Mark Cutkosky

All Publications

• Locomotion as manipulation with ReachBot. Science robotics Chen, T. G., Newdick, S., Di, J., Bosio, C., Ongole, N., Lapôtre, M., Pavone, M., Cutkosky, M. R. 2024; 9 (89): eadi9762

  Abstract

  Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.

  View details for DOI 10.1126/scirobotics.adi9762

  View details for PubMedID 38630805

• Testing Gecko-Inspired Adhesives with Astrobee Aboard the International Space Station: Readying the Technology for Space IEEE ROBOTICS & AUTOMATION MAGAZINE Chen, T. G., Cauligi, A., Suresh, S., Pavone, M., Cutkosky, M. 2022

  View details for DOI 10.1109/MRA.2022.3175597

  View details for Web of Science ID 000805798200001

• RVEX: Right Ventricular External Device for Biomimetic Support and Monitoring of the Right Heart ADVANCED MATERIALS TECHNOLOGIES Pirozzi, I., Kight, A., Shad, R. A., Han, A., Dual, S. A., Fong, R., Jia, A., Hiesinger, W., Yock, P., Cutkosky, M. 2022

  View details for DOI 10.1002/admt.202101472

  View details for Web of Science ID 000753365200001

• From grasping to manipulation with gecko-inspired adhesives on a multifinger gripper. Science robotics Ruotolo, W., Brouwer, D., Cutkosky, M. R. 1800; 6 (61): eabi9773

  Abstract

  [Figure: see text].

  View details for DOI 10.1126/scirobotics.abi9773

  View details for PubMedID 34910528

• Bird-inspired dynamic grasping and perching in arboreal environments SCIENCE ROBOTICS Roderick, W. T., Cutkosky, M. R., Lentink, D. 2021; 6 (61): eabj7562

  Abstract

  Birds take off and land on a wide range of complex surfaces. In contrast, current robots are limited in their ability to dynamically grasp irregular objects. Leveraging recent findings on how birds take off, land, and grasp, we developed a biomimetic robot that can dynamically perch on complex surfaces and grasp irregular objects. To accommodate high-speed collisions, the robot’s two legs passively transform impact energy into grasp force, while the underactuated grasping mechanism wraps around irregularly shaped objects in less than 50 milliseconds. To determine the range of hardware design, kinematic, behavior, and perch parameters that are sufficient for perching success, we launched the robot at tree branches. The results corroborate our mathematical model, which shows that larger isometrically scaled animals and robots must accommodate disproportionately larger angular momenta, relative to their mass, to achieve similar landing performance. We find that closed-loop balance control serves an important role in maximizing the range of parameters sufficient for perching. The performance of the robot’s biomimetic features attests to the functionality of their avian counterparts, and the robot enables us to study aspects of bird legs in ways that are infeasible in vivo. Our data show that pronounced differences in modern avian toe arrangements do not yield large changes in perching performance, suggesting that arboreal perching does not represent a strong selection pressure among common bird toe topographies. These findings advance our understanding of the avian perching apparatus and highlight design concepts that enable robots to perch on natural surfaces for environmental monitoring.

  View details for DOI 10.1126/scirobotics.abj7562

  View details for Web of Science ID 000727049500001

  View details for PubMedID 34851710

• Creating Metal Molds for Directional Gecko-Inspired Adhesives JOURNAL OF MICRO AND NANO-MANUFACTURING Kerst, C., Suresh, S. A., Cutkosky, M. R. 2020; 8 (1)

  View details for DOI 10.1115/1.4045764

  View details for Web of Science ID 000518691300004

• The Role of Tissue Slip Feedback in Robot-Assisted Surgery JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME Burkhard, N. T., Steger, J., Cutkosky, M. R. 2019; 13 (2)

  View details for DOI 10.1115/1.4043018

  View details for Web of Science ID 000467010600004

• Spatially variant microstructured adhesive with one-way friction. Journal of the Royal Society, Interface Suresh, S. A., Kerst, C. F., Cutkosky, M. R., Hawkes, E. W. 2019; 16 (150): 20180705

  Abstract

  Surface microstructures in nature enable diverse and intriguing properties, from the iridescence of butterfly wings to the hydrophobicity of lotus leaves to the controllable adhesion of gecko toes. Many artificial analogues exist; however, there is a key characteristic of the natural materials that is largely absent from the synthetic versions-spatial variation. Here we show that exploiting spatial variation in the design of one class of synthetic microstructure, gecko-inspired adhesives, enables one-way friction, an intriguing property of natural gecko adhesive. When loaded along a surface in the preferred direction, our adhesive material supports forces 100 times larger than when loaded in the reverse direction, representing an asymmetry significantly larger than demonstrated in spatially uniform adhesives. Our study suggests that spatial variation has the potential to advance artificial microstructures, helping to close the gap between synthetic and natural materials.

  View details for DOI 10.1098/rsif.2018.0705

  View details for PubMedID 30958166

  View details for PubMedCentralID PMC6364657

• Forceful manipulation with micro air vehicles SCIENCE ROBOTICS Estrada, M. A., Mintchev, S., Christensen, D. L., Cutkosky, M. R., Floreano, D. 2018; 3 (23)

  View details for DOI 10.1126/scirobotics.aau6903

  View details for Web of Science ID 000448624000003

• Forceful manipulation with micro air vehicles. Science robotics Estrada, M. A., Mintchev, S., Christensen, D. L., Cutkosky, M. R., Floreano, D. 2018; 3 (23)

  Abstract

  Micro air vehicles (MAVs) are finding use across an expanding range of applications. However, when interacting with the environment, they are limited by the maximum thrust they can produce. Here, we describe FlyCroTugs, a class of robots that adds to the mobility of MAVs the capability of forceful tugging up to 40 times their mass while adhering to a surface. This class of MAVs, which finds inspiration in the prey transportation strategy of wasps, exploits controllable adhesion or microspines to firmly adhere to the ground and then uses a winch to pull heavy objects. The combination of flight and adhesion for tugging creates a class of 100-gram multimodal MAVs that can rapidly traverse cluttered three-dimensional terrain and exert forces that affect human-scale environments. We discuss the energetics and scalability of this approach and demonstrate it for lifting a sensor into a partially collapsed building. We also demonstrate a team of two FlyCroTugs equipped with specialized end effectors for rotating a lever handle and opening a heavy door.

  View details for DOI 10.1126/scirobotics.aau6903

  View details for PubMedID 33141736

• Active Sensing for Measuring Contact of Thin Film Gecko-Inspired Adhesives IEEE ROBOTICS AND AUTOMATION LETTERS Tae Myung Huh, Liu, C., Hashizume, J., Chen, T. G., Suresh, S. A., Chang, F., Cutkosky, M. R. 2018; 3 (4): 3263–70

  View details for DOI 10.1109/LRA.2018.2851757

  View details for Web of Science ID 000439621000003

• Improving Industrial Grippers With Adhesion-Controlled Friction IEEE ROBOTICS AND AUTOMATION LETTERS Roberge, J., Ruotolo, W., Duchaine, V., Cutkosky, M. 2018; 3 (2): 1041–48

  View details for DOI 10.1109/LRA.2018.2794618

  View details for Web of Science ID 000424646100026

• MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures. IEEE transactions on haptics Han, A. K., Bae, J. H., Gregoriou, K. C., Ploch, C. J., Goldman, R. E., Glover, G. H., Daniel, B. L., Cutkosky, M. R. 2018

  Abstract

  Multilayer electroactive polymer films actuate a small hand-held device that can display tool tip forces during MR-guided interventions. The display produces localized skin stretch at the thumb and index fingertips. Tests confirm that the device does not significantly affect MR imaging and produces detectable stimuli in response to forces measured by a biopsy needle instrumented with optical fibers. Tests with human subjects explored robotic and teleoperated paradigms to detect when the needle contacted a membrane embedded at variable depth in a tissue phantom that approximated the properties of porcine liver. In the first case, naive users detected membranes with a 98.9% success rate as the needle was driven at fixed speed. In the second case, users with experience in needle-based procedures controlled the needle insertion and detected membranes embedded in tissue phantoms with a 98% success rate. In the second experiment, some users detected membranes with very light contact forces, but there was greater subject-to-subject variation.

  View details for DOI 10.1109/TOH.2018.2816074

  View details for PubMedID 29993819

• A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity. Science robotics Jiang, H., Hawkes, E. W., Fuller, C., Estrada, M. A., Suresh, S. A., Abcouwer, N., Han, A. K., Wang, S., Ploch, C. J., Parness, A., Cutkosky, M. R. 2017; 2 (7)

  Abstract

  Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space. Vacuum grippers require an atmosphere, sticky attachments fail in the harsh environment of space, and handlike opposed grippers are not suited for large, smooth space debris. We present a robotic gripper that can gently grasp, manipulate, and release both flat and curved uncooperative objects as large as a meter in diameter while in microgravity. This is enabled by (i) space-qualified gecko-inspired dry adhesives that are selectively turned on and off by the application of shear forces, (ii) a load-sharing system that scales small patches of these adhesives to large areas, and (iii) a nonlinear passive wrist that is stiff during manipulation yet compliant when overloaded. We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system. Tests in microgravity show that robotic grippers based on dry adhesion are a viable option for eliminating space debris in low Earth orbit and for enhancing missions in space.

  View details for DOI 10.1126/scirobotics.aan4545

  View details for PubMedID 33157899

• The Ocean One hands: An adaptive design for robust marine manipulation INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Stuart, H., Wang, S., Khatib, O., Cutkosky, M. R. 2017; 36 (2): 150-166

  View details for DOI 10.1177/0278364917694723

  View details for Web of Science ID 000399558300003

• A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces IEEE TRANSACTIONS ON ROBOTICS Pope, M. T., Kimes, C. W., Jiang, H., Hawkes, E. W., Estrada, M. A., Kerst, C. F., Roderick, W. R., Han, A. K., Christensen, D. L., Cutkosky, M. R. 2017; 33 (1): 38-48

  View details for DOI 10.1109/TRO.2016.2623346

  View details for Web of Science ID 000395647700003

• Climbing with adhesion: from bioinspiration to biounderstanding INTERFACE FOCUS Cutkosky, M. R. 2015; 5 (4)

  View details for DOI 10.1098/rsfs.2015.0015

  View details for Web of Science ID 000357875300003

• Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Suresh, S. A., Christensen, D. L., Hawkes, E. W., Cutkosky, M. 2015; 7 (2)

  View details for DOI 10.1115/1.4029492

  View details for Web of Science ID 000351672900006

• A Passive Parallel Master-Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME Elayaperumal, S., Cutkosky, M. R., Renaud, P., Daniel, B. L. 2015; 9 (1)

  View details for DOI 10.1115/1.4028944

  View details for Web of Science ID 000351642500009

• Design of an Optically Controlled MR-Compatible Active Needle IEEE TRANSACTIONS ON ROBOTICS Ryu, S. C., Quek, Z. F., Koh, J., Renaud, P., Black, R. J., Moslehi, B., Daniel, B. L., Cho, K., Cutkosky, M. R. 2015; 31 (1): 1-11

  Abstract

  An active needle is proposed for the development of magnetic resonance imaging (MRI)-guided percutaneous procedures. The needle uses a low-transition-temperature shape memory alloy (LT SMA) wire actuator to produce bending in the distal section of the needle. Actuation is achieved with internal optical heating using laser light transported via optical fibers and side coupled to the LT SMA. A prototype, with a size equivalent to a standard 16-gauge biopsy needle, exhibits significant bending, with a tip deflection of more than 14° in air and 5° in hard tissue. A single-ended optical sensor with a gold-coated tip is developed to measure the curvature independently of temperature. The experimental results in tissue phantoms show that human tissue causes fast heat dissipation from the wire actuator; however, the active needle can compensate for typical targeting errors during prostate biopsy.

