Biomimetics and Dextrous Manipulation Lab

Publications

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)

Hajj-Ahmad, Amar, Lukas Kaul, Carolyn Matl, and Mark Cutkosky. "GRASP: Grocery Robot's Adhesion and Suction Picker." IEEE Robotics and Automation Letters (2023).

Hajj‐Ahmad, A.*, Han, A.* K., Lin, M. A., Glover, G. H., & Cutkosky, M. R. "An Electrostatically Actuated Gecko Adhesive Clutch." Advanced Materials Technologies 8.12 (2023): 2202025.

Han, A.K.*, Hajj-Ahmad, A.*, and Cutkosky, M.R, “Bimanual handling of deformable objects with hybrid adhesion,” IEEE Robotics and Automation Letters April 2022. IEEE RA-L Best Paper Award Winner, May 2023.

Testing Gecko-Inspired Adhesives With Astrobee Aboard the International Space Station

Hajj-Ahmad, A., Suresh, S. A., and Cutkosky, M. R. (June 6, 2021). "Cutting to the Point: Directly Machined Metal Molds for Directional Gecko-Inspired Adhesives." ASME. J. Micro Nano-Manuf. doi: https://doi-org.stanford.idm.oclc.org/10.1115/1.4051406

Kerst, Capella, Srinivasan A. Suresh, Marc Ferro, and Mark Cutkosky. "PEDOT: PSS Coating Improves Gecko-Inspired Adhesive Performance." Journal of Micro and Nano-Manufacturing 8, no. 3 (2020). https://doi-org.stanford.idm.oclc.org/10.1115/1.4048927

Kerst, Capella F., "Gecko inspired adhesives : permanent practical manufacturing, new materials, and applications," PhD Thesis, Stanford Universisty, December 2020.

Suresh, Srinivasan A., Amar Hajj-Ahmad, Elliot W. Hawkes, and Mark R. Cutkosky. "Forcing the issue: testing gecko-inspired adhesives." Journal of the Royal Society Interface 18, no. 174 (2021): 20200730. https://doi-org.stanford.idm.oclc.org/10.1098/rsif.2020.0730

Han, A.K., Hajj-Ahmad, A., and Cutkosky, M.R., "Hybrid electrostatic and gecko-inspired gripping pads for manipulating bulky, non-smooth items,” Smart Materials and Structures. 2020 https://doi.org/10.1088/1361-665X/abca51

Suresh, S.A. "Engineering Gecko-Inspired Adhesives." Ph.D. thesis, Stanford University, 2020. [Online]. Available: https://purl.stanford.edu/cp134gr3166.

Kerst, C.F., Suresh, S.A., Cutkosky, M.R. "Creating Metal Molds for Directional Gecko-Inspired Adhesives." ASME Journal of Micro and Nano-Manufacturing. 2019 doi: 10.1115/1.4045764.

Suresh, S.A., Kerst, C.F., Cutkosky, M.R., Hawkes, E.W. "Spatially variant microstructured adhesive with one-way friction." Journal of the Royal Society Interface. 2019. doi: 10.1098/rsif.2018.0705

Naclerio, N., Kerst, C.F., Haggerty, D.A., Suresh, S.A., Singh, S., Ogawa, K., Miyazaki, S., Cutkosky, M.R., Hawkes, E.W., "Low-cost, Continuously Variable, Strain Wave Transmission Using Gecko-inspired Adhesives," IEEE RA-Letters'', 2019. doi: 10.1109/LRA.2019.2893424

Estrada, M.A., Mintchev, S., Christensen, D.L., Cutkosky, M.R., and Floreano., D., “Forceful manipulation with micro air vehicles,” Science Robotics. 2018: doi: 10.1126/scirobotics.aau6903

Roberge, J.P., Ruotolo, W., Duchaine, V. and Cutkosky, M., 2018. Improving industrial grippers with adhesion-controlled friction. IEEE Robotics and Automation Letters. 2018 doi:10.1109/LRA.2018.2794618

Glick, P., Suresh, S.A., Ruffatto III, D., Cutkosky, M.R., Tolley, M.T., and Parness, A. "A soft robotic gripper with gecko-inspired adhesive." Robotics and Automation Letters. 2018. doi:10.1109/LRA.2018.2792688.

