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Emperical Interference

Haptic Intelligence

Modern Magnetic Systems

Perceiving Systems

Physical Intelligence

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Social Foundations of Computation

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Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

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Robot Learning

Conference Paper

2022

Autonomous Learning

Robotics

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Haptic Intelligence Robotic Materials Miscellaneous Learning-Based Touch Detection and Force Estimation in Cutaneous Electrohydraulic Devices Sanchez-Tamayo, N., Singer, D., Keplinger, C., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Published) BibTeX
Haptic Intelligence Robotics Robotic Materials Miscellaneous Wrist-Worn Circumferential Pressure Feedback for Conveying Directional Forces in Virtual Reality Kadmani, A., Bartels, J. U., Sanchez-Tamayo, N., Gasparetto, W., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC), Suwon, South Korea, July 2025 (Published) BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Active Haptic Feedback for a Virtual Wrist-Anchored User Interface Bartels, J. U., Sanchez-Tamayo, N., Sedlmair, M., Kuchenbecker, K. J. Adjunct Proceedings of the Annual ACM Symposium on User Interface Software and Technology (UIST), (53)1-3, Hands-on demonstration presented at the Annual ACM Symposium on User Interface Software and Technology (UIST), Pittsburgh, USA, October 2024 (Published)
The presented system combines a virtual wrist-anchored user interface (UI) with a new low-profle, wrist-worn device that provides salient and expressive haptic feedback such as contact, pressure and broad-bandwidth vibration. This active feedback is used to add tactile cues to interactions with virtual mid-air UI elements that track the user's wrist; we demonstrate a simple menu-interaction task to showcase the utility of haptics for interactions with virtual buttons and sliders. Moving forward, we intend to use this platform to develop haptic guidelines for body-anchored interfaces and test multiple haptic devices across the body to create engaging interactions.
DOI BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing Sundaram, V. H., Smith, L., Turin, Z., Rentschler, M. E., Gonzalez Welker, C. Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI, Yokohama, Japan, May 2024 (Published)
This study presents a new method for reconstructing continuous 3D surface deformations for a soft pneumatic actuation system using embedded magnetic sensors. A finite element analysis (FEA) model was developed to quantify the surface deformation given the magnetometer readings, with a relative error between the experimental and the simulated sensor data of 7.8%. Using the FEA simulation solutions and a basic model-based mapping, our method achieves sub-millimeter accuracy in measuring deformation from sensor data with an absolute error between the experimental and simulated sensor data of 13.5%. These results show promise for real-time adjustments to deformation, crucial in environments like prosthetic and orthotic interfaces with human limbs.
URL BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Cutaneous Electrohydraulic (CUTE) Wearable Devices for Multimodal Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Extended abstract (1 page) presented at the IEEE RoboSoft Workshop on Multimodal Soft Robots for Multifunctional Manipulation, Locomotion, and Human-Machine Interaction, San Diego, USA, April 2024 (Published) BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Cutaneous Electrohydraulic Wearable Devices for Expressive and Salient Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (Published) BibTeX
Haptic Intelligence Robotic Materials Miscellaneous Demonstration: Cutaneous Electrohydraulic (CUTE) Wearable Devices for Expressive and Salient Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE RoboSoft Conference, San Diego, USA, April 2024 (Published) BibTeX