Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory-tracking applications WT Ang, PK Khosla, CN Riviere
IEEE/ASME transactions on mechatronics 12 (2), 134-142, 2007
350 2007 Adaptive cancelling of physiological tremor for improved precision in microsurgery CN Riviere, RS Rader, NV Thakor
IEEE Transactions on biomedical engineering 45 (7), 839-846, 1998
339 1998 Toward active tremor canceling in handheld microsurgical instruments CN Riviere, WT Ang, PK Khosla
IEEE Transactions on Robotics and Automation 19 (5), 793-800, 2003
336 2003 Micron: an actively stabilized handheld tool for microsurgery RA MacLachlan, BC Becker, J Cuevas Tabarés, GW Podnar, LA Lobes Jr, ...
IEEE Transactions on Robotics 28 (1), 195-212, 2012
279 2012 Modeling of needle steering via duty-cycled spinning DS Minhas, JA Engh, MM Fenske, CN Riviere
2007 29th Annual International Conference of the IEEE Engineering in …, 2007
201 2007 Modeling rate-dependent hysteresis in piezoelectric actuators WT Ang, FA Garmón, PK Khosla, CN Riviere
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and …, 2003
180 2003 Modeling and canceling tremor in human-machine interfaces CN Riviere, NV Thakor
IEEE engineering in medicine and biology magazine 15 (3), 29-36, 1996
172 1996 Robot for minimally invasive interventions CN Riviere, NA Patronik, MA Zenati, GD Stetten
US Patent 8,162,925, 2012
164 2012 Physiological tremor amplitude during retinal microsurgery SPN Singh, CN Riviere
Bioengineering Conference, 2002. Proceedings of the IEEE 28th Annual …, 2002
157 2002 Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument WT Ang, PK Khosla, CN Riviere
2003 IEEE International Conference on Robotics and Automation (Cat. No …, 2003
128 2003 Robotic compensation of biological motion to enhance surgical accuracy CN Riviere, J Gangloff, M De Mathelin
Proceedings of the IEEE 94 (9), 1705-1716, 2006
127 2006 Characteristics of hand motion of eye surgeons CN Riviere, RS Rader, PK Khosla
Proceedings of the 19th Annual International Conference of the IEEE …, 1997
114 1997 Design and implementation of active error canceling in hand-held microsurgical instrument WT Ang, CN Riviere, PK Khosla
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and …, 2001
111 2001 Manipulator design and operation of a six-degree-of-freedom handheld tremor-canceling microsurgical instrument S Yang, RA MacLachlan, CN Riviere
IEEE/ASME transactions on mechatronics 20 (2), 761-772, 2014
108 2014 Spin transformations of discrete surfaces K Crane, U Pinkall, P Schröder
ACM SIGGRAPH 2011 papers, 1-10, 2011
105 2011 Toward effective needle steering in brain tissue JA Engh, G Podnar, D Kondziolka, CN Riviere
2006 International Conference of the IEEE Engineering in Medicine and …, 2006
104 2006 Flexure-based manipulator for active handheld microsurgical instrument DY Choi, CN Riviere
2005 IEEE Engineering in Medicine and Biology 27th Annual Conference, 2325-2328, 2006
103 2006 Effects of age and disability on tracking tasks with a computer mouse: Accuracy and linearity CN Riviere, NV Thakor
Journal of Rehabilitation Research and Development 33, 6-15, 1996
103 1996 Nonlinear Regression Model of aLow- WT Ang, PK Khosla, CN Riviere
IEEE Sensors Journal 7 (1), 81-88, 2006
101 2006 Adaptive Fourier modeling for quantification of tremor CN Riviere, SG Reich, NV Thakor
Journal of neuroscience methods 74 (1), 77-87, 1997
100 1997 
Robert MacLachlanCarnegie Mellon University, Robotics InstituteEmail verificata su ri.cmu.edu
