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2015


3D-printed Soft Microrobot for Swimming in Biological Fluids
3D-printed Soft Microrobot for Swimming in Biological Fluids

Qiu, T., Palagi, S., Fischer, P.

In Conf. Proc. IEEE Eng. Med. Biol. Soc., pages: 4922-4925, August 2015 (inproceedings)

Abstract
Microscopic artificial swimmers hold the potential to enable novel non-invasive medical procedures. In order to ease their translation towards real biomedical applications, simpler designs as well as cheaper yet more reliable materials and fabrication processes should be adopted, provided that the functionality of the microrobots can be kept. A simple single-hinge design could already enable microswimming in non-Newtonian fluids, which most bodily fluids are. Here, we address the fabrication of such single-hinge microrobots with a 3D-printed soft material. Firstly, a finite element model is developed to investigate the deformability of the 3D-printed microstructure under typical values of the actuating magnetic fields. Then the microstructures are fabricated by direct 3D-printing of a soft material and their swimming performances are evaluated. The speeds achieved with the 3D-printed microrobots are comparable to those obtained in previous work with complex fabrication procedures, thus showing great promise for 3D-printed microrobots to be operated in biological fluids.

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link (url) DOI [BibTex]

2015


link (url) DOI [BibTex]


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Assessing human-human therapy kinematics for retargeting to human-robot therapy

Johnson, M. J., Christopher, S. M., Mohan, M., Mendonca, R.

In Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, August 2015 (inproceedings)

Abstract
In this paper, we present experiments examining the accuracy of data collected from a Kinect sensor for capturing close interactive actions of a therapist with a patient during stroke rehabilitation. Our long-term goal is to map human-human interactions such as these patient-therapist ones onto human-robot interactions. In many robot interaction scenarios, the robot does not mimic interaction between two or more humans, which is a major part of stroke therapy. The Kinect works for functional tasks such as a reaching task where the interaction to be retargeted by the robot is minimal to none; though this data is not good for a functional task involving touching another person. We demonstrate that the noisy data from Kinect does not produce a system robust enough to be for remapping to a humanoid robot a therapit's movements when in contact with a person.

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DOI [BibTex]

DOI [BibTex]


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Toward a large-scale visuo-haptic dataset for robotic learning

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

In Proc. CVPR Workshop on the Future of Datasets in Vision, 2015 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Detecting Lumps in Simulated Tissue via Palpation with a BioTac

Hui, J., Block, A., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, 2015, Work-in-progress paper. Poster presentation given by Hui (inproceedings)

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[BibTex]

[BibTex]


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Analysis of the Instrument Vibrations and Contact Forces Caused by an Expert Robotic Surgeon Doing FRS Tasks

Brown, J. D., O’Brien, C., Miyasaka, K., Dumon, K. R., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 75-76, London, England, June 2015, Poster presentation given by Brown (inproceedings)

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[BibTex]

[BibTex]


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Should Haptic Texture Vibrations Respond to User Force and Speed?

Culbertson, H., Kuchenbecker, K. J.

In IEEE World Haptics Conference, pages: 106 - 112, Evanston, Illinois, USA, June 2015, Oral presentation given by Culbertson (inproceedings)

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[BibTex]

[BibTex]


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Enabling the Baxter Robot to Play Hand-Clapping Games

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

In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

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[BibTex]

[BibTex]


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Using IMU Data to Teach a Robot Hand-Clapping Games

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

In Proc. IEEE Haptics Symposium, pages: 353-355, April 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

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[BibTex]

[BibTex]


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Haptic Feedback in Transoral Robotic Surgery: A Feasibility Study

Bur, A. M., Gomez, E. D., Rassekh, C. H., Newman, J. G., Weinstein, G. S., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society at COSM, April 2015, Poster presentation given by Bur (inproceedings)

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[BibTex]

[BibTex]


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Human Machine Interface for Dexto Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Chennai, India, Febuary 2015 (inproceedings)

Abstract
This paper illustrates hybrid control system of the humanoid robot, Dexto:Eka: focusing on the dependent or slave mode. Efficiency of any system depends on the fluid operation of its control system. Here, we elucidate the control of 12 DoF robotic arms and an omnidirectional mecanum wheel drive using an exo-frame, and a Graphical User Interface (GUI) and a control column. This paper comprises of algorithms, control mechanisms and overall flow of execution for the regulation of robotic arms, graphical user interface and locomotion.

