Haptic Intelligence

485 results (View BibTeX file of all listed publications)

2024

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Reflectance Outperforms Force and Position in Model-Free Needle Puncture Detection

L’Orsa, R., Bisht, A., Yu, L., Murari, K., Westwick, D. T., Sutherland, G. R., Kuchenbecker, K. J.

In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, USA, July 2024 (inproceedings) Accepted

Abstract
The surgical procedure of needle thoracostomy temporarily corrects accidental over-pressurization of the space between the chest wall and the lungs. However, failure rates of up to 94.1% have been reported, likely because this procedure is done blind: operators estimate by feel when the needle has reached its target. We believe instrumented needles could help operators discern entry into the target space, but limited success has been achieved using force and/or position to try to discriminate needle puncture events during simulated surgical procedures. We thus augmented our needle insertion system with a novel in-bore double-fiber optical setup. Tissue reflectance measurements as well as 3D force, torque, position, and orientation were recorded while two experimenters repeatedly inserted a bevel-tipped percutaneous needle into ex vivo porcine ribs. We applied model-free puncture detection to various filtered time derivatives of each sensor data stream offline. In the held-out test set of insertions, puncture-detection precision improved substantially using reflectance measurements compared to needle insertion force alone (3.3-fold increase) or position alone (11.6-fold increase).

Project Page [BibTex]

2024

L’Orsa, R., Bisht, A., Yu, L., Murari, K., Westwick, D. T., Sutherland, G. R., Kuchenbecker, K. J. Reflectance Outperforms Force and Position in Model-Free Needle Puncture Detection In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, USA, July 2024 (inproceedings) Accepted

Project Page [BibTex]

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GaitGuide: A Wearable Device for Vibrotactile Motion Guidance

Rokhmanova, N., Martus, J., Faulkner, R., Fiene, J., Kuchenbecker, K. J.

Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI, Yokohama, Japan, May 2024 (misc) Accepted

Abstract
Wearable vibrotactile devices can provide salient sensations that attract the user's attention or guide them to change. The future integration of such feedback into medical or consumer devices would benefit from understanding how vibrotactile cues vary in amplitude and perceived strength across the heterogeneity of human skin. Here, we developed an adhesive vibrotactile device (the GaitGuide) that uses two individually mounted linear resonant actuators to deliver directional motion guidance. By measuring the mechanical vibrations of the actuators via small on-board accelerometers, we compared vibration amplitudes and perceived signal strength across 20 subjects at five signal voltages and four sites around the shank. Vibrations were consistently smallest in amplitude—but perceived to be strongest—at the site located over the tibia. We created a fourth-order linear dynamic model to capture differences in tissue properties across subjects and sites via optimized stiffness and damping parameters. The anterior site had significantly higher skin stiffness and damping; these values also correlate with subject-specific body-fat percentages. Surprisingly, our study shows that the perception of vibrotactile stimuli does not solely depend on the vibration magnitude delivered to the skin. These findings also help to explain the clinical practice of evaluating vibrotactile sensitivity over a bony prominence.

Project Page [BibTex]

Rokhmanova, N., Martus, J., Faulkner, R., Fiene, J., Kuchenbecker, K. J. GaitGuide: A Wearable Device for Vibrotactile Motion Guidance Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI, Yokohama, Japan, May 2024 (misc) Accepted

Project Page [BibTex]

{CAPT} Motor: A Strong Direct-Drive Rotary Haptic Interface
CAPT Motor: A Strong Direct-Drive Rotary Haptic Interface

Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J.

Hands-on demonstration presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (misc)

Abstract
We have designed and built a new motor named CAPT Motor that delivers continuous and precise torque. It is a brushless ironless motor using a Halbach-magnet ring and a planar axial Lorentz-coil array. This motor is unique as we use a two-phase design allowing for higher fill factor and geometrical accuracy of the coils, as they can all be made separately. This motor outperforms existing Halbach ring and cylinder motors with a torque constant per magnet volume of 9.94 (Nm/A)/dm3, a record in the field. The angular position of the rotor is measured by a high-resolution incremental optical encoder and tracked by a multimodal data acquisition device. The system's control firmware uses this angle measurement to calculate the two-phase motor currents needed to produce the torque commanded by the virtual environment at the rotor's position. The strength and precision of the CAPT Motor's torque and the lack of any mechanical transmission enable unusually high haptic rendering quality, indicating the promise of this new motor design.

link (url) Project Page [BibTex]

Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J. CAPT Motor: A Strong Direct-Drive Rotary Haptic Interface Hands-on demonstration presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (misc)

link (url) Project Page [BibTex]

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Cutaneous Electrohydraulic (CUTE) Wearable Devices for Multimodal Haptic Feedback

Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J.

Extended abstract (1 page) presented at the IEEE RoboSoft Workshop on Multimodal Soft Robots for Multifunctional Manipulation, Locomotion, and Human-Machine Interaction, San Diego, USA, April 2024 (misc)

[BibTex]

Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Cutaneous Electrohydraulic (CUTE) Wearable Devices for Multimodal Haptic Feedback Extended abstract (1 page) presented at the IEEE RoboSoft Workshop on Multimodal Soft Robots for Multifunctional Manipulation, Locomotion, and Human-Machine Interaction, San Diego, USA, April 2024 (misc)

[BibTex]

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Quantifying Haptic Quality: External Measurements Match Expert Assessments of Stiffness Rendering Across Devices

Fazlollahi, F., Seifi, H., Ballardini, G., Taghizadeh, Z., Schulz, A., MacLean, K. E., Kuchenbecker, K. J.

Work-in-progress paper (2 pages) presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (misc)

Project Page [BibTex]

Fingertip Dynamic Response Simulated Across Excitation Points and Frequencies
Fingertip Dynamic Response Simulated Across Excitation Points and Frequencies

Serhat, G., Kuchenbecker, K. J.

Biomechanics and Modeling in Mechanobiology, April 2024 (article) Accepted

Abstract
Predicting how the fingertip will mechanically respond to different stimuli can help explain human haptic perception and enable improvements to actuation approaches such as ultrasonic mid-air haptics. This study addresses this goal using high-fidelity 3D finite element analyses. We compute the deformation profiles and amplitudes caused by harmonic forces applied in the normal direction at four locations: the center of the finger pad, the side of the finger, the tip of the finger, and the oblique midpoint of these three sites. The excitation frequency is swept from 2.5 to 260 Hz. The simulated frequency response functions (FRFs) obtained for displacement demonstrate that the relative magnitudes of the deformations elicited by stimulating at each of these four locations greatly depends on whether only the excitation point or the entire finger is considered. The point force that induces the smallest local deformation can even cause the largest overall deformation at certain frequency intervals. Above 225 Hz, oblique excitation produces larger mean displacement amplitudes than the other three forces due to excitation of multiple modes involving diagonal deformation. These simulation results give novel insights into the combined influence of excitation location and frequency on the fingertip dynamic response, potentially facilitating the design of future vibration feedback devices.

Project Page [BibTex]

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Expert Perception of Teleoperated Social Exercise Robots

Mohan, M., Mat Husin, H., Kuchenbecker, K. J.