Jiang, H., Hawkes, E.W., Fuller, C., Estrada, M.A., Suresh, S.A., Abcouwer, N., Han, A.K., Wang, S., Ploch, C.J., Parness, A. and Cutkosky, M.R. "A Robotic Device Using Gecko-Inspired Adhesives can Grasp and Manipulate Large Objects in Microgravity." Science Robotics. 2017. doi:10.1126/scirobotics.aan4545.

Hawkes, E. W., Jiang, H., Christensen, D. L., Han, A. K., & Cutkosky, M. R. (2017). Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers. IEEE Transactions on Robotics. 2019 IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award

Estrada, M., Jiang, H., Noll, Bessie., Pavone, M., and Cutkosky, M.R., "Force and Moment Constraints of a Curved Surface Gripper and Wrist for Assistive Free Flyers," 2017 IEEE International Conference on Robotics and Automation (Accepted) (preprint)

I took out 'before print' because I don't think RAL will ever be printed -mrc Hawkes, E.W., Christensen, D.L., Pope, M.T., and Cutkosky, M.R., "One Motor, Two Degrees of Freedom through Dynamic Response Switching." Robotics and Automation Letters. Published online February 15, 2016. http://dx.doi.org/10.1109/LRA.2016.2526066. To be presented at ICRA 2016. (preprint)

Christensen, D.L., Suresh, S.A., Hahm, K. and Cutkosky, M.R., "Let’s All Pull Together: Principles for Sharing Large Loads in Microrobot Teams." Robotics and Automation Letters. Published online February 15, 2016. DOI:10.1109/LRA.2016.2530314. Presented at ICRA 2016 as well. (preprint)

Estrada, M., Hockman, B., Bylard, A., Hawkes, Elliot Wright., Cutkosky, M., Pavone, M., "Free Flyer Acquisition of Spinning Objects with Gecko-Inspired Adhesives," 2016 IEEE International Conference on Robotics and Automation

Hawkes, E.W., Jiang, H., and Cutkosky, M.R. "Three-dimensional dynamic surface grasping with dry adhesives." International Journal of Robotics Research. Published online before print June 29, 2015 Doi: 10.1177/0278364915584645.

Hawkes, E.W., Christensen, D.L., Han, A.K., Jiang, H. and Cutkosky, M.R., "Grasping without Squeezing: Shear Adhesion Gripper with Fibrillar Thin Film," IEEE/ICRA 2015 Best Student Paper Award

Hawkes, E.W., Christensen, D.L., and Cutkosky, M.R., "Vertical Dry Adhesive Climbing with a 100x Bodyweight Payload," IEEE/ICRA 2015 (preprint).

Christensen, D.L., Hawkes, E.W., Suresh, S.A., Ladenheim, K. and Cutkosky, M.R., "µTugs: Enabling Microrobots to Deliver Macro Forces with Controllable Adhesives," IEEE/ICRA 2015 (preprint).

Hawkes, E. W., "Applying Dry Adhesives to the Real World," Ph.D. thesis, Stanford University, 2015.

Eason, E. V., "Analysis and Measurement of Stress Distributions in Gecko Toes and Synthetic Adhesives," Ph.D. thesis, Stanford University, 2015.

Jiang, H., Hawkes, E.W., Arutyunov, V., Tims, J., Fuller, C., King, J.P., Seubert, C., Chang, H.L., Parness, A., and Cutkosky, M.R., "Scaling Controllable Adhesives to Grapple Floating Objects in Space," IEEE/ICRA 2015.

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," Bioinspiration & Biomimetics, vol. 10, no. 1, 016013, February 2015. DOI:10.1088/1748-3190/10/1/016013

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, DOI: 10.1098/rsif.2014.0675 -- Winner, ASME Smart Materials and Structures Best Bio-Inspired Journal Paper Award.

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

Han, A.K., Ji, S., Wang, D. and Cutkosky, M.R., "Haptic Surface Display based on Miniature Dielectric Fluid Transducers," IEEE Robotics and Automation Letters (2020)

Frishman, S., Kight, A., Pirozzi, I., Coffey, M.C., Daniel, B.L. and Cutkosky, M.R., "Enabling In-Bore MRI Guided Biopsies with Force Feedback," IEEE Transactions on Haptics (2020) 10.1109/TOH.2020.2967375

Han, A.K.*, Bae, J.H.*, Gregoriou, K.C., Ploch, C.J., Goldman, R.E., Glover, G.H., Daniel, B.L. and Cutkosky, M.R., "MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures," IEEE Transactions on Haptics (2018).

