Peer-Reviewed Publications

2021

  • Recent advances in wearable biosensing gloves and sensory feedback biosystems for enhancing rehabilitation, prostheses, healthcare, and virtual reality, C. Demolder, A. Molina, F. Hammond III, and Y-H Yeo, Biosensors and Bioelectronics, Vol. 190, 113443, Oct. 12, 2021
  • Factor Graph-Based Trajectory Optimization for a Pneumatically-Actuated Jumping Robot, L. Tiziani, Y. Zhang, F. Dellaert, and F. Hammond III, 2021 IEEE International Conference on Robotics and Automation (ICRA), (Accepted for Publication)
  • The Effect of Mechanical Coupling on the Perception of Haptic Feedback, A. Molina and F. Hammond III, 2021 Design of Medical Devices (DMD) Conference, (Accepted for Publication)
  • A Pneumatic Compression Vest for Transthoracic Manipulation of Ventilation-Perfusion in Critical Care Patients with Acute Respiratory Distress Syndrome Caused by Covid-19, A. Ambrose, J. Ward, L. Tiziani, M. Weinmann, and F. Hammond III, 2021 Design of Medical Devices (DMD) Conference, (Accepted for Publication)
  • Characterization of Grasp Performance Using a Sensorized Glove System, J. Lee, D. Mu, and F. Hammond III, 2021 Design of Medical Devices (DMD) Conference, (Accepted for Publication)
  • Design of a Mechatronic Lever Arm for Gait Adaptation in a Pneumatically Actuated Lower Extremity Exoskeleton, J. Ward, B. Epstein, L. Tiziani, and F. Hammond III, 2021 Design of Medical Devices (DMD) Conference, (Accepted for Publication)

2020

  • Demonstration of a Novel Phase Lag Controlled Roll Rotation Mechanism using a Two-DOF Soft Swimming Robot, B. Liu and F. Hammond III, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), (Accepted for Publication)
  • Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics, L. Wijayarathne, Q. Sima, Z. Zhou, Y. Zhao, and F. Hammond III, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), (Accepted for Publication)
  • Stretchable Nanocomposite Sensors, Nanomembrane Interconnectors, and Wireless Electronics Toward Feedback-Loop Control of a Soft Earthworm Robot, R. Goldoni,Y. Ozkan-Aydin, Y-S. Kim, J. Kim, N. Zavanelli, M. Mahmood, B. Liu, Bangyuan, F. Hammond III, D. Goldman, W-H. Yeo, ACS Applied Materials & Interfaces (2020).
  • Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation, L. Tiziani and F. Hammond III, Soft Robotics (2020).
  • Improving Efficiency and Safety in Teleoperated Robotic Manipulators using Motion Scaling and Force Feedback, Y. Cho and F. Hammond III, 29th IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020), pp. 4753-4757.
  • Towards Sonomyography-Based Real-Time Control of Powered Prosthesis Grasp Synergies, K. Bimbraw, E. Fox, G, Weinberg, and F. Hammond III, 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), (Accepted for Publication).
  • Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface, L. Wijayarathne and F. Hammond III, 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 772-778.
  • Soft Pneumatic System for Interface Pressure Regulation and Automated Hands-Free Donning in Robotic Prostheses, A. Ambrose and F. Hammond III, 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 4848-4854.
  • Modular Platform for the Exploration of Form-Function Relationships in Soft Swimming Robots, B. Liu and F. Hammond III, 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 772-778.
  • Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion, X. Guo, B. Blaise, J. Molnar, J. Coholich, S. Padte, Y. Zhao, and F. Hammond III, 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 550-557.
  • Soft Variable Stiffness Joints for Controllable Grasp Synergies in Underactuated Robotic Hands, E. Fox and F. Hammond III, 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 772-778.

2019

  • Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil, B. Liu, Y. Ozkan Aydin, D. Goldman, and F. Hammond III, 2019 IEEE International Conference on Soft Robotics .
  • Characterizing Torso Muscle Activation During Target-Matching Contraction Toward Myoelectric Robot Control, J. Jung, F. Hammond III, and M. Shinohara, International Society of Biomechanics, August 2019 .

2018

  • A Soft Thermal Modulation and Physiological Sensing System for Neuro-Vascular Assessment, D. Ward, N. Gurel, O. Inan, and F. Hammond III, In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 991-998). IEEE..
  • Force Feedback-Enabled Dexterous Robotic Micromanipulation Platform for Surgical Tasks, L. Wijayarathne, B. Blaise, D. Ward, and F. Hammond III, in 2018 IEEE International Conference on Robotics and Biomimetics.
  • Live Demonstration: A Soft Thermal Modulation System with Embedded Fluid Channels for Neuro-Vascular Assessment, N. Gurel, D. Ward, F Hammond III, and O. Inan in In Biomedical Circuits and Systems Conference (BioCAS), IEEE,, 2018.
  • Printing Strain Gauges on Intuitive Surgical da Vinci Robot End Effectors, R. Pena, M. J. Smith, M. Ontiveros, F. Hammond III, and R. J. Wood in IEEE Int. Conf. on Intelligent Robots and Systems,, IEEE, 2018.
  • Design of a Soft Robophysical Earthworm Model, Y. Ozkan Aydin, J. Molnar, Y. Cho, D. Goldman, and F. Hammond III, in 2018 IEEE International Conference on Soft Robotics (RoboSoft), pp. 83-87. IEEE, 2018.
  • Deformable Reflective Diaphragm Sensors for Control of Soft Pneumatically Actuated Devices, A. Hart, L. Tiziani, J-H. Jung, and F. Hammond III, in 2018 IEEE International Conference on Soft Robotics (RoboSoft), pp. 132-139. IEEE, 2018.
  • Vibrotactile Feedback Device for Olfactory Augmentation, M.-H. Choi, J. Lee, and F. Hammond III, Design of Medical Device Conference, 2018.
  • Optical Sensing and Control Methods for Soft Pneumatically Actuated Robotic Manipulators, J. Molnar, T. Cahoon, C.A. Chen, L. Tiziani, B. Boots, and F. Hammond III, 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1-8, 2018

2017

  • Empirical Characterization of Modular Variable Stiffness Inflatable Structures for Supernumerary Grasp Assist Devices, L. Tiziani, A. Hart, T. Cahoon, F. Wu, H. H. Asada, and F. Hammond III, The Int. Journal of Robotics Research, 2017, p.0278364917714062.
  • Diffusion-Based Optical Sensors for Multimodal Strain Measurement in Soft Devices, F. Caralt, J. L. Molnar, T. Cahoon, J. P. Stingel, and F. Hammond III, in SENSORS, 2017 IEEE, pp. 1-3, 2017.
  • Multimodal Sensory Feedback for Virtual Proprioception in Powered Upper-Limb Prostheses, J. Lee, J.H. Jung, M.H. Choi, and F. Hammond III, IEEE International Symposium on Robot and Human Interactive Communication, 2017 (Kazuo Tanie Award Nominee).
  • Measuring Multimodal Deformations in Soft Inflatable Actuators using Embedded Strain Sensors, A. Hart, T. Cahoon, and F. Hammond III, Robot and Human Interactive Communication (RO-MAN), 26th IEEE International Symposium on, pp. 263-270, 2017.
  • Sensorized Pneumatic Muscle for Force and Stiffness Control, L. Tiziani, T. Cahoon, and F. Hammond III, Robotics and Automation (ICRA), 2017 IEEE International Conference on, pp. 5545-5552, 2017.
  • Kinetic Measurement Platform for Open Surgical Skill Assessment, L. Wijayarathne and F. Hammond III, Design of Medical Device Conference, 2017.

2015

  • Variable Impedance Pneumatic Structures for Wearable Supernumerary Robotic Devices, Hammond III, F. Wu, and H. Asada, Int. Symposium on Robotics Research, 2015.
  • Design and Control of a Spherical Five-Bar 3-DOF Wrist for Robotic Microsurgery, Degirmenci, F. Hammond III, J. Gafford, C. Walsh, R. Wood, and R. Howe, IEEE Int. Conf. on Intelligent Robots and Systems, 2015.

2014

  • Estimation of Surgical Needle Shape using Printed Strain Gauges, Hammond, M. Smith, R. Wood. Proc. of the 2014 IEEE/EMBS Engineering in Medicine and Biology Conference, Chicago, IL, pp. 6931-6936, 2014.
  • Towards a Modular Soft Sensor Embedded Glove for Human Hand Motion and Force Measurement, Hammond III, Y. Mengüç, and R. Wood. IEEE Int. Conf. on Intelligent Robotics and Systems, Chicago, IL, pp. 4000-4007, 2014.
  • Printing Strain Gauges Surgical Instruments for Force Measurement, Hammond III, M. Smith, and R. Wood. Design of Medical Devices Conference, Minneapolis, Minnesota, USA, 2014 (Extended Abstract, Three-in-Five Competition Finalist).

2013

  • Dexterous High-Precision Robotic Wrist for Micromanipulation, Hammond III, R. Howe, and R. Wood. IEEE Int. Conf. on Advanced Robotics, Montevideo, Uruguay, pp. 1-8, 2013.
  • Measurement System for the Characterization of Micromanipulation Motion and Force, Hammond III, S. Talbot, R. Howe, and R. Wood. Design of Medical Devices Conference, Minneapolis, Minnesota, USA, 2013 (Technical Brief in ASME Journal of Medical Devices vol. 7, no. 3, 2013).

2012

  • “Soft Tactile Sensors for Micromanipulation, Hammond III, R. Kramer, Q. Wan, R. Howe, and R. Wood. Proc. of 2012 IEEE Int. Conf. on Intelligent Robotics and Systems, Vilamoura, Portugal, pp. 25-32, 2012.
  • Wearable Soft-Orthotic Device for Post-Stroke Shoulder Rehabilitation: Identifying Misalignments, Galiana, F. Hammond III, R. Howe, and M. Popovic. Proc. of 2012 IEEE Int. Conf. on Intelligent Robotics and Systems, Vilamoura, Portugal, pp. 317-322, 2012.
  • Towards a Design Optimization Method for Reducing the Mechanical Complexity of Underactuated Robotic Hands, Hammond III, J. Weisz, A. de la Llera Kurth, P. Allen, and R. Howe. Proc. of IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, pp. 2843-2850, 2012.
  • Data-Driven Design of a Dexterous Robotic Microsurgery System, Hammond III, S. Talbot, R. Wood, and R. Howe. Design of Medical Devices Conference, Minneapolis, Minnesota, 2012 (Extended Abstract).

2011

  • Configuring Redundant Robotic Manipulators to Increase Effective Task-Specific Motion Resolution, Hammond III, Proc. of the 2011 IEEE Int. Conf. on Mechatronics and Automation, Beijing, China, pp. 34-39, 2011. (Best Paper Award Finalist)
  • Design Considerations for an Active Soft Orthotic System for Shoulder Rehabilitation, Kesner, L. Jentoft, F. Hammond III, R. Howe, M. Popovic. Proc. of 2011 Int. Conf. of the IEEE Engineering in Medicine and Biology Society, Boston, Massachusetts, pp. 8130-8134, 2011.
  • Task-specific Multiple-Arm Minimally Invasive Surgical Device Design Using Cooperative Kinematic Isotropy Indices,Hammond III. Design of Medical Devices Conference, Minneapolis, Minnesota, USA, 2011.

2009

  • Morphological Optimization of Kinematically Redundant Manipulators using Weighted Isotropy Measures, Hammond III, K. Shimada. Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, pp. 2931-2983, 2009.
  • Improvement of Redundant Manipulator Task Agility Using Multiobjective Weighted Isotropy-Based Placement Optimization, Hammond III, K. Shimada. Proc. of the 2009 IEEE Int. Conf. on Robotics and Biomimetics, Guilin, Guangxi, China, pp. 645-654, 2009.
  • Improvement of Kinematically Redundant Manipulator Design and Placement Using Torque-Weighted Isotropy Measures, Hammond III, K. Shimada. Int. Conf. on Advanced Robotics, Munich, Germany, pp. 1-8, 2009.
  • Improvement of Manufacturing Work-Cell Layout Design Using Weighted Isotropy Metrics, Hammond III, K. Shimada. Int. Conf. on Mechatronics and Automation, Changchun, China, pp. 3408-3414, 2009. (Best Paper Award Finalist in Automation)
  • Design Optimization of Single-port Minimally Invasive Intervention Devices, Hammond III, K. Shimada, M Zenati. ASME Design of Medical Devices Conf., Minneapolis, Minnesota, USA, 2009.

2006

  • Differentiation of Vasculopathy from Normal Pulmonary Vasculature Using Hyperpolarized Helium-3 MRI in Humans, Lipson, J. Yu, S. Rajaei, K. Emami, S. Kadlecek, M. Ishii, J. MacDuffie Woodburn, F. Hammond, V. Vahdat, W. Gefter, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Method for continuous measurement of nuclear para state enrichment in hydrogen gas with applications to hyperpolarized heteronuclear contrast agent, Vahdat, S. Kadlecek, S. Rajaei, J. Yu, K. Emami, J.M. Woodburn, M. Ishii, F. Hammond, R.R. Rizi. ISMRM, Seattle, Washington, 2006.
  • The effect of implant size and device keel on vertebral compression properties in lumbar total disc replacement, Auerbach, C. Ballester, F. Hammond III, E. Carine, R. Balderston, D. Elliott (2010). Transactions of the 53rd Annual Meeting of the Orthopaedic Research Society, San Diego, CA, February 11-14, 2006.
  • Diffusion corrected reconstructions of partial pressure of oxygen using polarized gas MRI, Ishii, J. Yu, V. Vahdat, J. MacDuffie Woodburn, S. Rajaei, K. Emami, F. Hammond, S. Kadlecek, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Detection of Pulmonary Emboli by Hyperpolarized Carbon-13 in Pig Model, Ishii, S. Kadlecek, J. Yu, S. Rajaei, K. Emami, V. Vahdat, J. MacDuffie Woodburn, F. Hammond, J. S. Petersson, K. Golman, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Hyperpolarized 13C MRI Cineangiography of Pulmonary Perfusion, Ishii, K. Emami, S. Kadlecek, S. Rajaei, J. Yu, J. MacDuffie Woodburn, F. Hammond, V. Vahdat, J. S. Petersson, K. Golman, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Simultaneous measurements of Regional Alveolar Oxygen Pressure, Oxygen Depletion Rate and Apparent Diffusion Coefficient by Hyperpolarized 3He MRI, Yu, M. Ishii, S. Kadlecek, J. MacDuffie Woodburn, K. Emami, S. Rajaei, F. Hammond, V. Vahdat, W. Gefter, D. Lipson, T. W. Clark, B.M. Brainard, L. R. Cheatham, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Nonlinear fitting method for high resolution mapping of Apparent Diffusion Coefficient (ADC) by hyperpolarized 3He, Yu, S. Kadlecek, M. Ishii, J. MacDuffie Woodburn, K. Emami, V. Vahdat, S. Rajaei, F. Hammond, L. R. Cheatham, B. M. Brainard, T. W. Clark, D. A. Lipson, W. B. Gefter, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Nonlinear fitting method for the measurements of Regional Alveolar Oxygen Pressure and Oxygen Depletion Rate by Hyperpolarized 3He MRI, Yu, K. Emami, M. Ishii, J. MacDuffie Woodburn, S. Rajaei, D. Lipson, V. Vahdat, S. Kadlecek, F. Hammond, T. W. Clark, B. M. Brainard, L. R. Cheatham, W. B. Gefter, R. R. Rizi. ISMRM, Seattle, Washington, 2006.
  • Time resolved fluorescence imaging in diffuse media, Kumar, J. Skoch, F. Hammond III, D. Boas, and A. Dunn. Proc. of the SPIE Conference, vol. 6009, Boston, MA, 2005.