Katherine Kuchenbecker | Haptic Intelligence - Max Planck Institute for Intelligent Systems

Katherine Kuchenbecker

Director

Haptic Intelligence

Office: 5P5
Heisenbergstr. 3
70569 Stuttgart
Germany

+49 711 689-3510

+49 711 689-3512

kathjulk

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Overview
Publications

Katherine J. Kuchenbecker directs the Haptic Intelligence Department at the Max Planck Institute for Intelligent Systems in Stuttgart, Germany. She was previously an Associate Professor of Mechanical Engineering and Applied Mechanics at the University of Pennsylvania, where she held the Class of 1940 Bicentennial Endowed Term Chair and a secondary appointment in Computer and Information Science. Kuchenbecker earned her Ph.D. in Mechanical Engineering at Stanford University in 2006 and did a postdoctoral fellowship at the Johns Hopkins University. Her research centers on haptic interfaces, which enable a user to touch virtual and distant objects as though they were real and within reach, as well as haptic sensing systems, which allow robots to physically interact with objects and people.

Kuchenbecker delivered a TEDYouth talk on haptics in 2012, and she has received several honors including a 2009 NSF CAREER Award, the 2012 IEEE Robotics and Automation Society Academic Early Career Award, and a 2014 Penn Lindback Award for Distinguished Teaching. Her team has won various best paper and best demonstration awards, and she frequently gives keynote talks at conferences. She was co-chair of the IEEE Technical Committee on Haptics from 2014 to 2017, and she co-chaired the IEEE Haptics Symposium in 2016 and 2018.

179 results (View BibTeX file of all listed publications)

2018

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Reducing 3D Vibrations to 1D in Real Time

Park, G., Kuchenbecker, K. J.

Pisa, Italy, June 2018, Hands-on demonstration presented at EuroHaptics (misc)

Abstract

In this demonstration, you will hold two pen-shaped modules: an in-pen and an out-pen. The in-pen is instrumented with a high-bandwidth three-axis accelerometer, and the out-pen contains a one-axis voice coil actuator. Use the in-pen to interact with different surfaces; the measured 3D accelerations are continually converted into 1D vibrations and rendered with the out-pen for you to feel. You can test conversion methods that range from simply selecting a single axis to applying a discrete Fourier transform or principal component analysis for realistic and brisk real-time conversion.

2018

Park, G., Kuchenbecker, K. J. Reducing 3D Vibrations to 1D in Real Time Pisa, Italy, June 2018, Hands-on demonstration presented at EuroHaptics (misc)

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Automatically Rating Trainee Skill at a Pediatric Laparoscopic Suturing Task

Oquendo, Y. A., Riddle, E. W., Hiller, D., Blinman, T. A., Kuchenbecker, K. J.

Surgical Endoscopy, 32(4):1840-1857, April 2018 (article)

Oquendo, Y. A., Riddle, E. W., Hiller, D., Blinman, T. A., Kuchenbecker, K. J. Automatically Rating Trainee Skill at a Pediatric Laparoscopic Suturing Task Surgical Endoscopy, 32(4):1840-1857, April 2018 (article)

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Immersive Low-Cost Virtual Reality Treatment for Phantom Limb Pain: Evidence from Two Cases

Ambron, E., Miller, A., Kuchenbecker, K. J., Buxbaum, L. J., Coslett, H. B.

Frontiers in Neurology, 9(67):1-7, 2018 (article)

Ambron, E., Miller, A., Kuchenbecker, K. J., Buxbaum, L. J., Coslett, H. B. Immersive Low-Cost Virtual Reality Treatment for Phantom Limb Pain: Evidence from Two Cases Frontiers in Neurology, 9(67):1-7, 2018 (article)

2017

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Evaluation of high-fidelity simulation as a training tool in transoral robotic surgery

Bur, A. M., Gomez, E. D., Newman, J. G., Weinstein, G. S., Bert W. O’Malley, J., Rassekh, C. H., Kuchenbecker, K. J.