P. Shull, X. Zhu and Cutkosky, M.R., "RE: TH-2016-08-0093.R2, "Continuous Movement Tracking Performance for Predictable and Unpredictable Tasks with Vibrotactile Feedback," IEEE Transactions on Haptics, published online 29 March 2017. DOI: 10.1109/TOH.2017.2689023

Y. Huang, W. Jirattigalachote, M.R. Cutkosky, X. Zhu, P. Shull, "Novel Foot Progression Angle Algorithm Estimation via Foot-Worn, Magneto-Inertial Sensing," IEEE Transactions on Biomedical Engineering, vol.PP, no.99, pp.1-1 doi: 10.1109/TBME.2016.2523512

P.B. Shull, W. Jirattigalachote, M.A. Hunt, M.R. Cutkosky, S.L. Delp, “Quantified self and human movement: A review on the clinical impact of wearable sensing and feedback for gait analysis and intervention,” Gait and Posture (Elsevier), Vol 40, No. 1, 2014, pp 11-19. doi:10.1016/j.gaitpost.2014.03.189

P. Shull, A. Silder, R. Shultz, J. Dragoo, T. Besier, S. Delp and M.R. Cutkosky, “Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis,” Journal of Orthopedic Research, Vol. 31, No. 7, July 2013. doi: 10.1002/jor.22340

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, Vol. 46, No. 1, pp. 122-128, 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

Choi, H., Brouwer, D., Lin, M.A., Yoshida, K.T., Rognon, C., Stephens-Fripp, B., Okamura, A.M., Cutkosky, M.R., "Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Best Poster Presentation Award at the Workshop on Large-Scale Robotic Skin: Perception, Interaction, and Control

Ploch, C.J., Bae, J.H., Ploch, C.C., Ju, W., Cutkosky, M.R., "Comparing Haptic and Audio Navigation Cues on the Road for Distracted Drivers with a Skin Stretch Steering Wheel," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Poster Paper Finalist, Best Poster Presentation Finalist.(preprint).

Bae, J.H.*, Han, A.K.*, Ploch, C.J., Daniel, B.L., Cutkosky, M.R., "Haptic feedback of membrane puncture with an MR-compatible instrumented needle and electroactive polymer display," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Paper and Best Student Presentation Finalist

Ploch, C.J., Bae, J.H., Ju, W., Cutkosky, M.R., "Haptic Skin Stretch on a Steering Wheel for Displaying Preview Information in Autonomous Cars,", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Oct 9-14, 2016. Highlight Presentation.

Han, A.K., Wang, S., Bae, J.H., Christensen, D.L., and Cutkosky, M.R., "Toward MR-Compatible Needle Tip Force Display using EAP Actuation," Haptics Symposium 2016.

Bae, J.H., Ploch, C., Yang, M. A., Daniel, B.L., and Cutkosky, M.R., "Display of Needle Tip Contact Forces for Steering Guidance," Haptics Symposium 2016 Haptics Symposium (HAPTICS), 2016 IEEE, 332-337

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

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)

Hoffmann, K.A.W., Chen, T.G., Cutkosky, M.R., and Lentink, D., Bird-inspired robotics principles as a framework for developming smart aerospace materials, Review article for special edition on Multifunctional Composites for Autonomic, Adaptive and Self-Sustaining Systems, Journal of Composite Materials (preprint). https://journals.sagepub.com/doi/10.1177/00219983231152663

Chen, A.G., Hoffmann K, Low JunEn, Nagami, K, Lentink, D. and Cutkosky, M.R., (Aerial Grasping and the Velocity Sufficiency Region, IEEE RA Letters, 2022). -- Best Paper Award on Robot Mechanisms and Design, IEEE IROS 2022.

Roderick, William RT, Mark R. Cutkosky, and David Lentink. "Bird-inspired dynamic grasping and perching in arboreal environments." Science Robotics 6, no. 61 (2021): eabj7562.

Roderick, William RT, Diana D. Chin, Mark R. Cutkosky, and David Lentink. "Birds land reliably on complex surfaces by adapting their foot-surface interactions upon contact." Elife 8 (2019): e46415.

