Publications

An updated list of Dr. Pai’s publications can be found on Google Scholar. You can also browse through the lab’s various projects on our Research page.

Selected publications


J. Wang, R. Setaluri, D. L. James, D. K. Pai, “Bounce Maps: An Improved Restitution Model for Real-Time Rigid-Body Impact,” ACM Transactions on Graphics (Proc. SIGGRAPH), Volume 36, Issue 4, Article 150 (July 2017), 12 pages. [project page]

D. R. Neog, A. Ranjan and D. K. Pai, “Seeing Skin in Reduced Coordinates,” to appear, FG 2017, 12th IEEE International Conference on Automatic Face and Gesture Recognition, May 30 – June 3, 2017, Washington, DC.

J. Edinger, D. K.Pai and M. Spering, “Coordinated control of three dimensional components of smooth pursuit to rotating and translating textures.” Investigative Ophthalmology and Visual Science, Vol.58, 698-707. January, 2017. [DOI, Open Access]

J. Fooken, S.-H. Yeo, D. K.Pai and M. Spering, “Eye movement accuracy determines hand movement dynamics.” Journal of Vision, 2016 [DOI, Open Access]

D. R. Neog, J. Cardoso, A. Ranjan and D. K. Pai, “Interactive Gaze Driven Animation of the Eye Region,” in Proceedings of the ACM SIGGRAPH Web3D conference (21st Annual International Conference on 3D Web Technology) , Anaheim, CA, July 22-24, 2016. Best Paper Award. [Project Page, with App]

Y. Kamata, T. Nakamura, M. Tada, S. Sueda, D. K. Pai, and Y. Toyama, “How the lumbrical muscle contributes to placing the fingertip in space: a three dimensional cadaveric study to assess fingertip trajectory and metacarpophalangeal joint balancing,” in Journal of Hand Surgery: European Volume , vol. 41 no. 4, May 2016. pp. 386-391. [DOI]

P. Sachdeva, S. Sueda, S. Bradley, M. Fain, D. K. Pai “Biomechanical Simulation and Control of Hands and Tendinous Systems” ACM Transactions on Graphics (Proc. SIGGRAPH), Volume 34, Issue 4, August 2015, Article No. 42. [DOI]

B. Humberston and D. K. Pai, “Hands On: Interactive Animation of Precision Manipulation and Contact,” in Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation , Los Angeles, CA, August 7-9, 2015. pp. 63–72. Best Paper Award. [DOI]

M. Lesmana, A. Landgren, P.-E. Forss n, and D. K. Pai, “Active Gaze Stabilization,” Indian Conference on Computer Vision, Graphics and Image Processing (ICVGIP ’14) , December 14-17 2014. Best Paper Award. [DOI]

Y. Fan, J. Litven, D. K. Pai, “Active Volumetric Musculoskeletal Systems,” ACM Transactions on Graphics (Proc. SIGGRAPH), Volume 33, Issue 4, July 2014, Article No. 152, 9 pages. [DOI]

S-H. Yeo, J. A. Monroy, A. K. Lappin, K. C. Nishikawa, D. K. Pai, “Phenomenological models of the dynamics of muscle during isotonic shortening,” J. Biomechanics, In press. 2013. [DOI]

D. Berger, R. Gentner, T. Edmunds, D. K. Pai, A. d’Avella “Differences in adaptation rates after virtual surgeries provide direct evidence for modularity,” J. Neuroscience, 33 (30), July 2013, pp. 12384-12394. [DOI], [Supplementary Videos]

D. Li, S. Sueda, D. R. Neog, D. K. Pai, “Thin Skin Elastodynamics,” ACM Transactions on Graphics (Proc. SIGGRAPH)}, Volume 32, Issue 4, July 2013, 9 pages. [project page]

Y. Fan, J. Litven, D. I. W. Levin, D. K. Pai “Eulerian on Lagrangian Simulation,” ACM Transactions on Graphics}, Volume 32 Issue 3, June 2013, Article No. 22, 9 pages. [project page]

S. Ke, J. Lam, D. K. Pai, M. Spering, “Directional asymmetries in human smooth pursuit eye movements,” Investigative Ophthalmology and Visual Science, vol. 54, no. 6, June 2013. pp. 4409-4421. [DOI]

J. Zariffa, J. D. Steeves, D. K. Pai, “Changes in hand muscle synergies in subjects with spinal cord injury: characterization and functional implications,” Journal of Spinal Cord Medicine, 35(5): 310-318, 2012. [DOI]