Laryngoscope, 127(12):2790-2795, December 2017 (article)

2017

Bur, A. M., Gomez, E. D., Newman, J. G., Weinstein, G. S., Bert W. O’Malley, J., Rassekh, C. H., Kuchenbecker, K. J. Evaluation of high-fidelity simulation as a training tool in transoral robotic surgery Laryngoscope, 127(12):2790-2795, December 2017 (article)

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Using contact forces and robot arm accelerations to automatically rate surgeon skill at peg transfer

Brown, J. D., O’Brien, C. E., Leung, S. C., Dumon, K. R., Lee, D. I., Kuchenbecker, K. J.

IEEE Transactions on Biomedical Engineering, 64(9):2263-2275, September 2017 (article)

Brown, J. D., O’Brien, C. E., Leung, S. C., Dumon, K. R., Lee, D. I., Kuchenbecker, K. J. Using contact forces and robot arm accelerations to automatically rate surgeon skill at peg transfer IEEE Transactions on Biomedical Engineering, 64(9):2263-2275, September 2017 (article)

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Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps

Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, August 2017 (inproceedings)

Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J. Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, August 2017 (inproceedings)

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Ungrounded haptic augmented reality system for displaying texture and friction

Culbertson, H., Kuchenbecker, K. J.

IEEE/ASME Transactions on Mechatronics, 22(4):1839-1849, August 2017 (article)

Culbertson, H., Kuchenbecker, K. J. Ungrounded haptic augmented reality system for displaying texture and friction IEEE/ASME Transactions on Mechatronics, 22(4):1839-1849, August 2017 (article)

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A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training

Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, June 2017 (inproceedings)

Abstract

Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether it holds the potential to train novice da Vinci users to reduce the force they exert on a bimanual inanimate training task. Subjects were randomly divided into two groups according to a multiple baseline experimental design. Each of the ten participants moved a ring along a curved wire nine times while the haptic feedback was conditionally withheld, provided, and withheld again. The realtime tactile feedback of applied force magnitude significantly reduced the integral of the force produced by the da Vinci tools on the task materials, and this result remained even when the haptic feedback was removed. Overall, our findings suggest that wrist-squeezing force feedback can play an essential role in helping novice trainees learn to minimize the force they exert with a surgical robot.

Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J. A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, June 2017 (inproceedings)

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Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display

Young, E. M., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, June 2017, Finalist for best poster paper (inproceedings)

Abstract

Despite rapid advancements in the field of fingertip haptics, rendering tactile cues with six degrees of freedom (6 DOF) remains an elusive challenge. In this paper, we investigate the potential of displaying fingertip haptic sensations with a 6-DOF parallel continuum manipulator (PCM) that mounts to the user's index finger and moves a contact platform around the fingertip. Compared to traditional mechanisms composed of rigid links and discrete joints, PCMs have the potential to be strong, dexterous, and compact, but they are also more complicated to design. We define the design space of 6-DOF parallel continuum manipulators and outline a process for refining such a device for fingertip haptic applications. Following extensive simulation, we obtain 12 designs that meet our specifications, construct a manually actuated prototype of one such design, and evaluate the simulation's ability to accurately predict the prototype's motion. Finally, we demonstrate the range of deliverable fingertip tactile cues, including a normal force into the finger and shear forces tangent to the finger at three extreme points on the boundary of the fingertip.

Young, E. M., Kuchenbecker, K. J. Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, June 2017, Finalist for best poster paper (inproceedings)

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Handling Scan-time Parameters in Haptic Surface Classification

Burka, A., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, June 2017 (inproceedings)

Burka, A., Kuchenbecker, K. J. Handling Scan-time Parameters in Haptic Surface Classification In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, June 2017 (inproceedings)

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High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, June 2017 (inproceedings)

Abstract

Clever electromechanical design is required to make the force feedback delivered by a kinesthetic haptic interface both strong and safe. This paper explores a onedimensional haptic force display that combines a DC motor and a magnetic particle brake on the same shaft. Rather than a rigid linkage, a spooled cable connects the user to the actuators to enable a large workspace, reduce the moving mass, and eliminate the sticky residual force from the brake. This design combines the high torque/power ratio of the brake and the active output capabilities of the motor to provide a wider range of forces than can be achieved with either actuator alone. A prototype of this device was built, its performance was characterized, and it was used to simulate constant force sources and virtual springs and dampers. Compared to the conventional design of using only a motor, the hybrid device can output higher unidirectional forces at the expense of free space feeling less free.