In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages: 769-773, Boulder, USA, March 2024, Late-Breaking Report (LBR) (5 pages) presented at the IEEE/ACM International Conference on Human-Robot Interaction (HRI) (inproceedings)

Abstract
Social robots could help address the growing issue of physical inactivity by inspiring users to engage in interactive exercise. Nevertheless, the practical implementation of social exercise robots poses substantial challenges, particularly in terms of personalizing their activities to individuals. We propose that motion-capture-based teleoperation could serve as a viable solution to address these needs by enabling experts to record custom motions that could later be played back without their real-time involvement. To gather feedback about this idea, we conducted semi-structured interviews with eight exercise-therapy professionals. Our findings indicate that experts' attitudes toward social exercise robots become more positive when considering the prospect of teleoperation to record and customize robot behaviors.

DOI Project Page [BibTex]

Mohan, M., Mat Husin, H., Kuchenbecker, K. J. Expert Perception of Teleoperated Social Exercise Robots In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages: 769-773, Boulder, USA, March 2024, Late-Breaking Report (LBR) (5 pages) presented at the IEEE/ACM International Conference on Human-Robot Interaction (HRI) (inproceedings)

DOI Project Page [BibTex]

Being Neurodivergent in Academia: Autistic and abroad
Being Neurodivergent in Academia: Autistic and abroad

Schulz, A.

eLife, 13, March 2024 (article)

Abstract
An AuDHD researcher recounts the highs and lows of relocating from the United States to Germany for his postdoc.

DOI [BibTex]

{IMU}-Based Kinematics Estimation Accuracy Affects Gait Retraining Using Vibrotactile Cues
IMU-Based Kinematics Estimation Accuracy Affects Gait Retraining Using Vibrotactile Cues

Rokhmanova, N., Pearl, O., Kuchenbecker, K. J., Halilaj, E.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 32, pages: 1005-1012, February 2024 (article)

Abstract
Wearable sensing using inertial measurement units (IMUs) is enabling portable and customized gait retraining for knee osteoarthritis. However, the vibrotactile feedback that users receive directly depends on the accuracy of IMU-based kinematics. This study investigated how kinematic errors impact an individual's ability to learn a therapeutic gait using vibrotactile cues. Sensor accuracy was computed by comparing the IMU-based foot progression angle to marker-based motion capture, which was used as ground truth. Thirty subjects were randomized into three groups to learn a toe-in gait: one group received vibrotactile feedback during gait retraining in the laboratory, another received feedback outdoors, and the control group received only verbal instruction and proceeded directly to the evaluation condition. All subjects were evaluated on their ability to maintain the learned gait in a new outdoor environment. We found that subjects with high tracking errors exhibited more incorrect responses to vibrotactile cues and slower learning rates than subjects with low tracking errors. Subjects with low tracking errors outperformed the control group in the evaluation condition, whereas those with higher error did not. Errors were correlated with foot size and angle magnitude, which may indicate a non-random algorithmic bias. The accuracy of IMU-based kinematics has a cascading effect on feedback; ignoring this effect could lead researchers or clinicians to erroneously classify a patient as a non-responder if they did not improve after retraining. To use patient and clinician time effectively, future implementation of portable gait retraining will require assessment across a diverse range of patients.

DOI Project Page [BibTex]

Rokhmanova, N., Pearl, O., Kuchenbecker, K. J., Halilaj, E. IMU-Based Kinematics Estimation Accuracy Affects Gait Retraining Using Vibrotactile Cues IEEE Transactions on Neural Systems and Rehabilitation Engineering, 32, pages: 1005-1012, February 2024 (article)

DOI Project Page [BibTex]

Creating a Haptic Empathetic Robot Animal That Feels Touch and Emotion
Creating a Haptic Empathetic Robot Animal That Feels Touch and Emotion

Burns, R.

University of Tübingen, Tübingen, Germany, February 2024, Department of Computer Science (phdthesis)

Abstract
Social touch, such as a hug or a poke on the shoulder, is an essential aspect of everyday interaction. Humans use social touch to gain attention, communicate needs, express emotions, and build social bonds. Despite its importance, touch sensing is very limited in most commercially available robots. By endowing robots with social-touch perception, one can unlock a myriad of new interaction possibilities. In this thesis, I present my work on creating a Haptic Empathetic Robot Animal (HERA), a koala-like robot for children with autism. I demonstrate the importance of establishing design guidelines based on one's target audience, which we investigated through interviews with autism specialists. I share our work on creating full-body tactile sensing for the NAO robot using low-cost, do-it-yourself (DIY) methods, and I introduce an approach to model long-term robot emotions using second-order dynamics.

Project Page [BibTex]

Burns, R. Creating a Haptic Empathetic Robot Animal That Feels Touch and Emotion University of Tübingen, Tübingen, Germany, February 2024, Department of Computer Science (phdthesis)

Project Page [BibTex]

Elephants develop wrinkles through both form and function
Elephants develop wrinkles through both form and function

Kaufmann, L., Schulz, A., Reveyaz, N., Ritter, C., Hildebrandt, T., Brecht, M.

Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

Abstract
Elephant trunks have prominent folds and wrinkles from birth, but we have little information on how wrinkle patterns differ between elephant species and how elephant trunks and their wrinkles develop. We assessed wrinkle patterns in Asian (Elephas maximus) and African savanna (Loxodonta africana) elephants. We find that adult Asian elephants have more dorsal trunk wrinkles (~126) than African elephants (~83). In both species, we find more dorsal than ventral trunk wrinkles and a closer spacing of wrinkles in the distal than in the proximal trunk. We also observed slight (10%) differences in wrinkle numbers as a function of trunk-lateralization, suggesting the wrinkle-pattern is use-dependent. MicroCT imaging revealed that the outer elephant trunk skin has a relatively constant thickness, whereas the inner skin parts are thicker between folds than in folds. In both elephant species in early fetuses the trunk shows the greatest length growth of all body parts and the ventral trunk tip develops before the dorsal trunk finger. In development, trunk wrinkles are added in two distinct phases, an early exponential phase and a later, slower phase. We suggest that wrinkles improve the ability of trunk skin to bend, and that differential flexibility requirements might explain dorsoventral, proximal-distal, left-right side, and species differences in wrinkle distribution.

[BibTex]

Kaufmann, L., Schulz, A., Reveyaz, N., Ritter, C., Hildebrandt, T., Brecht, M. Elephants develop wrinkles through both form and function Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

[BibTex]

Adapting a High-Fidelity Simulation of Human Skin for Comparative Touch Sensing in the Elephant Trunk
Adapting a High-Fidelity Simulation of Human Skin for Comparative Touch Sensing in the Elephant Trunk

Schulz, A., Serhat, G., Kuchenbecker, K. J.

Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (misc)

Abstract
Skin is a complex biological composite consisting of layers with distinct mechanical properties, morphologies, and mechanosensory capabilities. This work seeks to expand the comparative biomechanics field to comparative haptics, analyzing elephant trunk touch by redesigning a previously published human finger-pad model with morphological parameters measured from an elephant trunk. The dorsal surface of the elephant trunk has a thick, wrinkled epidermis covered with whiskers at the distal tip and deep folds at the proximal base. We hypothesize that this thick dorsal skin protects the trunk from mechanical damage but significantly dulls its tactile sensing ability. To facilitate safe and dexterous motion, the distributed dorsal whiskers might serve as pre-touch antennae, transmitting an amplified version of impending contact to the mechanoreceptors beneath the elephant's armor. We tested these hypotheses by simulating soft tissue deformation through high-fidelity finite element analyses involving representative skin layers and whiskers, modeled based on frozen African elephant trunk (Loxodonta africana) morphology. For a typical contact force, quintupling the stratum corneum thickness to match dorsal trunk skin reduces the von Mises stress communicated to the dermis by 18%. However, adding a whisker offsets this dulled sensing, as hypothesized, amplifying the stress by more than 15 at the same location. We hope this work will motivate further investigations of mammalian touch using approaches and models from the ample literature on human touch.