Jiang, Hao, Shiquan Wang, and Mark R. Cutkosky. "Stochastic models of compliant spine arrays for rough surface grasping." The International Journal of Robotics Research 37, no. 7 (2018): 669-687.

Estrada, M.A., Mintchev, S., Christensen, D.L., Cutkosky, M.R., and Floreano., D., “Forceful manipulation with micro air vehicles,” Science Robotics. 2018: doi: 10.1126/scirobotics.aau6903

Jiang, H., 2017. Surface Grasping with Bio-Inspired, Opposed Adhesion (Doctoral dissertation, Stanford University).

Roderick W.R.T., Jiang H., Wang S., Lentink D., Cutkosky M.R. (2017) Bioinspired Grippers for Natural Curved Surface Perching. In: Mangan M., Cutkosky M., Mura A., Verschure P., Prescott T., Lepora N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science, vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_56

Roderick, W. R. T., Cutkosky, M. R. & Lentink, D. (2017) Touchdown to take-off: at the interface of flight and surface locomotion. Interface Focus 7, 20160094. http://dx.doi.org/10.1098/rsfs.2016.0094

M. T. Pope; C. W. Kimes; H. Jiang; E. W. Hawkes; M. A. Estrada; C. F. Kerst; W. R. T. Roderick; A. K. Han; D. L. Christensen; M. R. Cutkosky, "A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces," in IEEE Transactions on Robotics , doi: 10.1109/TRO.2016.2623346

Pope, Morgan, "Creatures of two worlds : small robots and hybrid aerial-terrestrial locomotion," PhD thesis, July 2016.

Pope, Morgan and Cutkosky, Mark, "Thrust-Assisted Perching and Climbing for a Bioinspired UAV," Biomimetic and Biohybrid Systems: 5th International Conference, Living Machines 2016 (Best Paper Winner). Proceedings: Springer Lecture Notes in AI, 2016. DOI: 10.1007/978-3-319-42417-0_26

Jiang, H., Pope, M.T., Estrada, M.A., Edwards, B., Cuson, M., Hawkes, E.W., Cutkosky, M.R., "Perching Failure Detection and Recovery with Onboard Sensing," IEEE/RSJ IROS 2015 (preprint).

Wissa, A., Han, A. and Cutkosky, M.R., "Wings of a Feather Stick Together," 'Biomimetic and Biohybrid Systems, Lecture Notes in Artificial Intelligence, Wilson, S.P., Verschure, P..F.M.J., Mura, A and Prescott, T. (eds.), Springer, Vol. 9222 2015, pp. 123-134. DOI 10.1007/978-3-319-22979-9

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).

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.  JumpGliding Publications

(from JumpGlidingPublications)

E. W. Hawkes, D. L. Christensen, M. T. Pope and M. R. Cutkosky, "One Motor, Two Degrees of Freedom Through Dynamic Response Switching," in IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 969-975, July 2016. doi: 10.1109/LRA.2016.2526066

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

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)

5.  Mobile Manipulation and Sensing Publications

(from MobileManipulationPubs)

Brouwer, D., Citron, J., Choi, H., Lepert, M., Lin, M., Bohg, J., and Cutkosky M., "Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter," IEEE ICRA 2024 arXiV Preprint

Choi, H., Cutkosky, M. R., Stanley, A. A., "Integrated Pneumatic Sensing and Actuation for Soft Haptic Devices", IEEE Robotics and Automation Letters, 2023, Accepted

Lin, M. A., Reyes, E., Bohg, J., & Cutkosky, M. R. (2022, October). Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7817-7824). IEEE.

S. Newdick, N. Ongole, T.G. Chen, E. Schmerling, M.R. Cutkosky, M. Pavone, "Motion Planning for a Climbing Robot with Stochastic Grasps," Proc. IEEE ICRA 2023.

T. G. Chen, B. Miller, S. Schneider-Newdick, A. Bylard, M. Pavone, and M. R. Cutkosky, “ReachBot: A Small Robot with Exceptional Reach for Rough Terrain,” in Proc. IEEE Conf. on Robotics and Automation, 2022.

S. Schneider, A. Bylard, T. G. Chen, P. Wang, M. R. Cutkosky, and M. Pavone, “ReachBot: A Small Robot for Large Mobile Manipulation Tasks,” (arxiv) in IEEE Aerospace Conference, Big Sky, Montana, 2022.