Hu, S., Kuchenbecker, K. J. High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, June 2017 (inproceedings)

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Physically Interactive Exercise Games with a Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

Fitter, N. T., Kuchenbecker, K. J. Physically Interactive Exercise Games with a Baxter Robot Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

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Perception of force and stiffness in the presence of low-frequency haptic noise

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

PLoS ONE, 12(6):e0178605, June 2017 (article)

Gurari, N., Okamura, A. M., Kuchenbecker, K. J. Perception of force and stiffness in the presence of low-frequency haptic noise PLoS ONE, 12(6):e0178605, June 2017 (article)

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Proton Pack: Visuo-Haptic Surface Data Recording

Burka, A., Kuchenbecker, K. J.

Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

Burka, A., Kuchenbecker, K. J. Proton Pack: Visuo-Haptic Surface Data Recording Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

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Teaching a Robot to Collaborate with a Human Via Haptic Teleoperation

Hu, S., Kuchenbecker, K. J.

Work-in-progress paper (2 pages) presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

Hu, S., Kuchenbecker, K. J. Teaching a Robot to Collaborate with a Human Via Haptic Teleoperation Work-in-progress paper (2 pages) presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

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Evaluation of a vibrotactile simulator for dental caries detection

Kuchenbecker, K. J., Parajon, R., Maggio, M. P.

Simulation in Healthcare, 12(3):148-156, June 2017 (article)

Kuchenbecker, K. J., Parajon, R., Maggio, M. P. Evaluation of a vibrotactile simulator for dental caries detection Simulation in Healthcare, 12(3):148-156, June 2017 (article)

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Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder

Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, May 2017 (inproceedings)

Abstract

The Portable Robotic Optical/Tactile ObservatioN PACKage (PROTONPACK, or Proton for short) is a new handheld visuo-haptic sensing system that records surface interactions. We previously demonstrated system calibration and a classification task using external motion tracking. This paper details improvements in surface classification performance and removal of the dependence on external motion tracking, necessary before embarking on our goal of gathering a vast surface interaction dataset. Two experiments were performed to refine data collection parameters. After adjusting the placement and filtering of the Proton's high-bandwidth accelerometers, we recorded interactions between two differently-sized steel tooling ball end-effectors (diameter 6.35 and 9.525 mm) and five surfaces. Using features based on normal force, tangential force, end-effector speed, and contact vibration, we trained multi-class SVMs to classify the surfaces using 50 ms chunks of data from each end-effector. Classification accuracies of 84.5% and 91.5% respectively were achieved on unseen test data, an improvement over prior results. In parallel, we pursued on-board motion tracking, using the Proton's camera and fiducial markers. Motion tracks from the external and onboard trackers agree within 2 mm and 0.01 rad RMS, and the accuracy decreases only slightly to 87.7% when using onboard tracking for the 9.525 mm end-effector. These experiments indicate that the Proton 2 is ready for portable data collection.

Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J. Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, May 2017 (inproceedings)

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An Interactive Augmented-Reality Video Training Platform for the da Vinci Surgical System

Carlson, J., Kuchenbecker, K. J.

Short paper presented at the Workshop on C4 Surgical Robots at the IEEE International Conference on Robotics and Automation (ICRA), May 2017 (misc)

Abstract

Teleoperated surgical robots such as the Intuitive da Vinci Surgical System facilitate minimally invasive surgeries, which decrease risk to patients. However, these systems can be difficult to learn, and existing training curricula on surgical simulators do not offer students the realistic experience of a full operation. This paper presents an augmented-reality video training platform for the da Vinci that will allow trainees to rehearse any surgery recorded by an expert. While the trainee operates a da Vinci in free space, they see their own instruments overlaid on the expert video. Tools are identified in the source videos via color segmentation and kernelized correlation filter tracking, and their depth is calculated from the da Vinci’s stereoscopic video feed. The user tries to follow the expert’s movements, and if any of their tools venture too far away, the system provides instantaneous visual feedback and pauses to allow the user to correct their motion. The trainee can also rewind the expert video by bringing either da Vinci tool very close to the camera. This combined and augmented video provides the user with an immersive and interactive training experience.

