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2015


3D-printed Soft Microrobot for Swimming in Biological Fluids
3D-printed Soft Microrobot for Swimming in Biological Fluids

Qiu, T., Palagi, S., Fischer, P.

In Conf. Proc. IEEE Eng. Med. Biol. Soc., pages: 4922-4925, August 2015 (inproceedings)

Abstract
Microscopic artificial swimmers hold the potential to enable novel non-invasive medical procedures. In order to ease their translation towards real biomedical applications, simpler designs as well as cheaper yet more reliable materials and fabrication processes should be adopted, provided that the functionality of the microrobots can be kept. A simple single-hinge design could already enable microswimming in non-Newtonian fluids, which most bodily fluids are. Here, we address the fabrication of such single-hinge microrobots with a 3D-printed soft material. Firstly, a finite element model is developed to investigate the deformability of the 3D-printed microstructure under typical values of the actuating magnetic fields. Then the microstructures are fabricated by direct 3D-printing of a soft material and their swimming performances are evaluated. The speeds achieved with the 3D-printed microrobots are comparable to those obtained in previous work with complex fabrication procedures, thus showing great promise for 3D-printed microrobots to be operated in biological fluids.

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link (url) DOI [BibTex]

2015


link (url) DOI [BibTex]


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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.

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DOI [BibTex]

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)

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[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)

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[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)

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[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)

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[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)

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[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)

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[BibTex]

[BibTex]


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Haptic Textures for Online Shopping

Culbertson, H., Kuchenbecker, K. J.

Interactive demonstrations in The Retail Collective exhibit, presented at the Dx3 Conference in Toronto, Canada, March 2015 (misc)

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[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.

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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.

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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)

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[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)

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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)

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[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)

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[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)

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[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)

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[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)

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[BibTex]

[BibTex]

2013


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Virtual Robotization of the Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. International Conference on Advances in Computer Entertainment Technology (ACE), 8253, pages: 109-122, Lecture Notes in Computer Science, Springer, Enschede, Netherlands, 2013, Oral presentation given by Kurihara. Best Paper Silver Award (inproceedings)

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[BibTex]

2013


[BibTex]


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Jointonation: Robotization of the Human Body by Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

Emerging Technologies Demonstration with Talk at ACM SIGGRAPH Asia, Hong Kong, November 2013, Hands-on demonstration given by Kurihara, Takei, and Nakai. Best Demonstration Award as voted by the Program Committee (misc)

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[BibTex]

[BibTex]


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Governance of Humanoid Robot Using Master Exoskeleton

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

In Proceedings of the IEEE International Symposium on Robotics (ISR), Seoul, South Korea, October 2013 (inproceedings)

Abstract
Dexto:Eka: is an adult-size humanoid robot being developed with the aim of achieving tele-presence. The paper sheds light on the control of this robot using a Master Exoskeleton which comprises of an Exo-Frame, a Control Column and a Graphical User Interface. It further illuminates the processes and algorithms that have been utilized to make an efficient system that would effectively emulate a tele-operator.

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DOI [BibTex]

DOI [BibTex]


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Virtual Robotization of the Human Body Using Vibration Recording, Modeling and Rendering

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, sep 2013, Paper written in Japanese. Presentation given by Kurihara (inproceedings)

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[BibTex]

[BibTex]


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Design and development part 2 of Dexto:Eka: - The humanoid robot

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

In Proceedings of the International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, August 2013 (inproceedings)

Abstract
Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.

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DOI [BibTex]

DOI [BibTex]


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Virtual Alteration of Body Material by Reality-Based Periodic Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Sato, M., Fukushima, S., Kuchenbecker, K. J., Kajimoto, H.

In Proc. JSME Robotics and Mechatronics Conference (ROBOMEC), Tsukuba, Japan, May 2013, Paper written in Japanese. Poster presentation given by {Kurihara} (inproceedings)

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[BibTex]

[BibTex]


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The Design and Field Observation of a Haptic Notification System for Oral Presentations

Tam, D., MacLean, K. E., McGrenere, J., Kuchenbecker, K. J.

In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages: 1689-1698, Paris, France, May 2013, Oral presentation given by Tam (inproceedings)

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[BibTex]

[BibTex]


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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 3048-3055, Karlsruhe, Germany, May 2013, Oral presentation given by Chu. Best Cognitive Robotics Paper Award (inproceedings)

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[BibTex]

[BibTex]


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Instrument contact vibrations are a construct-valid measure of technical skill in Fundamentals of Laparoscopic Surgery Training Tasks

Gomez, E. D., Aggarwal, R., McMahan, W., Koch, E., Hashimoto, D. A., Darzi, A., Murayama, K. M., Dumon, K. R., Williams, N. N., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Association for Surgical Education, Orlando, Florida, USA, 2013, Oral presentation given by Gomez (inproceedings)

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[BibTex]

[BibTex]


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Dynamic Simulation of Tool-Mediated Texture Interaction

McDonald, C. G., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 307-312, Daejeon, South Korea, April 2013, Oral presentation given by McDonald (inproceedings)

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[BibTex]

[BibTex]


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Generating Haptic Texture Models From Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Goodman, B. E., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 295-300, Daejeon, South Korea, April 2013, Oral presentation given by Culbertson. Finalist for Best Paper Award (inproceedings)