Tony G. Chen, Abhishek Cauligi, Srinivasan Arul Suresh, Marco Pavone, Mark Cutkosky, Testing Gecko-Inspired Adhesives With Astrobee Aboard the International Space Station: Readying the Technology for Space, IEEE Robotics and Automation Magazine (Sept. 2022). IEEE RAM Best Paper Awardee, May 2023

Ruotolo, W., Brouwer, D. and Cutkosky, M.R., From grasping to manipulation with gecko-inspired adhesives on a multifinger gripper." Science Robotics 6.61 (2021): eabi9773.

Ruotolo, W., "Design Principles for Manipulation with Astrictive Contact", PhD thesis, Stanford University, August 2021

Lin, M.A.*, Thomasson, R.*, Uribe, G., Choi, H., and Cutkosky M.R. "Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces". IEEE RA Letters., 2021. https://doi.org/10.1109/LRA.2021.3068941

Frishman, S., Di, J., Karachiwalla, Z., Black, R. J., Moslehi, K., Smith, T., ... & Cutkosky, M. R. (2021, September). A Multi-Axis FBG-Based Tactile Sensor for Gripping in Space. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1794-1799). IEEE.

Ruotolo, W., Thomasson, R., Herrera, J., Gruebele, A., and Cutkosky, M.R., "Distal Hyperextension is Handy: High Range of Motion in Cluttered Environments."IEEE RA-Letters", 2020. https://doi.org/10.1109/LRA.2020.2965914

Huh, T.M., Choi, H., Willcox, S., Moon, S. and Cutkosky, M.R., "Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation". "IEEE RA Letters", 2020. https://doi.org/10.1109/LRA.2020.2972881, (preprint)

Gruebele, A., Roberge, J.P., Zerbe, A., Ruotolo, W., Huh, T.M., Cutkosky, M.R. "A Stretchable Capacitive Sensory Skin for Manipulation in Cluttered Environments". "IEEE RA-Letters", 2020.

Wu, X.A.*, Huh, T.M.*, Sabin, A., Suresh, S.A. and Cutkosky, M.R. "Tactile Sensing and Terrain-Based Gait Control for Small Legged Robots". IEEE Transactions on Robotics, 2019. https://doi.org/10.1109/TRO.2019.2935336, (preprint)

Ruotolo, W., Roig, Frances S. and Mark R. Cutkosky, "Load-Sharing in Soft and Spiny Paws for a Large Climbing Robot," accepted for IEEE RA-Letters, 2019. (preprint)

Wang, S., Jiang., H., Huh, T.M., Sun, D., Ruotolo, W., Miller, M., Roderick, W.R.T., Stuart, H., and Cutkosky, M.R., "SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot," accepted for ASME Journal of Mechanisms and Robotics (2019). (preprint)

Hashizume, J., Huh, T-M, Suresh, S., and Cutkosky, M.R., "Capacitive Sensing for a Gripper with Gecko-Inspired Adhesive Film," accepted for IEEE RA-Letters, 2019. (preprint)

Add the page name/ so attachment works when this page is included in the master Publications page

Hauser, K., Wang, S. Cutkosky, M.R., "Efficient equilibrium testing under adhesion and anisotropy using empirical contact force models." IEEE Transactions on Robotics 99 (2018): 1-13. https://doi.org/10.1109/TRO.2018.2831722

Jiang, H., Wang, S. and Cutkosky, M.R., "Stochastic models of compliant spine arrays for rough surface grasping" The International Journal of Robotics Research June, 2018: https://doi.org/10.1177/0278364918778350

Huh, T. M., Liu, C., Hashizume, J., Chen, T. G., Suresh, S., Chang, F. K., and Cutkosky, M.R. "Active Sensing for Measuring Contact of Thin Film Gecko-Inspired Adhesives," Robotics and Automation Letters, 2018. DOI: 10.1109/LRA.2018.2851757, (preprint)

Wang, S., Jiang, H. and Cutkosky, M.R., "Design and modeling of linearly-constrained compliant spines for human-scale locomotion on rocky surfaces," The International Journal of Robotics Research, Vol 36, Issue 9, pp. 985 - 999, Published online July 2017. DOI: 10.1177/0278364917720019