Carlson, J., Kuchenbecker, K. J. An Interactive Augmented-Reality Video Training Platform for the da Vinci Surgical System Short paper presented at the Workshop on C4 Surgical Robots at the IEEE International Conference on Robotics and Automation (ICRA), May 2017 (misc)

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Hand-Clapping Games with a Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

Hands-on demonstration presented at ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2017 (misc)

Abstract

Robots that work alongside humans might be more effective if they could forge a strong social bond with their human partners. Hand-clapping games and other forms of rhythmic social-physical interaction may foster human-robot teamwork, but the design of such interactions has scarcely been explored. At the HRI 2017 conference, we will showcase several such interactions taken from our recent work with the Rethink Robotics Baxter Research Robot, including tempo-matching, Simon says, and Pat-a-cake-like games. We believe conference attendees will be both entertained and intrigued by this novel demonstration of social-physical HRI.

Fitter, N. T., Kuchenbecker, K. J. Hand-Clapping Games with a Baxter Robot Hands-on demonstration presented at ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2017 (misc)

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Automatic OSATS Rating of Trainee Skill at a Pediatric Laparoscopic Suturing Task

Oquendo, Y. A., Riddle, E. W., Hiller, D., Blinman, T. A., Kuchenbecker, K. J.

Surgical Endoscopy, Proceedings of the 2017 Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), 31(Supplement 1):S28, Springer, March 2017 (article)

Abstract

Introduction: Minimally invasive surgery has revolutionized surgical practice, but challenges remain. Trainees must acquire complex technical skills while minimizing patient risk, and surgeons must maintain their skills for rare procedures. These challenges are magnified in pediatric surgery due to the smaller spaces, finer tissue, and relative dearth of both inanimate and virtual simulators. To build technical expertise, trainees need opportunities for deliberate practice with specific performance feedback, which is typically provided via tedious human grading. This study aimed to validate a novel motion-tracking system and machine learning algorithm for automatically evaluating trainee performance on a pediatric laparoscopic suturing task using a 1–5 OSATS Overall Skill rating. Methods: Subjects (n=14) ranging from medical students to fellows per- formed one or two trials of an intracorporeal suturing task in a custom pediatric laparoscopy training box (Fig. 1) after watching a video of ideal performance by an expert. The position and orientation of the tools and endoscope were recorded over time using Ascension trakSTAR magnetic motion-tracking sensors, and both instrument grasp angles were recorded over time using flex sensors on the handles. The 27 trials were video-recorded and scored on the OSATS scale by a senior fellow; ratings ranged from 1 to 4. The raw motion data from each trial was processed to calculate over 200 preliminary motion parameters. Regularized least-squares regression (LASSO) was used to identify the most predictive parameters for inclusion in a regression tree. Model performance was evaluated by leave-one-subject-out cross validation, wherein the automatic scores given to each subject’s trials (by a model trained on all other data) are compared to the corresponding human rater scores. Results: The best-performing LASSO algorithm identified 14 predictive parameters for inclusion in the regression tree, including completion time, linear path length, angular path length, angular acceleration, grasp velocity, and grasp acceleration. The final model’s raw output showed a strong positive correlation of 0.87 with the reviewer-generated scores, and rounding the output to the nearest integer yielded a leave-one-subject-out cross-validation accuracy of 77.8%. Results are summarized in the confusion matrix (Table 1). Conclusions: Our novel motion-tracking system and regression model automatically gave previously unseen trials overall skill scores that closely match scores from an expert human rater. With additional data and further development, this system may enable creation of a motion-based training platform for pediatric laparoscopic surgery and could yield insights into the fundamental components of surgical skill.

Oquendo, Y. A., Riddle, E. W., Hiller, D., Blinman, T. A., Kuchenbecker, K. J. Automatic OSATS Rating of Trainee Skill at a Pediatric Laparoscopic Suturing Task Surgical Endoscopy, Proceedings of the 2017 Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), 31(Supplement 1):S28, Springer, March 2017 (article)

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How Much Haptic Surface Data is Enough?

Burka, A., Kuchenbecker, K. J.