S. H. Yeo, M. Lesmana, D. R. Neog, D. K. Pai, “Eyecatch: Simulating Visuomotor Coordination for Object Interception,” in ACM Transactions on Graphics (Proc. SIGGRAPH)}, Volume 31, Issue 4, Article 42, July 2012, 10 pages. [DOI]

B. Wang, F. Faure, D. K. Pai, “Adaptive Image-based Intersection Volume,” ACM Transactions on Graphics (Proc. SIGGRAPH)}, Volume 31, Issue 4, Article 97, July 2012, 9 pages. [DOI]

D. M. Kaufman and D. K. Pai, “Geometric Numerical Integration of Inequality Constrained, Nonsmooth Hamiltonian Systems,” in SIAM Journal on Scientific Computing (SISC), 34(5), 2012, pp. A2670 [DOI]

K. C. Nishikawa, J. A. Monroy, T. A. Uyeno, S. H. Yeo, D. K. Pai, and S. L. Lindstedt, “Is Titin a “Winding Filament”? A New Twist on Muscle Contraction,” Proceedings of the Royal Society B (Biological Sciences), 2011. [DOI]

S. Sueda, G. L. Jones, D. I. W. Levin, and D. K. Pai, “Large-Scale Dynamic Simulation of Highly Constrained Strands,” in ACM Transactions on Graphics (Proc. SIGGRAPH), August 2011. [DOI]

D. I. W. Levin, J. Litven, G. L. Jones, S. Sueda, D. K. Pai “Eulerian Solid Simulation with Contact,” in ACM Transactions on Graphics (Proc. SIGGRAPH), August 2011. [DOI]

F. Faure, B. Gilles, G. Bousquet, D. K. Pai “Sparse Meshless Models of Complex Deformable Objects,” in ACM Transactions on Graphics (Proc. SIGGRAPH), August 2011. [DOI]

B. Gilles, G. Bousquet, F. Faure, and D. K. Pai, “Frame-based Elastic Models,” in ACM Transactions on Graphics, Volume 30, Issue 2, Article 15, April 2011, 12 pages. [DOI]

D. I. W. Levin, B. Gilles, B. Maedler, D. K. Pai, “Extracting Muscle-Like Fiber Fields from Noisy Diffusion Tensor Data,” in Medical Image Analysis 15, Feb 2011, pp. 340-353. [pubmed]

S.-H. Yeo, C. Mullens, T. G. Sandercock, D. K. Pai, and M. C. Tresch, “Estimation of musculoskeletal models from in situ measurements of muscle action in the rat hindlimb,” in Journal of Experimental Biology, 214, February 2011, pp. 735-746. doi:10.1242/jeb.049163 [pubmed]

K. van den Doel, U. M. Ascher, and D. K. Pai, “Source localization in electromyography using the inverse potential problem,” in Inverse Problems, 27 (2011) 025008 (20pp). January 2011. [DOI]

Q. Wei, S. Sueda, and D. K. Pai “Physically-based Modeling and Simulation of Extraocular Muscles,” in Progress in Biophysics and Molecular Biology, Special Issue on Biomechanical Modelling of Soft Tissue Motion, Volume 103, Issues 2-3, December 2010, Pages 273-283. [pubmed]

A. d’Avella and D. K. Pai “Modularity for Sensorimotor Control: Evidence and a New Prediction,” in J. Motor Behavior, 42: 6, 2010. pp. 361-369. [Paper]

D. K. Pai “Muscle Mass in Musculoskeletal Models,” in J. Biomechanics, 43(11), Aug 2010. pp. 2093-2098. [Paper and supplementary materials]

Q. Wei and D. K. Pai, “Longitudinal Strain Estimation in Incompressible Cylindrical Tissues from Magnetic Resonance Imaging” in Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), Minneapolis, MN, September 2-6, 2009. pp. 2237–2241. [Paper]

T. Edmunds and D. K. Pai, “Perceptually Augmented Simulator Design Through Decomposition,” in Proceedings of WorldHaptics (Joint Eurohaptics Conference and IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems), Salt Lake City, UT, March 18-20, 2009. pp. 505–510. [Paper]

K. van den Doel, U. Ascher, D. K. Pai, “Computed myography: three dimensional reconstruction of motor functions from surface EMG data” in Inverse Problems, 24 (2008) 065010 (17pp). [Paper]

D. M. Kaufman, S. Sueda, D. L. James, D. K. Pai, “Staggered Projections for Frictional Contact in Multibody Systems,” ACM Transactions on Graphics (Proc. SIGGRAPH ASIA), December 2008. project page