Wang, S., Chung, S., Khatib, O., Cutkosky, M.R. SupraPed: Smart Staff Design and Terrain Characterization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Stuart, H., Wang, S., Khatib, O., Cutkosky, M. (2017). The Ocean One hands: An adaptive design for robust marine manipulation. The International Journal of Robotics Research. IJRR 2017

Khatib, O., Yeh, X., Brantner, G., Soe, B., Kim, B., Ganguly, S., Stuart, H., Wang, S., Cutkosky, M., Edsinger, A., Mullins, P., Barham, M., Voolstra, C., Salama, K., L’Hour, M., Creuze, V. (2016). “Ocean One: A Robotic Avatar for Oceanic Discovery.” IEEE Robotics & Automation Magazine. RAS 2016

Wu, X.A., Christensen, D.L., Suresh, S.A., Jiang, H., Roderick, W.R.T., and Cutkosky, M.R. "Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion," Robotics and Automation Letters, 2017. DOI: 10.1109/LRA.2016.2636881.

Shiquan's award winning IROS paper here Wang, S., Jiang, H., and Cutkosky, M.R. “A Palm for Rock Climbing Based on Dense Arrays of Micro-spines,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. Best Paper Award on Safety, Security, and Rescue Robotics in Memory of MotohiroKisoi

Estrada, M., Hockman, B., Bylard, A., Hawkes, E.W., Cutkosky, M.R., and Pavone, M. Free-Flyer Acquisition of Spinning Objects with Gecko-Inspired Adhesives, Proc. 2016 IEEE Int’l Conf. Robotics and Automation. DOI: 10.1109/ICRA.2016.7487696

Wu, X.A., Huh, T.M., Mukherjee, R., Cutkosky, M.R. "Integrated Ground Reaction Force Sensing and Terrain Classification for Small Legged Robots," IEEE Robotics and Automation Letters, 2016. DOI: 10.1109/LRA.2016.2524073 IEEE RA-L 2016

Wu, X.A., Suresh, S.A., Jiang, H., Ulmen, J.V., Hawkes, E.W., Christensen, D.L., and Cutkosky, M.R. "Tactile Sensing for Gecko-Inspired Adhesion," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. IEEE/RSJ IROS 2015 Best Conference Paper Award

Wang, S., Chung, S., Khatib, O., Cutkosky, M.R. "SupraPed: Smart Staff Design and Terrain Characterization," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (Attach:IROS2015_SupraPed Δ)

Stuart, H.S, Bagheri, M., Wang, S., Barnard, H., Sheng, A.L., Jenkins, M., Cutkosky, M.R. "Suction Helps in a Pinch: Improving Underwater Manipulation with Gentle Suction Flow," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (preprint Δ)

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, June 2014.

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, April 2014, 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

!!Unstructured Terrain Traversing and Grasping Publications (from TerrainTraversingGraspingPublications)

Wang, S., Jiang, H. and Cutkosky, M.R., "Design and modeling of linearly-constrained compliant spines for human-scale locomotion on rocky surfaces," The International Journal of Robotics Research, Vol 36, Issue 9, pp. 985 - 999, Published online July 2017. DOI: 10.1177/0278364917720019

Wang, S., Chung, S., Khatib, O., Cutkosky, M.R. SupraPed: Smart Staff Design and Terrain Characterization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

6.  Manufacturing Publications

(from ManufacturingPublications)

Han, A. K., Hajj-Ahmad, A., & Cutkosky, M. R. (2020). Hybrid electrostatic and gecko-inspired gripping pads for manipulating bulky, non-smooth items. Smart Materials and Structures, 30(2), 025010. https://doi.org/10.1088/1361-665X/abca51

Hajj-Ahmad, Amar, Srinivasan A. Suresh, and Mark Cutkosky. "Cutting to the Point: Directly Machined Metal Molds for Directional Gecko-Inspired Adhesives." Journal of Micro and Nano-Manufacturing 9.2 (2021). https://doi.org/10.1115/1.4051406

Gharibi, Armin, Amar Hajj-Ahmad, Andrea Rossi, Mark Cutkosky, and Michele Lanzetta. "FEM modelling of the incipient chip formation for the generation of micro features."

