Publications

2024

J. Lin, C. Girerd, B.T. Ostrander, P. Molaei, H.B. Gilbert, P.A. Weissbrod, J.T. Hwang, and T.K. Morimoto. "Closing the Loop on Concentric Tube Robot Design: A Case Study for Micro-laryngeal Surgery." IEEE Transactions on Biomedical Engineering (2024).

Y. Xu, C, Watson, J. Lin, J.T. Hwang, and T.K. Morimoto. "Shape Control of Concentric Tube Robots via Approximate Follow-the-Leader Motion." IEEE Robotics and Automation Letters (2024).

J. Davy, N. Greenidge, S. Kim, L.J. Tinsley, P. Lloyd, J.H. Chandler, R.A. Harris, T.K. Morimoto, and P. Valdastri. "Vine Robots with Magnetic Skin for Surgical Navigations." IEEE Robotics and Automation Letters (2024).

C. Girerd, A. Alvarez, E.W. Hawkes, and T.K. Morimoto. "Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots." IEEE Transactions on Robotics, 2024. 

A. Sepehri, S. Ward, M.T. Tolley, and T.K. Morimoto. "A Soft Robotic Wrist Orthosis Using Textile Pneumatic Actuators For Passive Rehabilitation." In IEEE-RAS International Conference on Soft Robotics (RoboSoft), 2024. *Best Paper Finalist*

R. Bloom, Z. Huang, K. Lavarias, M. Ren, and T.K. Morimoto. "H3Kit: Hand-Held Haptic Kit for STEM Education." In IEEE Haptics Symposium, 2024. *Best Paper Finalist*

2023

R. Dunn, A. Joshy, J. Lin, C. Girerd, T.K. Morimoto, J.T. Hwang, "Scalable enforcement of geometric non-interference constraints for gradient-based optimization." Optimization and Engineering, 2023.

A. Giri*, R. Bloom*, T.K. Morimoto. "Hapstick: A Soft Flexible Joystick for Stiffness Rendering via Fiber Jamming." IEEE Robotics and Automation Letters. 2023.

C. Nwafor, C. Girerd, G.J. Laurent, T.K. Morimoto, K. Rabenorosoa. "Design and Fabrication of Concentric Tube Robots: A Survey." IEEE Transactions on Robotics. 2023.

A. Lu, F. Ramos, J. Lin, and T.K. Morimoto. "Enabling Higher Performance Concentric Tube Robots Via Multiple-Constant-Curvature Tubes." In IEEE Int. Symposium on Medical Robotics, 2023. 

X. Luo, J. Lin, and T.K. Morimoto. "HaPPArray: Haptic Pneumatic Pouch Array for Feedback in Hand-Held Robots." In IEEE/RAS Int. Conf. on Robotics and Automation (ICRA), 2023. 

C. Watson, A. Nguyen, and T.K. Morimoto. "Image Segmentation for Continuum Robots from a Kinematic Prior." In IEEE/RAS Int. Conf. on Robotics and Automation (ICRA), 2023. 

2022

M. Bryant, C. Watson, and T. K. Morimoto. "Tactile perception for growing robots via discrete curvature measurements." In IEEE/RAS Int. Conf. on Intelligent Robots and Systems (IROS), 2022.

C. Watson and T.K. Morimoto, "Learning Non-Parametric Models in Real Time via Online Generalized Product of Experts." IEEE Robotics and Automation Letters 7.4 (2022): 9326-9333. (Also accepted for presentation at IROS 2022)

D. Park, A. Gupta, S. Bashar, C. Girerd, D. Bharadia, T.K. Morimoto. "Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering." IEEE Robotics and Automation Letters 7.3 (2022): 7550-7557. (Also accepted for presentation at IROS 2022)

A. Giri, C. Girerd, X. Luo, R. Broderick, T.K. Morimoto. "Modeling and Design of Soft, Positive-Pressure Actuated Suction Cups for Anchoring in Minimally Invasive Surgery." IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). 2022.

M. Xie, C. Girerd, T.K. Morimoto. "A 3-D Haptic Trackball Interface for Teleoperating Continuum Robots." IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). 2022.

J. Lin, C. Girerd, J. Yan, J. Hwang, and T.K. Morimoto. "A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization." IEEE  Transactions on Robotics. 2022.

A. Gupta, C. Girerd, M. Dunna, Q. Zhang, R. Subbaraman, T.K. Morimoto, and D. Bharadia. "Expanding the Horizons of Wireless Sensing: Sensing and localizing contact forces with signal reflections." GetMobile: Mobile Computing and Communications 25, no. 3 (2022): 38-42.

2021

C. Watson, R. Obregon, T.K. Morimoto, "Closed-Loop Position Control for Growing Robots Via Online Jacobian Corrections." IEEE Robotics and Automation Letters 6.4 (2021): 6820-6827.

T. Tsui and T.K. Morimoto, " Design of a Portable Shape Display for Augmented  Reality." IEEE World Haptics Conference (2021).