Workshop paper (5 pages) presented at the AAAI Spring Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, March 2017 (misc)

Abstract

The Proton Pack is a portable visuo-haptic surface interaction recording device that will be used to collect a vast multimodal dataset, intended for robots to use as part of an approach to understanding the world around them. In order to collect a useful dataset, we want to pick a suitable interaction duration for each surface, noting the tradeoff between data collection resources and completeness of data. One interesting approach frames the data collection process as an online learning problem, building an incremental surface model and using that model to decide when there is enough data. Here we examine how to do such online surface modeling and when to stop collecting data, using kinetic friction as a first domain in which to apply online modeling.

link (url) [BibTex]

Burka, A., Kuchenbecker, K. J. How Much Haptic Surface Data is Enough? Workshop paper (5 pages) presented at the AAAI Spring Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, March 2017 (misc)

link (url) [BibTex]

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Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces

Culbertson, H., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 10(1):63-74, January 2017 (article)

Culbertson, H., Kuchenbecker, K. J. Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces IEEE Transactions on Haptics, 10(1):63-74, January 2017 (article)

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Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task

Khurshid, R. P., Fitter, N. T., Fedalei, E. A., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 10(1):40-53, January 2017 (article)

Khurshid, R. P., Fitter, N. T., Fedalei, E. A., Kuchenbecker, K. J. Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task IEEE Transactions on Haptics, 10(1):40-53, January 2017 (article)

2016

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Qualitative User Reactions to a Hand-Clapping Humanoid Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 317-327, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

2016

Fitter, N. T., Kuchenbecker, K. J. Qualitative User Reactions to a Hand-Clapping Humanoid Robot In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 317-327, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

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Designing and Assessing Expressive Open-Source Faces for the Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 340-350, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

Fitter, N. T., Kuchenbecker, K. J. Designing and Assessing Expressive Open-Source Faces for the Baxter Robot In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 340-350, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

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Rhythmic Timing in Playful Human-Robot Social Motor Coordination

Fitter, N. T., Hawkes, D. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 296-305, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

Fitter, N. T., Hawkes, D. T., Kuchenbecker, K. J. Rhythmic Timing in Playful Human-Robot Social Motor Coordination In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 296-305, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

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Using IMU Data to Demonstrate Hand-Clapping Games to a Robot

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 851 - 856, October 2016, Interactive presentation given by Fitter (inproceedings)

Fitter, N. T., Kuchenbecker, K. J. Using IMU Data to Demonstrate Hand-Clapping Games to a Robot In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 851 - 856, October 2016, Interactive presentation given by Fitter (inproceedings)

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ProtonPack: A Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 58-65, sep 2016, Oral presentation given by Burka (inproceedings)

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J. ProtonPack: A Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 58-65, sep 2016, Oral presentation given by Burka (inproceedings)

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Equipping the Baxter Robot with Human-Inspired Hand-Clapping Skills

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, pages: 105-112, August 2016, Oral presentation given by Fitter (inproceedings)

Fitter, N. T., Kuchenbecker, K. J. Equipping the Baxter Robot with Human-Inspired Hand-Clapping Skills In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, pages: 105-112, August 2016, Oral presentation given by Fitter (inproceedings)

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Reproducing a Laser Pointer Dot on a Secondary Projected Screen

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages: 1645-1650, July 2016, Oral presentation given by Hu (inproceedings)

Hu, S., Kuchenbecker, K. J. Reproducing a Laser Pointer Dot on a Secondary Projected Screen In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages: 1645-1650, July 2016, Oral presentation given by Hu (inproceedings)

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Design and evaluation of a novel mechanical device to improve hemiparetic gait: a case report

Fjeld, K., Hu, S., Kuchenbecker, K. J., Vasudevan, E. V.

In Proceedings of the Biomechanics and Neural Control of Movement Conference (BANCOM), June 2016, Extended abstract. Poster presentation given by Fjeld (inproceedings)

Fjeld, K., Hu, S., Kuchenbecker, K. J., Vasudevan, E. V. Design and evaluation of a novel mechanical device to improve hemiparetic gait: a case report In Proceedings of the Biomechanics and Neural Control of Movement Conference (BANCOM), June 2016, Extended abstract. Poster presentation given by Fjeld (inproceedings)

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Deep Learning for Tactile Understanding From Visual and Haptic Data

Gao, Y., Hendricks, L. A., Kuchenbecker, K. J., Darrell, T.