Kerst, Capella, Srinivasan A. Suresh, Marc Ferro, and Mark Cutkosky. "PEDOT: PSS Coating Improves Gecko-Inspired Adhesive Performance." Journal of Micro and Nano-Manufacturing 8, no. 3 (2020). https://doi-org.stanford.idm.oclc.org/10.1115/1.4048927

Kerst, Capella F., "Gecko inspired adhesives : permanent practical manufacturing, new materials, and applications," PhD Thesis, Stanford Universisty, December 2020.

Suresh, Srinivasan A., Amar Hajj-Ahmad, Elliot W. Hawkes, and Mark R. Cutkosky. "Forcing the issue: testing gecko-inspired adhesives." Journal of the Royal Society Interface 18, no. 174 (2021): 20200730. https://doi-org.stanford.idm.oclc.org/10.1098/rsif.2020.0730

Suresh, S.A. "Engineering Gecko-Inspired Adhesives." Ph.D. thesis, Stanford University, 2020. [Online]. Available: https://purl.stanford.edu/cp134gr3166.

Kerst, C.F., Suresh, S.A., Cutkosky, M.R. "Creating Metal Molds for Directional Gecko-Inspired Adhesives." ASME Journal of Micro and Nano-Manufacturing. 2019 doi: 10.1115/1.4045764.

Suresh, S.A., Kerst, C.F., Cutkosky, M.R., Hawkes, E.W. "Spatially variant microstructured adhesive with one-way friction." Journal of the Royal Society Interface. 2019. doi:10.1098/rsif.2018.0705 (Appears also under AdhesionPublications)

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 7(2), May 2015. DOI:10.1115/1.4029492.

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).

7.  Medical Robotics Publications

(from MedicalRoboticsPublications)

Pirozzi, Ileana, Ali Kight, Amy Kyungwon Han, Mark R. Cutkosky, and Seraina A. Dual. "Circulatory Support: Artificial Muscles for the Future of Cardiovascular Assist Devices." Advanced Materials (2023): 2210713. https://doi.org/10.1002/adma.202210713

Kight, Ali, Ileana Pirozzi, Xinyi Liang, Doff B. McElhinney, Amy Kyungwon Han, Seraina A. Dual, and Mark Cutkosky. "Decoupling Transmission and Transduction for Improved Durability of Highly Stretchable, Soft Strain Sensing: Applications in Human Health Monitoring." Sensors 23, no. 4 (2023) https://doi.org/10.3390/s23041955

Pirozzi, Ileana, Ali Kight, XinYi Liang, Amy Kyungwon Han, Daniel B. Ennis, William Hiesinger, Seraina A. Dual, and Mark R. Cutkosky. "Electrohydraulic Vascular Compression Device (e‐VaC) with Integrated Sensing and Controls." Advanced Materials Technologies (2022): 2201196. https://doi.org/10.1002/admt.202201196

Pirozzi, Ileana, Ali Kight, Rohan A. Shad, Amy Kyungwon Han, Seraina A. Dual, Robyn Fong, Allison Jia, William Hiesinger, Paul Yock, and Mark Cutkosky. "RVEX: Right Ventricular External Device for Biomimetic Support and Monitoring of the Right Heart." Advanced Materials Technologies (2022): 2101472. https://doi.org/10.1002/admt.202101472

Pirozzi, Ileana, Ali Kight, Edgar Aranda-Michael, Rohan Shad, Yuanjia Zhu, Lewis K. Waldman, William Hiesinger, and Mark Cutkosky. "Cardiac Support for the Right Ventricle: Effects of Timing on Hemodynamics-Biomechanics Tradeoff." In International Conference on Functional Imaging and Modeling of the Heart, pp. 385-395. Springer, Cham, 2021. https://doi.org/10.1007/978-3-030-78710-3_37

Frishman, Samuel, Robert D. Ings, Vipul Sheth, Bruce L. Daniel, and Mark R. Cutkosky. "Extending Reach Inside the MRI Bore: a 7-DOF, Low-Friction, Hydrostatic Teleoperator." IEEE Transactions on Medical Robotics and Bionics (2021). DOI: 10.1109/TMRB.2021.3097123

Frishman, Samuel, et al. "Selectively Compliant Annuloplasty Ring to Enable Annular Dynamics in Mitral Valve Repair Evaluated by In-Vitro Stereovision." Frontiers in Biomedical Devices. Vol. 83549. ASME, 2020.

