Header logo is


2019


Implementation of a 6-{DOF} Parallel Continuum Manipulator for Delivering Fingertip Tactile Cues
Implementation of a 6-DOF Parallel Continuum Manipulator for Delivering Fingertip Tactile Cues

Young, E. M., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 12(3):295-306, June 2019 (article)

Abstract
Existing fingertip haptic devices can deliver different subsets of tactile cues in a compact package, but we have not yet seen a wearable six-degree-of-freedom (6-DOF) display. This paper presents the Fuppeteer (short for Fingertip Puppeteer), a device that is capable of controlling the position and orientation of a flat platform, such that any combination of normal and shear force can be delivered at any location on any human fingertip. We build on our previous work of designing a parallel continuum manipulator for fingertip haptics by presenting a motorized version in which six flexible Nitinol wires are actuated via independent roller mechanisms and proportional-derivative controllers. We evaluate the settling time and end-effector vibrations observed during system responses to step inputs. After creating a six-dimensional lookup table and adjusting simulated inputs using measured Jacobians, we show that the device can make contact with all parts of the fingertip with a mean error of 1.42 mm. Finally, we present results from a human-subject study. A total of 24 users discerned 9 evenly distributed contact locations with an average accuracy of 80.5%. Translational and rotational shear cues were identified reasonably well near the center of the fingertip and more poorly around the edges.

hi

DOI Project Page [BibTex]


no image
How Does It Feel to Clap Hands with a Robot?

Fitter, N. T., Kuchenbecker, K. J.

International Journal of Social Robotics, 2019 (article) Accepted

Abstract
Future robots may need lighthearted physical interaction capabilities to connect with people in meaningful ways. To begin exploring how users perceive playful human–robot hand-to-hand interaction, we conducted a study with 20 participants. Each user played simple hand-clapping games with the Rethink Robotics Baxter Research Robot during a 1-h-long session involving 24 randomly ordered conditions that varied in facial reactivity, physical reactivity, arm stiffness, and clapping tempo. Survey data and experiment recordings demonstrate that this interaction is viable: all users successfully completed the experiment and mentioned enjoying at least one game without prompting. Hand-clapping tempo was highly salient to users, and human-like robot errors were more widely accepted than mechanical errors. Furthermore, perceptions of Baxter varied in the following statistically significant ways: facial reactivity increased the robot’s perceived pleasantness and energeticness; physical reactivity decreased pleasantness, energeticness, and dominance; higher arm stiffness increased safety and decreased dominance; and faster tempo increased energeticness and increased dominance. These findings can motivate and guide roboticists who want to design social–physical human–robot interactions.

hi

[BibTex]

[BibTex]


Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots
Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

pi

DOI [BibTex]


Thrust and Hydrodynamic Efficiency of the Bundled Flagella
Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

pi

[BibTex]

[BibTex]


Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots
Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

pi

[BibTex]

[BibTex]


no image
X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

mms pi

[BibTex]

[BibTex]


Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters
Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

pi

[BibTex]

[BibTex]


Multi-functional soft-bodied jellyfish-like swimming
Multi-functional soft-bodied jellyfish-like swimming

Ren, Z., Hu, W., Dong, X., Sitti, M.

Nature communications, 10, 2019 (article)

pi

[BibTex]


no image
Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

pi

[BibTex]

[BibTex]


The near and far of a pair of magnetic capillary disks
The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

pi

[BibTex]

[BibTex]


Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Song, S., Drotlef, D., Paik, J., Majidi, C., Sitti, M.

Extreme Mechanics Letters, Elsevier, 2019 (article)

pi

[BibTex]


Multifunctional and biodegradable self-propelled protein motors
Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

pi

[BibTex]

[BibTex]


Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design
Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

pi

[BibTex]

[BibTex]


Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus
Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

pi

[BibTex]

[BibTex]


ENGINEERING Bio-inspired robotic collectives
ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

pi

[BibTex]

[BibTex]


Shape-encoded dynamic assembly of mobile micromachines
Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

pi

[BibTex]

[BibTex]


Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications
Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

pi

[BibTex]

[BibTex]


Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules
Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

pi

[BibTex]

[BibTex]


Mobile microrobots for active therapeutic delivery
Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

pi

[BibTex]

[BibTex]


Learning to Navigate Endoscopic Capsule Robots
Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

pi

[BibTex]