  View details for DOI 10.1109/TRO.2014.2367351

  View details for Web of Science ID 000352057900001

  View details for PubMedCentralID PMC4620588

• Human climbing with efficiently scaled gecko-inspired dry adhesives JOURNAL OF THE ROYAL SOCIETY INTERFACE Hawkes, E. W., Eason, E. V., Christensen, D. L., Cutkosky, M. R. 2015; 12 (102)

  View details for DOI 10.1098/rsif.2014.0675

  View details for Web of Science ID 000345500000001

• Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor. Bioinspiration & biomimetics Eason, E. V., Hawkes, E. W., Windheim, M., Christensen, D. L., Libby, T., Cutkosky, M. R. 2015; 10 (1): 016013-?

  Abstract

  The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems.

  View details for DOI 10.1088/1748-3190/10/1/016013

  View details for PubMedID 25642752

• Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor. Bioinspiration & biomimetics Eason, E. V., Hawkes, E. W., Windheim, M., Christensen, D. L., Libby, T., Cutkosky, M. R. 2015; 10 (1): 016013-?

  View details for DOI 10.1088/1748-3190/10/1/016013

  View details for PubMedID 25642752

• An analytic framework for developing inherently-manufacturable pop-up laminate devices SMART MATERIALS AND STRUCTURES Aukes, D. M., Goldberg, B., Cutkosky, M. R., Wood, R. J. 2014; 23 (9)

  View details for DOI 10.1088/0964-1726/23/9/094013

  View details for Web of Science ID 000341077700015

• Dynamic tactile sensing in The Human Hand: A Source of Inspiration for Robotic Hands Cutkosky, M., R., Ulmen, J. edited by Balasubrmanian, R., Santos, V. Berlin, Heidelberg: Springer Verlag, in press.. 2014: 1
• The Gecko's Toe: Scaling Directional Adhesives for Climbing Applications IEEE-ASME TRANSACTIONS ON MECHATRONICS Hawkes, E. W., Eason, E. V., Asbeck, A. T., Cutkosky, M. R. 2013; 18 (2): 518-526

  View details for DOI 10.1109/TMECH.2012.2209672

  View details for Web of Science ID 000321008100011

• Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing Robotics Research: the Ninth International Symposium Bailey, S., A., Cham, J., G., Cutkosky, M., R., Full, R., J. edited by Hollerbach, J., Koditschek, D. Springer-Verlag. : 403–410
• Additively manufactured micro-lattice dielectrics for multiaxial capacitive sensors. Science advances Berman, A., Hsiao, K., Root, S. E., Choi, H., Ilyn, D., Xu, C., Stein, E., Cutkosky, M., DeSimone, J. M., Bao, Z. 2024; 10 (40): eadq8866

  Abstract

  Soft sensors that can perceive multiaxial forces, such as normal and shear, are of interest for dexterous robotic manipulation and monitoring of human performance. Typical planar fabrication techniques have substantial design constraints that often prohibit the creation of functionally compelling and complex architectures. Moreover, they often require multiple-step operations for production. Here, we use an additive manufacturing process based on continuous liquid interface production to create high-resolution (30-micrometer) three-dimensional elastomeric polyurethane lattices for use as dielectric layers in capacitive sensors. We show that the capacitive responses and sensitivities are highly tunable through designs of lattice type, thickness, and material-void volume percentage. Microcomputed tomography and finite element simulation are used to elucidate the influence of lattice design on the deformation mechanism and concomitant sensing behavior. The advantage of three-dimensional printing is exhibited with examples of fully printed representative athletic equipment with integrated sensors.

  View details for DOI 10.1126/sciadv.adq8866

  View details for PubMedID 39365852

• Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations Dil, J., Cuevas-Quinones, S., Newdick, S., Chen, T. G., Pavone, M., Lapotre, M. A., Cutkosky, M., IEEE IEEE. 2024: 36-41

  View details for DOI 10.1109/iSpaRo60631.2024.10687389

  View details for Web of Science ID 001327765400006

• Angle-selective thermal emitter for directional radiative cooling and heating JOULE Zhou, J., Chen, T. G., Tsurimaki, Y., Hajj-Ahmad, A., Fan, L., Peng, Y., Xu, R., Wu, Y., Assawaworrarit, S., Fan, S., Cutkosky, M. R., Cui, Y. 2023; 7 (12)

  View details for DOI 10.1016/j.joule.2023.10.013

  View details for Web of Science ID 001142770900001

• Integrated Pneumatic Sensing and Actuation for Soft Haptic Devices IEEE ROBOTICS AND AUTOMATION LETTERS Choi, H., Cutkosky, M. R., Stanley, A. A. 2023; 8 (11): 7591-7598

  View details for DOI 10.1109/LRA.2023.3320494

  View details for Web of Science ID 001085222400005

• GRASP: Grocery Robot's Adhesion and Suction Picker IEEE ROBOTICS AND AUTOMATION LETTERS Hajj-Ahmad, A., Kaul, L., Matl, C., Cutkosky, M. 2023; 8 (10): 6419-6426

  View details for DOI 10.1109/LRA.2023.3300572

  View details for Web of Science ID 001059582500005

• An Electrostatically Actuated Gecko Adhesive Clutch ADVANCED MATERIALS TECHNOLOGIES Hajj-Ahmad, A., Han, A., Lin, M. A., Glover, G. H., Cutkosky, M. R. 2023

  View details for DOI 10.1002/admt.202202025

  View details for Web of Science ID 000962728800001

• Circulatory Support: Artificial Muscles for the Future of Cardiovascular Assist Devices. Advanced materials (Deerfield Beach, Fla.) Pirozzi, I., Kight, A., Han, A. K., Cutkosky, M. R., Dual, S. A. 2023: e2210713

  Abstract

  Artificial muscles enable the design of soft implantable devices which are poised to transform the way we mechanically support the heart today. Heart failure is a prevalent and deadly disease, which is treated with the implantation of rotary blood pumps as the only alternative to heart transplantation. The clinically used mechanical devices are associated with severe adverse events, which are reflected here in a comprehensive list of critical requirements for soft active devices of the future: low power, no blood contact, pulsatile support, physiological responsiveness, high cycle life, and less-invasive implantation. In this review, we investigate and critically evaluate prior art in artificial muscles for their applicability in the short and long term. We highlight the main challenges regarding the effectiveness, controllability, and implantability of recently proposed actuators and explore future perspectives for attachment, physiological responsiveness, durability, and biodegradability as well as equitable design considerations. This article is protected by copyright. All rights reserved.

  View details for DOI 10.1002/adma.202210713

  View details for PubMedID 36827651

• Decoupling Transmission and Transduction for Improved Durability of Highly Stretchable, Soft Strain Sensing: Applications in Human Health Monitoring. Sensors (Basel, Switzerland) Kight, A., Pirozzi, I., Liang, X., McElhinney, D. B., Han, A. K., Dual, S. A., Cutkosky, M. 2023; 23 (4)

  Abstract

  This work presents a modular approach to the development of strain sensors for large deformations. The proposed method separates the extension and signal transduction mechanisms using a soft, elastomeric transmission and a high-sensitivity microelectromechanical system (MEMS) transducer. By separating the transmission and transduction, they can be optimized independently for application-specific mechanical and electrical performance. This work investigates the potential of this approach for human health monitoring as an implantable cardiac strain sensor for measuring global longitudinal strain (GLS). The durability of the sensor was evaluated by conducting cyclic loading tests over one million cycles, and the results showed negligible drift. To account for hysteresis and frequency-dependent effects, a lumped-parameter model was developed to represent the viscoelastic behavior of the sensor. Multiple model orders were considered and compared using validation and test data sets that mimic physiologically relevant dynamics. Results support the choice of a second-order model, which reduces error by 73% compared to a linear calibration. In addition, we evaluated the suitability of this sensor for the proposed application by demonstrating its ability to operate on compliant, curved surfaces. The effects of friction and boundary conditions are also empirically assessed and discussed.

  View details for DOI 10.3390/s23041955

  View details for PubMedID 36850551

  View details for PubMedCentralID PMC9967534

• Bird-inspired robotics principles as a framework for developing smart aerospace materials JOURNAL OF COMPOSITE MATERIALS Hoffmann, K. W., Chen, T. G., Cutkosky, M. R., Lentink, D. 2023

  View details for DOI 10.1177/00219983231152663

  View details for Web of Science ID 000923017300001

• Motion Planning for a Climbing Robot with Stochastic Grasps Newdick, S., Ongole, N., Chen, T. G., Schmerling, E., Cutkosky, M. R., Pavone, M., IEEE IEEE. 2023: 11838-11844

  View details for DOI 10.1109/ICRA48891.2023.10160218

  View details for Web of Science ID 001048371103133

• Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission Newdick, S., Chen, T. G., Hockman, B., Schmerling, E., Cutkosky, M. R., Pavone, M., IEEE IEEE. 2023

  View details for DOI 10.1109/AERO55745.2023.10115893

  View details for Web of Science ID 001008282004039

• Design of Active Sensing Smart Skin for Incipient Slip Detection in Robotics Applications IEEE-ASME TRANSACTIONS ON MECHATRONICS Liu, C., Huh, T., Chen, S. X., Lu, L., Kopsaftopoulos, F., Cutkosky, M. R., Chang, F. 2022

  View details for DOI 10.1109/TMECH.2022.3224119

  View details for Web of Science ID 000912792500001

• UV-laser-machined stretchable multi-modal sensor network for soft robot interaction NPJ FLEXIBLE ELECTRONICS Ham, J., Han, A., Cutkosky, M. R., Bao, Z. 2022; 6 (1)

  View details for DOI 10.1038/s41528-022-00225-0

  View details for Web of Science ID 000885316500001

• Electrohydraulic Vascular Compression Device (e-VaC) with Integrated Sensing and Controls ADVANCED MATERIALS TECHNOLOGIES Pirozzi, I., Kight, A., Liang, X., Han, A., Ennis, D. B., Hiesinger, W., Dual, S. A., Cutkosky, M. R. 2022

  View details for DOI 10.1002/admt.202201196

  View details for Web of Science ID 000882538300001

• Porous Dielectric Elastomer Based Flexible Multiaxial Tactile Sensor for Dexterous Robotic or Prosthetic Hands ADVANCED MATERIALS TECHNOLOGIES Ham, J., Huh, T., Kim, J., Kim, J., Park, S., Cutkosky, M. R., Bao, Z. 2022

