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2019


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Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg

Ruppert, F., Badri-Spröwitz, A.

Frontiers in Neurorobotics, 64, pages: 13, 13, August 2019 (article)

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Frontiers YouTube link (url) DOI [BibTex]

2019


Frontiers YouTube link (url) DOI [BibTex]


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Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

Steve Heim, , Spröwitz, A.

IEEE Transactions on Robotics (T-RO) , 35(4), pages: 939-952, August 2019 (article)

Abstract
Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural dynamics and how to quantify its effect. Most studies of simple walking and running models have focused on the basins of attraction of passive limit cycles and the notion of self-stability. We instead emphasize the importance of stepping beyond basins of attraction. In this paper, we show an approach based on viability theory to quantify robust sets in state-action space. These sets are valid for the family of all robust control policies, which allows us to quantify the robustness inherent to the natural dynamics before designing the control policy or specifying a control objective. We illustrate our formulation using spring-mass models, simple low-dimensional models of running systems. We then show an example application by optimizing robustness of a simulated planar monoped, using a gradient-free optimization scheme. Both case studies result in a nonlinear effective stiffness providing more robustness.

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arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]

arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [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]


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Spatial Continuity Effect vs. Spatial Contiguity Failure. Revising the Effects of Spatial Proximity Between Related and Unrelated Representations

Beege, M., Wirzberger, M., Nebel, S., Schneider, S., Schmidt, N., Rey, G. D.

Frontiers in Education, 4:86, 2019 (article)

Abstract
The split-attention effect refers to learning with related representations in multimedia. Spatial proximity and integration of these representations are crucial for learning processes. The influence of varying amounts of proximity between related and unrelated information has not yet been specified. In two experiments (N1 = 98; N2 = 85), spatial proximity between a pictorial presentation and text labels was manipulated (high vs. medium vs. low). Additionally, in experiment 1, a control group with separated picture and text presentation was implemented. The results revealed a significant effect of spatial proximity on learning performance. In contrast to previous studies, the medium condition leads to the highest transfer, and in experiment 2, the highest retention score. These results are interpreted considering cognitive load and instructional efficiency. Findings indicate that transfer efficiency is optimal at a medium distance between representations in experiment 1. Implications regarding the spatial contiguity principle and the spatial contiguity failure are discussed.

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link (url) DOI [BibTex]


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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]


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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]


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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]


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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]


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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]


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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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Effects of system response delays on elderly humans’ cognitive performance in a virtual training scenario

Wirzberger, M., Schmidt, R., Georgi, M., Hardt, W., Brunnett, G., Rey, G. D.

Scientific Reports, 9:8291, 2019 (article)

Abstract
Observed influences of system response delay in spoken human-machine dialogues are rather ambiguous and mainly focus on perceived system quality. Studies that systematically inspect effects on cognitive performance are still lacking, and effects of individual characteristics are also often neglected. Building on benefits of cognitive training for decelerating cognitive decline, this Wizard-of-Oz study addresses both issues by testing 62 elderly participants in a dialogue-based memory training with a virtual agent. Participants acquired the method of loci with fading instructional guidance and applied it afterward to memorizing and recalling lists of German nouns. System response delays were randomly assigned, and training performance was included as potential mediator. Participants’ age, gender, and subscales of affinity for technology (enthusiasm, competence, positive and negative perception of technology) were inspected as potential moderators. The results indicated positive effects on recall performance with higher training performance, female gender, and less negative perception of technology. Additionally, memory retention and facets of affinity for technology moderated increasing system response delays. Participants also provided higher ratings in perceived system quality with higher enthusiasm for technology but reported increasing frustration with a more positive perception of technology. Potential explanations and implications for the design of spoken dialogue systems are discussed.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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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]


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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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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)

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[BibTex]

[BibTex]


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A rational reinterpretation of dual process theories

Milli, S., Lieder, F., Griffiths, T.

2019 (article)

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DOI [BibTex]

DOI [BibTex]

2013


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Two-dimensional magnetic micro-module reconfigurations based on inter-modular interactions

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

The International Journal of Robotics Research, 32(5):591-613, SAGE Publications Sage UK: London, England, 2013 (article)

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[BibTex]

[BibTex]


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Contact compliance effects in the frictional response of bioinspired fibrillar adhesives

Piccardo, M., Chateauminois, A., Fretigny, C., Pugno, N. M., Sitti, M.

