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2016


Thumb xl smpl
Skinned multi-person linear model

Black, M.J., Loper, M., Mahmood, N., Pons-Moll, G., Romero, J.

December 2016, Application PCT/EP2016/064610 (misc)

Abstract
The invention comprises a learned model of human body shape and pose dependent shape variation that is more accurate than previous models and is compatible with existing graphics pipelines. Our Skinned Multi-Person Linear model (SMPL) is a skinned vertex based model that accurately represents a wide variety of body shapes in natural human poses. The parameters of the model are learned from data including the rest pose template, blend weights, pose-dependent blend shapes, identity- dependent blend shapes, and a regressor from vertices to joint locations. Unlike previous models, the pose-dependent blend shapes are a linear function of the elements of the pose rotation matrices. This simple formulation enables training the entire model from a relatively large number of aligned 3D meshes of different people in different poses. The invention quantitatively evaluates variants of SMPL using linear or dual- quaternion blend skinning and show that both are more accurate than a Blend SCAPE model trained on the same data. In a further embodiment, the invention realistically models dynamic soft-tissue deformations. Because it is based on blend skinning, SMPL is compatible with existing rendering engines and we make it available for research purposes.

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Google Patents [BibTex]

2016


Google Patents [BibTex]


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Numerical Investigation of Frictional Forces Between a Finger and a Textured Surface During Active Touch

Khojasteh, B., Janko, M., Visell, Y.

Extended abstract presented in form of an oral presentation at the 3rd International Conference on BioTribology (ICoBT), London, England, September 2016 (misc)

Abstract
The biomechanics of the human finger pad has been investigated in relation to motor behaviour and sensory function in the upper limb. While the frictional properties of the finger pad are important for grip and grasp function, recent attention has also been given to the roles played by friction when perceiving a surface via sliding contact. Indeed, the mechanics of sliding contact greatly affect stimuli felt by the finger scanning a surface. Past research has shed light on neural mechanisms of haptic texture perception, but the relation with time-resolved frictional contact interactions is unknown. Current biotribological models cannot predict time-resolved frictional forces felt by a finger as it slides on a rough surface. This constitutes a missing link in understanding the mechanical basis of texture perception. To ameliorate this, we developed a two-dimensional finite element numerical simulation of a human finger pad in sliding contact with a textured surface. Our model captures bulk mechanical properties, including hyperelasticity, dissipation, and tissue heterogeneity, and contact dynamics. To validate it, we utilized a database of measurements that we previously captured with a variety of human fingers and surfaces. By designing the simulations to match the measurements, we evaluated the ability of the FEM model to predict time-resolved sliding frictional forces. We varied surface texture wavelength, sliding speed, and normal forces in the experiments. An analysis of the results indicated that both time- and frequency-domain features of forces produced during finger-surface sliding interactions were reproduced, including many of the phenomena that we observed in analyses of real measurements, including quasiperiodicity, harmonic distortion and spectral decay in the frequency domain, and their dependence on kinetics and surface properties. The results shed light on frictional signatures of surface texture during active touch, and may inform understanding of the role played by friction in texture discrimination.

hi

[BibTex]

[BibTex]


Thumb xl romo and mini
Behavioral Learning and Imitation for Music-Based Robotic Therapy for Children with Autism Spectrum Disorder

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

Workshop paper (5 pages) at the RO-MAN Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics, August 2016 (misc)

Abstract
In this full workshop paper, we discuss the positive impacts of robot, music, and imitation therapies on children with autism. We also discuss the use of Laban Motion Analysis (LMA) to identify emotion through movement and posture cues. We present our preliminary studies of the "Five Senses" game that our two robots, Romo the penguin and Darwin Mini, partake in. Using an LMA-focused approach (enabled by our skeletal tracking Kinect algorithm), we find that our participants show increased frequency of movement and speed when the game has a musical accompaniment. Therefore, participants may have increased engagement with our robots and game if music is present. We also begin exploring motion learning for future works.

hi

link (url) [BibTex]

link (url) [BibTex]


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Design and evaluation of a novel mechanical device to improve hemiparetic gait: a case report

Fjeld, K., Hu, S., Kuchenbecker, K. J., Vasudevan, E. V.

Extended abstract presented at the Biomechanics and Neural Control of Movement Conference (BANCOM), 2016, Poster presentation given by Fjeld (misc)

hi

Project Page [BibTex]

Project Page [BibTex]


Thumb xl toc image patent
System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment

Sitti, M., Yim, S.

May 2016, US Patent 9,445,711 (patent)

Abstract
Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.

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link (url) [BibTex]


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One Sensor, Three Displays: A Comparison of Tactile Rendering from a BioTac Sensor

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

Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, USA, April 2016 (misc)

hi

[BibTex]

[BibTex]


Thumb xl toc image patent
Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent App. 15/018,008 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

[BibTex]

[BibTex]


Thumb xl toc image patent
Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent 9,281,112 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

link (url) [BibTex]

link (url) [BibTex]


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Special Issue on Causal Discovery and Inference

Zhang, K., Li, J., Bareinboim, E., Schölkopf, B., Pearl, J.

ACM Transactions on Intelligent Systems and Technology (TIST), 7(2), January 2016, (Guest Editors) (misc)

ei

[BibTex]

[BibTex]


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Empirical Inference (2010-2015)
Scientific Advisory Board Report, 2016 (misc)

ei

pdf [BibTex]

pdf [BibTex]


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Unsupervised Domain Adaptation in the Wild : Dealing with Asymmetric Label Set

Mittal, A., Raj, A., Namboodiri, V. P., Tuytelaars, T.