  View details for DOI 10.1002/admt.202200903

  View details for Web of Science ID 000869304400001

• Aerial Grasping and the Velocity Sufficiency Region IEEE ROBOTICS AND AUTOMATION LETTERS Chen, T. G., Hoffmann, K. W., Low, J., Nagami, K., Lentink, D., Cutkosky, M. R. 2022; 7 (4): 10009-10016

  View details for DOI 10.1109/LRA.2022.3192652

  View details for Web of Science ID 000835813000025

• DynaRing: A Patient-Specific Mitral Annuloplasty Ring With Selective Stiffness Segments. Journal of medical devices Frishman, S., Kight, A., Pirozzi, I., Maddineni, S., Imbrie-Moore, A. M., Karachiwalla, Z., Paulsen, M. J., Kaiser, A. D., Woo, Y. J., Cutkosky, M. R. 2022; 16 (3): 031009

  Abstract

  Annuloplasty ring choice and design are critical to the long-term efficacy of mitral valve (MV) repair. DynaRing is a selectively compliant annuloplasty ring composed of varying stiffness elastomer segments, a shape-set nitinol core, and a cross diameter filament. The ring provides sufficient stiffness to stabilize a diseased annulus while allowing physiological annular dynamics. Moreover, adjusting elastomer properties provides a mechanism for effectively tuning key MV metrics to specific patients. We evaluate the ring embedded in porcine valves with an ex-vivo left heart simulator and perform a 150 million cycle fatigue test via a custom oscillatory system. We present a patient-specific design approach for determining ring parameters using a finite element model optimization and patient MRI data. Ex-vivo experiment results demonstrate that motion of DynaRing closely matches literature values for healthy annuli. Findings from the patient-specific optimization establish DynaRing's ability to adjust the anterior-posterior and intercommissural diameters and saddle height by up to 8.8%, 5.6%, 19.8%, respectively, and match a wide range of patient data.

  View details for DOI 10.1115/1.4054445

  View details for PubMedID 35646225

• Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet IEEE ROBOTICS AND AUTOMATION LETTERS Sarac, M., Huh, T., Choi, H., Cutkosky, M. R., Di Luca, M., Okamura, A. M. 2022; 7 (3): 6099-6106

  View details for DOI 10.1109/LRA.2021.3140132

  View details for Web of Science ID 000785670500003

• Bimanual Handling of Deformable Objects With Hybrid Adhesion IEEE ROBOTICS AND AUTOMATION LETTERS Han, A., Hajj-Ahmad, A., Cutkosky, M. R. 2022; 7 (2): 5497-5503

  View details for DOI 10.1109/LRA.2022.3158231

  View details for Web of Science ID 000770589900013

• ReachBot: A Small Robot with Exceptional Reach for Rough Terrain Chen, T. G., Miller, B., Winston, C., Schneider, S., Bylard, A., Pavone, M., Cutkosky, M. R., IEEE IEEE. 2022: 4517-4523

  View details for DOI 10.1109/ICRA46639.2022.9811949

  View details for Web of Science ID 000941265702104

• Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators Lin, M. A., Reyes, E., Bohg, J., Cutkosky, M. R., IEEE IEEE. 2022: 7817-7824

  View details for DOI 10.1109/IROS47612.2022.9982122

  View details for Web of Science ID 000909405300071

• Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter Thomasson, R., Roberge, E., Cutkosky, M. R., Roberge, J., IEEE IEEE. 2022: 1440-1446

  View details for DOI 10.1109/IROS47612.2022.9981924

  View details for Web of Science ID 000908368201058

• Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force Choi, H., Brouwer, D., Lin, M. A., Yoshida, K. T., Rognon, C., Stephens-Fripp, B., Okamura, A. M., Cutkosky, M. R., IEEE IEEE. 2022: 3659-3665

  View details for DOI 10.1109/IROS47612.2022.9981457

  View details for Web of Science ID 000908368202109

• A Stretchable Tactile Sleeve for Reaching Into Cluttered Spaces IEEE ROBOTICS AND AUTOMATION LETTERS Gruebele, A. M., Lin, M. A., Brouwer, D., Yuan, S., Zerbe, A. C., Cutkosky, M. R. 2021; 6 (3): 5308-5315

  View details for DOI 10.1109/LRA.2021.3070304

  View details for Web of Science ID 000647325700005

• Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces IEEE ROBOTICS AND AUTOMATION LETTERS Lin, M. A., Thomasson, R., Uribe, G., Choi, H., Cutkosky, M. 2021; 6 (3): 5159-5166

  View details for DOI 10.1109/LRA.2021.3068941

  View details for Web of Science ID 000645056800009

• Compression Molding and Nickel Molds for Directional Gecko-Inspired Adhesives JOURNAL OF MICRO AND NANO-MANUFACTURING Kerst, C. F., Cutkosky, M. R. 2021; 9 (2)

  View details for DOI 10.1115/1.4051139

  View details for Web of Science ID 000698752800009

• Cutting to the Point: Directly Machined Metal Molds for Directional Gecko-Inspired Adhesives JOURNAL OF MICRO AND NANO-MANUFACTURING Hajj-Ahmad, A., Suresh, S. A., Cutkosky, M. 2021; 9 (2)

  View details for DOI 10.1115/1.4051406

  View details for Web of Science ID 000698752800001

• Hybrid electrostatic and gecko-inspired gripping pads for manipulating bulky, non-smooth items SMART MATERIALS AND STRUCTURES Han, A., Hajj-Ahmad, A., Cutkosky, M. R. 2021; 30 (2)

  View details for DOI 10.1088/1361-665X/abca51

  View details for Web of Science ID 000600072700001

• Forcing the issue: testing gecko-inspired adhesives. Journal of the Royal Society, Interface Suresh, S. A., Hajj-Ahmad, A., Hawkes, E. W., Cutkosky, M. R. 2021; 18 (174): 20200730

  Abstract

  Materials are traditionally tested either by imposing controlled displacements and measuring the corresponding forces, or by imposing controlled forces. The first of these approaches is more common because it is straightforward to control the displacements of a stiff apparatus and, if the material suddenly fails, little energy is released. However, when testing gecko-inspired adhesives, an applied force paradigm is closer to how the adhesives are loaded in practice. Moreover, we demonstrate that the controlled displacement paradigm can lead to artefacts in the assumed behaviour unless the imposed loading trajectory precisely matches the deflections that would occur in applications. We present the design of a controlled-force system and protocol for testing directional gecko-inspired adhesives and show that results obtained with it are in some cases substantially different from those with controlled-displacement testing. An advantage of the controlled-force testing approach is that it allows accurate generation of adhesive limit curves without prior knowledge of the expected behaviour of the material or the loading details associated with practical applications.

  View details for DOI 10.1098/rsif.2020.0730

  View details for PubMedID 33435840

• A Multi-Axis FBG-Based Tactile Sensor for Gripping in Space Frishman, S., Di, J., Karachiwalla, Z., Black, R. J., Moslehi, K., Smith, T., Coltin, B., Moslehi, B., Cutkosky, M. R., IEEE IEEE. 2021: 1794-1799

  View details for DOI 10.1109/IROS51168.2021.9635998

  View details for Web of Science ID 000755125501061

• PEDOT:PSS Coating Improves Gecko-Inspired Adhesive Performance JOURNAL OF MICRO AND NANO-MANUFACTURING Kerst, C., Suresh, S. A., Ferro, M., Cutkosky, M. 2020; 8 (3)

  View details for DOI 10.1115/1.4048927

  View details for Web of Science ID 000596511200008

• Haptic Surface Display based on Miniature Dielectric Fluid Transducers IEEE ROBOTICS AND AUTOMATION LETTERS Han, A., Ji, S., Wang, D., Cutkosky, M. R. 2020; 5 (3): 4021–27

  View details for DOI 10.1109/LRA.2020.2985624

  View details for Web of Science ID 000531897800007

• Distal Hyperextension Is Handy: High Range of Motion in Cluttered Environments IEEE ROBOTICS AND AUTOMATION LETTERS Ruotolo, W., Thomasson, R., Herrera, J., Gruebele, A., Cutkosky, M. 2020; 5 (2): 921–28

  View details for DOI 10.1109/LRA.2020.2965914

  View details for Web of Science ID 000510752600003

• Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation IEEE ROBOTICS AND AUTOMATION LETTERS Huh, T., Choi, H., Willcox, S., Moon, S., Cutkosky, M. R. 2020; 5 (2): 2562–69

  View details for DOI 10.1109/LRA.2020.2972881

  View details for Web of Science ID 000526521500019

• A Stretchable Capacitive Sensory Skin for Exploring Cluttered Environments IEEE ROBOTICS AND AUTOMATION LETTERS Gruebele, A., Roberge, J., Zerbe, A., Ruotolo, W., Huh, T., Cutkosky, M. R. 2020; 5 (2): 1750–57

  View details for DOI 10.1109/LRA.2020.2969939

  View details for Web of Science ID 000526520500011

• Tactile Sensing and Terrain-Based Gait Control for Small Legged Robots IEEE TRANSACTIONS ON ROBOTICS Wu, X., Huh, T., Sabin, A., Suresh, S. A., Cutkosky, M. R. 2020; 36 (1): 15–27

  View details for DOI 10.1109/TRO.2019.2935336

  View details for Web of Science ID 000526526500002

• SELECTIVELY COMPLIANT ANNULOPLASTY RING TO ENABLE ANNULAR DYNAMICS IN MITRAL VALVE REPAIR EVALUATED BY IN-VITRO STEREOVISION Frishman, S., Imbrie-Moore, A. M., Cutkosky, M. R., Kight, A., Pirozzi, I., Paulsen, M. J., Woo, J. Y., Am Soc Mech Eng AMER SOC MECHANICAL ENGINEERS. 2020

  View details for Web of Science ID 000624287000005

• Enabling In-Bore MRI-Guided Biopsies With Force Feedback IEEE TRANSACTIONS ON HAPTICS Frishman, S., Kight, A., Pirozzi, I., Coffey, M. C., Daniel, B. L., Cutkosky, M. R. 2020; 13 (1): 159–66

  Abstract

  Limited physical access to target organs of patients inside an MRI scanner is a major obstruction to real-time MRI-guided interventions. Traditional teleoperation technologies are incompatible with the MRI environment and although several solutions have been explored, a versatile system that provides high-fidelity haptic feedback and access deep inside the bore remains a challenge. We present a passive and nearly frictionless MRI-compatible hydraulic teleoperator designed for in-bore liver biopsies. We describe the design components, characterize the system transparency, and evaluate the performance with a user study in a laboratory and a clinical setting. The results demonstrate % difference between input and output forces during realistic manipulation. A user study with participants conducting mock needle biopsy tasks indicates that a remote operator performs equally well when using the device as when holding a biopsy needle directly in hand. Additionally, MRI compatibility tests show no reduction in signal-to-noise ratio in the presence of the device.

