Publication
2025
Dai, Yinlong; Sanchez, Robert Ramirez; Jeronimus, Ryan; Sagheb, Shahabedin; Nunez, Cara M.; Nemlekar, Heramb; Losey, Dylan P.
CIVIL: Causal and Intuitive Visual Imitation Learning Miscellaneous
2025, (arXiv:2504.17959 [cs]).
@misc{dai_civil_2025,
title = {CIVIL: Causal and Intuitive Visual Imitation Learning},
author = {Yinlong Dai and Robert Ramirez Sanchez and Ryan Jeronimus and Shahabedin Sagheb and Cara M. Nunez and Heramb Nemlekar and Dylan P. Losey},
url = {http://arxiv.org/abs/2504.17959},
doi = {10.48550/arXiv.2504.17959},
year = {2025},
date = {2025-10-01},
urldate = {2025-10-29},
publisher = {arXiv},
abstract = {Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning is fundamentally limited: the robot observes what the human does, but not why the human chooses those behaviors. Without understanding which features of the system or environment factor into the human's decisions, robot learners often misinterpret the human's examples. In practice, this results in causal confusion, inefficient learning, and robot policies that fail when the environment changes. We therefore propose a shift in perspective: instead of asking human teachers just to show what actions the robot should take, we also enable humans to intuitively indicate why they made those decisions. Under our paradigm human teachers attach markers to task-relevant objects and use natural language prompts to describe their state representation. Our proposed algorithm, CIVIL, leverages this augmented demonstration data to filter the robot's visual observations and extract a feature representation that aligns with the human teacher. CIVIL then applies these causal features to train a transformer-based policy that – when tested on the robot – is able to emulate human behaviors without being confused by visual distractors or irrelevant items. Our simulations and real-world experiments demonstrate that robots trained with CIVIL learn both what actions to take and why to take those actions, resulting in better performance than state-of-the-art baselines. From the human's perspective, our user study reveals that this new training paradigm actually reduces the total time required for the robot to learn the task, and also improves the robot's performance in previously unseen scenarios. See videos at our project website: https://civil2025.github.io},
note = {arXiv:2504.17959 [cs]},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Kudsi, Bushra; Xu, Doris; Sen, Umit; Yoshida, Kyle T.; Stroppa, Fabio; Nunez, Cara M.; Sarac, Mine
Gamifying Haptics User Studies: Comparison of Response Times from Smartphone Interfaces Journal Article
In: IEEE Transactions on Haptics, 2025, (Publisher: IEEE).
@article{kudsi_gamifying_2025,
title = {Gamifying Haptics User Studies: Comparison of Response Times from Smartphone Interfaces},
author = {Bushra Kudsi and Doris Xu and Umit Sen and Kyle T. Yoshida and Fabio Stroppa and Cara M. Nunez and Mine Sarac},
url = {https://ieeexplore.ieee.org/abstract/document/10858406/},
year = {2025},
date = {2025-01-01},
urldate = {2025-10-29},
journal = {IEEE Transactions on Haptics},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Sanchez, Robert Ramirez; Nemlekar, Heramb; Sagheb, Shahabedin; Nunez, Cara M.; Losey, Dylan P.
RECON: Reducing Causal Confusion with Human-Placed Markers Miscellaneous
2025, (arXiv:2409.13607 [cs]).
