Postdoctoral Fellow, Vanderbilt University
Joshua B. Gafford
Publications
Journal Publications
A New Kind of Robot for Rigid Bronchoscopy: A Central Airway Obstruction Feasibility Study
Gafford, J. B., Webster, S., Dillon, N., Blum, E., Hendrick, R., Maldonado, F., Gillaspie, E., Rickman, O., Herrell, S.D., Webster III., R.
Annals of Biomedical Engineering (Accepted)
Enabling Robot-Assisted Endoscopy via Low-Cost, Disposable Modules
Gafford, J. B., Wood, R., Walsh, C.
IEEE TRO (In Preperation), 2019
A Highly Sensitive Capacitive‐Based Soft Pressure Sensor Based on a Conductive Fabric and a Microporous Dielectric Layer
Atalay, O., Atalay, A., Gafford, J. B., Walsh.
Advanced Materials Technologies (2018)
A Highly Stretchable Capacitive-Based Strain Sensor Based on Metal Deposition and Laser Rastering
Atalay, O., Atalay, A., Gafford, J. B., Wang, H., Wood, R., Walsh, C.
Advanced Materials Technologies (2017)
Distal Proprioceptive Sensor for Motion Feedback in Modular Roboendoscopic Systems
Gafford, J. B., Wood, R., Walsh, C.
IEEE Robotics and Automation Letters (2017)
Pop-Up MEMS One-Way Endobrachial Valve for Treatment of Chronic Obstructive Pulmonary Disease
Malka, R., Gafford, J. B., Springmeyer, S., Wood, R. A
ASME Journal of Medical Devices (2017)
Machine Learning Approaches to Environmental Disturbance Rejection in Multi-Axis Optoelectronic Force Sensors.
Gafford, J. B., Doshi-Velez, F., Wood, R. J., Walsh, C. J.
Sensors and Actuators A: Physical (2017), vol. 248, pp. 78-87.
Towards Medical Devices with Integrated Mechanisms, Sensors and Actuators via Printed-Circuit MEMS
Gafford, J. B., Kesner, S., Wood, R. J., & Walsh, C. J.
ASME Journal of Medical Devices (2016), 11(1).
Self-Assembling, Low-Cost, and Modular mm-Scale Force Sensor.
Gafford, J. B., Wood, R. J., & Walsh, C. J.
IEEE Sensors Journal (2016), 16(1), 69–76.
Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper
Gafford, J.B., Ding, Y., Harris, A., McKenna, T., Polygerinos, P., Holland, D., Moser, A.
Journal of Mechanisms and Robotics (2015), 7(2), 021006.
Refereed Conference Publications
Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy
Amack, S., Rox, M., Mitchell, J., Ertop, T., Emerson, M., Kuntz, A., Maldonado, F., Akulian, J., Gafford, J.B., Alterovitz, R., Webster III, R.
SPIE 2019
Fuzzy-Based Feedback Control of a Tip-Mounted Module for Robot-Assisted Endoscopy
Gafford, J. B., Aihara, H., Wood, R., Walsh, C. J.
2018 IEEE International Conference on Intelligent Robots and Systems, Madrid, Spain.
A High-Force, High-Stroke Distal Robotic Add-On for Endoscopy
Gafford, J. B., Wood, R., Walsh, C. J.
Robotics and Automation (ICRA), 2017 IEEE International Conference on, Singapore.
Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopy
Gafford, J. B., Ranzani, T., Russo, S., Aihara, H., Wood, R., Walsh, C. J.
Robotics and Automation (ICRA), 2016 IEEE International Conference on, Stockholm, Sweden.
Soft pop-up mechanisms for microsurgical tools: design and characterization of compliant millimeter-scale articulated structures.
Ranzani, T., Russo, S., Gafford, J. B., Wood, R., Walsh, C. J.
Robotics and Automation (ICRA), 2016 IEEE International Conference on, Stockholm, Sweden.
