Hannah Stuart


I focus primarily on improving the dexterity of highly under-actuated fingers and hands, with a special interest in marine applications. More information at: Underwater Manipulation

Marine manipulation: Ocean One hands and suction flow

My primary motivation has been the submersible humanoid Ocean One, a robot intended to bring intuitive telepresence to delicate marine environments. The adaptive, multifinger, tendon-driven Ocean One Hands are controlled from a haptic console. They can perform both precision pinches and strong wrap grasps with a single actuator. My thesis includes (1) task-specific finger and transmission design for controllable grasp force distribution, (2) evaluation of performance intended to guide teleoperator control of the hands, and (3) field testing during Ocean One’s maiden mission to the La Lune shipwreck. I am also exploring the addition of gentle suction flow to the fingertips as a way to enhance and sense contact, especially with light and slippery objects underwater. I have implemented dynamic simulations to efficiently analyze grasp performance and understand complex parametric design trends. These are validated with experimental methods and multi-material mechanism prototyping using a mix of 3D printing and conventional fabrication techniques.

hstuart [sticky] stanford [bot] edu -> mailto:hstuart [sticky] stanford [bot] edu

During the La Lune mission. Stanford Press Release



Stuart, H. and Cutkosky, M. A compliant underactuated hand with an adjustable dual-stiffness spring transmission. (Patent pending)

Journal Articles

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. (Prepublished)

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.” Robotics & Automation Magazine. Link

Aukes, D. M., Heyneman, B., Ulmen, J., Stuart, H., Cutkosky, M. R., Kim, S., Garcia, P., Edsinger, A. (2014). Design and testing of a selectively compliant underactuated hand. The International Journal of Robotics Research. Link

Dastoor, S., Weiss, S., Stuart, H., Cutkosky, M. (2012). Jumping Robot with a Tunable Suspension Based on Artificial Muscles. Biomimetic and Biohybrid Systems: Lecture Notes in Computer Science Volume 7375: pp 95-106. Link

Conference Publications

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

Stuart, H. S., Wang, S., Gardineer, B. G., Christensen, D. L., Aukes, D. M., & Cutkosky, M. A compliant underactuated hand for underwater mobile manipulation. In 2014 IEEE International Conference on Robotics and Automation. Link

Stuart, H., Inman, K., & Wang, X. (2013). Initial Development of a Method for Optical Measurement of Water Droplet Formation in the Cathode Flow Channel of a PEM Fuel Cell. In ASME 2013 11th International Conference on Fuel Cell Science, Engineering and Technology. Link


CNN: http://edition.cnn.com/2016/05/01/tech/oceanone-robo-mermaid/index.html

Fox News: http://www.foxnews.com/tech/2016/04/28/this-humanoid-robot-diver-is-submersible-avatar.html

IEEE Spectrum: http://spectrum.ieee.org/automaton/robotics/humanoids/stanford-ocean-one-humanoid-diving-robot

Gizmodo: http://gizmodo.com/tag/oceanone

Engadget: http://www.engadget.com/2016/04/27/stanford-humanoid-robotic-diver-oceanone/

Page last modified on March 21, 2017, at 03:51 PM