@misc{sanchez_recon_2025,
title = {RECON: Reducing Causal Confusion with Human-Placed Markers},
author = {Robert Ramirez Sanchez and Heramb Nemlekar and Shahabedin Sagheb and Cara M. Nunez and Dylan P. Losey},
url = {http://arxiv.org/abs/2409.13607},
doi = {10.48550/arXiv.2409.13607},
year = {2025},
date = {2025-03-01},
urldate = {2025-10-29},
publisher = {arXiv},
abstract = {Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and extraneous information: for instance, a robot's camera might see not only the intended goal, but also clutter and changes in lighting within its environment. Because the robot does not know which aspects of its observations are important a priori, it often misinterprets the human's examples and fails to learn the desired task. To address this issue, we highlight that – while the robot learner may not know what to focus on – the human teacher does. In this paper we propose that the human proactively marks key parts of their task with small, lightweight beacons. Under our framework (RECON) the human attaches these beacons to task-relevant objects before providing demonstrations: as the human shows examples of the task, beacons track the position of marked objects. We then harness this offline beacon data to train a task-relevant state embedding. Specifically, we embed the robot's observations to a latent state that is correlated with the measured beacon readings: in practice, this causes the robot to autonomously filter out extraneous observations and make decisions based on features learned from the beacon data. Our simulations and a real robot experiment suggest that this framework for human-placed beacons mitigates causal confusion. Indeed, we find that using RECON significantly reduces the number of demonstrations needed to convey the task, lowering the overall time required for human teaching. See videos here: https://youtu.be/oy85xJvtLSU},
note = {arXiv:2409.13607 [cs]},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Adenekan, Rachel AG; Adenekan, Adeyinka E.; Leung, Kenneth K.; Muppidi, Srikanth; Sakamuri, Sarada; Tan, Marilyn; Tsai, Sandra A.; Osikomaiya, Modupe; Okamura, Allison M.; Nunez, Cara M.
Smartphone-based App to Assess Diabetic Peripheral Neuropathy Journal Article
In: medRxiv, pp. 2025–08, 2025, (Publisher: Cold Spring Harbor Laboratory Press).
@article{adenekan_smartphone-based_2025,
title = {Smartphone-based App to Assess Diabetic Peripheral Neuropathy},
author = {Rachel AG Adenekan and Adeyinka E. Adenekan and Kenneth K. Leung and Srikanth Muppidi and Sarada Sakamuri and Marilyn Tan and Sandra A. Tsai and Modupe Osikomaiya and Allison M. Okamura and Cara M. Nunez},
url = {https://www.medrxiv.org/content/10.1101/2025.08.28.25333808.abstract},
year = {2025},
date = {2025-01-01},
urldate = {2025-10-29},
journal = {medRxiv},
pages = {2025–08},
note = {Publisher: Cold Spring Harbor Laboratory Press},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2024
Adenekan, Rachel AG; Reyes, Alejandrina Gonzalez; Yoshida, Kyle T.; Kodali, Sreela; Okamura, Allison M.; Nunez, Cara M.
A comparative analysis of smartphone and standard tools for touch perception assessment across multiple body sites Journal Article
In: IEEE Transactions on Haptics, vol. 17, no. 4, pp. 970–977, 2024, (Publisher: IEEE).
@article{adenekan_comparative_2024,
title = {A comparative analysis of smartphone and standard tools for touch perception assessment across multiple body sites},
author = {Rachel AG Adenekan and Alejandrina Gonzalez Reyes and Kyle T. Yoshida and Sreela Kodali and Allison M. Okamura and Cara M. Nunez},
url = {https://ieeexplore.ieee.org/abstract/document/10420501/},
year = {2024},
date = {2024-01-01},
urldate = {2025-10-29},
journal = {IEEE Transactions on Haptics},
volume = {17},
number = {4},
pages = {970–977},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Mohan, Mayumi; Nunez, Cara M.; Kuchenbecker, Katherine J.
Closing the loop in minimally supervised human–robot interaction: formative and summative feedback Journal Article
In: Scientific Reports, vol. 14, no. 1, pp. 10564, 2024, (Publisher: Nature Publishing Group UK London).