S. Sueda, A. Kaufman, D. K. Pai, “Musculotendon Simulation for Hand Animation,” ACM Transactions on Graphics (Proc. SIGGRAPH), August 2008. [pdf 1.5M], project page

B. Gilles and D. K. Pai, “Fast Musculoskeletal Registration Based on Shape Matching,” in Proceedings of Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008, New York, NY, Sep 6-10, 2008. LNCS 5242 Part II, pp. 822–827. [pdf 1.4M], [video1, video2]

S-H. Yeo, M. C. Tresch, D. K. Pai, “Optimal Design of Musculoskeletal Models Using Force Field Data,” in Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, Canada, August 20-24, 2008. [Paper]

T. Edmunds and D. K. Pai, “Perceptual Rendering for Learning Haptic Skills,” in Proceedings of the Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Reno, Nevada, USA, March 13-14, 2008. [pdf]

M. Tada and D. K. Pai, “Finger Shell: Predicting Finger Pad Deformation under Line Loading,” in Proceedings of the Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Reno, Nevada, USA, March 13-14, 2008. [pdf]

O. G. Cula, K. J. Dana, D. K. Pai, D. Wang “Polarization Multiplexing and Demultiplexing for Appearance-based Modeling” IEEE Transactions Transactions on Pattern Analysis and Machine Intelligence, Vol. 29, No. 2, February 2007. pp. 362–367. [pdf]

P. G. Kry and D. K. Pai, “Interaction Capture and Synthesis,” Proceedings of ACM SIGGRAPH 2006, Aug 2006. [DOI]

D. L. James, J. Barbic, and D. K. Pai, “Precomputed Acoustic Transfer: Output-Sensitive, Accurate Sound Generation for Geometrically Complex Vibration Sources,” Proceedings of ACM SIGGRAPH 2006, Aug 2006. [pdf 6M], project page

E. Ruffaldi, D. Morris, T. Edmunds, F. Barbagli, D. K.Pai, “Standardized Evaluation of Haptic Rendering Systems” in proceedings of the 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Washington, DC, March 25-26, 2006. [pdf 370k], [Data, Code].

D. M. Kaufman, T. Edmunds, and D. K. Pai, “Fast Frictional Dynamics for Rigid Bodies” in Proceedings of ACM SIGGRAPH 2005, Aug 2005. [pdf, 6M],[videos etc.]

O. G. Cula, K. J. Dana, D. K. Pai, D. Wang “Polarization Multiplexing for Bidirectional Imaging,” Proc. IEEE Intl. Conf. on Computer Vision and Pattern Recognition (CVPR 2005), San Diego, June 20-26, 2005. [pdf, 800k]

D. K. Pai, E. W. VanDerLoo, S. Sadhukhan, P. G. Kry “The Tango: a tangible tangoreceptive whole-hand human interface,” in Proceedings of WorldHaptics (Joint Eurohaptics Conference and IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems), Pisa, Italy March 18-20, 2005. pp. 141–147 [pdf 650k]

M. Pauly, D. K. Pai, and L. Guibas, “Quasi-Rigid Objects in Contact,” Proceedings of ACM SIGGRAPH/Eurographics Symposium on Computer Animation 2004, Aug 2004. [pdf, 1.8M] D. L. James and D. K. Pai, “BD-Tree: Output-Sensitive Collision Detection for Reduced Deformable Models” in Proceedings of ACM SIGGRAPH 2004, Aug 2004. [pdf, 4.8M], [videos etc.]

D. K. Pai, “Multisensory Interaction: Real and Virtual,” in proceedings of the International Symposium on Robotics Research, Siena, Italy, October 19-22, 2003 (Invited Paper). Also appears in Robotics Research: the Eleventh International Symposium, Springer Tracts on Advanced Robotics, 2005. [pdf 87k].

K. Yin, M. Cline and D. K. Pai, “Motion Perturbation Based on Simple Neuromotor Control Models,” in Proceedings of Pacific Graphics, The Eleventh Pacific Conference on Computer Graphics and Applications, Canmore, AB, October 8-10, 2003. [pdf 250k]. K. Yin and D. K. Pai, “FootSee: an Interactive Animation System,” in Proceedings of the Eurographics/SIGGRAPH Symposium on Computer Animation, San Diego, July 26-27, 2003. [pdf 1.8M], [avi (divx), 11M], [avi (uncompressed), 42M].