  View details for DOI 10.1109/TOH.2020.2967375

  View details for Web of Science ID 000521334300023

  View details for PubMedID 31976906

• Mitral chordae tendineae force profile characterization using a posterior ventricular anchoring neochordal repair model for mitral regurgitation in a three-dimensional-printed ex vivo left heart simulator. European journal of cardio-thoracic surgery : official journal of the European Association for Cardio-thoracic Surgery Paulsen, M. J., Imbrie-Moore, A. M., Wang, H., Bae, J. H., Hironaka, C. E., Farry, J. M., Lucian, H. J., Thakore, A. D., MacArthur, J. W., Cutkosky, M. R., Woo, Y. J. 2019

  Abstract

  OBJECTIVES: Posterior ventricular anchoring neochordal (PVAN) repair is a non-resectional technique for correcting mitral regurgitation (MR) due to posterior leaflet prolapse, utilizing a single suture anchored in the myocardium behind the leaflet. This technique has demonstrated clinical efficacy, although a theoretical limitation is stability of the anchoring suture. We hypothesize that the PVAN suture positions the leaflet for coaptation, after which forces are distributed evenly with low repair suture forces.METHODS: Porcine mitral valves were mounted in a 3-dimensional-printed heart simulator and chordal forces, haemodynamics and echocardiography were collected at baseline, after inducing MR by severing chordae, and after PVAN repair. Repair suture forces were measured with a force-sensing post positioned to mimic in vivo suture placement. Forces required to pull the myocardial suture free were also determined.RESULTS: Relative primary and secondary chordae forces on both leaflets were elevated during prolapse (P<0.05). PVAN repair eliminated MR in all valves and normalized chordae forces to baseline levels on anterior primary (0.37±0.23 to 0.22±0.09 N, P<0.05), posterior primary (0.62±0.37 to 0.14±0.05 N, P=0.001), anterior secondary (1.48±0.52 to 0.85±0.43 N, P<0.001) and posterior secondary chordae (1.42±0.69 to 0.59±0.17 N, P=0.005). Repair suture forces were minimal, even compared to normal primary chordae forces (0.08±0.04 vs 0.19±0.08 N, P=0.002), and were 90 times smaller than maximum forces tolerated by the myocardium (0.08±0.04 vs 6.9±1.3 N, P<0.001).DISCUSSION: PVAN repair eliminates MR by positioning the posterior leaflet for coaptation, distributing forces throughout the valve. Given extremely low measured forces, the strength of the repair suture and the myocardium is not a limitation.

  View details for DOI 10.1093/ejcts/ezz258

  View details for PubMedID 31638697

• Birds land reliably on complex surfaces by adapting their foot-surface interactions upon contact. eLife Roderick, W. R., Chin, D. D., Cutkosky, M. R., Lentink, D. 2019; 8

  Abstract

  Birds land on a wide range of complex surfaces, yet it is unclear how they grasp a perch reliably. Here, we show how Pacific parrotlets exhibit stereotyped leg and wing dynamics regardless of perch diameter and texture, but foot, toe, and claw kinematics become surface-specific upon touchdown. A new dynamic grasping model, which integrates our detailed measurements, reveals how birds stabilize their grasp. They combine predictable toe pad friction with probabilistic friction from their claws, which they drag to find surface asperities-dragging further when they can squeeze less. Remarkably, parrotlet claws can undergo superfast movements, within 1-2 ms, on moderately slippery surfaces to find more secure asperities when necessary. With this strategy, they first ramp up safety margins by squeezing before relaxing their grasp. The model further shows it is advantageous to be small for stable perching when high friction relative to normal force is required because claws can find more usable surface, but this trend reverses when required friction shrinks. This explains how many animals and robots may grasp complex surfaces reliably.

  View details for DOI 10.7554/eLife.46415

  View details for PubMedID 31385573

• Ex Vivo Biomechanical Study of Apical Versus Papillary Neochord Anchoring for Mitral Regurgitation Imbrie-Moore, A. M., Paulsen, M. J., Thakore, A. D., Wang, H., Hironaka, C. E., Lucian, H. J., Farry, J. M., Edwards, B. B., Bae, J., Cutkosky, M. R., Woo, Y. ELSEVIER SCIENCE INC. 2019: 90–97

  View details for DOI 10.1016/j.athoracsur.2019.01.053

  View details for Web of Science ID 000472226100037

• Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction IEEE TRANSACTIONS ON ROBOTICS Stuart, H. S., Wang, S., Cutkosky, M. R. 2019; 35 (2): 295–306

  View details for DOI 10.1109/TRO.2018.2880094

  View details for Web of Science ID 000472721900001

• Low-Cost, Continuously Variable, Strain Wave Transmission Using Gecko-Inspired Adhesives IEEE ROBOTICS AND AUTOMATION LETTERS Naclerio, N. D., Kerst, C. F., Haggerty, D. A., Suresh, S. A., Singh, S., Ogawa, K., Miyazaki, S., Cutkosky, M. R., Hawkes, E. W. 2019; 4 (2): 894–901

  View details for DOI 10.1109/LRA.2019.2893424

  View details for Web of Science ID 000458182100011

• Load-Sharing in Soft and Spiny Paws for a Large Climbing Robot IEEE ROBOTICS AND AUTOMATION LETTERS Ruotolo, W., Roig, F. S., Cutkosky, M. R. 2019; 4 (2): 1439–46

  View details for DOI 10.1109/LRA.2019.2897002

  View details for Web of Science ID 000459538100035

• Long-Stroke Rolling Diaphragm Actuators For Haptic Display of Forces in Teleoperation IEEE ROBOTICS AND AUTOMATION LETTERS Gruebele, A., Frishman, S., Cutkosky, M. R. 2019; 4 (2): 1478–84

  View details for DOI 10.1109/LRA.2019.2894867

  View details for Web of Science ID 000459538100040

• Capacitive Sensing for a Gripper With Gecko-Inspired Adhesive Film IEEE ROBOTICS AND AUTOMATION LETTERS Hashizume, J., Huh, T., Suresh, S. A., Cutkosky, M. R. 2019; 4 (2): 677–83

  View details for DOI 10.1109/LRA.2019.2893154

  View details for Web of Science ID 000457917800017

• Ex vivo biomechanical study of apical versus papillary neochord anchoring for mitral regurgitation. The Annals of thoracic surgery Imbrie-Moore, A. M., Paulsen, M. J., Thakore, A. D., Wang, H., Hironaka, C. E., Lucian, H. J., Farry, J. M., Edwards, B. B., Bae, J. H., Cutkosky, M. R., Woo, Y. J. 2019

  Abstract

  BACKGROUND: Neochordoplasty is an important repair technique, though optimal anchoring position is unknown. While typically anchored at papillary muscles, new percutaneous devices anchor the chordae at or near the ventricular apex, which may have an effect on chordal forces and the long-term durability of the repair.METHODS: Porcine mitral valves (n=6) were mounted in a left heart simulator that generates physiological pressure and flow through the valves while chordal forces were measured using Fiber Bragg Grating strain gauge sensors. Isolated mitral regurgitation was induced by cutting P2 primary chordae and the regurgitant valve was repaired using PTFE neochord with apical anchoring, followed by papillary muscle fixation for comparison. In both cases, the neochord was anchored to a customized force-sensing post positioned to mimic the relevant in vivo placement.RESULTS: Echocardiographic and hemodynamic data confirmed that the repairs restored physiologic hemodynamics. Forces on the chordae and neochord were lower for papillary fixation than the apical (p=0.003). Additionally, the maximum rate of change of force was higher for the chordae and neochord for apical fixation when compared to papillary (p=0.028).CONCLUSIONS: Apical point of anchoring results in higher forces on the chordae and neochord stitch as well as an increased rate of loading on the neochord when compared to the papillary muscle fixation. These results suggest the papillary fixation repair may have superior durability.

  View details for PubMedID 30836099

• Development and ex vivo validation of novel force-sensing neochordae for measuring chordae tendineae tension in the mitral valve apparatus using optical fibers with embedded Bragg gratings. Journal of biomechanical engineering Paulsen, M. J., Bae, J. H., Imbrie-Moore, A. n., Wang, H. n., Hironaka, C. n., Farry, J. M., Lucian, H. n., Thakore, A. n., Cutkosky, M. R., Woo, Y. J. 2019

  Abstract

  Few technologies exist that can provide quantitative data on forces within the mitral valve apparatus. Marker-based strain measurements can be performed, but chordal geometry and restricted optical access are limitations. Foil-based strain sensors have been described and work well, but the sensor footprint limits the number of chordae that can be measured. We instead utilized Fiber Bragg Grating (FBG) sensors-optical strain gauges made of 125µm diameter silica fibers- to overcome some limitations of previous methods of measuring chordae tendineae forces. Using FBG sensors, we created a force-sensing neochord that mimics the natural shape and movement of native chordae. FBG sensors reflect a specific wavelength of light depending on the spatial period of gratings. When force is applied, the gratings move relative to one another, shifting the wavelength of reflected light. This shift is directly proportional to force applied. The FBG sensors were housed in a protective sheath fashioned from a 0.025" flat coil, and attached to the chordae using polytetrafluoroethylene suture. The function of the force-sensing neochordae was validated in a 3D-printed left heart simulator, which demonstrated that FBG sensors provide highly sensitive force measurements of mitral valve chordae at a temporal resolution of 1000 Hz. As ventricular pressures increased, such as in hypertension, chordae forces also increased. Overall, FBG sensors are a viable, durable, and high-fidelity sensing technology that can be effectively used to measure mitral valve chordae forces and overcome some limitations of other such technologies.

  View details for DOI 10.1115/1.4044142

  View details for PubMedID 31253992

• HoloNeedle: Augmented Reality Guidance System for Needle Placement Investigating the Advantages of Three-Dimensional Needle Shape Reconstruction IEEE ROBOTICS AND AUTOMATION LETTERS Lin, M. A., Siu, A. F., Bae, J., Cutkosky, M. R., Daniel, B. L. 2018; 3 (4): 4156–62

  View details for DOI 10.1109/LRA.2018.2863381

  View details for Web of Science ID 000443142200007

• Efficient Equilibrium Testing Under Adhesion and Anisotropy Using Empirical Contact Force Models IEEE TRANSACTIONS ON ROBOTICS Hauser, K., Wang, S., Cutkosky, M. R. 2018; 34 (5): 1157–69

  View details for DOI 10.1109/TRO.2018.2831722

  View details for Web of Science ID 000446659800002

• Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery IEEE ROBOTICS AND AUTOMATION LETTERS Burkhard, N. T., Cutkosky, M. R., Steger, J. 2018; 3 (4): 4148–55

  View details for DOI 10.1109/LRA.2018.2863360

  View details for Web of Science ID 000443142200006

• Approximating gecko setae via direct laser lithography SMART MATERIALS AND STRUCTURES Tricinci, O., Eason, E. V., Filippeschi, C., Mondini, A., Mazzolai, B., Pugno, N. M., Cutkosky, M. R., Greco, F., Mattoli, V. 2018; 27 (7)

  View details for DOI 10.1088/1361-665X/aa9e5f

  View details for Web of Science ID 000433515200009

• Stochastic models of compliant spine arrays for rough surface grasping INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Jiang, H., Wang, S., Cutkosky, M. R. 2018; 37 (7): 669–87

