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2013


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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.

Journal of Robotic Surgery, 7(4):351-358, 2013 (article)

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[BibTex]

2013


[BibTex]


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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]

[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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Vibrotactile Display: Perception, Technology, and Applications

Choi, S., Kuchenbecker, K. J.

Proceedings of the IEEE, 101(9):2093-2104, sep 2013 (article)

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[BibTex]

[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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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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ROS Open-source Audio Recognizer: ROAR Environmental Sound Detection Tools for Robot Programming

Romano, J. M., Brindza, J. P., Kuchenbecker, K. J.

Autonomous Robots, 34(3):207-215, April 2013 (article)

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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]


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In Vivo Validation of a System for Haptic Feedback of Tool Vibrations in Robotic Surgery

Bark, K., McMahan, W., Remington, A., Gewirtz, J., Wedmid, A., Lee, D. I., Kuchenbecker, K. J.

Surgical Endoscopy, 27(2):656-664, February 2013, dynamic article (paper plus video), available at \href{http://www.springerlink.com/content/417j532708417342/}{http://www.springerlink.com/content/417j532708417342/} (article)

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[BibTex]

[BibTex]


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Perception of Springs with Visual and Proprioceptive Motion Cues: Implications for Prosthetics

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

IEEE Transactions on Human-Machine Systems, 43, pages: 102-114, January 2013, \href{http://www.youtube.com/watch?v=DBRw87Wk29E\&feature=youtu.be}{Video} (article)

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[BibTex]

[BibTex]


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Expectation and Attention in Hierarchical Auditory Prediction

Chennu, S., Noreika, V., Gueorguiev, D., Blenkmann, A., Kochen, S., Ibáñez, A., Owen, A. M., Bekinschtein, T. A.

Journal of Neuroscience, 33(27):11194-11205, Society for Neuroscience, 2013 (article)

Abstract
Hierarchical predictive coding suggests that attention in humans emerges from increased precision in probabilistic inference, whereas expectation biases attention in favor of contextually anticipated stimuli. We test these notions within auditory perception by independently manipulating top-down expectation and attentional precision alongside bottom-up stimulus predictability. Our findings support an integrative interpretation of commonly observed electrophysiological signatures of neurodynamics, namely mismatch negativity (MMN), P300, and contingent negative variation (CNV), as manifestations along successive levels of predictive complexity. Early first-level processing indexed by the MMN was sensitive to stimulus predictability: here, attentional precision enhanced early responses, but explicit top-down expectation diminished it. This pattern was in contrast to later, second-level processing indexed by the P300: although sensitive to the degree of predictability, responses at this level were contingent on attentional engagement and in fact sharpened by top-down expectation. At the highest level, the drift of the CNV was a fine-grained marker of top-down expectation itself. Source reconstruction of high-density EEG, supported by intracranial recordings, implicated temporal and frontal regions differentially active at early and late levels. The cortical generators of the CNV suggested that it might be involved in facilitating the consolidation of context-salient stimuli into conscious perception. These results provide convergent empirical support to promising recent accounts of attention and expectation in predictive coding.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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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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Behavior as broken symmetry in embodied self-organizing robots

Der, R., Martius, G.

In Advances in Artificial Life, ECAL 2013, pages: 601-608, MIT Press, 2013 (incollection)

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[BibTex]

[BibTex]


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Information Driven Self-Organization of Complex Robotic Behaviors

Martius, G., Der, R., Ay, N.

PLoS ONE, 8(5):e63400, Public Library of Science, 2013 (article)

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link (url) DOI [BibTex]

link (url) DOI [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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Linear combination of one-step predictive information with an external reward in an episodic policy gradient setting: a critical analysis

Zahedi, K., Martius, G., Ay, N.

Frontiers in Psychology, 4(801), 2013 (article)

Abstract
One of the main challenges in the field of embodied artificial intelligence is the open-ended autonomous learning of complex behaviours. Our approach is to use task-independent, information-driven intrinsic motivation(s) to support task-dependent learning. The work presented here is a preliminary step in which we investigate the predictive information (the mutual information of the past and future of the sensor stream) as an intrinsic drive, ideally supporting any kind of task acquisition. Previous experiments have shown that the predictive information (PI) is a good candidate to support autonomous, open-ended learning of complex behaviours, because a maximisation of the PI corresponds to an exploration of morphology- and environment-dependent behavioural regularities. The idea is that these regularities can then be exploited in order to solve any given task. Three different experiments are presented and their results lead to the conclusion that the linear combination of the one-step PI with an external reward function is not generally recommended in an episodic policy gradient setting. Only for hard tasks a great speed-up can be achieved at the cost of an asymptotic performance lost.

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link (url) DOI [BibTex]


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Robustness of guided self-organization against sensorimotor disruptions

Martius, G.

Advances in Complex Systems, 16(02n03):1350001, 2013 (article)

Abstract
Self-organizing processes are crucial for the development of living beings. Practical applications in robots may benefit from the self-organization of behavior, e.g.~to increase fault tolerance and enhance flexibility, provided that external goals can also be achieved. We present results on the guidance of self-organizing control by visual target stimuli and show a remarkable robustness to sensorimotor disruptions. In a proof of concept study an autonomous wheeled robot is learning an object finding and ball-pushing task from scratch within a few minutes in continuous domains. The robustness is demonstrated by the rapid recovery of the performance after severe changes of the sensor configuration.

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DOI [BibTex]

DOI [BibTex]