[BibTex]

Schulz, A., Serhat, G., Kuchenbecker, K. J. Adapting a High-Fidelity Simulation of Human Skin for Comparative Touch Sensing in the Elephant Trunk Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (misc)

[BibTex]

Simplifying the Wrinkled Complexity of Elephant Trunks using Knitted Biomimicry
Simplifying the Wrinkled Complexity of Elephant Trunks using Knitted Biomimicry

Singal, K., Schulz, A., Dimitriyev, M., Matsumoto, E.

Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

Abstract
The elephant trunk skin’s unique morphology and composition result in prominent wrinkles and folds along the trunk; these features provide the trunk versatility and flexibility and contribute to the functionality of the trunk in different situations. These wrinkled and folded structures change throughout the trunk giving different functional trade-offs. The tip has skin for gripping and the proximal base has skin for protection. We attempt to capture these unique properties by manipulating the programmable nature of knitted fabrics and knit bio-inspired mimics of the wrinkles and folds. Using MicroCTs scans of the African elephant trunk tissue we look at the morphology and composition of different sites along the elephant trunk. Knitted fabrics provide a design space where one can program not only visual characteristics but directed elasticity as well. We use mechanical testing experiments to compare the likeness of the knitted mimics with actual elephant trunk skin samples – collected humanely – to test the viability of the mimics and better understand trunk properties. This work gives way to understanding wrinkled phenomenon in nature and ways we can re-create the complexities of skin using novel material methods.

[BibTex]

Singal, K., Schulz, A., Dimitriyev, M., Matsumoto, E. Simplifying the Wrinkled Complexity of Elephant Trunks using Knitted Biomimicry Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

[BibTex]

Defining Mammalian Climbing Gaits and their influence criteria including morphology and mechanics
Defining Mammalian Climbing Gaits and their influence criteria including morphology and mechanics

Shriver, C., Schulz, A., Scott, D., Elgart, J., Mendelson, J., Hu, D., Chang, Y.

Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

Abstract
In comparison to terrestrial locomotion, climbing presents a couple unique challenges. First, organisms must move upwards, meaning they lack a “restoring force” to bring them back into contact with the climbing surface as they continuously overcome gravitational forces. Second, organisms must possess morphology capable of gripping the climbing surface and perform appropriate contact patterns to prevent falling. While recent studies have examined climbing via van der Waals forces and capillary adhesion, these are often limited to non-mammalian species less than 500 grams. Even amongst the studies for mammals, many are focused on primates, which take advantage of highly specialized opposable thumbs, elongated digits, and/or prehensile tails. Despite the phylogenetic diversity of mammalian climbers, basic concepts like climbing gaits are still limited to insects, primates, and robots. In this work, we attempt to translate the foundational descriptions of terrestrial gaits, e.g. horses trotting, to mammalian climbing gaits. We performed kinematics analyses to identify common mammalian climbing gaits and discerned some underlying criteria influencing these gaits. Due to the aforementioned biomechanical constraints specific to climbing, we predict non-primate, mammalian climbing gaits will all fall within and occupy a smaller subspace of the known terrestrial gaits described by Hildebrand.

[BibTex]

Shriver, C., Schulz, A., Scott, D., Elgart, J., Mendelson, J., Hu, D., Chang, Y. Defining Mammalian Climbing Gaits and their influence criteria including morphology and mechanics Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

[BibTex]

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Collagen entanglement in elephant skin gives way to strain-stiffening mechanisms

Sordilla, S., Schulz, A., Hu, D., Higgins, C.

Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

Abstract
Form-function relationships often have tradeoffs: if a material is tough, it is often inflexible, and vice versa. This is particularly relevant for the elephant trunk, where the skin should be protective yet elastic. To investigate how this is achieved, we used classical histochemical staining and second harmonic generation microscopy to describe the morphology and composition of elephant trunk skin. We report structure at the macro and micro scales, from the thickness of the dermis to the interaction of 10 µm thick collagen fibers. We analyzed several sites along the length of the trunk, to compare and contrast the dorsal-ventral and proximal-distal skin morphologies and compositions. We find the dorsal skin of the elephant trunk can have keratin armor layers over 2mm thick, which is nearly 100 times the thickness of the equivalent layer in human skin. We also found that the structural support layer (the dermis) of elephant trunk contains a distribution of collagen-I (COL1) fibers in both perpendicular and parallel arrangement. The bimodal distribution of collagen is seen across all portions of the trunk, and is dissimilar from that of human skin where one orientation dominates within a body site. We hypothesize that this distribution of COL1 in the elephant trunk allows both flexibility and load-bearing capabilities. Additionally, when viewing individual fiber interaction of 10 µm thick collagen, we find the fiber crossings per unit volume are five times more common than in human skin, suggesting that the fibers are entangled. We surmise that these intriguing structures permit both flexibility and strength in the elephant trunk. The complex nature of the elephant skin may inspire the design of materials that can combine strength and flexibility.

[BibTex]

Sordilla, S., Schulz, A., Hu, D., Higgins, C. Collagen entanglement in elephant skin gives way to strain-stiffening mechanisms Society of Integrative and Comparative Biology, Seattle, USA, January 2024 (misc) Accepted

[BibTex]

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MPI-10: Haptic-Auditory Measurements from Tool-Surface Interactions

Khojasteh, B., Shao, Y., Kuchenbecker, K. J.

Dataset published as a companion to the journal article "Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise" in IEEE Transactions on Haptics, January 2024 (misc)

DOI Project Page [BibTex]

Khojasteh, B., Shao, Y., Kuchenbecker, K. J. MPI-10: Haptic-Auditory Measurements from Tool-Surface Interactions Dataset published as a companion to the journal article "Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise" in IEEE Transactions on Haptics, January 2024 (misc)

DOI Project Page [BibTex]

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How Should Robots Exercise with People? Robot-Mediated Exergames Win with Music, Social Analogues, and Gameplay Clarity

Fitter, N. T., Mohan, M., Preston, R. C., Johnson, M. J., Kuchenbecker, K. J.

Frontiers in Robotics and AI, 10(1155837):1-18, January 2024 (article)

Abstract
The modern worldwide trend toward sedentary behavior comes with significant health risks. An accompanying wave of health technologies has tried to encourage physical activity, but these approaches often yield limited use and retention. Due to their unique ability to serve as both a health-promoting technology and a social peer, we propose robots as a game-changing solution for encouraging physical activity. This article analyzes the eight exergames we previously created for the Rethink Baxter Research Robot in terms of four key components that are grounded in the video-game literature: repetition, pattern matching, music, and social design. We use these four game facets to assess gameplay data from 40 adult users who each experienced the games in balanced random order. In agreement with prior research, our results show that relevant musical cultural references, recognizable social analogues, and gameplay clarity are good strategies for taking an otherwise highly repetitive physical activity and making it engaging and popular among users. Others who study socially assistive robots and rehabilitation robotics can benefit from this work by considering the presented design attributes to generate future hypotheses and by using our eight open-source games to pursue follow-up work on social-physical exercise with robots.

