2014.12.17 | 04:39:25

Recent Publications

Publications before 2010 are listed on the previous BDML website

The following sections are included directly from sections of the corresponding pages between and on each page.

1.  Adhesion and Applications

(from AdhesionPublications)

Eason, E.V., Hawkes, E.W., Windheim, M., Christensen, D.L., Libby, T. and Cutkosky, M.R., "Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor," Bioinsipration & Biomimetics, in press. (preprint)

Hawkes EW, Eason EV, Christensen DL, Cutkosky MR. 2015 "Human climbing with efficiently scaled gecko-inspired dry adhesives." Journal of the Royal Society Interface 12: 20140675. Online Preprint

Eason, E.V., Hawkes, E.W., Windheim, M., Christensen, D.L., Libby, T. and Cutkosky, M.R., "Adhesive Stress Distribution Measurement on a Gecko," Living Machines 2014. (preprint)

Estrada, M.A., Hawkes, E.W., Christensen, D.L., and Cutkosky, M.R., "Perching and Crawling: Design of a Multimodal Robot," IEEE ICRA 2014. Best Paper Finalist

Jiang, H., Pope, M.T., Hawkes, E.W., Christensen, D.L., Estrada, M.A., Parlier, A., Tran, R., and Cutkosky, M.R., "Modeling the Dynamics of Perching with Opposed-Grip Mechanisms," IEEE/ICRA 2014 (preprint).

Hawkes, E.W., Christensen, D.L., Eason, E.V., Estrada, M.A., Heverly, M., Hilgemann, E., Jiang, H., Pope, M.T., Parness, A., and Cutkosky, M.R., "Dynamic Surface Grasping with Directional Adhesion," IEEE/RSJ IROS 2013, Nov. 2013.

Hawkes, E.W., Eason, E.V., Asbeck, A.T., and Cutkosky, M.R., "The Gecko’s Toe: Scaling directional adhesives for climbing applications," IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 518-526, April 2013. DOI:10.1109/TMECH.2012.2209672

Day, P., Eason, E. V., Esparza, N., Christensen, D., and Cutkosky, M., "Microwedge Machining for the Manufacture of Directional Dry Adhesives," ASME Journal of Micro and Nano-Manufacturing, vol. 1, no. 1, 011001, March 2013. DOI:10.1115/1.4023161

Day, P., "Micro-patterned polymeric surfaces as directional and selective adhesives," Ph.D. thesis, Stanford University, 2012.

Day, P., Cutkosky, M.R. and McLaughlin, A. “Effects of Gamma irradiation on Adhesion of Polymer Micro-structure Based Dry Adhesives,” American Nuclear Society Journal of Nuclear Technology. Vol 180, No. 3, December, 2012, pp. 450-455.

Esparza, N., "Design of Bio-Inspired Directional Tapered Adhesives and Hierarchies," Ph.D. thesis, Stanford University, December 2012.

Asbeck, A.T. and Cutkosky, M.R., "Designing Compliant Spine Mechanisms for Climbing," ASME Journal of Mechanisms and Robotics, Vol. 4, No. 3, August 2012. DOI:10.1115/1.40066591

Hawkes, E.W., Ulmen, J., Esparza, N., and Cutkosky, M.R. "Scaling Walls: Applying Dry Adhesives to the Real World." IEEE IROS 2011, San Francisco, Sept. 2011.

P. Day, M. Cutkosky, R. Greco, and A. Mclaughlin. "The effect of He2+ Ion Irradiation on Adhesion of Polymer Micro-structure Based Dry Adhesives." ANS Journal of Nuclear Science and Engineering. Published March 2011.

D. Soto. "Force Space Studies of Elastomeric Anisotropic Fibrillar Adhesives," Ph.D. thesis, Stanford University, August 2010.

D. Soto, G Hill, A Parness, N Esparza, M Cutkosky, and T Kenny, "Effect of fibril shape on adhesive properties," Appl. Phys. Lett. 97, 053701 (2010), DOI:10.1063/1.3464553.

A. Parness, "Micro-Structured Adhesives for Climbing Applications," Ph.D. thesis, Stanford University, February 2010.

2.  Haptics Publications

(from HapticsPublications)

Publications before 2011 are listed on:

Journals

Pete B. Shull, Rebecca Shultz, Amy Silder, Jason Dragoo, Thor Besier, Mark R. Cutkosky, and Scott Delp, "Toe-in gait reduces the first peak knee adduction moment in patients with medial compartment knee osteoarthritis.", Journal of Biomechanics, In Press, 2012.

