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2019


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How do people learn how to plan?

Jain, Y. R., Gupta, S., Rakesh, V., Dayan, P., Callaway, F., Lieder, F.

Conference on Cognitive Computational Neuroscience, September 2019 (conference)

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[BibTex]

2019


[BibTex]


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What’s in the Adaptive Toolbox and How Do People Choose From It? Rational Models of Strategy Selection in Risky Choice

Mohnert, F., Pachur, T., Lieder, F.

41st Annual Meeting of the Cognitive Science Society, July 2019 (conference)

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[BibTex]


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Measuring how people learn how to plan

Jain, Y. R., Callaway, F., Lieder, F.

RLDM 2019, July 2019 (conference)

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[BibTex]

[BibTex]


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Measuring how people learn how to plan

Jain, Y. R., Callaway, F., Lieder, F.

41st Annual Meeting of the Cognitive Science Society, July 2019 (conference)

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[BibTex]

[BibTex]


Objective and Subjective Assessment of Algorithms for Reducing Three-Axis Vibrations to One-Axis Vibrations
Objective and Subjective Assessment of Algorithms for Reducing Three-Axis Vibrations to One-Axis Vibrations

Park, G., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference, pages: 467-472, July 2019 (inproceedings)

Abstract
A typical approach to creating realistic vibrotactile feedback is reducing 3D vibrations recorded by an accelerometer to 1D signals that can be played back on a haptic actuator, but some of the information is often lost in this dimensional reduction process. This paper describes seven representative algorithms and proposes four metrics based on the spectral match, the temporal match, and the average value and the variability of them across 3D rotations. These four performance metrics were applied to four texture recordings, and the method utilizing the discrete fourier transform (DFT) was found to be the best regardless of the sensing axis. We also recruited 16 participants to assess the perceptual similarity achieved by each algorithm in real time. We found the four metrics correlated well with the subjectively rated similarities for the six dimensional reduction algorithms, with the exception of taking the 3D vector magnitude, which was perceived to be good despite its low spectral and temporal match metrics.

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DOI [BibTex]

DOI [BibTex]


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A cognitive tutor for helping people overcome present bias

Lieder, F., Callaway, F., Jain, Y., Krueger, P., Das, P., Gul, S., Griffiths, T.

RLDM 2019, July 2019 (conference)

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[BibTex]

[BibTex]


Fingertip Interaction Metrics Correlate with Visual and Haptic Perception of Real Surfaces
Fingertip Interaction Metrics Correlate with Visual and Haptic Perception of Real Surfaces

Vardar, Y., Wallraven, C., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 395-400, Tokyo, Japan, July 2019 (inproceedings)

Abstract
Both vision and touch contribute to the perception of real surfaces. Although there have been many studies on the individual contributions of each sense, it is still unclear how each modality’s information is processed and integrated. To fill this gap, we investigated the similarity of visual and haptic perceptual spaces, as well as how well they each correlate with fingertip interaction metrics. Twenty participants interacted with ten different surfaces from the Penn Haptic Texture Toolkit by either looking at or touching them and judged their similarity in pairs. By analyzing the resulting similarity ratings using multi-dimensional scaling (MDS), we found that surfaces are similarly organized within the three-dimensional perceptual spaces of both modalities. Also, between-participant correlations were significantly higher in the haptic condition. In a separate experiment, we obtained the contact forces and accelerations acting on one finger interacting with each surface in a controlled way. We analyzed the collected fingertip interaction data in both the time and frequency domains. Our results suggest that the three perceptual dimensions for each modality can be represented by roughness/smoothness, hardness/softness, and friction, and that these dimensions can be estimated by surface vibration power, tap spectral centroid, and kinetic friction coefficient, respectively.

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Introducing the Decision Advisor: A simple online tool that helps people overcome cognitive biases and experience less regret in real-life decisions

Iwama, G., Greenberg, S., Moore, D., Lieder, F.

40th Annual Meeting of the Society for Judgement and Decision Making, June 2019 (conference)

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[BibTex]

[BibTex]


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.

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DOI [BibTex]


A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer
A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer

(Best Paper Award)

Ziyu Ren, T. W., Hu, W.