Design and Control of a Parallel Linkage Wrist for Robotic Microsurgery
Degirmenci, A., Hammond, F., Gafford, J. B., Walsh, C. J., Wood, R. J., & Howe, R. D.
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, (pp. 222–228). Hamburg, Germany.
A Monolithic Approach to Fabricating Low-Cost , Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery.
Gafford, J. B., Kesner, S. B., Degirmenci, A., Wood, R. J., Howe, R. D., & Walsh, C. J.
Robotics and Automation (ICRA), 2014 IEEE International Conference on (pp. 1419–1425).
Force-sensing surgical grasper enabled by pop-up book MEMS
Gafford, J. B., Kesner, S. B., Wood, R. J., & Walsh, C. J.
IEEE International Conference on Intelligent Robots and Systems, 2552–2558.
Microsurgical Devices by Pop-Up Book MEMS
Gafford, J. B., Wood, R. J., Kesner, S. B., & Walsh, C. J.
Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (pp. 1–7)., Portland, Oregon.
Mechanical Design and Fabrication of a Low-Cost, Modular, Mobile Gantry for Non-Invasive Medical Applications.
Gafford, J. B., & Schneider, J.
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, (Vol. 6). Washington DC.
Non-Cleanroom Fabrication of Carbon Nanotube-Based MEMS Force and Displacement Sensors
Cullinan, M., Panas, R., Daniel, C., Gafford, J.B., Culpepper, M. (2011).
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, (Vol. 6). Washington DC.
Design Principles and Best Practices for Rapid Prototyping of Meso- and Micro-Scale Flexures via Micromilling.
Gafford, J. B., Panas, R. M., Cullinan, M. A., & Culpepper, M. L.
Proceedings of the 2010 Annual Meeting of the American Society for Precision Engineering 25th Annual Meeting.
Theses/Dissertations
Modular Robotic Systems for Interventional Endoscopy
Gafford, J. B.
Ph.D Dissertation, Harvard University
Advisors: Conor Walsh, Robert Wood
Fabrication of High-Quality Microflexures Using Micromilling Techniques
Gafford, J. B.
Advisor: Martin Culpepper
Other Publications
Bae, J., Lee, J., Malley, M., Gafford, J. B., Holland, D., Vogt, D., … Walsh, C. J. (2015). A Soft, Wearable, Quantitative Ankle Diagnostic Device. Journal of Medical Devices, 9(3), 030905. http://doi.org/10.1115/1.4030596
Bartlett, N. W., Lyau, V., Raiford, W. A., Holland, D., Gafford, J. B., Ellis, T. D., & Walsh, C. J. (2015). A soft robotic orthosis for wrist rehabilitation. J. Med. Devices Trans. ASME, 9(3), 2015–2017. http://doi.org/10.1115/1.4030554
Malka, R., Rosen, M. H., Ku, S., Thornycroft, P., Gafford, J., Holland, D., … Walsh, C. (2015). An Access-closure Device for Percutaneous Beating Heart Surgery. Journal of Mechanical Design, 9(June), 2015–2017. http://doi.org/10.1115/1.4030118
Subramanyam, K., Rogers, E., Kulesza, M., Holland, D., Gafford, J., Goldfield, E., & Walsh, C. (2015). Soft Wearable Orthotic Device for Assisting Kicking Motion in Developmentally Delayed Infants 1. Journal of Medical Devices, 9(3), 030913. http://doi.org/10.1115/1.4030549
Gafford, J. B., Kesner, S. B., Wood, R. J., & Walsh, C. J. (2014). Monolithic Fabrication of Millimeter-Scale Surgical Devices With Integrated Sensing. Journal of Medical Devices, 8(September), 030924. http://doi.org/10.1115/1.4027045
Gafford, J., Ding, Y., Harris, A., McKenna, T., Polygerinos, P., Holland, D., … Moser, A. (2014). Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper. Journal of Medical Devices, 9(3), 030913. http://doi.org/10.1115/1.4030549