  View details for DOI 10.1177/0278364918778350

  View details for Web of Science ID 000438621900001

• A Soft Robotic Gripper With Gecko-Inspired Adhesive IEEE ROBOTICS AND AUTOMATION LETTERS Glick, P., Suresh, S. A., Ruffatto, D., Cutkosky, M., Tolley, M. T., Parness, A. 2018; 3 (2): 903–10

  View details for DOI 10.1109/LRA.2018.2792688

  View details for Web of Science ID 000424646100008

• Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers IEEE TRANSACTIONS ON ROBOTICS Hawkes, E., Jiang, H., Christensen, D. L., Han, A. K., Cutkosky, M. R. 2018; 34 (2): 303–16

  View details for DOI 10.1109/TRO.2017.2776312

  View details for Web of Science ID 000430595400002

• Quadratic Model of Reciprocal Causation for Monitoring, Improving, and Reflecting on Design Team Performance DESIGN THINKING RESEARCH: MAKING DISTINCTIONS: COLLABORATION VERSUS COOPERATION Sonalkar, N., Mabogunje, A., Cutkosky, M., Plattner, H., Meinel, C., Leifer, L. 2018: 43–57

  View details for DOI 10.1007/978-3-319-60967-6_3

  View details for Web of Science ID 000432741300004

• Design of Materials and Mechanisms for Responsive Robots ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 1 Hawkes, E. W., Cutkosky, M. R., Leonard, N. E. 2018; 1: 359–84

  View details for DOI 10.1146/annurev-control-060117-104903

  View details for Web of Science ID 000467687700015

• Continuous Movement Tracking Performance for Predictable and Unpredictable Tasks with Vibrotactile Feedback IEEE TRANSACTIONS ON HAPTICS Shull, P. B., Zhu, X., Cutkosky, M. R. 2017; 10 (4): 466–75

  Abstract

  The purpose of this paper was to determine human movement tracking performance in response to vibrotactile feedback tracking for predictable and unpredictable continuous movement tasks. Thirteen subjects performed elbow flexion/extension and knee flexion/extension continuous movement tracking tasks while receiving tactile stimulation proportional to limb joint position error. Subjects followed 0.2-2.0 Hz desired movements for predictable tasks (single sinusoid) and unpredictable tasks (combination of three sinusoids). Tactile stimulation reaction times at the forearm to induce elbow flexion/extension and at the shank to induce knee flexion/extension were also recorded. Results of frequency tracking showed that 100 percent of participants correctly tracked unpredictable tasks at all frequencies, but only 60-80 percent of participants correctly tracked predictable tasks at frequencies less than 1 Hz and only 20-60 percent of participants correctly tracked predictable tasks at frequencies greater than 1 Hz. Subjects had less phase lag for predictable tasks than for unpredictable tasks. Reaction times at the forearm were 379 ms and at the shank 437 ms. These findings suggest that continuous vibrotactile feedback based on position errors may not be the most effective means of training higher frequency human movements and serve to inform future vibrotactile feedback design related to training human limb movements for predictable and unpredictable tasks.

  View details for DOI 10.1109/TOH.2017.2689023

  View details for Web of Science ID 000418416000002

  View details for PubMedID 28368831

• Touchdown to take-off: at the interface of flight and surface locomotion INTERFACE FOCUS Roderick, W. R., Cutkosky, M. R., Lentink, D. 2017; 7 (1)

  Abstract

  Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

  View details for DOI 10.1098/rsfs.2016.0094

  View details for Web of Science ID 000391694100017

  View details for PubMedID 28163884

  View details for PubMedCentralID PMC5206611

• Haptic Feedback of Membrane Puncture with an MR-Compatible Instrumented Needle and Electroactive Polymer Display Bae, J., Han, A., Ploch, C. J., Daniel, B. L., Cutkosky, M. R., Gerling, G., Otaduy, M. A., Ryu, J. H. IEEE. 2017: 54–59

  View details for Web of Science ID 000426705900010

• Sensing slip of grasped wet, conformable objects Burkhard, N., Steger, R., Cutkosky, M., Bicchi, A., Okamura, A. IEEE. 2017: 5744–49

  View details for Web of Science ID 000426978205059

• Comparing Haptic and Audio Navigation Cues on the Road for Distracted Drivers with a Skin Stretch Steering Wheel Ploch, C. J., Bae, J., Ploch, C. C., Ju, W., Cutkosky, M. R., Gerling, G., Otaduy, M. A., Ryu, J. H. IEEE. 2017: 448–53

  View details for Web of Science ID 000426705900076

• Ocean One A Robotic Avatar for Oceanic Discovery IEEE ROBOTICS & AUTOMATION MAGAZINE Khatib, O., Yeh, X., Brantner, G., Soe, B., Kim, B., Ganguly, S., Stuart, H., Wang, S., Cutkosky, M., Edsinger, A., Mullins, P., Barham, M., Voolstra, C. R., Salama, K. N., L'Hour, M., Creuze, V. 2016; 23 (4): 20-29

  View details for DOI 10.1109/MRA.2016.2613281

  View details for Web of Science ID 000389874400004

• Scalable Electroactive Polymer for Variable Stiffness Suspensions IEEE-ASME TRANSACTIONS ON MECHATRONICS Orita, A., Cutkosky, M. R. 2016; 21 (6): 2836-2846

  View details for DOI 10.1109/TMECH.2016.2586484

  View details for Web of Science ID 000388801000023

• Novel Foot Progression Angle Algorithm Estimation via Foot-Worn, Magneto-Inertial Sensing. IEEE transactions on bio-medical engineering Huang, Y., Jirattigalachote, W., Cutkosky, M. R., Zhu, X., Shull, P. B. 2016; 63 (11): 2278-2285

  Abstract

  The foot progression angle (FPA) is an important clinical measurement but currently can only be computed while walking in a laboratory with a marker-based motion capture system. This paper proposes a novel FPA estimation algorithm based on a single integrated sensor unit, consisting of an accelerometer, gyroscope, and magnetometer, worn on the foot.The algorithm introduces a real-time heading vector with a complementary filter and utilizes a gradient descent method and zero-velocity update correction. Validation testing was performed by comparing FPA estimation from the wearable sensor with the standard FPAs computed from a marker-based motion capture system. Subjects performed nine walking trials of 2.5 min each on a treadmill. During each trial, subjects walked at one speed out of three options (1.0, 1.2, and 1.4 m/s) and walked with one gait pattern out of three options (normal, toe-in, and toe-out).The algorithm estimated FPA to within 0.2 (°) of error or less for each walking conditions.A novel FPA algorithm has been introduced and described based on a single foot-worn sensor unit, and validation testing showed that FPA estimation was accurate for different walking speeds and foot angles.This study enables future wearable systems gait research to assess or train walking patterns outside a laboratory setting in natural walking environments.

  View details for PubMedID 26849858

• Aggressive Flight With Quadrotors for Perching on Inclined Surfaces JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Thomas, J., Pope, M., Loianno, G., Hawkes, E. W., Estrada, M. A., Jiang, H., Cutkosky, M. R., Kumar, V. 2016; 8 (5)

  View details for DOI 10.1115/1.4032250

  View details for Web of Science ID 000392869400009

• Three-dimensional dynamic surface grasping with dry adhesion INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Hawkes, E. W., Jiang, H., Cutkosky, M. R. 2016; 35 (8): 943-958

  View details for DOI 10.1177/0278364915584645

  View details for Web of Science ID 000380018600004

• Slip classification for dynamic tactile array sensors INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Heyneman, B., Cutkosky, M. R. 2016; 35 (4): 404-421

  View details for DOI 10.1177/0278364914564703

  View details for Web of Science ID 000372472100005

• Climbing with adhesion: from bioinspiration to biounderstanding. Interface focus Cutkosky, M. R. 2015; 5 (4): 20150015

  Abstract

  Bioinspiration is an increasingly popular design paradigm, especially as robots venture out of the laboratory and into the world. Animals are adept at coping with the variability that the world imposes. With advances in scientific tools for understanding biological structures in detail, we are increasingly able to identify design features that account for animals' robust performance. In parallel, advances in fabrication methods and materials are allowing us to engineer artificial structures with similar properties. The resulting robots become useful platforms for testing hypotheses about which principles are most important. Taking gecko-inspired climbing as an example, we show that the process of extracting principles from animals and adapting them to robots provides insights for both robotics and biology.

  View details for DOI 10.1098/rsfs.2015.0015

  View details for PubMedID 26464786

  View details for PubMedCentralID PMC4590421

• A Passive Parallel Master-Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions. Journal of medical devices Elayaperumal, S., Cutkosky, M. R., Renaud, P., Daniel, B. L. 2015; 9 (1): 0110081–1100811

  Abstract

  A passive, parallel master-slave mechanism is presented for magnetic resonance imaging (MRI)-guided interventions in the pelvis. The mechanism allows a physician to stand outside the MRI scanner while manipulating a needle inside the bore and, unlike a powered robot, does not place actuators in proximity to the patient. The manipulator combines two parallel mechanisms based on the Delta robot architecture. The mechanism also includes a two-axis gimbal to allow for tool angulation, giving a total of five degrees of freedom so that the physician can insert and steer a needle using continuous natural arm and wrist movements, unlike simple needle guides. The need for access between the patient's legs and within the MRI scanner leads to an unusual asymmetric design in which the sliding prismatic joints form the vertices of an isosceles triangle. Kinematic analysis shows that the dexterity index of this design is improved over the desired workspace, as compared to an equilateral design. The analysis is extended to estimate the effect of friction and model the input:output force transmission. Prototypes, with final dimensions selected for transperineal prostate interventions, showed force transmission behavior as predicted by simulation, and easily withstood maximum forces required for tool insertion.

  View details for PubMedID 25729467

• Design of an Optically Controlled MR-Compatible Active Needle. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society Ryu, S. C., Quek, Z. F., Koh, J. S., Renaud, P., Black, R. J., Moslehi, B., Daniel, B. L., Cho, K. J., Cutkosky, M. R. 2015; 31 (1): 1-11

  Abstract

  An active needle is proposed for the development of magnetic resonance imaging (MRI)-guided percutaneous procedures. The needle uses a low-transition-temperature shape memory alloy (LT SMA) wire actuator to produce bending in the distal section of the needle. Actuation is achieved with internal optical heating using laser light transported via optical fibers and side coupled to the LT SMA. A prototype, with a size equivalent to a standard 16-gauge biopsy needle, exhibits significant bending, with a tip deflection of more than 14° in air and 5° in hard tissue. A single-ended optical sensor with a gold-coated tip is developed to measure the curvature independently of temperature. The experimental results in tissue phantoms show that human tissue causes fast heat dissipation from the wire actuator; however, the active needle can compensate for typical targeting errors during prostate biopsy.