Pete B. Shull, Kristen L. Lurie, Mark R. Cutkosky, and Thor Besier, "Training Multi-parameter Gaits to Reduce the Knee Adduction Moment with Data-driven Models and Haptic Feedback.", Journal of Biomechanics, 44(8):1605-1609, 2011.

Conference Proceedings

Elayaperumal, S.; Bae, J.H.; Christensen, D.; Cutkosky, M.R.; Daniel, B.L.; Black, R.J.; Costa, J.M.; Faridian, F.; Moslehi, B., "Mr-compatible biopsy needle with enhanced tip force sensing," World Haptics Conference (WHC), 2013 , vol., no., pp.109,114, 14-17 April 2013 doi: 10.1109/WHC.2013.6548393

Wisit Jirattigalachote, Pete B. Shull, and Mark R. Cutkosky, "Virtual Pebble: a Haptic State Display for Pedestrians," Δ proceedings: IEEE RO-MAN 2011, Atlanta, GA, Aug. 2011.

Abstracts

Pete B. Shull, Rebecca R. Shultz, Amy Silder, Thor Besier, Mark R. Cutkosky, and Scott Delp, Toe-in Gait Reduces the First Peak in the Knee Adduction Moment during Walking in Knee Osteoarthritis Patients. American Society of Biomechanics, Gainsville, GA, 2012.

Pete B. Shull, Amy Silder, Thor Besier, Scott Delp, and Mark R. Cutkosky, Six-week Gait Retraining Program for Knee Osteoarthritis Patients: Learning Retention and Symptom Changes. American Society of Biomechanics, Gainsville, GA, 2012.

3.  Perching Publications

(from PerchingPublications)

Desbiens, A. L., Pope, M. T., Christensen, D. L., Hawkes, E. W., & Cutkosky, M. R. (2014). Design principles for efficient, repeated jumpgliding. Bioinspiration & Biomimetics, 9(2), 25009. doi:10.1088/1748-3182/9/2/025009

Estrada, M.A., Hawkes, E.W., Christensen, D.L., and Cutkosky, M.R., "Perching and Crawling: Design of a Multimodal Robot," IEEE/ICRA 2014 (preprint). Best Paper Finalist

Jiang, H., Pope, M.T., Hawkes, E.W., Christensen, D.L., Estrada, M.A., Parlier, A., Tran, R., and Cutkosky, M.R., "Modeling the Dynamics of Perching with Opposed-Grip Mechanisms," accepted for IEEE/ICRA 2014 (preprint).

Hawkes, E.W., Christensen, D.L., Eason, E.V., Estrada, M.A., Heverly, M., Hilgemann, E., Jiang, H., Pope, M.T., Parness, A., and Cutkosky, M.R., "Dynamic Surface Grasping with Directional Adhesion," accepted for IEEE/RSJ IROS 2013 (preprint).

Lussier-Desbiens, A., Pope, M., Berg, F., Ern Toh, Z., Lee, J. and Cutkosky, M.R., "Efficient Jumpgliding: Theory and Design Considerations," to be presented at IEEE ICRA 2013 (preprint)

Elena Leah Glassman, Alexis Lussier Desbiens, Mark Tobenkin, Mark Cutkosky, and Russ Tedrake. Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates. IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012 (preprint)

Alexis Lussier Desbiens, Alan T. Asbeck and Mark R. Cutkosky, "Landing, Perching and Taking Off from Vertical Surfaces", International Journal of Robotics Research, March 2011 vol. 30 no. 3, pp 355-370.

Alexis Lussier Desbiens, Alan Asbeck and Mark R. Cutkosky, "Hybrid Aerial and Scansorial Robotics", ICRA, May 2010, Anchorage, Alaska.

  • ICRA_2010.mp4: Video for ICRA 2010 showing an overview of the perching project, including both landings and takeoffs

Alexis Lussier Desbiens, Alan Asbeck and Mark R. Cutkosky, "Scansorial Landing and Perching", Proc. 14th International Symposium on Robotics Research, September 2009, Lucerne, Switzerland.

