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2016


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Qualitative User Reactions to a Hand-Clapping Humanoid Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 317-327, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

2016


[BibTex]


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Designing and Assessing Expressive Open-Source Faces for the Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 340-350, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Rhythmic Timing in Playful Human-Robot Social Motor Coordination

Fitter, N. T., Hawkes, D. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 296-305, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Using IMU Data to Demonstrate Hand-Clapping Games to a Robot

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 851 - 856, October 2016, Interactive presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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ProtonPack: A Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 58-65, 2016, Oral presentation given by Burka (inproceedings)

hi

Project Page [BibTex]

Project Page [BibTex]


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Equipping the Baxter Robot with Human-Inspired Hand-Clapping Skills

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 105-112, 2016 (inproceedings)

hi

[BibTex]

[BibTex]


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Comparison of vibro-acoustic performance metrics in the design and optimization of stiffened composite fuselages

Serhat, G., Basdogan, I.

In Proceedings of International Congress and Exposition of Noise Control Engineering (INTER-NOISE), Hamburg, Germany, August 2016 (inproceedings)

Abstract
In this paper, a comparison of preliminary design methodologies for optimization of stiffened, fiber-reinforced composite fuselages for vibro-acoustic requirements is presented. Fuselage stiffness properties are modelled using lamination parameters and their effect on the vibro-acoustic performance is investigated using two different approaches. First method, only considers the structural model in order to explore the effect of design variables on fuselage vibrations. The simplified estimation of the acoustic behavior without considering fluid-structure interaction brings certain advantages such as reduced modelling effort and computational cost. In this case, the performance metric is chosen as equivalent radiated power (ERP) which is a well-known criterion in the prediction of structure-born noise. Second method, utilizes coupled vibro-acoustic models to predict the sound pressure levels (SPL) inside the fuselage. ERP is calculated both for bay panels and fuselage section and then compared with the SPL results. The response surfaces of each metric are determined as a function of lamination parameters and their overall difference is quantified. ERP approach proves its merit provided that a sufficiently accurate model is used. The results demonstrate the importance of the simplifications made in the modelling and the selection of analysis approach in vibro-acoustic design of fuselages.

hi

[BibTex]

[BibTex]


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Reproducing a Laser Pointer Dot on a Secondary Projected Screen

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages: 1645-1650, 2016, Oral presentation given by Hu (inproceedings)

hi

[BibTex]

[BibTex]


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Effect of Aspect Ratio and Boundary Conditions on the Eigenfrequency Optimization of Composite Panels Using Lamination Parameters

Serhat, G., Basdogan, I.

In Proceedings of the ASMO UK International Conference on Numerical Optimisation Methods for Engineering Design, pages: 160–168, Munich, Germany, July 2016 (inproceedings)

Abstract
Eigenfrequency optimization of laminated composite panels is a common engineering problem. This process mostly involves designing stiffness properties of the structure. Optimal results can differ significantly depending on the values of the model parameters and the metrics used for the optimization. Building the know-how on this matter is crucial for choosing the appropriate design methodologies as well as validation and justification of prospective results. In this paper, effects of aspect ratio and boundary conditions on eigenfrequency optimization of composite panels by altering stiffness properties are investigated. Lamination parameters are chosen as design variables which are used in the modeling of stiffness tensors. This technique enables representation of overall stiffness characteristics and provides a convex design space. Fundamental frequency and difference between fundamental and second natural frequencies are maximized as design objectives. Optimization studies incorporating different models and responses are performed. Optimal lamination parameters and response values are provided for each case and the effects of model parameters on the solutions are quantified. The results indicate that trends of the optima change for different aspect ratio ranges and boundary conditions. Moreover, convergence occurs beyond certain critical values of the model parameters which may cause an optimization study to be redundant.

hi

[BibTex]

[BibTex]


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Multi-objective optimization of stiffened, fiber-reinforced composite fuselages for mechanical and vibro-acoustic requirements

Serhat, G., Faria, T. G., Basdogan, I.

