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2014


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Haptic Robotization of Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Takei, S., Nakai, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

Entertainment Computing, 5(4):485-494, December 2014 (article)

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[BibTex]

2014


[BibTex]


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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)

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[BibTex]

[BibTex]


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Modeling and Rendering Realistic Textures from Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 7(3):381-292, July 2014 (article)

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[BibTex]

[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)

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[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)

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[BibTex]

[BibTex]


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Teaching Forward and Inverse Kinematics of Robotic Manipulators Via MATLAB

Wong, D., Dames, P., J. Kuchenbecker, K.

June 2014, Presented at {\em ICRA Workshop on {MATLAB/Simulink} for Robotics Education and Research}. Oral presentation given by {Dames} and {Wong} (misc)

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[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)

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[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)

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[BibTex]

[BibTex]


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Control of a Virtual Robot with Fingertip Contact, Pressure, Vibrotactile, and Grip Force Feedback

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

Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014 (misc)

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[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)

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[BibTex]

[BibTex]


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A Modular Tactile Motion Guidance System

Kuchenbecker, K. J., Anon, A. M., Barkin, T., deVillafranca, K., Lo, M.

Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014 (misc)

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[BibTex]

[BibTex]


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The Penn Haptic Texture Toolkit

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

Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, USA, February 2014 (misc)

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[BibTex]

[BibTex]


Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot
Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot

Spröwitz, A., Moeckel, R., Vespignani, M., Bonardi, S., Ijspeert, A. J.

{Robotics and Autonomous Systems}, 62(7):1016-1033, Elsevier, Amsterdam, 2014 (article)

Abstract
In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, such as stools, chairs and tables that can move in their environment and that change shape and functionality during the day. In this article, we present the first, incremental results towards that long term vision. We demonstrate locomotion and reconfiguration of single and metamodule RB over 3D surfaces, in a structured environment equipped with embedded connection ports. RB assemblies can move around in non-structured environments, by using rotational or wheel-like locomotion. We show a proof of concept for transferring a Roombots metamodule (two in-series coupled RB modules) from the non-structured environment back into the structured grid, by aligning the RB metamodule in an entrapment mechanism. Finally, we analyze the remaining challenges to master the full Roombots scenario, and discuss the impact on future Roombots hardware.

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DOI [BibTex]

DOI [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)

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[BibTex]

[BibTex]


Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs
Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Spröwitz, A. T., Ajallooeian, M., Tuleu, A., Ijspeert, A. J.

Frontiers in Computational Neuroscience, 8(27):1-13, 2014 (article)

Abstract
In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95\% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity (in-air stepping, 2–3 primitives) than kinematic patterns from on-ground locomotion (νm4 primitives), although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Smart@load? Modeling interruption while using a Smartphone-app in alternating workload conditions

Wirzberger, M.

TU Berlin, 2014 (mastersthesis)

Abstract
Based on a time course model of interruption and resumption, the current thesis aims to inspect cognitive processes after being interrupted by product advertisements while performing a shopping task with a smartphone application. In doing so, different levels of mental workload, which are assumed to influence human performance as well as resumption strategy choice in this context, are taken into account. Within the applied research approach, cognitive modeling in the framework of the cognitive architecture ACT-R is combined with the development of a corresponding experimental design. The derived model predictions are validated with a 2x3-factorial design that includes repeated measures upon the second factor, and consists of 62 human participants. In detail, the influence of mental workload (high vs. low) and interruption (no vs. low vs. high) on various aspects of task-related performance and the applied resumption strategy is assessed. While the inspected performance parameters and resumption strategy choice usually point towards the expected direction for the model data, a converse pattern for the human data shows up in most cases. Comparing model and human data for each level of workload displays rather mixed results that are discussed afterwards. An outline of potential expansions and toeholds for future research within and beyond the mobile sector forms the completion of the thesis.

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DOI [BibTex]


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Algorithm selection by rational metareasoning as a model of human strategy selection

Lieder, F., Plunkett, D., Hamrick, J. B., Russell, S. J., Hay, N. J., Griffiths, T. L.

In Advances in Neural Information Processing Systems 27, 2014 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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"I don’t need it!" – Modeling ad-induced interruption while using a Smartphone-app

Wirzberger, M., Russwinkel, N.

CrossWorlds 2014: Theory, Development and Evaluation of Social Technology, 2014 (conference)

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DOI [BibTex]

DOI [BibTex]


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"Keep green!" – Nachhaltige Förderung ökologischen Fahrens durch Simulatortraining? ["Keep green!" – Promoting ecological driving through simulator training in a sustainable manner?]

Wirzberger, M., Lüderitz, C., Rohrer, S., Karrer-Gauß, K.

In 49th Conference of the German Psychological Society. Abstracts, pages: 570, Pabst Science Publishers, Lengerich, 2014 (inproceedings)

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[BibTex]

[BibTex]


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The high availability of extreme events serves resource-rational decision-making

Lieder, F., Hsu, M., Griffiths, T. L.

In Proceedings of the 36th Annual Conference of the Cognitive Science Society, 2014 (inproceedings)

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[BibTex]

[BibTex]


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Layers of Abstraction: (Neuro)computational models of learning local and global statistical regularities

Diaconescu, A., Lieder, F., Mathys, C., Stephan, K. E.