RSS 2019: Robotics: Science and Systems Conference, June 2019 (conference)

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[BibTex]

[BibTex]


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Internal Array Electrodes Improve the Spatial Resolution of Soft Tactile Sensors Based on Electrical Resistance Tomography

Lee, H., Park, K., Kim, J., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 5411-5417, Montreal, Canada, May 2019, Hyosang Lee and Kyungseo Park contributed equally to this publication (inproceedings)

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


Haptipedia: Accelerating Haptic Device Discovery to Support Interaction & Engineering Design
Haptipedia: Accelerating Haptic Device Discovery to Support Interaction & Engineering Design

Seifi, H., Fazlollahi, F., Oppermann, M., Sastrillo, J. A., Ip, J., Agrawal, A., Park, G., Kuchenbecker, K. J., MacLean, K. E.

In Proceedings of the ACM SIGCHI Conference on Human Factors in Computing Systems (CHI), Glasgow, Scotland, May 2019 (inproceedings)

Abstract
Creating haptic experiences often entails inventing, modifying, or selecting specialized hardware. However, experience designers are rarely engineers, and 30 years of haptic inventions are buried in a fragmented literature that describes devices mechanically rather than by potential purpose. We conceived of Haptipedia to unlock this trove of examples: Haptipedia presents a device corpus for exploration through metadata that matter to both device and experience designers. It is a taxonomy of device attributes that go beyond physical description to capture potential utility, applied to a growing database of 105 grounded force-feedback devices, and accessed through a public visualization that links utility to morphology. Haptipedia's design was driven by both systematic review of the haptic device literature and rich input from diverse haptic designers. We describe Haptipedia's reception (including hopes it will redefine device reporting standards) and our plans for its sustainability through community participation.

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Project Page [BibTex]

Project Page [BibTex]


Improving Haptic Adjective Recognition with Unsupervised Feature Learning
Improving Haptic Adjective Recognition with Unsupervised Feature Learning

Richardson, B. A., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 3804-3810, Montreal, Canada, May 2019 (inproceedings)

Abstract
Humans can form an impression of how a new object feels simply by touching its surfaces with the densely innervated skin of the fingertips. Many haptics researchers have recently been working to endow robots with similar levels of haptic intelligence, but these efforts almost always employ hand-crafted features, which are brittle, and concrete tasks, such as object recognition. We applied unsupervised feature learning methods, specifically K-SVD and Spatio-Temporal Hierarchical Matching Pursuit (ST-HMP), to rich multi-modal haptic data from a diverse dataset. We then tested the learned features on 19 more abstract binary classification tasks that center on haptic adjectives such as smooth and squishy. The learned features proved superior to traditional hand-crafted features by a large margin, almost doubling the average F1 score across all adjectives. Additionally, particular exploratory procedures (EPs) and sensor channels were found to support perception of certain haptic adjectives, underlining the need for diverse interactions and multi-modal haptic data.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Elastic modulus affects adhesive strength of gecko-inspired synthetics in variable temperature and humidity

Mitchell, CT, Drotlef, D, Dayan, CB, Sitti, M, Stark, AY

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E372-E372, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, March 2019 (inproceedings)

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[BibTex]

[BibTex]


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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]

[BibTex]


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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)

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[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)

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[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.

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DOI [BibTex]


Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy
Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Son, D., Gilbert, H., Sitti, M.

Soft robotics, Mary Ann Liebert, Inc., publishers 140 Huguenot Street, 3rd Floor New …, 2019 (article)

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[BibTex]

[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)

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[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)

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[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)

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[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)

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[BibTex]


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Welcome to Progress in Biomedical Engineering

Sitti, M.

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

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[BibTex]

[BibTex]


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Doing more with less: Meta-reasoning and meta-learning in humans and machines

Griffiths, T., Callaway, F., Chang, M., Grant, E., Krueger, P. M., Lieder, F.

Current Opinion in Behavioral Sciences, 2019 (article)

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DOI [BibTex]

DOI [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)

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[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)

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[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)

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[BibTex]

[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)

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[BibTex]

[BibTex]


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Cognitive Prostheses for Goal Achievement

Lieder, F., Chen, O. X., Krueger, P. M., Griffiths, T.

Nature Human Behavior, 2019 (article)

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DOI [BibTex]

DOI [BibTex]


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Remediating cognitive decline with cognitive tutors

Das, P., Callaway, F., Griffiths, T., Lieder, F.

RLDM 2019, 2019 (conference)

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[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)

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[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)

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[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)

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[BibTex]

[BibTex]


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Gecko-inspired composite microfibers for reversible adhesion on smooth and rough surfaces

Drotlef, D., Dayan, C., Sitti, M.

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E58-E58, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, 2019 (inproceedings)

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[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)

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[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)

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[BibTex]

[BibTex]