In Proceedings of AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, Washington, USA, June 2016 (inproceedings)

Abstract
In this paper, a preliminary design methodology for optimization of stiffened, fiber-reinforced composite fuselages for combined mechanical and vibro-acoustic requirements is presented. Laminate stiffness distributions are represented using the method called lamination parameters which is known to provide a convex solution space. Single-objective and multi-objective optimization studies are carried out in order to find optimal stiffness distributions. Performance metrics for acoustical behavior are chosen as maximum fundamental frequency and minimum equivalent radiated power. The mechanical performance metric is chosen as the maximum stiffness. The results show that the presented methodology works effectively and it can be used to improve load-carrying and acoustical performances simultaneously.

hi

DOI [BibTex]

DOI [BibTex]


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Deep Learning for Tactile Understanding From Visual and Haptic Data

Gao, Y., Hendricks, L. A., Kuchenbecker, K. J., Darrell, T.

In Proceedings of the IEEE International Conference on Robotics and Automation, pages: 536-543, May 2016, Oral presentation given by Gao (inproceedings)

hi

[BibTex]

[BibTex]


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Robust Tactile Perception of Artificial Tumors Using Pairwise Comparisons of Sensor Array Readings

Hui, J. C. T., Block, A. E., Taylor, C. J., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 305-312, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Hui (inproceedings)

hi

[BibTex]

[BibTex]


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Data-Driven Comparison of Four Cutaneous Displays for Pinching Palpation in Robotic Surgery

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 147-154, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Brown (inproceedings)

hi

[BibTex]

[BibTex]


Multisensory Robotic Therapy through Motion Capture and Imitation for Children with ASD
Multisensory Robotic Therapy through Motion Capture and Imitation for Children with ASD

Burns, R., Nizambad, S., Park, C. H., Jeon, M., Howard, A.

Proceedings of the American Society of Engineering Education, Mid-Atlantic Section, Spring Conference, April 2016 (conference)

Abstract
It is known that children with autism have difficulty with emotional communication. As the population of children with autism increases, it is crucial we create effective therapeutic programs that will improve their communication skills. We present an interactive robotic system that delivers emotional and social behaviors for multi­sensory therapy for children with autism spectrum disorders. Our framework includes emotion­-based robotic gestures and facial expressions, as well as tracking and understanding the child’s responses through Kinect motion capture.

hi

link (url) [BibTex]

link (url) [BibTex]


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Design and Implementation of a Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 350-352, April 2016, Work-in-progress paper. Poster presentation given by Burka (inproceedings)

hi

Project Page [BibTex]

Project Page [BibTex]


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Psychophysical Power Optimization of Friction Modulation for Tactile Interfaces

Sednaoui, T., Vezzoli, E., Gueorguiev, D., Amberg, M., Chappaz, C., Lemaire-Semail, B.

In Haptics: Perception, Devices, Control, and Applications, pages: 354-362, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
Ultrasonic vibration and electrovibration can modulate the friction between a surface and a sliding finger. The power consumption of these devices is critical to their integration in modern mobile devices such as smartphones. This paper presents a simple control solution to reduce up to 68.8 {\%} this power consumption by taking advantage of the human perception limits.

hi

[BibTex]

[BibTex]


Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens
Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens

Vardar, Y., Güçlü, B., Basdogan, C.

In Haptics: Perception, Devices, Control, and Applications, pages: 190-203, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
The perceived intensity of electrovibration can be altered by modulating the amplitude, frequency, and waveform of the input voltage signal applied to the conductive layer of a touchscreen. Even though the effect of the first two has been already investigated for sinusoidal signals, we are not aware of any detailed study investigating the effect of the waveform on our haptic perception in the domain of electrovibration. This paper investigates how input voltage waveform affects our haptic perception of electrovibration on touchscreens. We conducted absolute detection experiments using square wave and sinusoidal input signals at seven fundamental frequencies (15, 30, 60, 120, 240, 480 and 1920 Hz). Experimental results depicted the well-known U-shaped tactile sensitivity across frequencies. However, the sensory thresholds were lower for the square wave than the sinusoidal wave at fundamental frequencies less than 60 Hz while they were similar at higher frequencies. Using an equivalent circuit model of a finger-touchscreen system, we show that the sensation difference between the waveforms at low fundamental frequencies can be explained by frequency-dependent electrical properties of human skin and the differential sensitivity of mechanoreceptor channels to individual frequency components in the electrostatic force. As a matter of fact, when the electrostatic force waveforms are analyzed in the frequency domain based on human vibrotactile sensitivity data from the literature [15], the electrovibration stimuli caused by square-wave input signals at all the tested frequencies in this study are found to be detected by the Pacinian psychophysical channel.

hi

vardar_eurohaptics_2016 [BibTex]

vardar_eurohaptics_2016 [BibTex]


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On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A.

In ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, pages: 256-264, 2016 (inproceedings)

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[BibTex]

[BibTex]

2014


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Automatic Skill Evaluation for a Needle Passing Task in Robotic Surgery

Leung, S., Kuchenbecker, K. J.

In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, sep 2014, Poster presentation given by Kuchenbecker. Best Poster Award (inproceedings)

hi

[BibTex]

2014


[BibTex]


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A Data-driven Approach to Remote Tactile Interaction: From a BioTac Sensor to Any Fingertip Cutaneous Device

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

In Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part I, 8618, pages: 418-424, Lecture Notes in Computer Science, Springer-Verlag, Berlin Heidelberg, June 2014, Poster presentation given by Pacchierotti in Versailles, France (inproceedings)

hi

[BibTex]

[BibTex]


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Evaluating the BioTac’s Ability to Detect and Characterize Lumps in Simulated Tissue

Hui, J. C. T., Kuchenbecker, K. J.

In Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part II, 8619, pages: 295-302, Lecture Notes in Computer Science, Springer-Verlag, Berlin Heidelberg, June 2014, Poster presentation given by Hui in Versailles, France (inproceedings)

hi

[BibTex]

[BibTex]


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Analyzing Human High-Fives to Create an Effective High-Fiving Robot

Fitter, N. T., Kuchenbecker, K. J.

In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages: 156-157, Bielefeld, Germany, March 2014, Poster presentation given by Fitter (inproceedings)

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[BibTex]

[BibTex]


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Dynamic Modeling and Control of Voice-Coil Actuators for High-Fidelity Display of Haptic Vibrations

McMahan, W., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 115-122, Houston, Texas, USA, February 2014, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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A Wearable Device for Controlling a Robot Gripper With Fingertip Contact, Pressure, Vibrotactile, and Grip Force Feedback

Pierce, R. M., Fedalei, E. A., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 19-25, Houston, Texas, USA, February 2014, Oral presentation given by Pierce (inproceedings)

hi

[BibTex]

[BibTex]


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Methods for Robotic Tool-Mediated Haptic Surface Recognition

Romano, J. M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 49-56, Houston, Texas, USA, February 2014, Oral presentation given by Kuchenbecker. Finalist for Best Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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One Hundred Data-Driven Haptic Texture Models and Open-Source Methods for Rendering on 3D Objects

Culbertson, H., Delgado, J. J. L., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 319-325, Houston, Texas, USA, February 2014, Poster presentation given by Culbertson. Finalist for Best Poster Award (inproceedings)

hi

[BibTex]

[BibTex]


Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures
Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Bonardi, S., Vespignani, M., Möckel, R., Van den Kieboom, J., Pouya, S., Spröwitz, A., Ijspeert, A.

In Proceedings of Robotics: Science and Systems, University of California, Barkeley, 2014 (inproceedings)

Abstract
The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method to automatically generate reduced Central Pattern Generator (CPG) networks for locomotion control based on the detection of bio-inspired sub-structures, like body and limbs, and articulation joints inside the robotic structure. We demonstrate how that information, coupled with the potential symmetries in the structure, can be used to speed up the optimization of the gaits and investigate its impact on the solution quality (i.e. the velocity of the robotic structure and the potential internal collisions between robotic modules). We tested our approach on three simulated structures and observed that the reduced network topologies in the first iterations of the optimization process performed significantly better than the fully open ones.

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DOI [BibTex]

DOI [BibTex]


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Cutaneous Feedback of Planar Fingertip Deformation and Vibration on a da Vinci Surgical Robot

Pacchierotti, C., Shirsat, P., Koehn, J. K., Prattichizzo, D., Kuchenbecker, K. J.