  View details for DOI 10.1109/TRO.2014.2367351

  View details for PubMedID 26512231

  View details for PubMedCentralID PMC4620588

• Human climbing with efficiently scaled gecko-inspired dry adhesives. Journal of the Royal Society, Interface / the Royal Society Hawkes, E. W., Eason, E. V., Christensen, D. L., Cutkosky, M. R. 2015; 12 (102)

  Abstract

  Since the discovery of the mechanism of adhesion in geckos, many synthetic dry adhesives have been developed with desirable gecko-like properties such as reusability, directionality, self-cleaning ability, rough surface adhesion and high adhesive stress. However, fully exploiting these adhesives in practical applications at different length scales requires efficient scaling (i.e. with little loss in adhesion as area grows). Just as natural gecko adhesives have been used as a benchmark for synthetic materials, so can gecko adhesion systems provide a baseline for scaling efficiency. In the tokay gecko (Gekko gecko), a scaling power law has been reported relating the maximum shear stress σmax to the area A: σmax ∝ A(-1/4). We present a mechanical concept which improves upon the gecko's non-uniform load-sharing and results in a nearly even load distribution over multiple patches of gecko-inspired adhesive. We created a synthetic adhesion system incorporating this concept which shows efficient scaling across four orders of magnitude of area, yielding an improved scaling power law: σmax ∝ A(-1/50). Furthermore, we found that the synthetic adhesion system does not fail catastrophically when a simulated failure is induced on a portion of the adhesive. In a practical demonstration, the synthetic adhesion system enabled a 70 kg human to climb vertical glass with 140 cm(2) of adhesive per hand.

  View details for DOI 10.1098/rsif.2014.0675

  View details for PubMedID 25411404

  View details for PubMedCentralID PMC4277072

• Autonomous Real-Time Interventional Scan Plane Control With a 3-D Shape-Sensing Needle IEEE TRANSACTIONS ON MEDICAL IMAGING Elayaperumal, S., Plata, J. C., Holbrook, A. B., Park, Y., Pauly, K. B., Daniel, B. L., Cutkosky, M. R. 2014; 33 (11): 2128-2139

  Abstract

  This study demonstrates real-time scan plane control dependent on three-dimensional needle bending, as measured from magnetic resonance imaging (MRI)-compatible optical strain sensors. A biopsy needle with embedded fiber Bragg grating (FBG) sensors to measure surface strains is used to estimate its full 3-D shape and control the imaging plane of an MR scanner in real-time, based on the needle's estimated profile. The needle and scanner coordinate frames are registered to each other via miniature radio-frequency (RF) tracking coils, and the scan planes autonomously track the needle as it is deflected, keeping its tip in view. A 3-D needle annotation is superimposed over MR-images presented in a 3-D environment with the scanner's frame of reference. Scan planes calculated based on the FBG sensors successfully follow the tip of the needle. Experiments using the FBG sensors and RF coils to track the needle shape and location in real-time had an average root mean square error of 4.2 mm when comparing the estimated shape to the needle profile as seen in high resolution MR images. This positional variance is less than the image artifact caused by the needle in high resolution SPGR (spoiled gradient recalled) images. Optical fiber strain sensors can estimate a needle's profile in real-time and be used for MRI scan plane control to potentially enable faster and more accurate physician response.

  View details for DOI 10.1109/TMI.2014.2332354

  View details for Web of Science ID 000344589200006

  View details for PubMedID 24968093

• Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Elayaperumal, S., Bae, J. H., Daniel, B. L., Cutkosky, M. R. 2014; 2014: 3975–81

  Abstract

  This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

  View details for PubMedID 26509101

• Design principles for efficient, repeated jumpgliding BIOINSPIRATION & BIOMIMETICS Desbiens, A. L., Pope, M. T., Christensen, D. L., Hawkes, E. W., Cutkosky, M. R. 2014; 9 (2)

  View details for DOI 10.1088/1748-3182/9/2/025009

  View details for Web of Science ID 000336804400010

• Quantified self and human movement: A review on the clinical impact of wearable sensing and feedback for gait analysis and intervention GAIT & POSTURE Shull, P. B., Jirattigalachote, W., Hunt, M. A., Cutkosky, M. R., Delp, S. L. 2014; 40 (1): 11-19

  View details for DOI 10.1016/j.gaitpost.2014.03.189

  View details for Web of Science ID 000336387300002

• Design and testing of a selectively compliant underactuated hand INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Aukes, D. M., Heyneman, B., Ulmen, J., Stuart, H., Cutkosky, M. R., Kim, S., Garcia, P., Edsinger, A. 2014; 33 (5): 721-735

  View details for DOI 10.1177/0278364913518997

  View details for Web of Science ID 000335548600005

• Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Elayaperumal, S., Bae, J. H., Daniel, B. L., Cutkosky, M. R. IEEE. 2014: 3975–3981

  View details for Web of Science ID 000349834604013

• Quantified self and human movement: a review on the clinical impact of wearable sensing and feedback for gait analysis and intervention. Gait & posture Shull, P. B., Jirattigalachote, W., Hunt, M. A., Cutkosky, M. R., Delp, S. L. 2014; 40 (1): 11-19

  Abstract

  The proliferation of miniaturized electronics has fueled a shift toward wearable sensors and feedback devices for the mass population. Quantified self and other similar movements involving wearable systems have gained recent interest. However, it is unclear what the clinical impact of these enabling technologies is on human gait. The purpose of this review is to assess clinical applications of wearable sensing and feedback for human gait and to identify areas of future research. Four electronic databases were searched to find articles employing wearable sensing or feedback for movements of the foot, ankle, shank, thigh, hip, pelvis, and trunk during gait. We retrieved 76 articles that met the inclusion criteria and identified four common clinical applications: (1) identifying movement disorders, (2) assessing surgical outcomes, (3) improving walking stability, and (4) reducing joint loading. Characteristics of knee and trunk motion were the most frequent gait parameters for both wearable sensing and wearable feedback. Most articles performed testing on healthy subjects, and the most prevalent patient populations were osteoarthritis, vestibular loss, Parkinson's disease, and post-stroke hemiplegia. The most widely used wearable sensors were inertial measurement units (accelerometer and gyroscope packaged together) and goniometers. Haptic (touch) and auditory were the most common feedback sensations. This review highlights the current state of the literature and demonstrates substantial potential clinical benefits of wearable sensing and feedback. Future research should focus on wearable sensing and feedback in patient populations, in natural human environments outside the laboratory such as at home or work, and on continuous, long-term monitoring and intervention.

  View details for DOI 10.1016/j.gaitpost.2014.03.189

  View details for PubMedID 24768525

• Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis. Journal of orthopaedic research Shull, P. B., Silder, A., Shultz, R., Dragoo, J. L., Besier, T. F., Delp, S. L., Cutkosky, M. R. 2013; 31 (7): 1020-1025

  Abstract

  This study examined the influence of a 6-week gait retraining program on the knee adduction moment (KAM) and knee pain and function. Ten subjects with medial compartment knee osteoarthritis and self-reported knee pain participated in weekly gait retraining sessions over 6 weeks. Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) scores and a 10-point visual-analog pain scale score were measured at baseline, post-training (end of 6 weeks), and 1 month after training ended. Gait retraining reduced the first peak KAM by 20% (p < 0.01) post-training as a result of a 7° decrease in foot progression angle (i.e., increased internal foot rotation), compared to baseline (p < 0.01). WOMAC pain and function scores were improved at post-training by 29% and 32%, respectively (p < 0.05) and visual-analog pain scale scores improved by two points (p < 0.05). Changes in WOMAC pain and function were approximately 75% larger than the expected placebo effect (p < 0.05). Changes in KAM, foot progression angle, WOMAC pain and function, and visual-analog pain score were retained 1 month after the end of the 6-week training period (p < 0.05). These results show that a 6-week gait retraining program can reduce the KAM and improve symptoms for individuals with medial compartment knee osteoarthritis and knee pain. © 2013 Orthopaedic Research Society Published by Wiley Periodicals, Inc. J Orthop Res 31:1020-1025, 2013.

  View details for DOI 10.1002/jor.22340

  View details for PubMedID 23494804

• MR-compatible biopsy needle with enhanced tip force sensing. Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : World Haptics Conference. World Haptics Conference Elayaperumal, S., Bae, J. H., Christensen, D., Cutkosky, M. R., Daniel, B. L., Costa, J. M., Black, R. J., Faridian, F., Moslehi, B. 2013; 2013: 109–14

  Abstract

  We describe an instrumented biopsy needle that provides physicians the capability to sense interaction forces directly at the tip of the needle's inner stylet. The sensors consist of optical fiber Bragg gratings (FBGs), and are unaffected by electromagnetic fields; hence the needle is suitable for MR-guided procedures. In comparison to previous instrumented needles that measure bending strains, the new design has additional sensors and a series of micro-machined holes at the tip. The holes increase strain sensitivity, especially to axial forces, without significantly reducing the stiffness or strength. A comparison of the dynamic forces measured with the new needle and those obtained using a force/torque sensor at the needle base shows that the enhanced tip sensitivity is particularly noticeable when there is significant friction along the needle sleeve.

  View details for PubMedID 26509189

• Toe-in gait reduces the first peak knee adduction moment in patients with medial compartment knee osteoarthritis. Journal of biomechanics Shull, P. B., Shultz, R., Silder, A., Dragoo, J. L., Besier, T. F., Cutkosky, M. R., Delp, S. L. 2013; 46 (1): 122-128

  Abstract

  The first peak of the knee adduction moment has been linked to the presence, severity, and progression of medial compartment knee osteoarthritis. The objective of this study was to evaluate toe-in gait (decreased foot progression angle from baseline through internal foot rotation) as a means to reduce the first peak of the knee adduction moment in subjects with medial compartment knee osteoarthritis. Additionally, we examined whether the first peak in the knee adduction moment would cause a concomitant increase in the peak external knee flexion moment, which can eliminate reductions in the medial compartment force that result from lowering the knee adduction moment. We tested the following hypotheses: (a) toe-in gait reduces the first peak of the knee adduction moment, and (b) toe-in gait does not increase the peak external knee flexion moment. Twelve patients with medial compartment knee osteoarthritis first performed baseline walking trials and then toe-in gait trials at their self-selected speed on an instrumented treadmill in a motion capture laboratory. Subjects altered their foot progression angle from baseline to toe-in gait by an average of 5° (p<0.01), which reduced the first peak of the knee adduction moment by an average of 13% (p<0.01). Toe-in gait did not increase the peak external knee flexion moment (p=0.85). The reduced knee adduction moment was accompanied by a medially-shifted knee joint center and a laterally-shifted center of pressure during early stance. These results suggest that toe-in gait may be a promising non-surgical treatment for patients with medial compartment knee osteoarthritis.