@article{mohan_closing_2024,
title = {Closing the loop in minimally supervised human–robot interaction: formative and summative feedback},
author = {Mayumi Mohan and Cara M. Nunez and Katherine J. Kuchenbecker},
url = {https://www.nature.com/articles/s41598-024-60905-x},
year = {2024},
date = {2024-01-01},
urldate = {2025-10-29},
journal = {Scientific Reports},
volume = {14},
number = {1},
pages = {10564},
note = {Publisher: Nature Publishing Group UK London},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Adenekan, Rachel AG; Yoshida, Kyle T.; Benyoucef, Anis; Reyes, Alejandrina Gonzalez; Adenekan, Adeyinka E.; Okamura, Allison M.; Nunez, Cara M.
Reliability of smartphone-based vibration threshold measurements Proceedings Article
In: 2024 IEEE Haptics Symposium (HAPTICS), pp. 25–32, IEEE, 2024.
@inproceedings{adenekan_reliability_2024,
title = {Reliability of smartphone-based vibration threshold measurements},
author = {Rachel AG Adenekan and Kyle T. Yoshida and Anis Benyoucef and Alejandrina Gonzalez Reyes and Adeyinka E. Adenekan and Allison M. Okamura and Cara M. Nunez},
url = {https://ieeexplore.ieee.org/abstract/document/10520838/},
year = {2024},
date = {2024-01-01},
urldate = {2025-10-29},
booktitle = {2024 IEEE Haptics Symposium (HAPTICS)},
pages = {25–32},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Yamane, Katsu; Okamura, Allison M.; Nunez, Cara M.; Do, Brian H.
System and method for social-physical haptic interaction Miscellaneous
2024.
@misc{yamane_system_2024,
title = {System and method for social-physical haptic interaction},
author = {Katsu Yamane and Allison M. Okamura and Cara M. Nunez and Brian H. Do},
url = {https://patents.google.com/patent/US12022892B2/en},
year = {2024},
date = {2024-07-01},
urldate = {2025-10-29},
publisher = {Google Patents},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Zhu, Xin; Su, Zhenghui; Tsai, Jocelyn; Nunez, Cara M.; Culbertson, Heather
The importance of contextual grounding in affective mediated touch Proceedings Article
In: 2024 IEEE Haptics Symposium (HAPTICS), pp. 91–97, IEEE, 2024.
@inproceedings{zhu_importance_2024,
title = {The importance of contextual grounding in affective mediated touch},
author = {Xin Zhu and Zhenghui Su and Jocelyn Tsai and Cara M. Nunez and Heather Culbertson},
url = {https://ieeexplore.ieee.org/abstract/document/10520861/},
year = {2024},
date = {2024-01-01},
urldate = {2025-10-29},
booktitle = {2024 IEEE Haptics Symposium (HAPTICS)},
pages = {91–97},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2023
Xu, Siyi; Nunez, Cara M.; Souri, Mohammad; Wood, Robert J.
A compact DEA-based soft peristaltic pump for power and control of fluidic robots Journal Article
In: Science Robotics, vol. 8, no. 79, pp. eadd4649, 2023, ISSN: 2470-9476.
@article{xu_compact_2023,
title = {A compact DEA-based soft peristaltic pump for power and control of fluidic robots},
author = {Siyi Xu and Cara M. Nunez and Mohammad Souri and Robert J. Wood},
url = {https://www.science.org/doi/10.1126/scirobotics.add4649},
doi = {10.1126/scirobotics.add4649},
issn = {2470-9476},
year = {2023},
date = {2023-06-01},
urldate = {2025-10-29},
journal = {Science Robotics},
volume = {8},
number = {79},
pages = {eadd4649},
abstract = {Fluid-driven robotic systems typically use bulky and rigid power supplies, considerably limiting their mobility and flexibility. Although various forms of low-profile soft pumps have been demonstrated, they either are limited to specific working fluids or generate limited flow rates or pressures, making them ill-suited for widespread robotics applications. In this work, we introduce a class of centimeter-scale soft peristaltic pumps for power and control of fluidic robots. An array of high power density robust dielectric elastomer actuators (DEAs) (each weighing 1.7 grams) were adopted as soft motors, operated in a programmed pattern to produce pressure waves in a fluidic channel. We investigated and optimized the dynamic performance of the pump by analyzing the interaction between the DEAs and the fluidic channel with a fluid-structure interaction finite element model. Our soft pump achieved a maximum blocked pressure of 12.5 kilopascals and a run-out flow rate of 39 milliliters per minute with a response time of less than 0.1 second. The pump can generate bidirectional flow and adjustable pressure through control of drive parameters such as voltage and phase shift. Furthermore, the use of peristalsis makes the pump compatible with various liquids. To illustrate the versatility of the pump, we demonstrate mixing a cocktail, powering custom actuators for haptic devices, and performing closed-loop control of a soft fluidic actuator. This compact soft peristaltic pump opens up possibilities for future on-board power sources for fluid-driven robots in a variety of applications, including food handling, manufacturing, and biomedical therapeutics.