Journal of The Royal Society Interface, 10(83):20130182, The Royal Society, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Co-chairs

VINCENT, Julian, ZHU, Di, DAI, Zhendong, CHEN, Da, JIANG, Lei, KANG, Le, REN, Luquan, XUE, Qunji, Zhao, Chunsheng, BARNES, Jon, others

2013 (article)

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[BibTex]

[BibTex]


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Topological Control of Cell Sheet Migration by the 3D Microenvironment

Song, J., Kim, Y. T., Hazar, M., LeDuc, P. R., Davidson, L. A., Sitti, M.

Biophysical Journal, 104(2):147a, Elsevier, 2013 (article)

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[BibTex]

[BibTex]


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Independent control of multiple magnetic microrobots in three dimensions

Diller, E., Giltinan, J., Sitti, M.

The International Journal of Robotics Research, 32(5):614-631, SAGE Publications Sage UK: London, England, 2013 (article)

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[BibTex]

[BibTex]


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Modular micro-robotic assembly through magnetic actuation and thermal bonding

Diller, E., Zhang, N., Sitti, M.

Journal of Micro-Bio Robotics, 8(3-4):121-131, Springer Berlin Heidelberg, 2013 (article)

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[BibTex]

[BibTex]


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A simulation and design tool for a passive rotation flapping wing mechanism

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

IEEE/ASME Transactions on Mechatronics, 18(2):787-798, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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GECKO-INSPIRED POLYMER ADHESIVES

Menguc, Yigit, Metin, Metin

Polymer Adhesion, Friction, and Lubrication, pages: 351, Wiley, 2013 (article)

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[BibTex]

[BibTex]


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Near and far-wall effects on the three-dimensional motion of bacteria-driven microbeads

Edwards, M. R., Wright Carlsen, R., Sitti, M.

Applied Physics Letters, 102(14):143701, AIP, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function

Yim, S., Goyal, K., Sitti, M.

IEEE/ASME Trans. on Mechatronics, 18(4):1413-1418, IEEE, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Tank-like module-based climbing robot using passive compliant joints

Seo, T., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 18(1):397-408, 2013 (article)

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[BibTex]

[BibTex]


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Enhanced fabrication and characterization of gecko-inspired mushroom-tipped microfiber adhesives

Song, J., Mengüç, Y., Sitti, M.

Journal of Adhesion Science and Technology, 27(17):1921-1932, Routledge, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Micro-scale mobile robotics

Diller, E., Sitti, M.

Foundations and Trends in Robotics, 2(3):143-259, Now Publishers Incorporated, 2013 (article)

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[BibTex]

[BibTex]


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Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Sitti, M., Menciassi, A., Ijspeert, A., Low, K. H., Kim, S.

Mechatronics, IEEE/ASME Transactions on, 18(2):409-418, DOI: 10.1109/TMECH.2012. 2233492, 2013 (article)

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[BibTex]

[BibTex]

1998


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Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor

Sitti, M., Hashimoto, H.

Advanced Robotics, 13(4):417-436, Taylor & Francis, 1998 (article)

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[BibTex]

1998


[BibTex]


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In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor

Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V.

Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

Abstract
Abstract Diabetic wounds are susceptible to microbial infection. The treatment of these wounds requires a higher payload of growth factors. With this in mind, the strategy for this study was to utilize a novel payload comprising of Eudragit RL/RS 100 nanofibers carrying the bacterial inhibitor gentamicin sulfate (GS) in concert with recombinant human epidermal growth factor (rhEGF); an accelerator of wound healing. GS containing Eudragit was electrospun to yield nanofiber scaffolds, which were further modified by covalent immobilization of rhEGF to their surface. This novel fabricated nanoscaffold was characterized using scanning electron microscopy, Fourier transform infrared spectroscopy, and X‐ray diffraction. The thermal behavior of the nanoscaffold was determined using thermogravimetric analysis and differential scanning calorimetry. In the in vitro antibacterial assays, the nanoscaffolds exhibited comparable antibacterial activity to pure gentemicin powder. In vivo work using female C57/BL6 mice, the nanoscaffolds induced faster wound healing activity in dorsal wounds compared to the control. The paradigm in this study presents a robust in vivo model to enhance the applicability of drug delivery systems in wound healing applications. © 2017 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 106A: 641–651, 2018.

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link (url) DOI [BibTex]


link (url) DOI [BibTex]


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Robotics Research

Tong, Chi Hay, Furgale, Paul, Barfoot, Timothy D, Guizilini, Vitor, Ramos, Fabio, Chen, Yushan, T\uumová, Jana, Ulusoy, Alphan, Belta, Calin, Tenorth, Moritz, others

(article)

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[BibTex]

[BibTex]