  View details for DOI 10.1016/j.jbiomech.2012.10.019

  View details for PubMedID 23146322

• Toe-in gait reduces the first peak knee adduction moment in patients with medial compartment knee osteoarthritis JOURNAL OF BIOMECHANICS Shull, P. B., Shultz, R., Slider, A., Dragoo, J. L., Besier, T. F., Cutkosky, M. R., Delp, S. L. 2013; 46 (1): 122-128

  Abstract

  The first peak of the knee adduction moment has been linked to the presence, severity, and progression of medial compartment knee osteoarthritis. The objective of this study was to evaluate toe-in gait (decreased foot progression angle from baseline through internal foot rotation) as a means to reduce the first peak of the knee adduction moment in subjects with medial compartment knee osteoarthritis. Additionally, we examined whether the first peak in the knee adduction moment would cause a concomitant increase in the peak external knee flexion moment, which can eliminate reductions in the medial compartment force that result from lowering the knee adduction moment. We tested the following hypotheses: (a) toe-in gait reduces the first peak of the knee adduction moment, and (b) toe-in gait does not increase the peak external knee flexion moment. Twelve patients with medial compartment knee osteoarthritis first performed baseline walking trials and then toe-in gait trials at their self-selected speed on an instrumented treadmill in a motion capture laboratory. Subjects altered their foot progression angle from baseline to toe-in gait by an average of 5° (p<0.01), which reduced the first peak of the knee adduction moment by an average of 13% (p<0.01). Toe-in gait did not increase the peak external knee flexion moment (p=0.85). The reduced knee adduction moment was accompanied by a medially-shifted knee joint center and a laterally-shifted center of pressure during early stance. These results suggest that toe-in gait may be a promising non-surgical treatment for patients with medial compartment knee osteoarthritis.

  View details for DOI 10.1016/j.jbiomech.2012.10.019

  View details for Web of Science ID 000314258000021

• MR-compatible biopsy needle with enhanced tip force sensing IEEE World Haptics Conference (WHC) Elayaperumal, S., Bae, J. H., Christensen, D., Cutkosky, M. R., Daniel, B. L., Black, R. J., Costa, J. M., Faridian, F., Moslehi, B. IEEE. 2013: 109–114

  View details for Web of Science ID 000325187400019

• Efficient Jumpgliding: Theory and Design Considerations IEEE International Conference on Robotics and Automation (ICRA) Desbiens, A. L., Pope, M., Berg, F., Teoh, Z. E., Lee, J., Cutkosky, M. IEEE. 2013: 4451–4458

  View details for Web of Science ID 000337617304071

• Simulation-Based Tools For Evaluating Underactuated Hand Designs IEEE International Conference on Robotics and Automation (ICRA) Aukes, D. M., Cutkosky, M. R. IEEE. 2013: 2067–2073

  View details for Web of Science ID 000337617302012

• Slip Interface Classification through Tactile Signal Coherence IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Heyneman, B., Cutkosky, M. R. IEEE. 2013: 801–808

  View details for Web of Science ID 000331367400118

• Dynamic Surface Grasping with Directional Adhesion IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Hawkes, E. W., Christensen, D. L., Eason, E. V., Estrada, M. A., Heverly, M., Hilgemann, E., Jiang, H., Pope, M. T., Parness, A., Cutkosky, M. R. IEEE. 2013: 5487–5493

  View details for Web of Science ID 000331367405082

• Efficient Jumpgliding: Theory and Design Considerations Lussier-Desbiens, A., Pope, M., Berg, F., Toh, Z., Ern, Lee, J., Cutkosky, M., R. 2013

  View details for DOI 10.1109/ICRA.2013.6631209

• Dynamic Surface Grasping with Directional Adhesion Hawkes, E., W., Christensen, D., L., Eason, E., V., Estrada, M., A., Heverly, M., Hilgemann, E., Cutkosky, M. R. 2013

  View details for DOI 10.1109/IROS.2013.6697151

• Incremental Inspection for Microrobotic Quality Assurance Christensen, D., L., Hawkes, E., W., Wong-Foy, A., Pelrine, R., E., Cutkosky, M., R. 2013
• Simulation-Based Tools For Evaluating Underactuated Hand Designs Aukes, D., M., Cutkosky, M., R. 2013

  View details for DOI 10.1109/ICRA.2013.6630854

• Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis Journal of Orthopedic Research Shull, P., Silder, A., Shultz, R., Dragoo, J., Besier, T., Delp, S., Cutkosky, M. R. 2013; 31 (7): 1020–25

  Abstract

  This study examined the influence of a 6-week gait retraining program on the knee adduction moment (KAM) and knee pain and function. Ten subjects with medial compartment knee osteoarthritis and self-reported knee pain participated in weekly gait retraining sessions over 6 weeks. Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) scores and a 10-point visual-analog pain scale score were measured at baseline, post-training (end of 6 weeks), and 1 month after training ended. Gait retraining reduced the first peak KAM by 20% (p < 0.01) post-training as a result of a 7° decrease in foot progression angle (i.e., increased internal foot rotation), compared to baseline (p < 0.01). WOMAC pain and function scores were improved at post-training by 29% and 32%, respectively (p < 0.05) and visual-analog pain scale scores improved by two points (p < 0.05). Changes in WOMAC pain and function were approximately 75% larger than the expected placebo effect (p < 0.05). Changes in KAM, foot progression angle, WOMAC pain and function, and visual-analog pain score were retained 1 month after the end of the 6-week training period (p < 0.05). These results show that a 6-week gait retraining program can reduce the KAM and improve symptoms for individuals with medial compartment knee osteoarthritis and knee pain. © 2013 Orthopaedic Research Society Published by Wiley Periodicals, Inc. J Orthop Res 31:1020-1025, 2013.

  View details for DOI 10.1002/jor.22340

• Micro-Wedge Machining for the Manufacture of Directional Dry Adhesives ASME Journal of Micro and Nano-Manufacturing Day, P., Eason, E., Esparza, N., Christensen, D., Cutkosky, M., R. 2013; 1 (1, 011001)

  View details for DOI 10.1115/1.4023161

• The Gecko’s Toe: Scaling directional adhesives for climbing applications IEEE/ASME Transactions on Mechatronics Hawkes, E., Eason, E., Asbeck, A., Cutkosky, M., R. 2013; 18 (2): 518-526

  View details for DOI 10.1109/TMECH.2012.2209672

• EFFECTS OF GAMMA IRRADIATION ON ADHESION OF POLYMER MICROSTRUCTURE-BASED DRY ADHESIVES NUCLEAR TECHNOLOGY Day, P., Cutkosky, M., McLaughlin, A. 2012; 180 (3): 450-455

  View details for Web of Science ID 000311914300012

• Designing Compliant Spine Mechanisms for Climbing JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Asbeck, A. T., Cutkosky, M. R. 2012; 4 (3)

  View details for DOI 10.1115/1.40066591

  View details for Web of Science ID 000310596400007

• An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle. IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Ryu, S. C., Quek, Z. F., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. 2012; 2012: 1589–94

  Abstract

  A side optical actuation method is presented for a slender MR-compatible active needle. The needle includes an active region with a shape memory alloy (SMA) wire actuator, where the wire generates a contraction force when optically heated by a laser delivered though optical fibers, producing needle tip bending. A prototype, with multiple side heating spots, demonstrates twice as fast an initial response compared to fiber tip heating when 0.8 W of optical power is applied. A single-ended optical sensor with a gold reflector is also presented to measure the curvature as a function of optical transmission loss. Preliminary tests with the sensor prototype demonstrate approximately linear response and a repeatable signal, independent of the bending history.

  View details for PubMedID 26509099

• Selectively Compliant Underactuated Hand for Mobile Manipulation IEEE International Conference on Robotics and Automation (ICRA) Aukes, D., Kim, S., Garcia, P., Edsinger, A., Cutkosky, M. R. IEEE. 2012: 2824–2829

  View details for Web of Science ID 000309406702127

• Effects of Gamma irradiation on Adhesion of Polymer Micro-structure Based Dry Adhesives American Nuclear Society Journal of Nuclear Technology. Day, P., Cutkosky, M., McLaughlin, A. 2012; 180 (3): 450-455
• Jumping robot with a tunable suspension based on artificial muscles Dastoor, S., Weiss, S., Stuart, H., Cutkosky, M., R. 2012

  View details for DOI 10.1007/978-3-642-31525-1_9

• Applying principles from the locomotion of small animals to the design and operation of bio-inspired robots ETH Distinguished Lecture in Robotics, Systems, and Control Cutkosky, M., R. 2012
• Bio-Inspired Engineering Design IRCAD, University of Strasbourg, Strasbourg, France Cutkosky, M., R. 2012
• Designing Compliant Spine Mechanisms for Climbing ASME Journal of Mechanisms and Robotics Asbeck, A., Cutkosky, M., R. 2012; 4 (3)

  View details for DOI 10.1115/1.40066591

• Scaling Vertical Surfaces Smoothly and Efficiently with Directional Dry Adhesion Cutkosky, M., R. 2012
• Bio-Inspired Robot Design Arizona State University, Dept. of Mechanical and Aerospace Engineering Cutkosky, M., R. 2012
• Using mechanical properties to increase robustness and simplify control ARL/NSF Locomotion Systems Science Workshop, Arlington, VA Cutkosky, M., R. 2012
• Compliant Mechanisms for Bio-Inspired Robotics JPL Compliant Mechanisms Workshop, Pasadena, CA Cutkosky, M., R. 2012
• Biologically inspired tactile classification of object-hand and object-world interactions IEEE International Conference on Robotics and Biomimetics (ROBIO) Heyneman, B., Cutkosky, M. R. IEEE. 2012

  View details for Web of Science ID 000321004000035

• An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle IEEE International Conference on Robotics and Automation (ICRA) Ryu, S. C., Quek, Z. F., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. IEEE. 2012: 1589–1594

  View details for Web of Science ID 000309406701092

• Design of Dielectric Electroactive Polymers for a Compact and Scalable Variable Stiffness Device IEEE International Conference on Robotics and Automation (ICRA) Dastoor, S., Cutkosky, M. IEEE. 2012: 3745–3750

  View details for Web of Science ID 000309406703127

• Region of Attraction Estimation for a Perching Aircraft: A Lyapunov Method Exploiting Barrier Certificates IEEE International Conference on Robotics and Automation (ICRA) Glassman, E., Desbiens, A. L., Tobenkin, M., Cutkosky, M., Tedrake, R. IEEE. 2012: 2235–2242

  View details for Web of Science ID 000309406702037

• Feasibility Study of an Optically Actuated MR-compatible Active Needle. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Ryu, S. C., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. 2011; 2011: 2564–69

  Abstract

  An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.

  View details for PubMedID 26509100

• Training multi-parameter gaits to reduce the knee adduction moment with data-driven models and haptic feedback JOURNAL OF BIOMECHANICS Shull, P. B., Lurie, K. L., Cutkosky, M. R., Besier, T. F. 2011; 44 (8): 1605-1609

  Abstract

  The purpose of this study was to evaluate gait retraining for reducing the knee adduction moment. Our primary objective was to determine whether subject-specific altered gaits aimed at reducing the knee adduction moment by 30% or more could be identified and adopted in a single session through haptic (touch) feedback training on multiple kinematic gait parameters. Nine healthy subjects performed gait retraining, in which data-driven models specific to each subject were determined through experimental trials and were used to train novel gaits involving a combination of kinematic changes to the tibia angle, foot progression and trunk sway angles. Wearable haptic devices were used on the back, knee and foot for real-time feedback. All subjects were able to adopt altered gaits requiring simultaneous changes to multiple kinematic parameters and reduced their knee adduction moments by 29-48%. Analysis of single parameter gait training showed that moving the knee medially by increasing tibia angle, increasing trunk sway and toeing in all reduced the first peak of the knee adduction moment with tibia angle changes having the most dramatic effect. These results suggest that individualized data-driven gait retraining may be a viable option for reducing the knee adduction moment as a treatment method for early-stage knee osteoarthritis patients with sufficient sensation, endurance and motor learning capabilities.