2016 (misc)

ei

Arxiv [BibTex]

Arxiv [BibTex]


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Designing Human-Robot Exercise Games for Baxter

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

2016, Late-breaking results report presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (misc)

hi

Project Page [BibTex]

Project Page [BibTex]


Thumb xl sabteaser
Perceiving Systems (2011-2015)
Scientific Advisory Board Report, 2016 (misc)

ps

pdf [BibTex]

pdf [BibTex]


Thumb xl toc image patent
Method for encapsulating a nanostructure, coated nanostructure and use of a coated nanostructure

Jeong, H. H., Lee, T. C., Fischer, P.

Google Patents, 2016, WO Patent App. PCT/EP2016/056,377 (patent)

Abstract
The present invention relates to a method for encapsulating a nanostructure, the method comprising the steps of: -providing a substrate; -forming a plug composed of plug material at said substrate; -forming a nanostructure (on or) at said plug; -forming a shell composed of at least one shell material on external surfaces of the nanostructure, with the at least one shell material covering said nanostructure and at least some of the plug material,whereby the shell and the plug encapsulate the nanostructure. The invention further relates to a coated nanostructure and to the use of a coated nanostructure.

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link (url) [BibTex]


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Screening Rules for Convex Problems

Raj, A., Olbrich, J., Gärtner, B., Schölkopf, B., Jaggi, M.

2016 (unpublished) Submitted

ei

[BibTex]

[BibTex]


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Extrapolation and learning equations

Martius, G., Lampert, C. H.

2016, arXiv preprint \url{https://arxiv.org/abs/1610.02995} (misc)

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Project Page [BibTex]

Project Page [BibTex]


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IMU-Mediated Real-Time Human-Baxter Hand-Clapping Interaction

Fitter, N. T., Huang, Y. E., Mayer, J. P., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

hi

[BibTex]

[BibTex]


Thumb xl toc image patent
Methods of forming dry adhesive structures

Sitti, M., Murphy, M., Aksak, B.

September 2015, US Patent 9,120,953 (patent)

Abstract
Methods of forming dry adhesives including a method of making a dry adhesive including applying a liquid polymer to the second end of the stem, molding the liquid polymer on the stem in a mold, wherein the mold includes a recess having a cross-sectional area that is less than a cross-sectional area of the second end of the stem, curing the liquid polymer in the mold to form a tip at the second end of the stem, wherein the tip includes a second layer stem; corresponding to the recess in the mold, and removing the tip from the mold after the liquid polymer cures.

pi

[BibTex]

[BibTex]


Thumb xl toc image patent
Micro-fiber arrays with tip coating and transfer method for preparing same

Sitti, M., Washburn, N. R., Glass, P. S., Chung, H.

July 2015, US Patent 9,079,215 (patent)

Abstract
Present invention describes a patterned and coated micro- and nano-scale fibers elastomeric material for enhanced adhesion in wet or dry environments. A multi-step fabrication process including optical lithography, micromolding, polymer synthesis, dipping, stamping, and photopolymerization is described to produce uniform arrays of micron-scale fibers with mushroom-shaped tips coated with a thin layer of an intrinsically adhesive synthetic polymer, such as lightly crosslinked p(DMA-co-MEA).

pi

[BibTex]

[BibTex]


Thumb xl toc image patent
Dry adhesives and methods for making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2015, US Patent App. 14/625,162 (patent)

Abstract
Dry adhesives and methods for forming dry adhesives. A method of forming a dry adhesive structure on a substrate, comprises: forming a template backing layer of energy sensitive material on the substrate; forming a template layer of energy sensitive material on the template backing layer; exposing the template layer to a predetermined pattern of energy; removing a portion of the template layer related to the predetermined pattern of energy, and leaving a template structure formed from energy sensitive material and connected to the substrate via the template backing layer.

pi

[BibTex]

[BibTex]


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Haptic Textures for Online Shopping

Culbertson, H., Kuchenbecker, K. J.

Interactive demonstrations in The Retail Collective exhibit, presented at the Dx3 Conference in Toronto, Canada, March 2015 (misc)

hi

[BibTex]

[BibTex]


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Derivation of phenomenological expressions for transition matrix elements for electron-phonon scattering

Illg, C., Haag, M., Müller, B. Y., Czycholl, G., Fähnle, M.

2015 (misc)

mms

link (url) [BibTex]

2007


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Pattern detection

Blake, A., Romdhani, S., Schölkopf, B., Torr, P. H. S.

United States Patent, No 7236626, June 2007 (patent)

ei

[BibTex]

2007


[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)

hi

[BibTex]

[BibTex]


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Mathematik der Wahrnehmung: Wendepunkte

Wichman, F., Ernst, MO.

Akademische Mitteilungen zw{\"o}lf: F{\"u}nf Sinne, pages: 32-37, 2007 (misc)

ei

[BibTex]

[BibTex]


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Space exploration-towards bio-inspired climbing robots

Menon, C., Murphy, M., Sitti, M., Lan, N.

INTECH Open Access Publisher, 2007 (misc)

pi

[BibTex]

[BibTex]


Thumb xl patentc
Image segmentation using robust mixture models

Black, M. J., Jepson, A. D.

US Pat. 5,802,203, June 1995 (patent)

ps

pdf on-line at USPTO [BibTex]

pdf on-line at USPTO [BibTex]