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DOI [BibTex]

DOI [BibTex]


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Conception and development of Dexto:Eka: The Humanoid Robot - Part IV

Kumra, S., Mohan, M., Vaswani, H., Gupta, S.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Febuary 2015 (inproceedings)

Abstract
This paper elucidates the fourth phase of the development of `Dexto:Eka: - The Humanoid Robot'. It lays special emphasis on the conception of the locomotion drive and the development of vision based system that aids navigation and tele-operation. The first three phases terminated with the completion of two robotic arms with six degrees of freedom each, structural development and the creation of a human machine interface that included an exo-frame, a control column and a graphical user interface. This phase also involved the enhancement of the exo-frame to a vision based system using a Kinect camera. The paper also focuses on the reasons behind choosing the locomotion drive and the benefits it has.

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DOI [BibTex]

DOI [BibTex]


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Design and Validation of a Practical Simulator for Transoral Robotic Surgery

Bur, A. M., Gomez, E. D., Chalian, A. A., Newman, J. G., Weinstein, G. S., Kuchenbecker, K. J.

In Proc. Society for Robotic Surgery Annual Meeting: Transoral Program, (T8), February 2015, Oral presentation given by Bur (inproceedings)

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[BibTex]

[BibTex]


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Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing

Holz, D., Topalidou-Kyniazopoulou, A., Stueckler, J., Behnke, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras

Kerl, C., Stueckler, J., Cremers, D.

In IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, 2015, {[video][supplementary][datasets]} (inproceedings)

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[BibTex]

[BibTex]


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Large-Scale Direct SLAM with Stereo Cameras

Engel, J., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

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[BibTex]

[BibTex]


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Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images

Jaimez, M., Souiai, M., Stueckler, J., Gonzalez-Jimenez, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015, {[video]} (inproceedings)

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[BibTex]

[BibTex]


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Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures

Maier, R., Stueckler, J., Cremers, D.

In International Conference on 3D Vision (3DV), October 2015, {[slides] [poster]} (inproceedings)

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[BibTex]

[BibTex]


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Reconstructing Street-Scenes in Real-Time From a Driving Car

Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015 (inproceedings)

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[BibTex]

[BibTex]

2012


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Surgical Instrument Vibrations are a Construct-Valid Measure of Technical Skill in Robotic Peg Transfer and Suturing Tasks

Bark, K., Gomez, E. D., Rivera, C., McMahan, W., Remington, A., Murayama, K., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 50-51, London, England, July 2012, Oral presentation given by Bark (inproceedings)

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[BibTex]

2012


[BibTex]


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Spectral Subtraction of Robot Motion Noise for Improved Vibrotactile Event Detection

McMahan, W., Kuchenbecker, K. J.

In Haptics: Perception, Devices, Mobility, and Communication: Proc. EuroHaptics, Part I, 7282, pages: 326-337, Lecture Notes in Computer Science, Springer, Tampere, Finland, June 2012, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data

Culbertson, H., Romano, J. M., Castillo, P., Mintz, M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 385-391, Vancouver, Canada, March 2012, Poster presentation given by Culbertson (inproceedings)

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[BibTex]

[BibTex]


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VerroTouch: Detection of Instrument Vibrations for Haptic Feedback and Skill Assessment in Robotic Surgery

Gomez, E. D., Bark, K., McMahan, W., Rivera, C., Remington, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), San Diego, California, USA, March 2012, Emerging Technology Poster presentation given by Gomez. Poster available at \href{http://thesagesmeeting.org/}{http://thesagesmeeting.org/} (inproceedings)

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[BibTex]

[BibTex]


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Using Accelerometers to Localize Tactile Contact Events on a Robot Arm