In Proceedings of the IEEE International Conference on Robotics and Automation, pages: 536-543, May 2016, Oral presentation given by Gao (inproceedings)

Gao, Y., Hendricks, L. A., Kuchenbecker, K. J., Darrell, T. Deep Learning for Tactile Understanding From Visual and Haptic Data In Proceedings of the IEEE International Conference on Robotics and Automation, pages: 536-543, May 2016, Oral presentation given by Gao (inproceedings)

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Robust Tactile Perception of Artificial Tumors Using Pairwise Comparisons of Sensor Array Readings

Hui, J. C. T., Block, A. E., Taylor, C. J., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 305-312, Philadelphia, Pennsylvania, USA, 2016, Oral presentation given by Hui (inproceedings)

Hui, J. C. T., Block, A. E., Taylor, C. J., Kuchenbecker, K. J. Robust Tactile Perception of Artificial Tumors Using Pairwise Comparisons of Sensor Array Readings In Proc. IEEE Haptics Symposium, pages: 305-312, Philadelphia, Pennsylvania, USA, 2016, Oral presentation given by Hui (inproceedings)

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Data-Driven Comparison of Four Cutaneous Displays for Pinching Palpation in Robotic Surgery

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 147-154, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Brown (inproceedings)

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J. Data-Driven Comparison of Four Cutaneous Displays for Pinching Palpation in Robotic Surgery In Proc. IEEE Haptics Symposium, pages: 147-154, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Brown (inproceedings)

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One Sensor, Three Displays: A Comparison of Tactile Rendering from a BioTac Sensor

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, USA, April 2016 (misc)

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J. One Sensor, Three Displays: A Comparison of Tactile Rendering from a BioTac Sensor Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, USA, April 2016 (misc)

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Design and Implementation of a Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 350-352, April 2016, Work-in-progress paper. Poster presentation given by Burka (inproceedings)

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J. Design and Implementation of a Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties In Proc. IEEE Haptics Symposium, pages: 350-352, April 2016, Work-in-progress paper. Poster presentation given by Burka (inproceedings)

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Objective assessment of robotic surgical skill using instrument contact vibrations

D. Gomez, E., Aggarwal, R., McMahan, W., Bark, K., Kuchenbecker, K. J.

Surgical Endoscopy, 30(4):1419-1431, April 2016 (article)

D. Gomez, E., Aggarwal, R., McMahan, W., Bark, K., Kuchenbecker, K. J. Objective assessment of robotic surgical skill using instrument contact vibrations Surgical Endoscopy, 30(4):1419-1431, April 2016 (article)

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Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

IEEE Transactions on Biomedical Engineering, 63(2):278-287, February 2016 (article)

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J. Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery IEEE Transactions on Biomedical Engineering, 63(2):278-287, February 2016 (article)

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Designing Human-Robot Exercise Games for Baxter

Fitter, N. T., Hawkes, D. T., Johnson, M. J., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

Fitter, N. T., Hawkes, D. T., Johnson, M. J., Kuchenbecker, K. J. Designing Human-Robot Exercise Games for Baxter 2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

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IMU-Mediated Real-Time Human-Baxter Hand-Clapping Interaction

Fitter, N. T., Huang, Y. E., Mayer, J. P., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

Fitter, N. T., Huang, Y. E., Mayer, J. P., Kuchenbecker, K. J. IMU-Mediated Real-Time Human-Baxter Hand-Clapping Interaction 2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

2015

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Reducing Student Anonymity and Increasing Engagement

Kuchenbecker, K. J.

University of Pennsylvania Almanac, 62(18):8, November 2015 (article)

2015

Kuchenbecker, K. J. Reducing Student Anonymity and Increasing Engagement University of Pennsylvania Almanac, 62(18):8, November 2015 (article)

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Surgeons and Non-Surgeons Prefer Haptic Feedback of Instrument Vibrations During Robotic Surgery

Koehn, J. K., Kuchenbecker, K. J.