DOI Project Page [BibTex]

Fitter, N. T., Mohan, M., Preston, R. C., Johnson, M. J., Kuchenbecker, K. J. How Should Robots Exercise with People? Robot-Mediated Exergames Win with Music, Social Analogues, and Gameplay Clarity Frontiers in Robotics and AI, 10(1155837):1-18, January 2024 (article)

DOI Project Page [BibTex]

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Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise

(Best ToH Short Paper Award at the IEEE Haptics Symposium Conference 2024)

Khojasteh, B., Shao, Y., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 17(1):58-65, January 2024, Presented at the IEEE Haptics Symposium (article)

Abstract
Sliding a tool across a surface generates rich sensations that can be analyzed to recognize what is being touched. However, the optimal configuration for capturing these signals is yet unclear. To bridge this gap, we consider haptic-auditory data as a human explores surfaces with different steel tools, including accelerations of the tool and finger, force and torque applied to the surface, and contact sounds. Our classification pipeline uses the maximum mean discrepancy (MMD) to quantify differences in data distributions in a high-dimensional space for inference. With recordings from three hemispherical tool diameters and ten diverse surfaces, we conducted two degradation studies by decreasing sensing bandwidth and increasing added noise. We evaluate the haptic-auditory recognition performance achieved with the MMD to compare newly gathered data to each surface in our known library. The results indicate that acceleration signals alone have great potential for high-accuracy surface recognition and are robust against noise contamination. The optimal accelerometer bandwidth exceeds 1000 Hz, suggesting that useful vibrotactile information extends beyond human perception range. Finally, smaller tool tips generate contact vibrations with better noise robustness. The provided sensing guidelines may enable superhuman performance in portable surface recognition, which could benefit quality control, material documentation, and robotics.

DOI Project Page [BibTex]

Whiskers That Don’t Whisk: Unique Structure From the Absence of Actuation in Elephant Whiskers
Whiskers That Don’t Whisk: Unique Structure From the Absence of Actuation in Elephant Whiskers

Schulz, A., Kaufmann, L., Brecht, M., Richter, G., Kuchenbecker, K. J.

Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (misc)

Abstract
Whiskers are so named because these hairs often actuate circularly, whisking, via collagen wrapping at the root of the hair follicle to increase their sensing volumes. Elephant trunks are a unique case study for whiskers, as the dorsal and lateral sections of the elephant proboscis have scattered sensory hairs that lack individual actuation. We hypothesize that the actuation limitations of these non-whisking whiskers led to anisotropic morphology and non-homogeneous composition to meet the animal's sensory needs. To test these hypotheses, we examined trunk whiskers from a 35-year-old female African savannah elephant (Loxodonta africana). Whisker morphology was evaluated through micro-CT and polarized light microscopy. The whiskers from the distal tip of the trunk were found to be axially asymmetric, with an ovular cross-section at the root, shifting to a near-square cross-section at the point. Nanoindentation and additional microscopy revealed that elephant whiskers have a composition unlike any other mammalian hair ever studied: we recorded an elastic modulus of 3 GPa at the root and 0.05 GPa at the point of a single 4-cm-long whisker. This work challenges the assumption that hairs have circular cross-sections and isotropic mechanical properties. With such striking differences compared to other mammals, including the mouse (Mus musculus), rat (Rattus norvegicus), and cat (Felis catus), we conclude that whisker morphology and composition play distinct and complementary roles in elephant trunk mechanosensing.

[BibTex]

Schulz, A., Kaufmann, L., Brecht, M., Richter, G., Kuchenbecker, K. J. Whiskers That Don’t Whisk: Unique Structure From the Absence of Actuation in Elephant Whiskers Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (misc)

[BibTex]

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Discrete Fourier Transform Three-to-One (DFT321): Code

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

MATLAB code of discrete fourier transform three-to-one (DFT321), 2024 (misc)

Code Project Page [BibTex]

Landin, N., Romano, J. M., McMahan, W., Kuchenbecker, K. J. Discrete Fourier Transform Three-to-One (DFT321): Code MATLAB code of discrete fourier transform three-to-one (DFT321), 2024 (misc)

Code Project Page [BibTex]

2023

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Towards Semi-Automated Pleural Cavity Access for Pneumothorax in Austere Environments

L’Orsa, R., Lama, S., Westwick, D., Sutherland, G., Kuchenbecker, K. J.

Acta Astronautica, 212, pages: 48-53, November 2023 (article)

Abstract
Astronauts are at risk for pneumothorax, a condition where injury or disease introduces air between the chest wall and the lungs (i.e., the pleural cavity). In a worst-case scenario, it can rapidly lead to a fatality if left unmanaged and will require prompt treatment in situ if developed during spaceflight. Chest tube insertion is the definitive treatment for pneumothorax, but it requires a high level of skill and frequent practice for safe use. Physician astronauts may struggle to maintain this skill on medium- and long-duration exploration-class missions, and it is inappropriate for pure just-in-time learning or skill refreshment paradigms. This paper proposes semi-automating tool insertion to reduce the risk of complications in austere environments and describes preliminary experiments providing initial validation of an intelligent prototype system. Specifically, we showcase and analyse motion and force recordings from a sensorized percutaneous access needle inserted repeatedly into an ex vivo tissue phantom, along with relevant physiological data simultaneously recorded from the operator. When coupled with minimal just-in-time training and/or augmented reality guidance, the proposed system may enable non-expert operators to safely perform emergency chest tube insertion without the use of ground resources.

DOI Project Page [BibTex]

2023

L’Orsa, R., Lama, S., Westwick, D., Sutherland, G., Kuchenbecker, K. J. Towards Semi-Automated Pleural Cavity Access for Pneumothorax in Austere Environments Acta Astronautica, 212, pages: 48-53, November 2023 (article)

DOI Project Page [BibTex]

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Gesture-Based Nonverbal Interaction for Exercise Robots

Mohan, M.

University of Tübingen, Tübingen, Germany, October 2023, Department of Computer Science (phdthesis)

Abstract
When teaching or coaching, humans augment their words with carefully timed hand gestures, head and body movements, and facial expressions to provide feedback to their students. Robots, however, rarely utilize these nuanced cues. A minimally supervised social robot equipped with these abilities could support people in exercising, physical therapy, and learning new activities. This thesis examines how the intuitive power of human gestures can be harnessed to enhance human-robot interaction. To address this question, this research explores gesture-based interactions to expand the capabilities of a socially assistive robotic exercise coach, investigating the perspectives of both novice users and exercise-therapy experts. This thesis begins by concentrating on the user's engagement with the robot, analyzing the feasibility of minimally supervised gesture-based interactions. This exploration seeks to establish a framework in which robots can interact with users in a more intuitive and responsive manner. The investigation then shifts its focus toward the professionals who are integral to the success of these innovative technologies: the exercise-therapy experts. Roboticists face the challenge of translating the knowledge of these experts into robotic interactions. We address this challenge by developing a teleoperation algorithm that can enable exercise therapists to create customized gesture-based interactions for a robot. Thus, this thesis lays the groundwork for dynamic gesture-based interactions in minimally supervised environments, with implications for not only exercise-coach robots but also broader applications in human-robot interaction.

Project Page [BibTex]

Mohan, M. Gesture-Based Nonverbal Interaction for Exercise Robots University of Tübingen, Tübingen, Germany, October 2023, Department of Computer Science (phdthesis)

Project Page [BibTex]

Seeking Causal, Invariant, Structures with Kernel Mean Embeddings in Haptic-Auditory Data from Tool-Surface Interaction
Seeking Causal, Invariant, Structures with Kernel Mean Embeddings in Haptic-Auditory Data from Tool-Surface Interaction

Khojasteh, B., Shao, Y., Kuchenbecker, K. J.