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

In Proc. Workshop on Advances in Tactile Sensing and Touch-Based Human-Robot Interaction, ACM/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, March 2012, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]


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Recreating the feel of the human chest in a CPR manikin via programmable pneumatic damping

Stanley, A. A., Healey, S. K., Maltese, M. R., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 37-44, Vancouver, Canada, March 2012, Oral presentation given by Stanley (inproceedings)

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[BibTex]

[BibTex]


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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation

Wang, Y., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 527-532, Vancouver, Canada, March 2012, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Model Learning and Real-Time Tracking Using Multi-Resolution Surfel Maps

Stueckler, J., Behnke, S.

Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2012 (conference)

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link (url) [BibTex]

link (url) [BibTex]


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VerroTeach: Visuo-audio-haptic Training for Dental Caries Detection

Maggio, M. P., Parajon, R., Kuchenbecker, K. J.

In Proc. Annual American Dental Educator’s Association (ADEA) Conference, Orlando, Florida, 2012, Oral presentation given by Maggio (inproceedings)

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[BibTex]

[BibTex]


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A Data-Driven Method for Determining Natural Human-Robot Motion Mappings in Teleoperation

Pierce, R. M., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics, pages: 169-176, Rome, Italy, 2012, Poster presentation given by Pierce (inproceedings)

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[BibTex]

[BibTex]


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Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot

Hubert, U., Stueckler, J., Behnke, S.

In Proc. of the 12th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 618-624, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Shape-Primitive Based Object Recognition and Grasping

Nieuwenhuisen, M., Stueckler, J., Berner, A., Klein, R., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Low Bitrate Source-filter Model Based Compression of Vibrotactile Texture Signals in Haptic Teleoperation

Chaudhari, R., Çizmeci, B., Kuchenbecker, K. J., Choi, S., Steinbach, E.

In Proc. ACM Multimedia, pages: 409-418, Nara, Japan, 2012, Oral presentation given by {Chaudhari} (inproceedings)

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[BibTex]

[BibTex]


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Robotic Learning of Haptic Adjectives Through Physical Interaction

McMahon, I., Chu, V., Riano, L., McDonald, C. G., He, Q. (., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IROS Workshop on Advances in Tactile Sensing and Touch-based Human-robot Interaction, Vilamoura, Algarve, Portugal, 2012, Oral presentation given by McMahon (inproceedings)

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[BibTex]

[BibTex]


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Semantic mapping using object-class segmentation of RGB-D images

Stueckler, J., Biresev, N., Behnke, S.

In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages: 3005-3010, October 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient Mobile Robot Navigation using 3D Surfel Grid Maps

Kläß, J., Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras

Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 162-167, sep 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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SURE: Surface Entropy for Distinctive 3D Features

Fiolka, T., Stueckler, J., Klein, D. A., Schulz, D., Behnke, S.

In Proc. of Spatial Cognition, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations

Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Adjustable autonomy for mobile teleoperation of personal service robots

Muszynski, S., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Symp. on Robot and Human Interactive Communication, pages: 933-940, sep 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Adaptive Multi-cue 3D Tracking of Arbitrary Objects

Garcia, G. M., Klein, D. A., Stueckler, J., Frintrop, S., Cremers, A. B.

In DAGM/OAGM Symposium, 7476, pages: 357-366, Lecture Notes in Computer Science, Springer, 2012 (inproceedings)

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[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)

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[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)

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[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)

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[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)

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[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)

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[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)

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[BibTex]

[BibTex]


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Following human guidance to cooperatively carry a large object

Stueckler, J., Behnke, S.

In Proc. of the 11th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 218-223, October 2011 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks.

Stueckler, J., Steffens, R., Holz, D., Behnke, S.

In Proc. of the European Conf. on Mobile Robots (ECMR), pages: 177-182, 2011 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Towards joint attention for a domestic service robot - person awareness and gesture recognition using Time-of-Flight cameras

Droeschel, D., Stueckler, J., Holz, D., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 1205-1210, May 2011 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]