Hand Salisbury, K., J. 1983
  • A Novel Contact Sensing Approach Salisbury, K., J. 1983
  • Articulated Hand Kinematic and Force Analysis Salisbury, K., J. 1983
  • A Robot Hand Design and Control Framework Salisbury, K., J. 1982
  • Design and Control of a Robot Hand Salisbury, K., J. 1982
  • Kinematic and Force Analysis of Articulated Mechanical Hands Salisbury, K., J., Roth, B. 1982
  • Dexterous Hand for a Robot Salisbury, K., J. 1982
  • The Design and Control of a Dexterous Mechanical Hand Salisbury, K., J., Rouff, C. 1981
  • Controlling Remote Manipulators Through Kinesthetic Coupling Bejczy, A., K., Salisbury, K., J. 1980

Stanford Medicine Resources: