Howard Jay Chizeck

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This paper presents a new haptic rendering method for streaming point cloud data. It provides haptic rendering of moving physical objects using data obtained from RGB-D cameras. Thus, real-time haptic interaction with moving objects can be achieved using noncontact sensors. This method extends "virtual coupling"-based proxy methods in a way that does not(More)
—The use of haptic virtual fixtures is a potential tool to improve the safety of robotic and telerobotic surgery. They can " push back " on the surgeon to prevent unintended surgical tool movements into protected zones. Previous work has suggested generating virtual fixtures from preoperative images like CT scans. However these are difficult to establish(More)
Current DBS therapy delivers a train of electrical pulses at set stimulation parameters. This open-loop design is effective for movement disorders, but therapy may be further optimized by a closed loop design. The technology to record biosignals has outpaced our understanding of their relationship to the clinical state of the whole person. Neuronal(More)
This paper proposes a novel algorithm for haptic rendering from time varying point clouds captured using an Xbox Kinect RGB-D camera. Existing methods for point-based haptic rendering using a proxy can not directly be applied in this situation since no information about the underlying objects is given. This paper extends the notion of proxy to point clouds.(More)
Multiscale modeling is essential to integrating knowledge of human physiology starting from genomics, molecular biology, and the environment through the levels of cells, tissues, and organs all the way to integrated systems behavior. The lowest levels concern biophysical and biochemical events. The higher levels of organization in tissues, organs, and(More)
The empirical mode decomposition (EMD) has seen widespread use for analysis of nonlinear and nonstationary time-series. Despite some practical success, it lacks a firm theoretical foundation. This work addresses two important theoretical properties. The original EMD algorithm is slightly modified, in a way that facilitates this analysis. For periodic,(More)