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2019


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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.

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[BibTex]

2019


[BibTex]

2017


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Evaluation of High-Fidelity Simulation as a Training Tool in Transoral Robotic Surgery

Bur, A. M., Gomez, E. D., Newman, J. G., Weinstein, G. S., Bert W. O’Malley, J., Rassekh, C. H., Kuchenbecker, K. J.

Laryngoscope, 127(12):2790-2795, December 2017 (article)

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DOI [BibTex]

2017


DOI [BibTex]


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Using Contact Forces and Robot Arm Accelerations to Automatically Rate Surgeon Skill at Peg Transfer

Brown, J. D., O’Brien, C. E., Leung, S. C., Dumon, K. R., Lee, D. I., Kuchenbecker, K. J.

IEEE Transactions on Biomedical Engineering, 64(9):2263-2275, September 2017 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Ungrounded Haptic Augmented Reality System for Displaying Texture and Friction

Culbertson, H., Kuchenbecker, K. J.

IEEE/ASME Transactions on Mechatronics, 22(4):1839-1849, August 2017 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Perception of Force and Stiffness in the Presence of Low-Frequency Haptic Noise

Gurari, N., Okamura, A. M., Kuchenbecker, K. J.

PLoS ONE, 12(6):e0178605, June 2017 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Evaluation of a Vibrotactile Simulator for Dental Caries Detection

Kuchenbecker, K. J., Parajon, R., Maggio, M. P.

Simulation in Healthcare, 12(3):148-156, June 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces

Culbertson, H., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 10(1):63-74, January 2017 (article)

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[BibTex]


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Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task

Khurshid, R. P., Fitter, N. T., Fedalei, E. A., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 10(1):40-53, January 2017 (article)

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[BibTex]

[BibTex]