Paulsen, Michael J., Jung Hwa Bae, Annabel M. Imbrie-Moore, Hanjay Wang, Camille E. Hironaka, Justin M. Farry, Haley Lucian, Akshara D. Thakore, Mark R. Cutkosky, and Y. Joseph Woo. "Development and ex vivo validation of novel force-sensing neochordae for measuring chordae tendineae tension in the mitral valve apparatus using optical fibers with embedded Bragg gratings." Journal of biomechanical engineering 142, no. 1 (2020). https://doi.org/10.1115/1.4044142

Frishman, S., Kight, A., Pirozzi, I., Coffey, M.C., Daniel, B.L. and Cutkosky, M.R., "Enabling In-Bore MRI Guided Biopsies with Force Feedback," IEEE Transactions on Haptics (2020) 10.1109/TOH.2020.2967375

Burkhard, N.T., Steger, J.R. and Cutkosky, M.R., "The role of tissue slip feedback in robot-assisted surgery," ASME Journal of Medical Devices, 2019. doi:10.1115/1.4043018 (PDF).

Gruebele, A., Frishman S. and Cutkosky, M.R., "Long-stroke rolling diaphragm actuators for haptic display of forces in teleoperation," accepted for IEEE RA-Letters, 2019. (preprint)

Add page name to Attach so it works when this page is included in the main Publications list

Bae, J.H., Haptic Feedback System Design for MR-Guided Needle Intervention, Ph.D. thesis, Dept. of Mechanical Engineering, March 2018. (also at Stanford Libraries)

Burkhard, N.T., Sensing Slip of Grasped Biological Tissue in Minimally Invasive Surgery, Ph.D. thesis, Dept. of Mechanical Engineering, November 2018. (also at Stanford Libraries)

Lin, M. A., Siu, A. F., Bae, J., Cutkosky, M. R., Daniel, B. L., "HoloNeedle: Augmented Reality Guidance System for Needle Placement Investigating the Advantages of Three-Dimensional Needle Shape Reconstruction," IEEE RA-Letters, 2018; 3 (4): 4156–62

Burkhard, Natalie, Mark Cutkosky, and Ryan Steger. "Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery." IEEE Robotics and Automation Letters (2018). doi: 10.1109/LRA.2018.2863360. Available on IEEE.

Han, A.K.*, Bae, J.H.*, Gregoriou, K.C., Ploch, C.J., Goldman, R.E., Glover, G.H., Daniel, B.L. and Cutkosky, M.R., "MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures," IEEE Transactions on Haptics (2018). Available as Early Access

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

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)

Bae, J.H.*, Han, A.K.*, Ploch, C.J., Daniel, B.L., Cutkosky, M.R., "Haptic feedback of membrane puncture with an MR-compatible instrumented needle and electroactive polymer display," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Paper and Best Presentation Finalist

Bae, J.H., Ploch, C., Yang, M.A., Daniel, B.L., and Cutkosky, M.R., "Display of Needle Tip Contact Forces for Steering Guidance," Haptics Symposium 2016 IEEE, 332-337.

Burkhard, Natalie, Ryan Steger, and Mark Cutkosky. "Sensing slip of grasped wet, conformable objects." Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on. IEEE, 2017. (paper).

Burkhard, N., Frishman, S., Gruebele, A., Whitney, J.P., Goldman, R., Daniel, B.L., Cutkosky, M.R., "A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion," IEEE ICRA 2017 (pdf). Best Robotics Paper Finalist

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

Lin, M.A., Bae, J.H., Srinivasan, S., Perkins, S.L., Leuze, C., Hargreaves, B., Cutkosky, M.R., Daniel, B.L., “MRI-guided Needle Biopsy using Augmented Reality,” to be presented at International Society for Magnetic Resonance in Medicine 25th Annual Meeting and Exhibition (ISMRM 2017) (preprint).

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

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

8.  Tunable Impedance Publications

(from TunableImpedancePublications)

Han, A.K., Wang, S., Bae, J.H., Christensen, D.L., and Cutkosky, M.R., "Toward MR-Compatible Needle Tip Force Display using EAP Actuation," Haptics Symposium 2016 (preprint).

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.

9.  Human-Safe Robot Publications

(from HumanSafePublications)

Samson Phan, "Sensing and modeling collisions for safer human-robot interaction," PhD thesis, Stanford University, 2013

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.

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