,
A compact and lightweight soft dielectric elastomer actuator–based peristaltic pump can power and precisely control fluidic actuators.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
,
A compact and lightweight soft dielectric elastomer actuator–based peristaltic pump can power and precisely control fluidic actuators.
Yoshida, Kyle T.; Kiernan, Joel X.; Adenekan, Rachel AG; Trinh, Steven H.; Lowber, Alexis J.; Okamura, Allison M.; Nunez, Cara M.
Cognitive and physical activities impair perception of smartphone vibrations Journal Article
In: IEEE Transactions on Haptics, vol. 16, no. 4, pp. 672–679, 2023, (Publisher: IEEE).
@article{yoshida_cognitive_2023,
title = {Cognitive and physical activities impair perception of smartphone vibrations},
author = {Kyle T. Yoshida and Joel X. Kiernan and Rachel AG Adenekan and Steven H. Trinh and Alexis J. Lowber and Allison M. Okamura and Cara M. Nunez},
url = {https://ieeexplore.ieee.org/abstract/document/10132042/},
year = {2023},
date = {2023-01-01},
urldate = {2025-10-29},
journal = {IEEE Transactions on Haptics},
volume = {16},
number = {4},
pages = {672–679},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Raitor, Michael; Nunez, Cara M.; Stolka, Philipp J.; Okamura, Allison M.; Culbertson, Heather
Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures Journal Article
In: IEEE Transactions on Biomedical Engineering, vol. 71, no. 1, pp. 26–35, 2023, (Publisher: IEEE).
@article{raitor_design_2023,
title = {Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures},
author = {Michael Raitor and Cara M. Nunez and Philipp J. Stolka and Allison M. Okamura and Heather Culbertson},
url = {https://ieeexplore.ieee.org/abstract/document/10168249/},
year = {2023},
date = {2023-01-01},
urldate = {2025-10-29},
journal = {IEEE Transactions on Biomedical Engineering},
volume = {71},
number = {1},
pages = {26–35},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Yoshida, Kyle T.; Kiernan, Joel X.; Okamura, Allison M.; Nunez, Cara M.
Exploring human response times to combinations of audio, haptic, and visual stimuli from a mobile device Proceedings Article
In: 2023 IEEE World Haptics Conference (WHC), pp. 121–127, IEEE, 2023.
@inproceedings{yoshida_exploring_2023,
title = {Exploring human response times to combinations of audio, haptic, and visual stimuli from a mobile device},
author = {Kyle T. Yoshida and Joel X. Kiernan and Allison M. Okamura and Cara M. Nunez},
url = {https://ieeexplore.ieee.org/abstract/document/10224375/},
year = {2023},
date = {2023-01-01},
urldate = {2025-10-29},
booktitle = {2023 IEEE World Haptics Conference (WHC)},
pages = {121–127},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2022
Nunez, Cara M.; Do, Brian H.; Low, Andrew K.; Blumenschein, Laura H.; Yamane, Katsu; Okamura, Allison M.
A large-area wearable soft haptic device using stacked pneumatic pouch actuation Proceedings Article
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 591–598, IEEE, 2022.
