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2017


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Synchronicity Trumps Mischief in Rhythmic Human-Robot Social-Physical Interaction

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

In Proceedings of the International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017 (inproceedings) In press

Abstract
Hand-clapping games and other forms of rhythmic social-physical interaction might help foster human-robot teamwork, but the design of such interactions has scarcely been explored. We leveraged our prior work to enable the Rethink Robotics Baxter Research Robot to competently play one-handed tempo-matching hand-clapping games with a human user. To understand how such a robot’s capabilities and behaviors affect user perception, we created four versions of this interaction: the hand clapping could be initiated by either the robot or the human, and the non-initiating partner could be either cooperative, yielding synchronous motion, or mischievously uncooperative. Twenty adults tested two clapping tempos in each of these four interaction modes in a random order, rating every trial on standardized scales. The study results showed that having the robot initiate the interaction gave it a more dominant perceived personality. Despite previous results on the intrigue of misbehaving robots, we found that moving synchronously with the robot almost always made the interaction more enjoyable, less mentally taxing, less physically demanding, and lower effort for users than asynchronous interactions caused by robot or human mischief. Taken together, our results indicate that cooperative rhythmic social-physical interaction has the potential to strengthen human-robot partnerships.

hi

[BibTex]

2017


[BibTex]


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From Monocular SLAM to Autonomous Drone Exploration

von Stumberg, L., Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In European Conference on Mobile Robots (ECMR), September 2017 (inproceedings)

ev

[BibTex]

[BibTex]


A Robotic Framework to Overcome Sensory Overload in Children on the Autism Spectrum: A Pilot Study
A Robotic Framework to Overcome Sensory Overload in Children on the Autism Spectrum: A Pilot Study

Javed, H., Burns, R., Jeon, M., Howard, A., Park, C. H.

In International Conference on Intelligent Robots and Systems (IROS) 2017, International Conference on Intelligent Robots and Systems, September 2017 (inproceedings)

Abstract
This paper discusses a novel framework designed to provide sensory stimulation to children with Autism Spectrum Disorder (ASD). The set up consists of multi-sensory stations to stimulate visual/auditory/olfactory/gustatory/tactile/vestibular senses, together with a robotic agent that navigates through each station responding to the different stimuli. We hypothesize that the robot’s responses will help children learn acceptable ways to respond to stimuli that might otherwise trigger sensory overload. Preliminary results from a pilot study conducted to examine the effectiveness of such a setup were encouraging and are described briefly in this text.

hi

[BibTex]

[BibTex]


An Interactive Robotic System for Promoting Social Engagement
An Interactive Robotic System for Promoting Social Engagement

Burns, R., Javed, H., Jeon, M., Howard, A., Park, C. H.

In International Conference on Intelligent Robots and Systems (IROS) 2017, International Conference on Intelligent Robots and Systems, September 2017 (inproceedings)

Abstract
This abstract (and poster) is a condensed version of Burns' Master's thesis and related journal article. It discusses the use of imitation via robotic motion learning to improve human-robot interaction. It focuses on the preliminary results from a pilot study of 12 subjects. We hypothesized that the robot's use of imitation will increase the user's openness towards engaging with the robot. Post-imitation, experimental subjects displayed a more positive emotional state, had higher instances of mood contagion towards the robot, and interpreted the robot to have a higher level of autonomy than their control group counterparts. These results point to an increased user interest in engagement fueled by personalized imitation during interaction.

hi

[BibTex]

[BibTex]


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Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps

Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, Lisbon, Portugal, August 2017 (inproceedings)

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Towards quantifying dynamic human-human physical interactions for robot assisted stroke therapy

Mohan, M., Mendonca, R., Johnson, M. J.

In Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), London, UK, July 2017 (inproceedings)

Abstract
Human-Robot Interaction is a prominent field of robotics today. Knowledge of human-human physical interaction can prove vital in creating dynamic physical interactions between human and robots. Most of the current work in studying this interaction has been from a haptic perspective. Through this paper, we present metrics that can be used to identify if a physical interaction occurred between two people using kinematics. We present a simple Activity of Daily Living (ADL) task which involves a simple interaction. We show that we can use these metrics to successfully identify interactions.

hi

DOI [BibTex]

DOI [BibTex]


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Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display

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

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, Munich, Germany, June 2017, Finalist for best poster paper (inproceedings)

Abstract
Despite rapid advancements in the field of fingertip haptics, rendering tactile cues with six degrees of freedom (6 DOF) remains an elusive challenge. In this paper, we investigate the potential of displaying fingertip haptic sensations with a 6-DOF parallel continuum manipulator (PCM) that mounts to the user's index finger and moves a contact platform around the fingertip. Compared to traditional mechanisms composed of rigid links and discrete joints, PCMs have the potential to be strong, dexterous, and compact, but they are also more complicated to design. We define the design space of 6-DOF parallel continuum manipulators and outline a process for refining such a device for fingertip haptic applications. Following extensive simulation, we obtain 12 designs that meet our specifications, construct a manually actuated prototype of one such design, and evaluate the simulation's ability to accurately predict the prototype's motion. Finally, we demonstrate the range of deliverable fingertip tactile cues, including a normal force into the finger and shear forces tangent to the finger at three extreme points on the boundary of the fingertip.