[BibTex]


Order and Information in the Phases of a Torque-driven Artificial Collective System
Order and Information in the Phases of a Torque-driven Artificial Collective System

Wang, W., Gardi, G., Kishore, V., Koens, L., Son, D., Gilbert, H., Harwani, P., Lauga, E., Sitti, M.

arXiv preprint arXiv:1910.11226, 2019 (article)

pi

[BibTex]

[BibTex]


no image
Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

pi

[BibTex]

[BibTex]

2012


no image
Two-dimensional autonomous microparticle manipulation strategies for magnetic microrobots in fluidic environments

Pawashe, C., Floyd, S., Diller, E., Sitti, M.

IEEE Transactions on Robotics, 28(2):467-477, IEEE, 2012 (article)

pi

Project Page [BibTex]

2012


Project Page [BibTex]


no image
Three-dimensional microfiber devices that mimic physiological environments to probe cell mechanics and signaling

Ruder, W. C., Pratt, E. D., Bakhru, S., Sitti, M., Zappe, S., Cheng, C., Antaki, J. F., LeDuc, P. R.

Lab on a Chip, 12(10):1775-1779, Royal Society of Chemistry, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Active visual search in unknown environments using uncertain semantics

Aydemir, Alper, Pronobis, Andrzej, Jensfelt, Patric, Sj, Kristoffer, Aydemir, Alper, Jensfelt, Patric, Aydemir, A, Jensfelt, P, Aydemir, A, Jensfelt, P, others

Transactions, 1, pages: 2329-2335, IEEE, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Modelling of conductive atomic force microscope probes for scanning tunnelling microscope operation

Ozcan, O, Sitti, M

IET Micro \& Nano Letters, 7(4):329-333, IET, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Shape memory polymer-based flexure stiffness control in a miniature flapping-wing robot

Hines, L., Arabagi, V., Sitti, M.

IEEE Transactions on Robotics, 28(4):987-990, IEEE, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Micro-manipulation using rotational fluid flows induced by remote magnetic micro-manipulators

Ye, Z., Diller, E., Sitti, M.

Journal of Applied Physics, 112(6):064912, AIP, 2012 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Remotely addressable magnetic composite micropumps

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

Rsc Advances, 2(9):3850-3856, Royal Society of Chemistry, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Shape-Programmable Soft Capsule Robots for Semi-Implantable Drug Delivery

Yim, S., Sitti, M.

Mechatronics, IEEE/ASME Transactions on, 2012 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces

Diller, E., Floyd, S., Pawashe, C., Sitti, M.

IEEE Transactions on Robotics, 28(1):172-182, IEEE, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Gecko-Inspired Controllable Adhesive Structures Applied to Micromanipulation

Mengüç, Y., Yang, S. Y., Kim, S., Rogers, J. A., Sitti, M.

Advanced Functional Materials, 22(6):1245-1245, WILEY-VCH Verlag, 2012 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Elastomer surfaces with directionally dependent adhesion strength and their use in transfer printing with continuous roll-to-roll applications

Yang, S. Y., Carlson, A., Cheng, H., Yu, Q., Ahmed, N., Wu, J., Kim, S., Sitti, M., Ferreira, P. M., Huang, Y., others,

Advanced Materials, 24(16):2117-2122, WILEY-VCH Verlag, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Effect of retraction speed on adhesion of elastomer fibrillar structures

Abusomwan, U., Sitti, M.

Applied Physics Letters, 101(21):211907, AIP, 2012 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Impact and Surface Tension in Water: a Study of Landing Bodies

Shih, B., Laham, L., Lee, K. J., Krasnoff, N., Diller, E., Sitti, M.

Bio-inspired Robotics Final Project, Carnegie Mellon University, 2012 (article)

pi

[BibTex]

[BibTex]


no image
Design and rolling locomotion of a magnetically actuated soft capsule endoscope

Yim, S., Sitti, M.

IEEE Transactions on Robotics, 28(1):183-194, IEEE, 2012 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Design and manufacturing of a controllable miniature flapping wing robotic platform

Arabagi, V., Hines, L., Sitti, M.

The International Journal of Robotics Research, 31(6):785-800, SAGE Publications Sage UK: London, England, 2012 (article)

pi

[BibTex]

[BibTex]