In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, 2014, Poster presentation given by Koehn (inproceedings)

hi

[BibTex]

[BibTex]

2011


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Planning manipulation and grasping tasks with a redundant arm

Gray, S. R., Romano, J. M., Brindza, J., Kim, S., Kuchenbecker, K. J., Kumar, V.

In Proc. ASME International Design Engineering Technical Conferences, Washington, D.C., USA, 2011, DETC2011-47453. Oral presentation given by Gray (inproceedings)

hi

[BibTex]

2011


[BibTex]


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Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions

Bark, K., Khanna, P., Irwin, R., Kapur, P., Jax, S. A., Buxbaum, L. J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 355-360, Istanbul, Turkey, June 2011, Poster presentation given by Bark (inproceedings)

hi

[BibTex]

[BibTex]


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Haptically Assisted Golf Putting Through a Planar Four-Cable System

Huang, P. Y., Kunkel, J. A., Brindza, J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 191-196, Istanbul, Turkey, June 2011, Poster presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact

Stanley, A. A., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 563-568, Istanbul, Turkey, June 2011, Poster presentation given by Stanley (inproceedings)

hi

[BibTex]

[BibTex]


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Tool Vibration Feedback May Help Expert Robotic Surgeons Apply Less Force During Manipulation Tasks

McMahan, W., Bark, K., Gewirtz, J., Standish, D., Martin, P. D., Kunkel, J. A., Lilavois, M., Wedmid, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 37-38, London, England, June 2011, Oral Presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Haptography: Capturing and Recreating the Rich Feel of Real Surfaces

Kuchenbecker, K. J., Romano, J. M., McMahan, W.

In Proceedings of the International Symposium on Robotics Research (ISRR), 70, pages: 245-260, Springer Tracts in Advanced Robotics, Springer, 2011, Oral presentation given by Kuchenbecker in August of 2009 (inproceedings)

hi

[BibTex]

[BibTex]

2004


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Canceling Induced Master Motion in Force-Reflecting Teleoperation

Kuchenbecker, K. J., Niemeyer, G.

In Proc. ASME International Mechanical Engineering Congress and Exposition, Symposium on Advances in Robot Dynamics and Control, 2, paper number 60049, Anaheim, California, USA, November 2004, Oral presentation given by Kuchenbecker. {B}est Student Paper Award (inproceedings)

hi

[BibTex]

2004


[BibTex]


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Haptic Display of Contact Location

Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., Cutkosky, M. R.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 40-47, Chicago, Illinois, USA, March 2004, Oral presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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THUMP: An Immersive Haptic Console for Surgical Simulation and Training

Niemeyer, G., Kuchenbecker, K. J., Bonneau, R., Mitra, P., Reid, A., Fiene, J., Weldon, G.

In Proc. Medicine Meets Virtual Reality, pages: 272-274, Newport Beach, California, USA, January 2004, Poster presentation given by Niemeyer. {B}est Poster Award (inproceedings)

hi

[BibTex]

[BibTex]


Simple and low-cost compliant leg-foot system
Simple and low-cost compliant leg-foot system

Meyer, F., Spröwitz, A., Lungarella, M., Berthouze, L.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), 1, pages: 515-520, IEEE, Sendai, Japan, 2004 (inproceedings)

Abstract
We present the design of a simple and low- cost humanoid leg-foot system featuring compliant joints and springy feet. The mechanical compliance of the individual joints can be adjusted by means of visco-elastic material, or metal. To explore some of the relevant characteristics of the proposed system, we performed a series of experiments in which the leg was dropped from a fixed height. Combinations of different materials in the joints (silicone rubber, latex, and brass) as well as a rigid or a compliant foot were used. Additional data were obtained through of a Lagrangian analysis of the leg-foot system. Our analyses show that compliant joints not only reduce impactive forces, but also induce smoother joint trajectories. Further, by employing a compliant foot, a higher energy efficiency for the movement is achieved.

dlg

DOI [BibTex]

DOI [BibTex]

2003


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Characterizing the Human Wrist for Improved Haptic Interaction

Kuchenbecker, K. J., Park, J. G., Niemeyer, G.

In Proc. ASME International Mechanical Engineering Congress and Exposition, Symposium on Advances in Robot Dynamics and Control, 2, paper number 42017, Washington, D.C., USA, November 2003, Oral presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

2003


[BibTex]