@inproceedings{nunez_large-area_2022,
title = {A large-area wearable soft haptic device using stacked pneumatic pouch actuation},
author = {Cara M. Nunez and Brian H. Do and Andrew K. Low and Laura H. Blumenschein and Katsu Yamane and Allison M. Okamura},
url = {https://ieeexplore.ieee.org/abstract/document/9981919/},
year = {2022},
date = {2022-01-01},
urldate = {2025-10-29},
booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {591–598},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Adenekan, Rachel AG; Lowber, A. J.; Huerta, B. N.; Okamura, A. M.; Yoshida, K. T.; Nunez, C. M.
Feasibility of smartphone vibrations as a sensory diagnostic tool Journal Article
In: Haptics: Science, Technology, Applications, pp. 337–339, 2022.
@article{adenekan_feasibility_2022,
title = {Feasibility of smartphone vibrations as a sensory diagnostic tool},
author = {Rachel AG Adenekan and A. J. Lowber and B. N. Huerta and A. M. Okamura and K. T. Yoshida and C. M. Nunez},
url = {https://books.google.com/books?hl=en&lr=&id=tq1wEAAAQBAJ&oi=fnd&pg=PA337&dq=info:lrADC_5FYV4J:scholar.google.com&ots=3qe2OFuP0f&sig=8Xv5DCCorjg8AHElJs0staI95II},
year = {2022},
date = {2022-01-01},
urldate = {2025-10-29},
journal = {Haptics: Science, Technology, Applications},
pages = {337–339},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2021
Salvato, Mike; Williams, Sophia R.; Nunez, Cara M.; Zhu, Xin; Israr, Ali; Lau, Frances; Klumb, Keith; Abnousi, Freddy; Okamura, Allison M.; Culbertson, Heather
Data-driven sparse skin stimulation can convey social touch information to humans Journal Article
In: IEEE Transactions on Haptics, vol. 15, no. 2, pp. 392–404, 2021, (Publisher: IEEE).
@article{salvato_data-driven_2021,
title = {Data-driven sparse skin stimulation can convey social touch information to humans},
author = {Mike Salvato and Sophia R. Williams and Cara M. Nunez and Xin Zhu and Ali Israr and Frances Lau and Keith Klumb and Freddy Abnousi and Allison M. Okamura and Heather Culbertson},
url = {https://ieeexplore.ieee.org/abstract/document/9619941/},
year = {2021},
date = {2021-01-01},
urldate = {2025-10-29},
journal = {IEEE Transactions on Haptics},
volume = {15},
number = {2},
pages = {392–404},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Nunez, Cara Mae
Design and perception of wearable multi-contact haptic devices for social communication Book
Stanford University, 2021.
@book{nunez_design_2021,
title = {Design and perception of wearable multi-contact haptic devices for social communication},
author = {Cara Mae Nunez},
url = {https://search.proquest.com/openview/7e1501293986740cde0d94abe1b8b79e/1?pq-origsite=gscholar&cbl=18750&diss=y},
year = {2021},
date = {2021-01-01},
urldate = {2025-10-29},
publisher = {Stanford University},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
Culbertson, Heather; Okamura, Allison M.; Nunez, Cara M.; Williams, Sophia R.
Haptic devices to create the sensation of continuous lateral motion Miscellaneous
2021.
@misc{culbertson_haptic_2021,
title = {Haptic devices to create the sensation of continuous lateral motion},
author = {Heather Culbertson and Allison M. Okamura and Cara M. Nunez and Sophia R. Williams},
url = {https://patents.google.com/patent/US11205329B2/en},
year = {2021},
date = {2021-12-01},
urldate = {2025-10-29},
publisher = {Google Patents},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Mohan, Mayumi; Nunez, Cara M.; Kuchenbecker, Katherine J.
Robot interaction studio: A platform for unsupervised HRI Proceedings Article
In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3330–3336, IEEE, 2021.