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, Munich, Germany, June 2017 (inproceedings)

Abstract
Clever electromechanical design is required to make the force feedback delivered by a kinesthetic haptic interface both strong and safe. This paper explores a onedimensional haptic force display that combines a DC motor and a magnetic particle brake on the same shaft. Rather than a rigid linkage, a spooled cable connects the user to the actuators to enable a large workspace, reduce the moving mass, and eliminate the sticky residual force from the brake. This design combines the high torque/power ratio of the brake and the active output capabilities of the motor to provide a wider range of forces than can be achieved with either actuator alone. A prototype of this device was built, its performance was characterized, and it was used to simulate constant force sources and virtual springs and dampers. Compared to the conventional design of using only a motor, the hybrid device can output higher unidirectional forces at the expense of free space feeling less free.

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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A Stimulus-Response Model Of Therapist-Patient Interactions In Task-Oriented Stroke Therapy Can Guide Robot-Patient Interactions

Johnson, M., Mohan, M., Mendonca, R.

In Proceedings of the Annual Rehabilitation Engineering and Assistive Technology Society of North America (RESNA) Conference, New Orleans, USA, June 2017 (inproceedings)

Abstract
Current robot-patient interactions do not accurately model therapist-patient interactions in task-oriented stroke therapy. We analyzed patient-therapist interactions in task-oriented stroke therapy captured in 8 videos. We developed a model of the interaction between a patient and a therapist that can be overlaid on a stimulus-response paradigm where the therapist and the patient take on a set of acting states or roles and are motivated to move from one role to another when certain physical or verbal stimuli or cues are sensed and received. We examined how the model varies across 8 activities of daily living tasks and map this to a possible model for robot-patient interaction.

hi

link (url) [BibTex]

link (url) [BibTex]


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A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training

Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, Munich, Germany, June 2017 (inproceedings)

Abstract
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether it holds the potential to train novice da Vinci users to reduce the force they exert on a bimanual inanimate training task. Subjects were randomly divided into two groups according to a multiple baseline experimental design. Each of the ten participants moved a ring along a curved wire nine times while the haptic feedback was conditionally withheld, provided, and withheld again. The realtime tactile feedback of applied force magnitude significantly reduced the integral of the force produced by the da Vinci tools on the task materials, and this result remained even when the haptic feedback was removed. Overall, our findings suggest that wrist-squeezing force feedback can play an essential role in helping novice trainees learn to minimize the force they exert with a surgical robot.

hi

DOI [BibTex]

DOI [BibTex]


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Handling Scan-Time Parameters in Haptic Surface Classification

Burka, A., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, Munich, Germany, June 2017 (inproceedings)

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder

Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, Singapore, May 2017 (inproceedings)

Abstract
The Portable Robotic Optical/Tactile ObservatioN PACKage (PROTONPACK, or Proton for short) is a new handheld visuo-haptic sensing system that records surface interactions. We previously demonstrated system calibration and a classification task using external motion tracking. This paper details improvements in surface classification performance and removal of the dependence on external motion tracking, necessary before embarking on our goal of gathering a vast surface interaction dataset. Two experiments were performed to refine data collection parameters. After adjusting the placement and filtering of the Proton's high-bandwidth accelerometers, we recorded interactions between two differently-sized steel tooling ball end-effectors (diameter 6.35 and 9.525 mm) and five surfaces. Using features based on normal force, tangential force, end-effector speed, and contact vibration, we trained multi-class SVMs to classify the surfaces using 50 ms chunks of data from each end-effector. Classification accuracies of 84.5% and 91.5% respectively were achieved on unseen test data, an improvement over prior results. In parallel, we pursued on-board motion tracking, using the Proton's camera and fiducial markers. Motion tracks from the external and onboard trackers agree within 2 mm and 0.01 rad RMS, and the accuracy decreases only slightly to 87.7% when using onboard tracking for the 9.525 mm end-effector. These experiments indicate that the Proton 2 is ready for portable data collection.