Alexis Lussier Desbiens and Mark Cutkosky, "Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles (UAVs)," presented at UAV'09, June 8-10, Reno, NV and included in Journal of Intelligent and Robotic Systems, Vol. 57, No. 1-4, p. 313-327 DOI: 10.1007/s10846-009-9377-z

Alexis Lussier-Desbiens and Mark Cutkosky, October 2008 whitepaper on our perching approach for small airplanes.

4.  Manipulation/Tactile Sensing Publications

(from MobileManipulationPubs)

Heyneman, B. and Cutkosky, M.R., "Slip Classification for Dynamic Tactile Array Sensors," accepted for the International Journal of Robotics Research, 2015. (preprint)

Cutkosky, M.R. and Ulmen, J., Dynamic tactile sensing, in The Human Hand: A Source of Inspiration for Robotic Hands (R. Balasubrmanian and V. Santos, eds.), ch. 18, Berlin, Heidelberg: Springer Verlag, 2014.

Stuart, H.S., Wang, S., Gardineer, B., Christensen, D.L., Aukes, D. and Cutkosky, M.R., "A Compliant Underactuated Hand with Suction Flow for Underwater Mobile Manipulation," IEEE/ICRA 2014 (preprint).

Wu, X.A., Burkhard, N., Heynemann, B., Valen, R., and Cutkosky, M.R. "Contact Event Detection for Robotic Oil Drilling," IEEE/ICRA 2014 (preprint).

Heynemann, Barrett and Cutkosky, M.R., "Slip Interface Classification through Tactile Signal Coherence," IEEE/RSJ IROS 2013 DOI 10.1109/IROS.2013.6696443 (preprint).

D.L. Christensen, E.W. Hawkes, A. Wong-Foy, R.E. Pelrine, M.R. Cutkosky, "Incremental Inspection for Microrobotic Quality Assurance," Proc. ASME 2013 IDETC/CIE 2013, Portland, OR (preprint).

D. M. Aukes and M. R. Cutkosky, “Simulation-Based Tools For Evaluating Underactuated Hand Designs,” in 2013 IEEE International Conference on Robotics and Automation, 2013. (preprint)

D. M. Aukes, M. R. Cutkosky, S. Kim, J. Ulmen, P. Garcia, H. Stuart, and A. Edsinger, “Design and Testing of a Selectively Compliant Underactuated Hand,” International Journal of Robotics Research, v. 33, pp. 721-725.

Aukes, D., Kim, S., Garcia, P., Edsinger, A., & Cutkosky, M. R. (2012). Selectively Compliant Underactuated Hand for Mobile Manipulation. 2012 IEEE International Conference on Robotics and Automation.

Aukes, D.A., Heyneman, B., Duchaine, V., and Cutkosky, M.R. "Varying spring preloads to select grasp strategies in an adaptive hand" IEEE IROS 2011, San Francisco, Sept. 2011. (slides)

Ulmen, J., Cutkosky, M. "A robust, low-cost and low-noise artificial skin for human-friendly robots,", 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010

5.  Manufacturing Publications

(from ManufacturingPublications)

Suresh, S.A., Christensen, D.L., Hawkes, E.W., and Cutkosky, M.R., "Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper," ASME Journal of Mechanisms and Robotics, 2015. In press.

Aukes, D.M., Goldberg, B., Cutkosky, M.R. and Wood, R.J., (2014) An Analytic Framework for Developing Inherently-Manufacturable Pop-up Laminate Devices," Smart Materials and Structures, Vol 23, No 9.

Day, P., Eason, E. V., Esparza, N., Christensen, D., and Cutkosky, M., "Microwedge Machining for the Manufacture of Directional Dry Adhesives," ASME Journal of Micro and Nano-Manufacturing, vol. 1, no. 1, 011001, March 2013. DOI:10.1115/1.4023161

D.L. Christensen, E.W. Hawkes, A. Wong-Foy, R.E. Pelrine, M.R. Cutkosky, "Incremental Inspection for Microrobotic Quality Assurance," Proc. ASME 2013 IDETC/CIE 2013, Portland, OR (preprint).