@inproceedings{mohan_robot_2021,
title = {Robot interaction studio: A platform for unsupervised HRI},
author = {Mayumi Mohan and Cara M. Nunez and Katherine J. Kuchenbecker},
url = {https://ieeexplore.ieee.org/abstract/document/9561292/},
year = {2021},
date = {2021-01-01},
urldate = {2025-10-29},
booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3330–3336},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2020
Nunez, Cara M.; Vardar, Yasemin; Kuchenbecker, Katherine J.
Insights into human perception of asymmetric vibrations via dynamic modeling Proceedings Article
In: 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, 2020.
@inproceedings{nunez_insights_2020,
title = {Insights into human perception of asymmetric vibrations via dynamic modeling},
author = {Cara M. Nunez and Yasemin Vardar and Katherine J. Kuchenbecker},
url = {https://research.tudelft.nl/en/publications/insights-into-human-perception-of-asymmetric-vibrations-via-dynam},
year = {2020},
date = {2020-01-01},
urldate = {2025-10-29},
booktitle = {12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Nunez, Cara M.; Huerta, Bryce N.; Okamura, Allison M.; Culbertson, Heather
Investigating social haptic illusions for tactile stroking (SHIFTS) Proceedings Article
In: 2020 IEEE haptics symposium (HAPTICS), pp. 629–636, IEEE, 2020.
@inproceedings{nunez_investigating_2020,
title = {Investigating social haptic illusions for tactile stroking (SHIFTS)},
author = {Cara M. Nunez and Bryce N. Huerta and Allison M. Okamura and Heather Culbertson},
url = {https://ieeexplore.ieee.org/abstract/document/9086323/},
year = {2020},
date = {2020-01-01},
urldate = {2025-10-29},
booktitle = {2020 IEEE haptics symposium (HAPTICS)},
pages = {629–636},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Nunez, Cara M.
Meet the New Student Activities Committee Executive Team Journal Article
In: IEEE Robotics & Automation Magazine, vol. 27, no. 3, pp. 20–21, 2020.
@article{nunez_meet_2020,
title = {Meet the New Student Activities Committee Executive Team},
author = {Cara M. Nunez},
url = {https://ui.adsabs.harvard.edu/abs/2020IRAM...27c..20N/abstract},
year = {2020},
date = {2020-01-01},
urldate = {2025-10-29},
journal = {IEEE Robotics & Automation Magazine},
volume = {27},
number = {3},
pages = {20–21},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2019
Yoshida, Kyle T.; Nunez, Cara M.; Williams, Sophia R.; Okamura, Allison M.; Luo, Ming
3-dof wearable, pneumatic haptic device to deliver normal, shear, vibration, and torsion feedback Proceedings Article
In: 2019 IEEE World Haptics Conference (WHC), pp. 97–102, IEEE, 2019.
@inproceedings{yoshida_3-dof_2019,
title = {3-dof wearable, pneumatic haptic device to deliver normal, shear, vibration, and torsion feedback},
author = {Kyle T. Yoshida and Cara M. Nunez and Sophia R. Williams and Allison M. Okamura and Ming Luo},
url = {https://ieeexplore.ieee.org/abstract/document/8816084/},
year = {2019},
date = {2019-01-01},
urldate = {2025-10-29},
booktitle = {2019 IEEE World Haptics Conference (WHC)},
pages = {97–102},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Kanjanapas, Smita; Nunez, Cara M.; Williams, Sophia R.; Okamura, Allison M.; Luo, Ming
Design and analysis of pneumatic 2-DoF soft haptic devices for shear display Journal Article
In: IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1365–1371, 2019, (Publisher: IEEE).