Surgical Endoscopy, 29(10):2970-2983, October 2015 (article)

Koehn, J. K., Kuchenbecker, K. J. Surgeons and Non-Surgeons Prefer Haptic Feedback of Instrument Vibrations During Robotic Surgery Surgical Endoscopy, 29(10):2970-2983, October 2015 (article)

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Displaying Sensed Tactile Cues with a Fingertip Haptic Device

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 8(4):384-396, October 2015 (article)

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J. Displaying Sensed Tactile Cues with a Fingertip Haptic Device IEEE Transactions on Haptics, 8(4):384-396, October 2015 (article)

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Analysis of the Instrument Vibrations and Contact Forces Caused by an Expert Robotic Surgeon Doing FRS Tasks

Brown, J. D., O’Brien, C., Miyasaka, K., Dumon, K. R., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 75-76, London, England, June 2015, Poster presentation given by Brown (inproceedings)

Brown, J. D., O’Brien, C., Miyasaka, K., Dumon, K. R., Kuchenbecker, K. J. Analysis of the Instrument Vibrations and Contact Forces Caused by an Expert Robotic Surgeon Doing FRS Tasks In Proc. Hamlyn Symposium on Medical Robotics, pages: 75-76, London, England, June 2015, Poster presentation given by Brown (inproceedings)

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Should Haptic Texture Vibrations Respond to User Force and Speed?

Culbertson, H., Kuchenbecker, K. J.

In IEEE World Haptics Conference, pages: 106 - 112, Evanston, Illinois, USA, June 2015, Oral presentation given by Culbertson (inproceedings)

Culbertson, H., Kuchenbecker, K. J. Should Haptic Texture Vibrations Respond to User Force and Speed? In IEEE World Haptics Conference, pages: 106 - 112, Evanston, Illinois, USA, June 2015, Oral presentation given by Culbertson (inproceedings)

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Toward a large-scale visuo-haptic dataset for robotic learning

Burka, A., Hu, S., Krishnan, S., Kuchenbecker, K. J., Hendricks, L. A., Gao, Y., Darrell, T.

In Proc. CVPR Workshop on the Future of Datasets in Vision, June 2015 (inproceedings)

Burka, A., Hu, S., Krishnan, S., Kuchenbecker, K. J., Hendricks, L. A., Gao, Y., Darrell, T. Toward a large-scale visuo-haptic dataset for robotic learning In Proc. CVPR Workshop on the Future of Datasets in Vision, June 2015 (inproceedings)

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Enabling the Baxter Robot to Play Hand-Clapping Games

Fitter, N. T., Neuburger, M., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

Fitter, N. T., Neuburger, M., Kuchenbecker, K. J. Enabling the Baxter Robot to Play Hand-Clapping Games In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

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Detecting Lumps in Simulated Tissue via Palpation with a BioTac

Hui, J., Block, A., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Hui (inproceedings)

Hui, J., Block, A., Kuchenbecker, K. J. Detecting Lumps in Simulated Tissue via Palpation with a BioTac In Proc. IEEE World Haptics Conference, June 2015, Work-in-progress paper. Poster presentation given by Hui (inproceedings)

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Data-Driven Motion Mappings Improve Transparency in Teleoperation

Khurshid, R. P., Kuchenbecker, K. J.

Presence: Teleoperators and Virtual Environments, 24(2):132-154, May 2015 (article)

Khurshid, R. P., Kuchenbecker, K. J. Data-Driven Motion Mappings Improve Transparency in Teleoperation Presence: Teleoperators and Virtual Environments, 24(2):132-154, May 2015 (article)

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Using IMU Data to Teach a Robot Hand-Clapping Games

Fitter, N. T., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 353-355, April 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

Fitter, N. T., Kuchenbecker, K. J. Using IMU Data to Teach a Robot Hand-Clapping Games In Proc. IEEE Haptics Symposium, pages: 353-355, April 2015, Work-in-progress paper. Poster presentation given by Fitter (inproceedings)

Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems

Latest News

Hasti Seifi wins EuroHaptics Society prize for best Ph.D. thesis 15 June 2018
Alexis Block is teaching robots to give good hugs 08 June 2018
Brent Gillespie receives Humboldt Research Award 23 May 2018
Hyosang Lee receives fellowship from South Korean Government 16 April 2018

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