6.  Medical Robotics Publications

(from MedicalRoboticsPublications)

Journals

Ryu, S., Fan Quek, Z., Koh, J-S, Renaud, P., Black, R.J., Moslehi, B., Daniel, B., Cho, K-J and Cutkosky, M.R., "Design of an Optically Controlled MR-compatible Active Needle," accepted for IEEE Transactions on Robotics (2015) (early access online)

Elayaperumal, S., Renaud, P., Cutkosky, M.R., Daniel, B.L.,"A Passive Parallel Master-Slave Mechanism for MRI-Guided Interventions,",Journal of Medical Devices, ASME,2014, DOI 10.1115/1.4028944

Elayaperumal, S., Plata, J.C. Holbrook, A.B., Park, Y-L, Butts Pauly, K., Daniel, B.L., Cutkosky, M.R.,"Autonomous real-time interventional scan plane control with a 3-D shape-sensing needle,",IEEE Transactions on Medical Imaging, vol.33, issue 11, pp.2128 - 2139, Nov. 2014, DOI 10.1109/TMI.2014.2332354

Park, YL; Elayaperumal, S.; Daniel, B.; Ryu, SC; Shin, M; Savall, J.; Black, R.J.; Moslehi, B.; Cutkosky, M.R., “Real-Time Estimation of Three-Dimensional Needle Shape and Deflection for MRI-Guided Interventions,” Mechatronics, IEEE/ASME Transactions on , vol.15, no.6, pp.906-915, Dec. 2010

Conference Proceedings

Elayaperumal, S., Bae, J.H., Daniel, B.L. and Cutkosky, M.R.,"Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle," IROS,2014,vol.,no.,pp.3975 - 3981,14-18 Sept. 2014 doi:10.1109/IROS.2014.6943121

Elayaperumal, S.; Bae, J.H.; Christensen, D.; Cutkosky, M.R.; Daniel, B.L.; Black, R.J.; Costa, J.M.; Faridian, F.; Moslehi, B., "Mr-compatible biopsy needle with enhanced tip force sensing," World Haptics Conference (WHC), 2013 , vol., no., pp.109,114, 14-17 April 2013 doi: 10.1109/WHC.2013.6548393

S. Ryu, Z. F. Quek, P. Renaud, R. J. Black, B. Daniel, and M. R. Cutkosky. "An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle," IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012

S. Ryu, P. Renaud, R. J. Black, B. Daniel, and M. R. Cutkosky. “Feasibility Study of an Optically Actuated MR-compatible Active Needle," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, September 25-30, 2011

Y-L. Park, S. Elayaperumal, S. Ryu, B. Daniel, R. J. Black, B. Moslehi, and M. R. Cutkosky. “MRI-compatible Haptics: Strain sensing for real-time estimation of three dimensional needle deflection in MRI environments", International Society for Magnetic Resonance in Medicine (ISMRM) 17th Scientific Meeting and Exhibition, Honolulu, Hawaii, April 18-24, 2009

Y-L. Park, S. Elayaperumal, B.L. Daniel, E. Kaye, K.B. Pauly, R.J. Black, and M.R. Cutkosky, “MRI-compatible Haptics: Feasibility of using optical fiber Bragg grating strain-sensors to detect deflection of needles in an MRI environment”, International Society for Magnetic Resonance in Medicine (ISMRM) 2008, 16th Scientific Meeting and Exhibition, Toronto, Canada, May 2008

7.  Tunable Impedance Publications

(from TunableImpedancePublications)

Sanjay Dastoor and M.R. Cutkosky,"Variable Impedance due to Electromechanical Coupling in Electroactive Polymer Actuators", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, September 25-30, 2011.

Sanjay Dastoor and M.R. Cutkosky, "Design of Dielectric Electroactive Polymers for a Compact and Scalable Variable Stiffness Device," IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, May 14-18, 2012.

Sanjay Dastoor, Sam Weiss, Hannah Stuart and Mark Cutkosky, "Jumping robot with a tunable suspension based on artificial muscles," proc. Living Machines 2012, Barcelona, 9-12 July 2012.

8.  Human-Safe Robot Publications

(from HumanSafePublications)

Dongjun Shin, Samson Phan, Zhan Fan Quek, Mark Cutkosky, Oussama Khatib, "Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots," IEEE/RSJ IROS 2011, San Francisco, Sept. 2011.

Samson Phan, Zhan Fan Quek, Preyas Shah, Dongjun Shin, Zubair Ahmed, Oussama Khatib, Mark Cutkosky, "Capacitive Skin Sensors for Robot Impact Monitoring," IEEE/RSJ IROS 2011, San Francisco, Sept. 2011.