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[BibTex]

[BibTex]


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Data-Driven Modeling and Rendering of Isotropic Textures

Culbertson, H., McDonald, C. G., Goodman, B. E., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE World Haptics Conference, Daejeon, South Korea, April 2013, Best Demonstration Award (by audience vote) (misc)

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[BibTex]

[BibTex]


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A practical System for Recording Instrument Contacts and Collisions During Transoral Robotic Surgery

Gomez, E. D., Weinstein, G. S., O’Malley, J. B. W., McMahan, W., Chen, L., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013, Poster presentation given by Gomez (inproceedings)

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[BibTex]

[BibTex]


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Adding Haptics to Robotic Surgery

J. Kuchenbecker, K., Brzezinski, A., D. Gomez, E., Gosselin, M., Hui, J., Koch, E., Koehn, J., McMahan, W., Mahajan, K., Nappo, J., Shah, N.

Learning Center Station at SAGES (Society of American Gastrointestinal and Endoscopic Surgeons) Annual Meeting, Baltimore, Maryland, USA, April 2013 (misc)

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[BibTex]

[BibTex]


Self-tuning in Sliding Mode Control of High-Precision Motion Systems
Self-tuning in Sliding Mode Control of High-Precision Motion Systems

Heertjes, M. F., Vardar, Y.

In IFAC Proceedings Volumes, 46(5):13 - 19, 2013, 6th IFAC Symposium on Mechatronic Systems (inproceedings)

Abstract
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

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heertjes_ifac2013 link (url) DOI [BibTex]

heertjes_ifac2013 link (url) DOI [BibTex]


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Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video

Stueckler, J., Behnke, S.

In Proc. of the British Machine Vision Conference (BMVC), 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Mobile bin picking with an anthropomorphic service robot

Nieuwenhuisen, M., Droeschel, D., Holz, D., Stueckler, J., Berner, A., Li, J., Klein, R., Behnke, S.

In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages: 2327-2334, May 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner

Schadler, M., Stueckler, J., Behnke, S.

In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-6, October 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Joint detection and pose tracking of multi-resolution surfel models in RGB-D

McElhone, M., Stueckler, J., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 131-137, IEEE, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Distinctive 3D surface entropy features for place recognition.

Fiolka, T., Stueckler, J., Klein, D. A., Schulz, D., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 204-209, IEEE, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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A Practical System For Recording Instrument Interactions During Live Robotic Surgery

McMahan, W., Gomez, E. D., Chen, L., Bark, K., Nappo, J. C., Koch, E. I., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, 2013, Poster presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]


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Combining contour and shape primitives for object detection and pose estimation of prefabricated parts

Berner, A., Li, J., Holz, D., Stueckler, J., Behnke, S., Klein, R.

In Proc. of the 20th IEEE International Conference on Image Processing (ICIP), pages: 3326-3330, sep 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video

Stueckler, J., Behnke, S.

In Proc. of the 23rd International Joint Conference on Artificial Intelligence (IJCAI), IJCAI/AAAI, 2013 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]

2008


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A GPU-Based Approach for Real-Time Haptic Rendering of 3D Fluids

Yang, M., Lu, J., Zhou, Z., Safonova, A., Kuchenbecker, K. J.

In Proc. SIGGRAPH Asia Conference, Singapore, December 2008, Oral presentation given by Yang (inproceedings)

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[BibTex]

2008


[BibTex]


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A Practice-Integrated Curriculum in Mechanical Engineering

Yim, M., Kuchenbecker, K. J., Arratia, P., Bassani, J., Fiene, J. P., Kumar, V., Lukes, J.

In Proc. ASEE Annual Conference and Exposition, Pittsburgh, Pennsylvania, USA, June 2008, Oral presentation given by Yim (inproceedings)

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[BibTex]

[BibTex]


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Effects of Proprioceptive Motion Feedback on Sighted and Unsighted Control of a Virtual Hand Prosthesis

Blank, A., Okamura, A. M., Kuchenbecker, K. J.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 141-142, Reno, Nevada, USA, March 2008, Poster presentation given by Blank (inproceedings)

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[BibTex]

[BibTex]


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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction

Kuchenbecker, K. J., Ferguson, D., Kutzer, M., Moses, M., Okamura, A. M.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 239-246, Reno, Nevada, USA, March 2008, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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The Touch Thimble

Kuchenbecker, K. J., Ferguson, D., Kutzer, M., Moses, M., Okamura, A. M.

Hands-on demonstration presented at IEEE Haptics Symposium, Reno, Nevada, USA, March 2008 (misc)

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[BibTex]

[BibTex]


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Haptography: Capturing the Feel of Real Objects to Enable Authentic Haptic Rendering

Kuchenbecker, K. J.

In Proc. Haptic in Ambient Systems (HAS) Workshop, in conjunction with the First International Conference on Ambient Media and Systems, Montreal, Canada, February 2008 (inproceedings)

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[BibTex]

[BibTex]


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In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images

Stueckler, J., Schulz, H., Behnke, S.

In Proceedings of Robotik 2008, 2008 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Orthogonal wall correction for visual motion estimation

Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 1-6, May 2008 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]