Workshop paper (4 pages) presented at the IROS Workshop on Causality for Robotics: Answering the Question of Why, Detroit, USA, October 2023 (misc)

Abstract
Causal inference could give future learning robots strong generalization and scalability capabilities, which are crucial for safety, fault diagnosis and error prevention. One application area of interest consists of the haptic recognition of surfaces. We seek to understand cause and effect during physical surface interaction by examining surface and tool identity, their interplay, and other contact-irrelevant factors. To work toward elucidating the mechanism of surface encoding, we attempt to recognize surfaces from haptic-auditory data captured by previously unseen hemispherical steel tools that differ from the recording tool in diameter and mass. In this context, we leverage ideas from kernel methods to quantify surface similarity through descriptive differences in signal distributions. We find that the effect of the tool is significantly present in higher-order statistical moments of contact data: aligning the means of the distributions being compared somewhat improves recognition but does not fully separate tool identity from surface identity. Our findings shed light on salient aspects of haptic-auditory data from tool-surface interaction and highlight the challenges involved in generalizing artificial surface discrimination capabilities.

Manuscript Project Page [BibTex]

Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Seeking Causal, Invariant, Structures with Kernel Mean Embeddings in Haptic-Auditory Data from Tool-Surface Interaction Workshop paper (4 pages) presented at the IROS Workshop on Causality for Robotics: Answering the Question of Why, Detroit, USA, October 2023 (misc)

Manuscript Project Page [BibTex]

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Enhancing Surgical Team Collaboration and Situation Awareness through Multimodal Sensing

Allemang–Trivalle, A.

Proceedings of the ACM International Conference on Multimodal Interaction (ICMI), pages: 716-720, Extended abstract (5 pages) presented at the ACM International Conference on Multimodal Interaction (ICMI) Doctoral Consortium, Paris, France, October 2023 (misc)

Abstract
Surgery, typically seen as the surgeon's sole responsibility, requires a broader perspective acknowledging the vital roles of other operating room (OR) personnel. The interactions among team members are crucial for delivering quality care and depend on shared situation awareness. I propose a two-phase approach to design and evaluate a multimodal platform that monitors OR members, offering insights into surgical procedures. The first phase focuses on designing a data-collection platform, tailored to surgical constraints, to generate novel collaboration and situation-awareness metrics using synchronous recordings of the participants' voices, positions, orientations, electrocardiograms, and respiration signals. The second phase concerns the creation of intuitive dashboards and visualizations, aiding surgeons in reviewing recorded surgery, identifying adverse events and contributing to proactive measures. This work aims to demonstrate an innovative approach to data collection and analysis, augmenting the surgical team's capabilities. The multimodal platform has the potential to enhance collaboration, foster situation awareness, and ultimately mitigate surgical adverse events. This research sets the stage for a transformative shift in the OR, enabling a more holistic and inclusive perspective that recognizes that surgery is a team effort.

DOI [BibTex]

Allemang–Trivalle, A. Enhancing Surgical Team Collaboration and Situation Awareness through Multimodal Sensing Proceedings of the ACM International Conference on Multimodal Interaction (ICMI), pages: 716-720, Extended abstract (5 pages) presented at the ACM International Conference on Multimodal Interaction (ICMI) Doctoral Consortium, Paris, France, October 2023 (misc)

DOI [BibTex]

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NearContact: Accurate Human Detection using Tomographic Proximity and Contact Sensing with Cross-Modal Attention

Garrofé, G., Schoeffmann, C., Zangl, H., Kuchenbecker, K. J., Lee, H.

Extended abstract (4 pages) presented at the International Workshop on Human-Friendly Robotics (HFR), Munich, Germany, September 2023 (misc)

Project Page [BibTex]

Garrofé, G., Schoeffmann, C., Zangl, H., Kuchenbecker, K. J., Lee, H. NearContact: Accurate Human Detection using Tomographic Proximity and Contact Sensing with Cross-Modal Attention Extended abstract (4 pages) presented at the International Workshop on Human-Friendly Robotics (HFR), Munich, Germany, September 2023 (misc)

Project Page [BibTex]

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Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test

Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J.

IEEE Transactions on Automation Science and Engineering, pages: 1-16, August 2023 (article)

Abstract
Machine learning and deep learning have been used extensively to classify physical surfaces through images and time-series contact data. However, these methods rely on human expertise and entail the time-consuming processes of data and parameter tuning. To overcome these challenges, we propose an easily implemented framework that can directly handle heterogeneous data sources for classification tasks. Our data-versus-data approach automatically quantifies distinctive differences in distributions in a high-dimensional space via kernel two-sample testing between two sets extracted from multimodal data (e.g., images, sounds, haptic signals). We demonstrate the effectiveness of our technique by benchmarking against expertly engineered classifiers for visual-audio-haptic surface recognition due to the industrial relevance, difficulty, and competitive baselines of this application; ablation studies confirm the utility of key components of our pipeline. As shown in our open-source code, we achieve 97.2% accuracy on a standard multi-user dataset with 108 surface classes, outperforming the state-of-the-art machine-learning algorithm by 6% on a more difficult version of the task. The fact that our classifier obtains this performance with minimal data processing in the standard algorithm setting reinforces the powerful nature of kernel methods for learning to recognize complex patterns. Note to Practitioners—We demonstrate how to apply the kernel two-sample test to a surface-recognition task, discuss opportunities for improvement, and explain how to use this framework for other classification problems with similar properties. Automating surface recognition could benefit both surface inspection and robot manipulation. Our algorithm quantifies class similarity and therefore outputs an ordered list of similar surfaces. This technique is well suited for quality assurance and documentation of newly received materials or newly manufactured parts. More generally, our automated classification pipeline can handle heterogeneous data sources including images and high-frequency time-series measurements of vibrations, forces and other physical signals. As our approach circumvents the time-consuming process of feature engineering, both experts and non-experts can use it to achieve high-accuracy classification. It is particularly appealing for new problems without existing models and heuristics. In addition to strong theoretical properties, the algorithm is straightforward to use in practice since it requires only kernel evaluations. Its transparent architecture can provide fast insights into the given use case under different sensing combinations without costly optimization. Practitioners can also use our procedure to obtain the minimum data-acquisition time for independent time-series data from new sensor recordings.

DOI Project Page [BibTex]

Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J. Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test IEEE Transactions on Automation Science and Engineering, pages: 1-16, August 2023 (article)

DOI Project Page [BibTex]

Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control
Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control

Oh, Y., Passy, J., Mainprice, J.

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 1612-1618, Busan, South Korea, August 2023 (inproceedings)

Abstract
We present a shared control framework for teleoperation that combines the human and autonomous robot agents operating in different dimension spaces. The shared control problem is an optimization problem to maximize the human's internal action-value function while guaranteeing that the shared control policy is close to the autonomous robot policy. This results in a state update rule that augments the human controls using the Riemannian metric that emerges from computing the curvature of the robot's value function to account for any cost terms or constraints that the human operator may neglect when operating a redundant manipulator. In our experiments, we apply Linear Quadratic Regulators to locally approximate the robot policy using a single optimized robot trajectory, thereby preventing the need for an optimization step at each time step to determine the optimal policy. We show preliminary results of reach-and-grasp teleoperation tasks with a simulated human policy and a pilot user study using the VR headset and controllers. However, the mixed user preference ratings and quantitative results show that more investigation is required to prove the efficacy of the proposed paradigm.

DOI [BibTex]

Oh, Y., Passy, J., Mainprice, J. Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 1612-1618, Busan, South Korea, August 2023 (inproceedings)

DOI [BibTex]

The Role of Kinematics Estimation Accuracy in Learning with Wearable Haptics
The Role of Kinematics Estimation Accuracy in Learning with Wearable Haptics

Rokhmanova, N., Pearl, O., Kuchenbecker, K. J., Halilaj, E.

Abstract presented at the American Society of Biomechanics (ASB), Knoxville, USA, August 2023 (misc)

Project Page [BibTex]

Rokhmanova, N., Pearl, O., Kuchenbecker, K. J., Halilaj, E. The Role of Kinematics Estimation Accuracy in Learning with Wearable Haptics Abstract presented at the American Society of Biomechanics (ASB), Knoxville, USA, August 2023 (misc)

Project Page [BibTex]

Wear Your Heart on Your Sleeve: Users Prefer Robots with Emotional Reactions to Touch and Ambient Moods
Wear Your Heart on Your Sleeve: Users Prefer Robots with Emotional Reactions to Touch and Ambient Moods

Burns, R. B., Ojo, F., Kuchenbecker, K. J.

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 1914-1921, Busan, South Korea, August 2023 (inproceedings)

Abstract
Robots are increasingly being developed as assistants for household, education, therapy, and care settings. Such robots can use adaptive emotional behavior to communicate warmly and effectively with their users and to encourage interest in extended interactions. However, autonomous physical robots often lack a dynamic internal emotional state, instead displaying brief, fixed emotion routines to promote specific user interactions. Furthermore, despite the importance of social touch in human communication, most commercially available robots have limited touch sensing, if any at all. We propose that users' perceptions of a social robotic system will improve when the robot provides emotional responses on both shorter and longer time scales (reactions and moods), based on touch inputs from the user. We evaluated this proposal through an online study in which 51 diverse participants watched nine randomly ordered videos (a three-by-three full-factorial design) of the koala-like robot HERA being touched by a human. Users provided the highest ratings in terms of agency, ambient activity, enjoyability, and touch perceptivity for scenarios in which HERA showed emotional reactions and either neutral or emotional moods in response to social touch gestures. Furthermore, we summarize key qualitative findings about users' preferences for reaction timing, the ability of robot mood to show persisting memory, and perception of neutral behaviors as a curious or self-aware robot.

link (url) DOI Project Page [BibTex]

Burns, R. B., Ojo, F., Kuchenbecker, K. J. Wear Your Heart on Your Sleeve: Users Prefer Robots with Emotional Reactions to Touch and Ambient Moods In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 1914-1921, Busan, South Korea, August 2023 (inproceedings)

link (url) DOI Project Page [BibTex]

Minsight: A Fingertip-Sized Vision-Based Tactile Sensor for Robotic Manipulation
Minsight: A Fingertip-Sized Vision-Based Tactile Sensor for Robotic Manipulation

Andrussow, I., Sun, H., Kuchenbecker, K. J., Martius, G.

Advanced Intelligent Systems, 5(8):2300042, August 2023, Inside back cover (article)

Abstract
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans. Therefore, robotic manipulators need high-resolution touch sensors that are compact, robust, inexpensive, and efficient. The soft vision-based haptic sensor presented herein is a miniaturized and optimized version of the previously published sensor Insight. Minsight has the size and shape of a human fingertip and uses machine learning methods to output high-resolution maps of 3D contact force vectors at 60 Hz. Experiments confirm its excellent sensing performance, with a mean absolute force error of 0.07 N and contact location error of 0.6 mm across its surface area. Minsight's utility is shown in two robotic tasks on a 3-DoF manipulator. First, closed-loop force control enables the robot to track the movements of a human finger based only on tactile data. Second, the informative value of the sensor output is shown by detecting whether a hard lump is embedded within a soft elastomer with an accuracy of 98%. These findings indicate that Minsight can give robots the detailed fingertip touch sensing needed for dexterous manipulation and physical human–robot interaction.

DOI Project Page [BibTex]

Learning to Estimate Palpation Forces in Robotic Surgery From Visual-Inertial Data
Learning to Estimate Palpation Forces in Robotic Surgery From Visual-Inertial Data

Lee, Y., Husin, H. M., Forte, M., Lee, S., Kuchenbecker, K. J.

IEEE Transactions on Medical Robotics and Bionics, 5(3):496-506, August 2023 (article)

Abstract
Surgeons cannot directly touch the patient's tissue in robot-assisted minimally invasive procedures. Instead, they must palpate using instruments inserted into the body through trocars. This way of operating largely prevents surgeons from using haptic cues to localize visually undetectable structures such as tumors and blood vessels, motivating research on direct and indirect force sensing. We propose an indirect force-sensing method that combines monocular images of the operating field with measurements from IMUs attached externally to the instrument shafts. Our method is thus suitable for various robotic surgery systems as well as laparoscopic surgery. We collected a new dataset using a da Vinci Si robot, a force sensor, and four different phantom tissue samples. The dataset includes 230 one-minute-long recordings of repeated bimanual palpation tasks performed by four lay operators. We evaluated several network architectures and investigated the role of the network inputs. Using the DenseNet vision model and including inertial data best-predicted palpation forces (lowest average root-mean-square error and highest average coefficient of determination). Ablation studies revealed that video frames carry significantly more information than inertial signals. Finally, we demonstrated the model's ability to generalize to unseen tissue and predict shear contact forces.

DOI [BibTex]

Lee, Y., Husin, H. M., Forte, M., Lee, S., Kuchenbecker, K. J. Learning to Estimate Palpation Forces in Robotic Surgery From Visual-Inertial Data IEEE Transactions on Medical Robotics and Bionics, 5(3):496-506, August 2023 (article)

DOI [BibTex]

Strap Tightness and Tissue Composition Both Affect the Vibration Created by a Wearable Device
Strap Tightness and Tissue Composition Both Affect the Vibration Created by a Wearable Device

Rokhmanova, N., Faulkner, R., Martus, J., Fiene, J., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Abstract
Wearable haptic devices can provide salient real-time feedback (typically vibration) for rehabilitation, sports training, and skill acquisition. Although the body provides many sites for such cues, the influence of the mounting location on vibrotactile mechanics is commonly ignored. This study builds on previous research by quantifying how changes in strap tightness and local tissue composition affect the physical acceleration generated by a typical vibrotactile device.

Project Page [BibTex]

Rokhmanova, N., Faulkner, R., Martus, J., Fiene, J., Kuchenbecker, K. J. Strap Tightness and Tissue Composition Both Affect the Vibration Created by a Wearable Device Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Toward a Device for Reliable Evaluation of Vibrotactile Perception
Toward a Device for Reliable Evaluation of Vibrotactile Perception

Ballardini, G., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

[BibTex]

Ballardini, G., Kuchenbecker, K. J. Toward a Device for Reliable Evaluation of Vibrotactile Perception Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

[BibTex]

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Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test: Code

Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J.

Code published as a companion to the journal article "Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test" in IEEE Transactions on Automation Science and Engineering, July 2023 (misc)

DOI Project Page [BibTex]

Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J. Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test: Code Code published as a companion to the journal article "Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test" in IEEE Transactions on Automation Science and Engineering, July 2023 (misc)

DOI Project Page [BibTex]

Improving Haptic Rendering Quality by Measuring and Compensating for Undesired Forces
Improving Haptic Rendering Quality by Measuring and Compensating for Undesired Forces

Fazlollahi, F., Taghizadeh, Z., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Fazlollahi, F., Taghizadeh, Z., Kuchenbecker, K. J. Improving Haptic Rendering Quality by Measuring and Compensating for Undesired Forces Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Capturing Rich Auditory-Haptic Contact Data for Surface Recognition
Capturing Rich Auditory-Haptic Contact Data for Surface Recognition

Khojasteh, B., Shao, Y., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Abstract
The sophistication of biological sensing and transduction processes during finger-surface and tool-surface interaction is remarkable, enabling humans to perform ubiquitous tasks such as discriminating and manipulating surfaces. Capturing and processing these rich contact-elicited signals during surface exploration with similar success is an important challenge for artificial systems. Prior research introduced sophisticated mobile surface-sensing systems, but it remains less clear what quality, resolution and acuity of sensor data are necessary to perform human tasks with the same efficiency and accuracy. In order to address this gap in our understanding about artificial surface perception, we have designed a novel auditory-haptic test bed. This study aims to inspire new designs for artificial sensing tools in human-machine and robotic applications.

Project Page [BibTex]

Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Capturing Rich Auditory-Haptic Contact Data for Surface Recognition Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

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Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites

Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 169-175, Delft, The Netherlands, July 2023 (inproceedings)

Abstract
Telerobotics is regularly used on construction sites to build large structures efficiently. A human operator remotely controls the construction robot under direct visual feedback, but visibility is often poor. Future construction robots that move autonomously will also require operator monitoring. Thus, we designed a wireless haptic feedback system to provide the operator with task-relevant mechanical information from a construction robot in real time. Our AiroTouch system uses an accelerometer to measure the robot end-effector's vibrations and uses off-the-shelf audio equipment and a voice-coil actuator to display them to the user with high fidelity. A study was conducted to evaluate how this type of naturalistic vibration feedback affects the observer's understanding of telerobotic assembly on a real construction site. Seven adults without construction experience observed a mix of manual and autonomous assembly processes both with and without naturalistic vibrotactile feedback. Qualitative analysis of their survey responses and interviews indicated that all participants had positive responses to this technology and believed it would be beneficial for construction activities.

DOI Project Page [BibTex]

Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites In Proceedings of the IEEE World Haptics Conference (WHC), pages: 169-175, Delft, The Netherlands, July 2023 (inproceedings)

DOI Project Page [BibTex]

Airo{T}ouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction
AiroTouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction

Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J.

Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. AiroTouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

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CAPT Motor: A Strong Direct-Drive Haptic Interface

Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J.

Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J. CAPT Motor: A Strong Direct-Drive Haptic Interface Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Can Recording Expert Demonstrations with Tool Vibrations Facilitate Teaching of Manual Skills?
Can Recording Expert Demonstrations with Tool Vibrations Facilitate Teaching of Manual Skills?

Gourishetti, R., Javot, B., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Gourishetti, R., Javot, B., Kuchenbecker, K. J. Can Recording Expert Demonstrations with Tool Vibrations Facilitate Teaching of Manual Skills? Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Creating a Haptic Empathetic Robot Animal for Children with Autism
Creating a Haptic Empathetic Robot Animal for Children with Autism

Burns, R. B.

Workshop paper (4 pages) presented at the RSS Pioneers Workshop, Daegu, South Korea, July 2023 (misc)

link (url) Project Page [BibTex]

Burns, R. B. Creating a Haptic Empathetic Robot Animal for Children with Autism Workshop paper (4 pages) presented at the RSS Pioneers Workshop, Daegu, South Korea, July 2023 (misc)

link (url) Project Page [BibTex]

The Influence of Amplitude and Sharpness on the Perceived Intensity of Isoenergetic Ultrasonic Signals
The Influence of Amplitude and Sharpness on the Perceived Intensity of Isoenergetic Ultrasonic Signals

Gueorguiev, D., Rohou–Claquin, B., Kuchenbecker, K. J.

Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Gueorguiev, D., Rohou–Claquin, B., Kuchenbecker, K. J. The Influence of Amplitude and Sharpness on the Perceived Intensity of Isoenergetic Ultrasonic Signals Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Vibrotactile Playback for Teaching Manual Skills from Expert Recordings
Vibrotactile Playback for Teaching Manual Skills from Expert Recordings

Gourishetti, R., Hughes, A. G., Javot, B., Kuchenbecker, K. J.

Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

Gourishetti, R., Hughes, A. G., Javot, B., Kuchenbecker, K. J. Vibrotactile Playback for Teaching Manual Skills from Expert Recordings Hands-on demonstration presented at the IEEE World Haptics Conference, Delft, The Netherlands, July 2023 (misc)

Project Page [BibTex]

A Toolkit for Expanding Sustainability Engineering Utilizing Foundations of the Engineering for One Planet Initiative
A Toolkit for Expanding Sustainability Engineering Utilizing Foundations of the Engineering for One Planet Initiative

Schulz, A., Anderson, C. D., Cooper, C., Roberts, D., Loyo, J., Lewis, K., Kumar, S., Rolf, J., Marulanda, N. A. G.

In Proceedings of the American Society of Engineering Education (ASEE), Baltimore, USA, June 2023, Andrew Schulz, Cindy Cooper, Cindy Anderson contributed equally. (inproceedings)

Abstract
Recently, there has been a significant push to prepare all engineers with skills in sustainability, motivated by industry needs, accreditation requirements, and international efforts such as the National Science Foundation’s 10 Big Ideas and Grand Challenges and the United Nations’ Sustainable Development Goals (SDGs). This paper discusses a new toolkit to enable broad dissemination of vetted tools to help engineering faculty members teach sustainability using resources from the Engineering for One Planet (EOP) initiative. This toolkit is to be used as a mechanism to engage a diversity of stakeholders to use their voices, experiences, and connections to share the need for national curricular change in engineering education widely. This toolkit can foster the integration of sustainability-focused learning outcomes into engineering courses and programs. This is particularly important for graduating engineers at this crucial time when we collectively face a convergence of national- and global-scale planetary crises that professional engineers will directly and indirectly impact. Catalyzed by The Lemelson Foundation and VentureWell, the EOP initiative provides teaching tools, grants, and support for the EOP Network —a volunteer action network— comprising diverse stakeholders collectively seeking to transform engineering education to equip all engineers with the understanding, knowledge, skills, and mindsets to ensure their work contributes to a healthy world. The EOP Framework, a fundamental resource of the initiative, provides a curated and vetted list of ABET-aligned sustainability-focused student learning outcomes, including core and advanced. It covers social and environmental sustainability topics and essential professional skills such as communication, teamwork, and critical thinking. It was designed as a practical implementation tool — rather than a research framework — to help educators embed sustainability concepts and tools into engineering courses and programs at all levels. The Lemelson Foundation has provided a range of grants to support curricular transformation efforts using the EOP Framework. With support from The Lemelson Foundation, ASEE launched an EOP Mini-Grant Program in 2022 to engender curricular changes using the EOP Framework. The EOP Network is working to extend the reach of the Framework across the ASEE community beyond initial pilot programs by implementing an EOP Toolkit for EOP Network members and other stakeholders to use at their home institutions, conferences, and informative workshops. This article describes the rationale for creating the EOP Toolkit, the development process, content examples, and use scenarios.