@article{kanjanapas_design_2019,
title = {Design and analysis of pneumatic 2-DoF soft haptic devices for shear display},
author = {Smita Kanjanapas and Cara M. Nunez and Sophia R. Williams and Allison M. Okamura and Ming Luo},
url = {https://ieeexplore.ieee.org/abstract/document/8629027/},
year = {2019},
date = {2019-01-01},
urldate = {2025-10-29},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {2},
pages = {1365–1371},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Martinez, Melisa Orta; Nunez, Cara M.; Liao, Ting; Morimoto, Tania K.; Okamura, Allison M.
Evolution and analysis of hapkit: An open-source haptic device for educational applications Journal Article
In: IEEE transactions on haptics, vol. 13, no. 2, pp. 354–367, 2019, (Publisher: IEEE).
@article{martinez_evolution_2019,
title = {Evolution and analysis of hapkit: An open-source haptic device for educational applications},
author = {Melisa Orta Martinez and Cara M. Nunez and Ting Liao and Tania K. Morimoto and Allison M. Okamura},
url = {https://ieeexplore.ieee.org/abstract/document/8878113/},
year = {2019},
date = {2019-01-01},
urldate = {2025-10-29},
journal = {IEEE transactions on haptics},
volume = {13},
number = {2},
pages = {354–367},
note = {Publisher: IEEE},
keywords = {},
pubstate = {published},
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Nunez, Cara M.; Williams, Sophia R.; Okamura, Allison M.; Culbertson, Heather
Understanding continuous and pleasant linear sensations on the forearm from a sequential discrete lateral skin-slip haptic device Journal Article
In: IEEE transactions on haptics, vol. 12, no. 4, pp. 414–427, 2019, (Publisher: IEEE).
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title = {Understanding continuous and pleasant linear sensations on the forearm from a sequential discrete lateral skin-slip haptic device},
author = {Cara M. Nunez and Sophia R. Williams and Allison M. Okamura and Heather Culbertson},
url = {https://ieeexplore.ieee.org/abstract/document/8836097/},
year = {2019},
date = {2019-01-01},
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2018
Culbertson, H.; Nunez, C. M.; Israr, A.; Lau, F.; Abnousi, F.; Okamura, A. M.
2018 IEEE Haptics Symposium (HAPTICS) Miscellaneous
2018.
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Culbertson, Heather; Nunez, Cara M.; Israr, Ali; Lau, Frances; Abnousi, Freddy; Okamura, Allison M.
A social haptic device to create continuous lateral motion using sequential normal indentation Proceedings Article
In: 2018 IEEE haptics symposium (HAPTICS), pp. 32–39, IEEE, 2018.
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title = {A social haptic device to create continuous lateral motion using sequential normal indentation},
author = {Heather Culbertson and Cara M. Nunez and Ali Israr and Frances Lau and Freddy Abnousi and Allison M. Okamura},
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Culbertson, Heather; Nunez, Cara M.; Israr, Ali; Lau, Frances; Abnousi, Freddy; Okamura, Allison M.
2018.
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title = {A social haptic device to create continuous lateral motion using sequential normal indentation. IEEE Haptics Symposium, HAPTICS 2018-March (2018), 32–39},
author = {Heather Culbertson and Cara M. Nunez and Ali Israr and Frances Lau and Freddy Abnousi and Allison M. Okamura},
url = {https://scholar.google.com/scholar?cluster=15694546092386423279&hl=en&oi=scholarr},
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2016
Amiri, Amir Mohammad; Abtahi, Mohammadreza; Nunez, Cara; Mankodiya, Kunal
Human motion identification using functional near-infrared spectroscopy and smartwatch Proceedings Article
In: 2016 10th International Symposium on Medical Information and Communication Technology (ISMICT), pp. 1–2, IEEE, 2016.
@inproceedings{amiri_human_2016,
title = {Human motion identification using functional near-infrared spectroscopy and smartwatch},
author = {Amir Mohammad Amiri and Mohammadreza Abtahi and Cara Nunez and Kunal Mankodiya},
url = {https://ieeexplore.ieee.org/abstract/document/7498909/},
year = {2016},
date = {2016-01-01},
urldate = {2025-10-29},
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