J. Lang, D. K. Pai and H-P. Seidel, “Scanning Large-Scale Articulated Deformations,” in proceedings of Graphics Interface, Halifax, June 2003. [pdf 2.4M].

D. Knott and D. K. Pai, “CInDeR: Collision and Interference Detection in Real-time using Graphics Hardware,” in Graphics Interface, Halifax, June 2003. [pdf 190k].

M. B. Cline and D. K. Pai, “Post-Stabilization for Rigid Body Simulation with Contact and Constraints,” in proceedings of the IEEE Intl. Conf. on Robotics and Autom., 2003. [pdf 180k].

D. K. Pai and P. R. Rizun, “The WHaT: A Wireless Haptic Texture Sensor,” in proceedings of the Eleventh Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Los Angeles, March 22-23, 2003. [pdf 700k].

D. L. James and D. K. Pai, “Multiresolution Green’s Function Methods for Interactive Simulation of Large-scale Elastostatic Objects.” in ACM Transactions on Graphics, 22:1, January 2003. pp. 47–82. [pdf 8.6M].

P. G. Kry and D. K. Pai, “Continuous Contact Simulation for Smooth Surfaces.” in ACM Transactions on Graphics, 22:1, January 2003. pp. 106–129. [pdf 1.5M].

Y. Zhang, R. Rohling, and D. K. Pai, “Direct Surface Extraction from 3D Freehand Ultrasound Images,” in IEEE Visualization 2002, Boston, October 27-November 1, 2002. pp. 45–52. [pdf 700k].

D. K. Pai, “Strands: Interactive Simulation of Thin Solids using Cosserat Models,” in Eurographics September 2002. [pdf 140k].

J. Lang, D.K. Pai and R.J. Woodham, Acquisition of Elastic Models for Interactive Simulation, International Journal of Robotics Research, 21(8), pp. 713-733, August 2002. [pdf 860k].

D. L. James and D. K. Pai, “DyRT: Dynamic Response Textures for Real Time Deformation Simulation with Graphics Hardware,” in Proceedings of ACM SIGGRAPH 2002, San Antonio, Texas, July 2002. [pdf, 2.2M], [mpg, 24M (full)], [avi, 700k (jump example)] [mpg, 3M (surgical simulation)]

J. E. Lloyd and D. K. Pai, “Interactive Exploration of Remote Objects Using a Haptic-VR Interface,” in Experimental Robotics VIII (proceedings of the International Symposium on Experimental Robotics, Italy, July 8-11, 2002), Springer Tracts on Advanced Robotics, Vol. 5, 2003. pp. 560 – 569. [pdf, 0.6M].

P. G. Kry, D. L. James and D. K. Pai, “EigenSkin: Real Time Large Deformation Character Skinning in Hardware,” in Proceedings of ACM SIGGRAPH Symposium on Computer Animation, San Antonio, Texas, July 2002. [pdf, 5.7M], [avi, 19M]

K. van den Doel, D. K. Pai, T. Adam, L. Kortchmar, and K. Pichora-Fuller, “Measurements of Perceptional Quality of Contact Sound Models,” in Proceedings of the International Conference on Auditory Display, Kyoto, July 2-5, 2002. [pdf, 109k],

D. K. Pai, K. van den Doel, D. L. James, J. Lang, J. E. Lloyd, J. L. Richmond, S. H. Yau, “Scanning Physical Interaction Behavior of 3D Objects,” in Computer Graphics (ACM SIGGRAPH 2001 Conference Proceedings), August 2001. [pdf 1.5M], [mpg 16M]

K. van den Doel, P. G. Kry and D. K. Pai, “FoleyAutomatic: Physically-based Sound Effects for Interactive Simulation and Animation,” in Computer Graphics (ACM SIGGRAPH 2001 Conference Proceedings), August 2001. [pdf 1.1M], [mpg 13M]

D. James and D. K. Pai, “A Unified Treatment of Elastostatic and Rigid Contact Simulation for Real Time Haptics,” Haptics-e, the Electronic Journal of Haptics Research, Vol.2, No. 1, September 2001. http://www.haptics-e.org [pdf]

D. DiFilippo and D. K. Pai, “The AHI: An Audio and Haptic Interface for Contact Interactions,” in Proceedings of UIST’00 (13th Annual ACM Symposium on User Interface Software and Technology), November 5-8 2000, San Diego, California. [pdf 830k]

R. L. Klatzky, D. K. Pai, and E. P. Krotkov, “Perception of Material from Contact Sounds,” Presence: Teleoperators and Virtual Environments, 9:4, August 2000, The MIT Press. pp. 399-410. [pdf 500k]