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


Robot Therapist for Assisting in At-Home Rehabilitation of Shoulder Surgery Patients
Robot Therapist for Assisting in At-Home Rehabilitation of Shoulder Surgery Patients

(Recipient of Innovation & Entrepreneurship Prize)

Burns, R., Alborz, M., Chalup, Z., Downen, S., Genuino, K., Nayback, C., Nesbitt, N., Park, C. H.

In 2017 GW Research Days, Department of Biomedical Engineering Posters and Presentations, April 2017 (inproceedings)

Abstract
The number of middle-aged to elderly patients receiving shoulder surgery is increasing. However, statistically, very few of these patients perform the necessary at-home physical therapy regimen they are prescribed post-surgery. This results in longer recovery times and/or incomplete healing. We propose the use of a robotic therapist, with customized training and encouragement regimens, to increase physical therapy adherence and improve the patient’s recovery experience.

hi

link (url) [BibTex]

link (url) [BibTex]


Motion Learning for Emotional Interaction and Imitation of Children with Autism Spectrum Disorder
Motion Learning for Emotional Interaction and Imitation of Children with Autism Spectrum Disorder

(First place tie in category, "Biomedical Engineering, Graduate Research")

Burns, R., Cowin, S.

In 2017 GW Research Days, Department of Biomedical Engineering Posters and Presentations, April 2017 (inproceedings)

Abstract
We aim to use motion learning to teach a robot to imitate people's unique gestures. Our robot, ROBOTIS-OP2, can ultimately use imitation to practice social skills with children with autism. In this abstract, two methods of motion learning were compared: Dynamic motion primitives with least squares (DMP with WLS), and Dynamic motion primitives with a Gaussian Mixture Regression (DMP with GMR). Movements with sharp turns were most accurately reproduced using DMP with GMR. Additionally, more states are required to accurately recreate more complex gestures.

hi

link (url) [BibTex]

link (url) [BibTex]


Roughness perception of virtual textures displayed by electrovibration on touch screens
Roughness perception of virtual textures displayed by electrovibration on touch screens

Vardar, Y., Isleyen, A., Saleem, M. K., Basdogan, C.

In 2017 IEEE World Haptics Conference (WHC), pages: 263-268, 2017 (inproceedings)

Abstract
In this study, we have investigated the human roughness perception of periodical textures on an electrostatic display by conducting psychophysical experiments with 10 subjects. To generate virtual textures, we used low frequency unipolar pulse waves in different waveform (sinusoidal, square, saw-tooth, triangle), and spacing. We modulated these waves with a 3kHz high frequency sinusoidal carrier signal to minimize perceptional differences due to the electrical filtering of human finger and eliminate low-frequency distortions. The subjects were asked to rate 40 different macro textures on a Likert scale of 1-7. We also collected the normal and tangential forces acting on the fingers of subjects during the experiment. The results of our user study showed that subjects perceived the square wave as the roughest while they perceived the other waveforms equally rough. The perceived roughness followed an inverted U-shaped curve as a function of groove width, but the peak point shifted to the left compared to the results of the earlier studies. Moreover, we found that the roughness perception of subjects is best correlated with the rate of change of the contact forces rather than themselves.

hi

vardar_whc2017 DOI [BibTex]

vardar_whc2017 DOI [BibTex]


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Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras

Ma, L., Stueckler, J., Kerl, C., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017 (inproceedings)

ev

[BibTex]

[BibTex]


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Accurate depth and normal maps from occlusion-aware focal stack symmetry

Strecke, M., Alperovich, A., Goldluecke, B.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Feeling multiple edges: The tactile perception of short ultrasonic square reductions of the finger-surface friction

Gueorguiev, D., Vezzoli, E., Sednaoui, T., Grisoni, L., Lemaire-Semail, B.

In 2017 IEEE World Haptics Conference (WHC), pages: 125-129, 2017 (inproceedings)

hi

DOI [BibTex]

DOI [BibTex]


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Semi-Supervised Deep Learning for Monocular Depth Map Prediction

Kuznietsov, Y., Stueckler, J., Leibe, B.

In IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2017 (inproceedings)

ev

[BibTex]

[BibTex]


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Shadow and Specularity Priors for Intrinsic Light Field Decomposition

Alperovich, A., Johannsen, O., Strecke, M., Goldluecke, B.

In Energy Minimization Methods in Computer Vision and Pattern Recognition (EMMCVPR), 2017 (inproceedings)

ev

link (url) [BibTex]

link (url) [BibTex]


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Keyframe-Based Visual-Inertial Online SLAM with Relocalization

Kasyanov, A., Engelmann, F., Stueckler, J., Leibe, B.