M. Li, R. Obregon, J.J. Heit, A. Norbash, E.W. Hawkes, T.K. Morimoto. "VINE Catheter for Endovascular Surgery." IEEE Transactions on Medical Robotics and Bionics 3.2 (2021): 384-391. 

H. Qi, C.L. Sandoval, H. Liu, M.R. Kohanfars, E.I. Lan, C.H. Tharin, and T.K. Morimoto. "Transforming the Hands-on Learning Experience in a First-year Engineering Design Class to a Remote-learning Environment." In 2021 ASEE Virtual Annual Conference Content Access. 2021.

T.K. Morimoto, H. Liu, C.H. Tharin, C.L. Sandoval, C.J. Cassidy, and H. Qi. "Design and build at home: development of a low-cost and versatile hardware kit for a remote first-year mechanical engineering design class." In 2021 ASEE Virtual Annual Conference Content Access. 2021.

2020

C. Girerd, Q. Zhang, A. Gupta, M. Dunna, D. Bharadia, and T.K. Morimoto. "Towards a Wireless Force Sensor Based on Wave Backscattering for Medical Applications." IEEE Transactions on Sensors, vol. 21, no. 7, pp. 8903-8915, 2020.

C. Girerd and T.K. Morimoto. "Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery." IEEE Transactions on Robotics, vol. 37, no. 4, pp. 1022-1038, 2020.

T.K. Morimoto, M.O. Martinez, R. Davis, P. Blikstein, A.M. Okamura. "Teaching with Hapkit: Enabling Online Haptics Courses with Hands-on Laboratories." IEEE Robotics and Automation Magazine (2020).

T.K. Morimoto, C.L. Sandoval, N. Delson. "Integration of Weekly Reflections in an Introductory Design Class to Assess Experiential Learning Outcomes." ASEE Annual Conference (2020).

C.M. Watson and T.K. Morimoto. "Permanent Magnet-Based Localization for Growing Robots in Medical Applications." IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2666-2673, 2020.

2019

J. Lin, S. Liu, A. Lee, R. Broderick, G. Jacobsen, T.K. Morimoto. "Development of a Low-Cost System for Laparoscopic Skills Training." Journal of Medical Robotics Research , vol. 4, no. 3, 2019.  

M.O. Martinez, C. M. Nunez, T. Liao, T. K. Morimoto, and A.M. Okamura. "Evolution and Analysis of Hapkit: An Open-Source Haptic Device for Educational Applications." IEEE Transactions on Haptics (2019).

J.D. Greer, T.K. Morimoto, A.M. Okamura, E.W. Hawkes, "A Soft, Steerable Continuum Robot that Grows via Tip Extension," Soft Robotics, vol. 6, no. 1, pp. 95-108, 2019. 

2018

T.K. Morimoto, J.D. Greer, E.W. Hawkes, M.H. Hsieh, A.M. Okamura, "Toward the Design of Personalized Continuum Surgical Robots," Annals of Biomedical Engineering, vol. 46, no. 10, pp. 1522-1533, 2018.

​2017

T.K. Morimoto, J.J. Cerrolaza, M.H. Hsieh, K. Cleary, A.M. Okamura, M.G. Linguraru, "Design of Patient-Specific Concentric Tube Robots Using Path Planning from 3-D Ultrasound," in Proc. Int. Conf. of IEEE Engineering in Medicine and Biology Society, 2017.

T.K. Morimoto, E.W. Hawkes, and A.M. Okamura, "Design of a Compact Actuation and Control System for Flexible Medical Robots," IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1579-1585, 2017.

​J.D. Greer, T.K. Morimoto, A.M. Okamura, E.W. Hawkes, "Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot," in Proc. IEEE Int. Conf. Robot. Autom., 2017.

2016

T.K. Morimoto and A.M Okamura, "Design of 3-D Printed Concentric Tube Robots," IEEE Transactions on Robotics, vol. 32, no. 6, pp. 1419-1430, Dec. 2016.

T.K. Morimoto, J.D. Greer, M.H. Hsieh and A.M. Okamura (2016) Surgeon Design Interface for Patient-Specific Concentric Tube Robots. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. (Best NSF Student Paper Award)

M. Orta Martinez, T. K. Morimoto, A.T. Taylor, A.C. Barron, J.D.A. Pultorak, J. Wang, A. Calasanz-Kaiser, R.L. Davis, P. Blikstein and A.M. Okamura (2016) 3-D Printed Haptic Devices for Educational Applications. In IEEE Haptics Symposium, pages 126-133.

2015

A.M. Okamura and T.K. Morimoto (2015) Personalized Medical Robots. In The Bridge: From the Frontiers of Engineering and Beyond, 45(1).

2013

T. K. Morimoto, M. H. Hsieh and A. M. Okamura (2013) Robot-Guided Sheaths (RoGS) for Percutaneous Access to the Pedatric Kidney: Patient-Specific Design and Preliminary Results. In ASME Dynamic Systems and Control Conference.