D. K. Pai, U. M. Ascher, and P. G. Kry “Forward Dynamics Algorithms for Multibody Chains and Contact,” in Proceedings of the 2000 IEEE International Conference on Robotics and Automation , San Francisco, April 2000, pp. 857–863. [pdf 185k]

J. L. Richmond and D. K. Pai, “Active Measurement and Modeling of Contact Sounds,” in Proceedings of the 2000 IEEE International Conference on Robotics and Automation , San Francisco, April 2000, pp. 2146–2152. [pdf 1.2M]

D. K. Pai, J. Lang, J. E. Lloyd, and R. J. Woodham. “ACME, A Telerobotic Active Measurement Facility.” in Experimental Robots VI, vol. 250 of Lecture Notes in Control and Information Sciences, pp. 391–400, Springer-Verlag, 2000. (Proc.Sixth International Symposium on Experimental Robotics, Sydney, Australia, March 1999). [pdf 330k]

R. J. Spiteri, D. K. Pai, and U. M. Ascher, “Programming and Control of Robots by means of Differential Algebraic Inequalities.” IEEE Transactions on Robotics and Automation, 16:2, April 2000, pp. 135–145. [pdf 330k]

J. Lang and D. K. Pai, “Bayesian Estimation of Distance and Surface Normal with a Time-of-Flight Laser Rangefinder,” in proceedings of the Second International Conference on 3-D Digital Imaging and Modeling (IEEE), Ottawa, pp. 109–117, October, 1999. [pdf 1.1M]

D. James and D. K. Pai, “ArtDefo, Accurate Real Time Deformable Objects,” in Computer Graphics (ACM SIGGRAPH 99 Conference Proceedings), pp. 65–72, August 1999. [pdf 1.2M]

J. E. Lloyd, J. S. Beis, D. K. Pai, and D. G. Lowe, “Programming Contact Tasks Using a Reality-based Virtual Environment Integrated with Vision.” IEEE Transactions on Robotics and Automation, 15:3, June 1999, pp. 423–434. [pdf 460k]

M. T. Mason, D. K. Pai, D. Rus, L. R. Taylor, and M. A. Erdmann, “A Mobile Manipulator,” in Proceedings of 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 2322–2327, May 1999. [pdf 360k]

K. van den Doel and D. K. Pai, “The Sounds of Physical Shapes,” Presence: Teleoperators and Virtual Environments, 7:4, The MIT Press, 1998. pp. 382–395. [pdf 290k]

D. K. Pai and L.-M. Reissell, “Multiresolution Rough Terrain Motion Planning,” IEEE Transactions on Robotics and Automation, 14 (1), February 1998, pp. 19–33. [pdf 960k]

U. M. Ascher, D. K. Pai and B. Cloutier, “Forward Dynamics, Elimination Methods, and Formulation Stiffness in Robot Simulation,” International Journal of Robotics Research, 16:6, pp. 749–758, December 97. [pdf 220k]

D. K. Pai and L.-M. Reissell, “Haptic Interaction with Multiresolution Image Curves,” Computers and Graphics, Vol. 21, No. 4, pp. 405-411, July/August 1997. [pdf 240k]

K. van den Doel and D. K. Pai, “Performance Measures for Constrained Systems,” IEEE Transactions on Robotics and Automation, 13:2, pp. 278–289, April 1997. [pdf 350k]

Y. Shi and D. K. Pai, “Haptic Display of Visual Images,” in Proceedings of IEEE Virtual Reality Annual International Symposium (VRAIS ’97), Albuquerque, NM, pp. 188–191, March 1997. [ps.gz 540k]

K. van den Doel and D. K. Pai, “Performance Measures for Locomotion Robots,” Journal of Robotic Systems, 14:2, pp. 135–147, February 1997. [pdf 350k]

J. Siira and D.K. Pai, “Haptic Textures — A Stochastic Approach,” in IEEE International Conference on Robotics and Automation, (Minneapolis), pp. 557-562, April 1996. [ps.gz 200k]

K. van den Doel and D. K. Pai, “Performance Measures for Robot Manipulators: A Unified Approach,” International Journal of Robotics Research, 15:1, pp. 92–111, February 1996. [pdf 1.2M]

D. K. Pai, R. Barman, and S. Ralph, “Platonic Beasts: Spherically Symmetric Multilimbed Robots,” Autonomous Robots, 2:4, pp. 191–201, December 1995. [pdf 450k]