In IEEE/RSJ Int. Conference on Intelligent Robots and Systems, IROS, 2017 (inproceedings)

ev

[BibTex]

[BibTex]


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SAMP: Shape and Motion Priors for 4D Vehicle Reconstruction

Engelmann, F., Stueckler, J., Leibe, B.

In IEEE Winter Conference on Applications of Computer Vision, WACV, 2017 (inproceedings)

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[BibTex]

[BibTex]

2015


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Assessing human-human therapy kinematics for retargeting to human-robot therapy

Johnson, M. J., Christopher, S. M., Mohan, M., Mendonca, R.

In Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, August 2015 (inproceedings)

Abstract
In this paper, we present experiments examining the accuracy of data collected from a Kinect sensor for capturing close interactive actions of a therapist with a patient during stroke rehabilitation. Our long-term goal is to map human-human interactions such as these patient-therapist ones onto human-robot interactions. In many robot interaction scenarios, the robot does not mimic interaction between two or more humans, which is a major part of stroke therapy. The Kinect works for functional tasks such as a reaching task where the interaction to be retargeted by the robot is minimal to none; though this data is not good for a functional task involving touching another person. We demonstrate that the noisy data from Kinect does not produce a system robust enough to be for remapping to a humanoid robot a therapit's movements when in contact with a person.

hi

DOI [BibTex]

2015


DOI [BibTex]


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Toward a large-scale visuo-haptic dataset for robotic learning

Burka, A., Hu, S., Krishnan, S., Kuchenbecker, K. J., Hendricks, L. A., Gao, Y., Darrell, T.

In Proc. CVPR Workshop on the Future of Datasets in Vision, 2015 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Detecting Lumps in Simulated Tissue via Palpation with a BioTac

Hui, J., Block, A., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, 2015, Work-in-progress paper. Poster presentation given by Hui (inproceedings)

hi

[BibTex]

[BibTex]


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Analysis of the Instrument Vibrations and Contact Forces Caused by an Expert Robotic Surgeon Doing FRS Tasks

Brown, J. D., O’Brien, C., Miyasaka, K., Dumon, K. R., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 75-76, London, England, June 2015, Poster presentation given by Brown (inproceedings)

hi

[BibTex]

[BibTex]


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Should Haptic Texture Vibrations Respond to User Force and Speed?

Culbertson, H., Kuchenbecker, K. J.

In IEEE World Haptics Conference, pages: 106 - 112, Evanston, Illinois, USA, June 2015, Oral presentation given by Culbertson (inproceedings)

hi

[BibTex]

[BibTex]


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Enabling the Baxter Robot to Play Hand-Clapping Games

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

In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Using IMU Data to Teach a Robot Hand-Clapping Games

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

In Proc. IEEE Haptics Symposium, pages: 353-355, April 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Haptic Feedback in Transoral Robotic Surgery: A Feasibility Study

Bur, A. M., Gomez, E. D., Rassekh, C. H., Newman, J. G., Weinstein, G. S., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society at COSM, April 2015, Poster presentation given by Bur (inproceedings)

hi

[BibTex]

[BibTex]


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Human Machine Interface for Dexto Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Chennai, India, Febuary 2015 (inproceedings)

Abstract
This paper illustrates hybrid control system of the humanoid robot, Dexto:Eka: focusing on the dependent or slave mode. Efficiency of any system depends on the fluid operation of its control system. Here, we elucidate the control of 12 DoF robotic arms and an omnidirectional mecanum wheel drive using an exo-frame, and a Graphical User Interface (GUI) and a control column. This paper comprises of algorithms, control mechanisms and overall flow of execution for the regulation of robotic arms, graphical user interface and locomotion.

hi

DOI [BibTex]

DOI [BibTex]


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Conception and development of Dexto:Eka: The Humanoid Robot - Part IV

Kumra, S., Mohan, M., Vaswani, H., Gupta, S.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Febuary 2015 (inproceedings)

Abstract
This paper elucidates the fourth phase of the development of `Dexto:Eka: - The Humanoid Robot'. It lays special emphasis on the conception of the locomotion drive and the development of vision based system that aids navigation and tele-operation. The first three phases terminated with the completion of two robotic arms with six degrees of freedom each, structural development and the creation of a human machine interface that included an exo-frame, a control column and a graphical user interface. This phase also involved the enhancement of the exo-frame to a vision based system using a Kinect camera. The paper also focuses on the reasons behind choosing the locomotion drive and the benefits it has.

hi

DOI [BibTex]

DOI [BibTex]


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Design and Validation of a Practical Simulator for Transoral Robotic Surgery

Bur, A. M., Gomez, E. D., Chalian, A. A., Newman, J. G., Weinstein, G. S., Kuchenbecker, K. J.