In 20th Annual Meeting of the Organization for Human Brain Mapping, 2014 (inproceedings)

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[BibTex]

[BibTex]


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Modeling of cognitive aspects of mobile interaction

Russwinkel, N., Prezenski, S., Lindner, S., Halbrügge, M., Schulz, M., Wirzberger, M.

Cognitive Processing, 15(Suppl.1), pages: S22-S24, Springer Nature, 2014 (article)

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DOI [BibTex]

DOI [BibTex]

2009


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Image-Enabled Force Feedback for Robotic Teleoperation of a Flexible Tool

Lindsey, Q., Tenenholtz, N., Lee, D. I., Kuchenbecker, K. J.

In Proc. IASTED International Conference on Robotics and Applications, pages: 224-233, Boston, Massachusetts, November 2009, Oral presentation given by Lindsey (inproceedings)

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[BibTex]

2009


[BibTex]


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GPU Methods for Real-Time Haptic Interaction with 3D Fluids

Yang, M., Lu, J., Safonova, A., Kuchenbecker, K. J.

In Proc. IEEE International Workshop on Haptic Audio-Visual Environments and Games, pages: 24-29, Lecco, Italy, November 2009, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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The AirWand: Design and Characterization of a Large-Workspace Haptic Device

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

In Proc. IEEE International Conference on Robotics and Automation, pages: 1461-1466, Kobe, Japan, May 2009, Oral presentation given by \uline{Romano} (inproceedings)

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[BibTex]

[BibTex]


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Stiffness Discrimination with Visual and Proprioceptive Cues

Gurari, N., Kuchenbecker, K. J., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 121-126, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Gurari (inproceedings)

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[BibTex]

[BibTex]


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Displaying Realistic Contact Accelerations Via a Dedicated Vibration Actuator

McMahan, W., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE World Haptics Conference, Salt Lake City, Utah, Proc. IEEE World Haptics Conference, pp. 613–614, Salt Lake City, Utah, USA, March 2009, {B}est Demonstration Award (misc)

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[BibTex]

[BibTex]


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The iTorqU 1.0 and 2.0

Winfree, K. N., Gewirtz, J., Mather, T., Fiene, J., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE World Haptics Conference, Salt Lake City, Utah, March 2009 (misc)

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[BibTex]

[BibTex]


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Vibrotactile Feedback System for Intuitive Upper-Limb Rehabilitation

Kapur, P., Premakumar, S., Jax, S. A., Buxbaum, L. J., Dawson, A. M., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE World Haptics Conference, Salt Lake City, Utah, USA, Proc. IEEE World Haptics Conference, pp. 621–622, March 2009 (misc)

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[BibTex]

[BibTex]


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The SlipGlove

Romano, J. M., Gray, S. R., Jacobs, N. T., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE World Haptics Conference, Salt Lake City, Utah, March 2009 (misc)

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[BibTex]

[BibTex]


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Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile Actuation

Romano, J. M., Gray, S. R., Jacobs, N. T., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 279-284, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Romano, Gray, and Jacobs (inproceedings)

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[BibTex]

[BibTex]


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A High-Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.0

Winfree, K. N., Gewirtz, J., Mather, T., Fiene, J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 261-266, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Winfree and Gewirtz (inproceedings)

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[BibTex]

[BibTex]


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Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture

Romano, J. M., Safonova, A., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, Long Beach, California, USA, January 2009, Poster presentation given by Romano (inproceedings)

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[BibTex]

[BibTex]


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Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture

Romano, J. M., Safonova, A., Kuchenbecker, K. J.

Hands-on demonstration presented at Medicine Meets Virtual Reality, Long Beach, California, USA, January 2009 (misc)

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[BibTex]

[BibTex]


Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture

Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.

In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pages: 4259-4264, IEEE, Kobe, 2009 (inproceedings)

Abstract
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures.

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DOI [BibTex]

DOI [BibTex]


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Haptic Display of Realistic Tool Contact Via Dynamically Compensated Control of a Dedicated Actuator

McMahan, W., Kuchenbecker, K. J.

In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 3171-3177, St. Louis, Missouri, USA, 2009, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]

2007


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The power of external mentors for women pursuing academic careers in engineering and science: Stories of MentorNet ACE and its Proteges and Mentors

Muller, C. B., Smith, E. H. B., Chou-Green, J., Daniels-Race, T., Drummond, A., Kuchenbecker, K. J.

In Proc. Women in Engineering Programs and Advocates Network (WEPAN) National Conference, Lake Buena Vista, Florida, USA, June 2007, Oral presentation given by Muller (inproceedings)

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[BibTex]

2007


[BibTex]


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Effects of Visual and Proprioceptive Position Feedback on Human Control of Targeted Movement

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE International Conference on Rehabilitation Robotics, pages: 513-524, Noordwijk, Netherlands, June 2007, Oral and poster presentations given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Quantifying the value of visual and haptic position feedback in force-based motion control

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 561-562, Tsukuba, Japan, March 2007, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Comparing Visual and Haptic Position Feedback

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

Hands-on demonstration at IEEE World Haptics Conference, Tsukuba, Japan, March 2007 (misc)

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[BibTex]

[BibTex]


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Shaping event-based haptic transients via an improved understanding of real contact dynamics

Fiene, J. P., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 170-175, Tsukuba, Japan, March 2007, Oral presentation given by Fiene. {B}est Haptic Technology Paper Award (inproceedings)

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[BibTex]

[BibTex]


An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots
An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J.

In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

Abstract
We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

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DOI [BibTex]

DOI [BibTex]