[BibTex]

Schulz, A., Anderson, C. D., Cooper, C., Roberts, D., Loyo, J., Lewis, K., Kumar, S., Rolf, J., Marulanda, N. A. G. A Toolkit for Expanding Sustainability Engineering Utilizing Foundations of the Engineering for One Planet Initiative In Proceedings of the American Society of Engineering Education (ASEE), Baltimore, USA, June 2023, Andrew Schulz, Cindy Cooper, Cindy Anderson contributed equally. (inproceedings)

[BibTex]

Utilizing Online and Open-Source Machine Learning Toolkits to Leverage the Future of Sustainable Engineering
Utilizing Online and Open-Source Machine Learning Toolkits to Leverage the Future of Sustainable Engineering

Schulz, A., Stathatos, S., Shriver, C., Moore, R.

In Proceedings of the American Society of Engineering Education (ASEE), Baltimore, USA, June 2023, Andrew Schulz and Suzanne Stathatos are co-first authors. (inproceedings)

Abstract
Recently, there has been a national push to use machine learning (ML) and artificial intelligence (AI) to advance engineering techniques in all disciplines ranging from advanced fracture mechanics in materials science to soil and water quality testing in the civil and environmental engineering fields. Using AI, specifically machine learning, engineers can automate and decrease the processing or human labeling time while maintaining statistical repeatability via trained models and sensors. Edge Impulse has designed an open-source TinyML-enabled Arduino education tool kit for engineering disciplines. This paper discusses the various applications and approaches engineering educators have taken to utilize ML toolkits in the classroom. We provide in-depth implementation guides and associated learning outcomes focused on the Environmental Engineering Classroom. We discuss five specific examples of four standard Environmental Engineering courses for freshman and junior-level engineering. There are currently few programs in the nation that utilize machine learning toolkits to prepare the next generation of ML and AI-educated engineers for industry and academic careers. This paper will guide educators to design and implement ML/AI into engineering curricula (without a specific AI or ML focus within the course) using simple, cheap, and open-source tools and technological aid from an online platform in collaboration with Edge Impulse.

DOI [BibTex]

Schulz, A., Stathatos, S., Shriver, C., Moore, R. Utilizing Online and Open-Source Machine Learning Toolkits to Leverage the Future of Sustainable Engineering In Proceedings of the American Society of Engineering Education (ASEE), Baltimore, USA, June 2023, Andrew Schulz and Suzanne Stathatos are co-first authors. (inproceedings)

DOI [BibTex]

Generating Clear Vibrotactile Cues with a Magnet Embedded in a Soft Finger Sheath
Generating Clear Vibrotactile Cues with a Magnet Embedded in a Soft Finger Sheath

Gertler, I., Serhat, G., Kuchenbecker, K. J.

Soft Robotics, 10(3):624-635, June 2023 (article)

Abstract
Haptic displays act on the user's body to stimulate the sense of touch and enrich applications from gaming and computer-aided design to rehabilitation and remote surgery. However, when crafted from typical rigid robotic components, they tend to be heavy, bulky, and expensive, while sleeker designs often struggle to create clear haptic cues. This article introduces a lightweight wearable silicone finger sheath that can deliver salient and rich vibrotactile cues using electromagnetic actuation. We fabricate the sheath on a ferromagnetic mandrel with a process based on dip molding, a robust fabrication method that is rarely used in soft robotics but is suitable for commercial production. A miniature rare-earth magnet embedded within the silicone layers at the center of the finger pad is driven to vibrate by the application of alternating current to a nearby air-coil. Experiments are conducted to determine the amplitude of the magnetic force and the frequency response function for the displacement amplitude of the magnet perpendicular to the skin. In addition, high-fidelity finite element analyses of the finger wearing the device are performed to investigate the trends observed in the measurements. The experimental and simulated results show consistent dynamic behavior from 10 to 1000 Hz, with the displacement decreasing after about 300 Hz. These results match the detection threshold profile obtained in a psychophysical study performed by 17 users, where more current was needed only at the highest frequency. A cue identification experiment and a demonstration in virtual reality validate the feasibility of this approach to fingertip haptics.

DOI Project Page [BibTex]

In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures
In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures

Block, A. E., Seifi, H., Hilliges, O., Gassert, R., Kuchenbecker, K. J.

ACM Transactions on Human-Robot Interaction, 12(2):1-49, June 2023, Special Issue on Designing the Robot Body: Critical Perspectives on Affective Embodied Interaction (article)

Abstract
Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we investigated robot responses to four human intra-hug gestures: holding, rubbing, patting, and squeezing. Thirty-two users each exchanged and rated sixteen hugs with an experimenter-controlled HuggieBot 2.0. The robot's inflated torso's microphone and pressure sensor collected data of the subjects' demonstrations that were used to develop a perceptual algorithm that classifies user actions with 88% accuracy. Users enjoyed robot squeezes, regardless of their performed action, they valued variety in the robot response, and they appreciated robot-initiated intra-hug gestures. From average user ratings, we created a probabilistic behavior algorithm that chooses robot responses in real time. We implemented improvements to the robot platform to create HuggieBot 3.0 and then validated its gesture perception system and behavior algorithm with sixteen users. The robot's responses and proactive gestures were greatly enjoyed. Users found the robot more natural, enjoyable, and intelligent in the last phase of the experiment than in the first. After the study, they felt more understood by the robot and thought robots were nicer to hug.

DOI Project Page [BibTex]

Block, A. E., Seifi, H., Hilliges, O., Gassert, R., Kuchenbecker, K. J. In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures ACM Transactions on Human-Robot Interaction, 12(2):1-49, June 2023, Special Issue on Designing the Robot Body: Critical Perspectives on Affective Embodied Interaction (article)

DOI Project Page [BibTex]

Reconstructing Signing Avatars from Video Using Linguistic Priors
Reconstructing Signing Avatars from Video Using Linguistic Priors

Forte, M., Kulits, P., Huang, C. P., Choutas, V., Tzionas, D., Kuchenbecker, K. J., Black, M. J.

In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 12791-12801, CVPR 2023, June 2023 (inproceedings)

Abstract
Sign language (SL) is the primary method of communication for the 70 million Deaf people around the world. Video dictionaries of isolated signs are a core SL learning tool. Replacing these with 3D avatars can aid learning and enable AR/VR applications, improving access to technology and online media. However, little work has attempted to estimate expressive 3D avatars from SL video; occlusion, noise, and motion blur make this task difficult. We address this by introducing novel linguistic priors that are universally applicable to SL and provide constraints on 3D hand pose that help resolve ambiguities within isolated signs. Our method, SGNify, captures fine-grained hand pose, facial expression, and body movement fully automatically from in-the-wild monocular SL videos. We evaluate SGNify quantitatively by using a commercial motion-capture system to compute 3D avatars synchronized with monocular video. SGNify outperforms state-of-the-art 3D body-pose- and shape-estimation methods on SL videos. A perceptual study shows that SGNify's 3D reconstructions are significantly more comprehensible and natural than those of previous methods and are on par with the source videos. Code and data are available at sgnify.is.tue.mpg.de.

pdf arXiv project code DOI [BibTex]

Forte, M., Kulits, P., Huang, C. P., Choutas, V., Tzionas, D., Kuchenbecker, K. J., Black, M. J. Reconstructing Signing Avatars from Video Using Linguistic Priors In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 12791-12801, CVPR 2023, June 2023 (inproceedings)

pdf arXiv project code DOI [BibTex]