In Proc. Society for Robotic Surgery Annual Meeting: Transoral Program, (T8), February 2015, Oral presentation given by Bur (inproceedings)

hi

[BibTex]

[BibTex]


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Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing

Holz, D., Topalidou-Kyniazopoulou, A., Stueckler, J., Behnke, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

ev

link (url) [BibTex]

link (url) [BibTex]


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Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras

Kerl, C., Stueckler, J., Cremers, D.

In IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, 2015, {[video][supplementary][datasets]} (inproceedings)

ev

[BibTex]

[BibTex]


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Large-Scale Direct SLAM with Stereo Cameras

Engel, J., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

ev

[BibTex]

[BibTex]


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Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images

Jaimez, M., Souiai, M., Stueckler, J., Gonzalez-Jimenez, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015, {[video]} (inproceedings)

ev

[BibTex]

[BibTex]


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Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures

Maier, R., Stueckler, J., Cremers, D.

In International Conference on 3D Vision (3DV), October 2015, {[slides] [poster]} (inproceedings)

ev

[BibTex]

[BibTex]


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Reconstructing Street-Scenes in Real-Time From a Driving Car

Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015 (inproceedings)

ev

[BibTex]

[BibTex]

2012


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Surgical Instrument Vibrations are a Construct-Valid Measure of Technical Skill in Robotic Peg Transfer and Suturing Tasks

Bark, K., Gomez, E. D., Rivera, C., McMahan, W., Remington, A., Murayama, K., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 50-51, London, England, July 2012, Oral presentation given by Bark (inproceedings)

hi

[BibTex]

2012


[BibTex]


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Spectral Subtraction of Robot Motion Noise for Improved Vibrotactile Event Detection

McMahan, W., Kuchenbecker, K. J.

In Haptics: Perception, Devices, Mobility, and Communication: Proc. EuroHaptics, Part I, 7282, pages: 326-337, Lecture Notes in Computer Science, Springer, Tampere, Finland, June 2012, Oral presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data

Culbertson, H., Romano, J. M., Castillo, P., Mintz, M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 385-391, Vancouver, Canada, March 2012, Poster presentation given by Culbertson (inproceedings)

hi

[BibTex]

[BibTex]


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VerroTouch: Detection of Instrument Vibrations for Haptic Feedback and Skill Assessment in Robotic Surgery

Gomez, E. D., Bark, K., McMahan, W., Rivera, C., Remington, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), San Diego, California, USA, March 2012, Emerging Technology Poster presentation given by Gomez. Poster available at \href{http://thesagesmeeting.org/}{http://thesagesmeeting.org/} (inproceedings)

hi

[BibTex]

[BibTex]


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Using Accelerometers to Localize Tactile Contact Events on a Robot Arm

McMahan, W., Romano, J. M., Kuchenbecker, K. J.

In Proc. Workshop on Advances in Tactile Sensing and Touch-Based Human-Robot Interaction, ACM/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, March 2012, Oral presentation given by McMahan (inproceedings)

hi

[BibTex]

[BibTex]


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Recreating the feel of the human chest in a CPR manikin via programmable pneumatic damping

Stanley, A. A., Healey, S. K., Maltese, M. R., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 37-44, Vancouver, Canada, March 2012, Oral presentation given by Stanley (inproceedings)

hi

[BibTex]

[BibTex]


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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation

Wang, Y., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 527-532, Vancouver, Canada, March 2012, Poster presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Model Learning and Real-Time Tracking Using Multi-Resolution Surfel Maps

Stueckler, J., Behnke, S.

Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2012 (conference)

ev

link (url) [BibTex]

link (url) [BibTex]


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VerroTeach: Visuo-audio-haptic Training for Dental Caries Detection

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

In Proc. Annual American Dental Educator’s Association (ADEA) Conference, Orlando, Florida, 2012, Oral presentation given by Maggio (inproceedings)

hi

[BibTex]

[BibTex]


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A Data-Driven Method for Determining Natural Human-Robot Motion Mappings in Teleoperation

Pierce, R. M., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics, pages: 169-176, Rome, Italy, 2012, Poster presentation given by Pierce (inproceedings)

hi

[BibTex]

[BibTex]


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Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot

Hubert, U., Stueckler, J., Behnke, S.

In Proc. of the 12th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 618-624, November 2012 (inproceedings)

ev

link (url) DOI [BibTex]

link (url) DOI [BibTex]