  View details for DOI 10.1016/j.jbiomech.2011.03.016

  View details for Web of Science ID 000291131000026

  View details for PubMedID 21459384

• Effects of He++ Ion Irradiation on Adhesion of Polymer Microstructure-Based Dry Adhesives NUCLEAR SCIENCE AND ENGINEERING Day, P., Cutkosky, M., Greco, R., McLaughlin, A. 2011; 167 (3): 242-247

  View details for Web of Science ID 000288103600006

• Landing, perching and taking off from vertical surfaces 14th International Symposium on Robotics Research (ISSR) Lussier Desbiens, A., Asbeck, A. T., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2011: 355–70

  View details for DOI 10.1177/0278364910393286

  View details for Web of Science ID 000287650400008

• Scansorial Landing and Perching 14th International Symposium on Robotics Research (ISSR) Desbiens, A. L., Asbeck, A. T., Cutkosky, M. R. SPRINGER-VERLAG BERLIN. 2011: 169–184

  View details for Web of Science ID 000309893200011

• Capacitive Skin Sensors for Robot Impact Monitoring IEEE/RSJ International Conference on Intelligent Robots and Systems Phan, S., Quek, Z. F., Shah, P., Shin, D., Ahmed, Z., Khatib, O., Cutkosky, M. IEEE. 2011: 2992–2997

  View details for Web of Science ID 000297477503053

• Informing Haptic Feedback Design for Gait Retraining Lurie, K., L., Shull, P., B., Nesbitt, K., F., Cutkosky, M., R. 2011
• Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots Shin, D., Phan, S., Quek, Z. F., Cutkosky, M., Khatib, O. 2011
• Get a Grip: Robotic Dexterous Manipulation from Finger Choreography to The Power Pinch Cutkosky, M., R. 2011
• Variable Impedance due to Electromechanical Coupling in Electroactive Polymer Actuators Dastoor, S., Cutkosky, M., R. 2011
• Virtual Pebble: a Haptic State Display for Pedestrians Jirattigalachote, W., Shull, Pete, B., Cutkosky, Mark, R. 2011
• Effects of He++ ion irradiation of Polymer Micro-structure Based Adhesives Nuclear Science and Engineering (ANS) Day, P., Cutkosky, M., Greco, R., McLaughlin, A. 2011; 167 (3): 242-247
• Scaling Walls: Applying Dry Adhesives to the Real World IEEE/RSJ International Conference on Intelligent Robots and Systems Hawkes, E. W., Ulmen, J., Esparza, N., Cutkosky, M. R. IEEE. 2011

  View details for Web of Science ID 000297477505070

• Feasibility Study of an Optically Actuated MR-compatible Active Needle IEEE/RSJ International Conference on Intelligent Robots and Systems Ryu, S. C., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. IEEE. 2011

  View details for Web of Science ID 000297477502138

• Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots IEEE/RSJ International Conference on Intelligent Robots and Systems Shin, D., Quek, Z. F., Phan, S., Cutkosky, M., Khatib, O. IEEE. 2011: 2998–3003

  View details for Web of Science ID 000297477503054

• Varying spring preloads to select grasp strategies in an adaptive hand IEEE/RSJ International Conference on Intelligent Robots and Systems Aukes, D., Heyneman, B., Duchaine, V., Cutkosky, M. R. IEEE. 2011: 1373–1379

  View details for Web of Science ID 000297477501110

• Variable Impedance due to Electromechanical Coupling in Electroactive Polymer Actuators IEEE/RSJ International Conference on Intelligent Robots and Systems Dastoor, S., Cutkosky, M. IEEE. 2011: 774–779

  View details for Web of Science ID 000297477501019

• Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions IEEE-ASME TRANSACTIONS ON MECHATRONICS Park, Y., Elayaperumal, S., Daniel, B., Ryu, S. C., Shin, M., Savall, J., Black, R. J., Moslehi, B., Cutkosky, M. R. 2010; 15 (6): 906-915

  Abstract

  We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μm-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner.

  View details for DOI 10.1109/TMECH.2010.2080360

  View details for Web of Science ID 000285361700010

  View details for PubMedCentralID PMC4577522

• Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division Park, Y. L., Elayaperumal, S., Daniel, B., Ryu, S. C., Shin, M., Savall, J., Black, R. J., Moslehi, B., Cutkosky, M. R. 2010; 15 (6): 906-915

  Abstract

  We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μm-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner.

  View details for DOI 10.1109/TMECH.2010.2080360

  View details for PubMedID 26405428

  View details for PubMedCentralID PMC4577522

• Effect of fibril shape on adhesive properties APPLIED PHYSICS LETTERS Soto, D., Hill, G., Parness, A., Esparza, N., Cutkosky, M., Kenny, T. 2010; 97 (5)

  View details for DOI 10.1063/1.3464553

  View details for Web of Science ID 000281059500064

• Rotational Skin Stretch Feedback: A Wearable Haptic Display for Motion IEEE TRANSACTIONS ON HAPTICS Bark, K., Wheeler, J., Shull, P., Savall, J., Cutkosky, M. 2010; 3 (3): 166-176

  View details for DOI 10.1109/ToH.2010.21

  View details for Web of Science ID 000289471100003

• Design and Control of a Bio-inspired Human-friendly Robot 11th International Symposium on Experimental Robotics (ISER) Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SAGE PUBLICATIONS LTD. 2010: 571–84

  View details for DOI 10.1177/0278364909353956

  View details for Web of Science ID 000276644400006

• Rate-dependent frictional adhesion in natural and synthetic gecko setae JOURNAL OF THE ROYAL SOCIETY INTERFACE Gravish, N., Wilkinson, M., Sponberg, S., Parness, A., Esparza, N., Soto, D., Yamaguchi, T., Broide, M., Cutkosky, M., Creton, C., Autumn, K. 2010; 7 (43): 259-269

  Abstract

  Geckos owe their remarkable stickiness to millions of dry, hard setae on their toes. In this study, we discovered that gecko setae stick more strongly the faster they slide, and do not wear out after 30,000 cycles. This is surprising because friction between dry, hard, macroscopic materials typically decreases at the onset of sliding, and as velocity increases, friction continues to decrease because of a reduction in the number of interfacial contacts, due in part to wear. Gecko setae did not exhibit the decrease in adhesion or friction characteristic of a transition from static to kinetic contact mechanics. Instead, friction and adhesion forces increased at the onset of sliding and continued to increase with shear speed from 500 nm s(-1) to 158 mm s(-1). To explain how apparently fluid-like, wear-free dynamic friction and adhesion occur macroscopically in a dry, hard solid, we proposed a model based on a population of nanoscopic stick-slip events. In the model, contact elements are either in static contact or in the process of slipping to a new static contact. If stick-slip events are uncorrelated, the model further predicted that contact forces should increase to a critical velocity (V*) and then decrease at velocities greater than V*. We hypothesized that, like natural gecko setae, but unlike any conventional adhesive, gecko-like synthetic adhesives (GSAs) could adhere while sliding. To test the generality of our results and the validity of our model, we fabricated a GSA using a hard silicone polymer. While sliding, the GSA exhibited steady-state adhesion and velocity dependence similar to that of gecko setae. Observations at the interface indicated that macroscopically smooth sliding of the GSA emerged from randomly occurring stick-slip events in the population of flexible fibrils, confirming our model predictions.

  View details for DOI 10.1098/rsif.2009.0133

  View details for Web of Science ID 000272995800003

  View details for PubMedID 19493896

• Investigation of Rotational Skin Stretch for Proprioceptive Feedback With Application to Myoelectric Systems IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING Wheeler, J., Bark, K., Savall, J., Cutkosky, M. 2010; 18 (1): 58-66

  Abstract

  We present a new wearable haptic device that provides a sense of position and motion by inducing rotational skin stretch on the user's skin. In the experiments described in this paper, the device was used to provide proprioceptive feedback from a virtual prosthetic arm controlled with myoelectric sensors on the bicep and tricep muscles in 15 able-bodied participants. Targeting errors in blind movements with the haptic device were compared to cases where no feedback and contralateral proprioception were provided. Average errors were lower with the device than with no feedback but larger than with contralateral proprioceptive feedback. Participants also had lower visual demand with the device than with no feedback while tracking a 30 ( degrees ) moving range. The results indicate that the rotational skin stretch may ultimately be effective for proprioceptive feedback in myoelectric prostheses, particularly when vision is otherwise occupied.

  View details for DOI 10.1109/TNSRE.2009.2039602

  View details for Web of Science ID 000275049400007

  View details for PubMedID 20071271

• Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS Desbiens, A. L., Cutkosky, M. R. 2010; 57 (1-4): 313-327

  View details for DOI 10.1007/s10846-009-9377-z

  View details for Web of Science ID 000272360700016

• Designing and building bio-inspired robots from the ground up Uomini, robot ed altre strane creature, Festival delle Scienze Cutkosky, M., R. 2010
• Effect of fibril shape on adhesive properties Applied Physics Letters Soto, D., Hill, G., Parness, A., Esparza, N., Cutkosky, M., Kenny, T. 2010; 97: 53701

  View details for DOI 10.1063/1.3464553

• Real-Time Estimation of Three-Dimensional Needle Shape and Deflection for MRI-Guided Interventions IEEE/ASME Transactions on Mechatronics Park, Y. L., Eleyaperumal, S., Daniel, B., Ryu, S. C., Shin, M., Savall, J., Cutkosky, M. R. 2010; 15 (6): 906-915
• Haptic Gait Retraining for Knee Osteoarthritis Treatment Shull, P., Lurie, K., Shin, M., Besier, T., Cutkosky, M., R. 2010
• Skin Nonlinearities and their Effect on User Perception for Rotational Skin Stretch Shull, P., Bark, K., Cutkosky, M., R. 2010
• Bio-Inspired Design in Research and Education Indo-US Forum on Design Research and Education Cutkosky, M., R. 2010
• Constrained Convergent Gait Regulation for a Climbing Robot IEEE International Conference on Robotics and Automation (ICRA) Trujillo, S., Heyneman, B., Cutkosky, M. IEEE. 2010: 5243–5249

  View details for Web of Science ID 000284150000118

• A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots IEEE International Conference on Robotics and Automation (ICRA) Ulmen, J., Cutkosky, M. IEEE. 2010: 4836–4841

  View details for Web of Science ID 000284150001027

• Hybrid Aerial and Scansorial Robotics IEEE International Conference on Robotics and Automation (ICRA) Desbiens, A. L., Asbeck, A., Dastoor, S., Cutkosky, M. IEEE. 2010: 1114–1115

  View details for Web of Science ID 000284150001128

• Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design IEEE International Conference on Robotics and Automation (ICRA) Shin, D., Seitz, F., Khatib, O., Cutkosky, M. IEEE. 2010: 799–804

  View details for Web of Science ID 000284150003057

• Hybrid Aerial and Scansorial Robotics IEEE International Conference on Robotics and Automation (ICRA) Desbiens, A. L., Asbeck, A., Cutkosky, M. IEEE. 2010: 72–77

  View details for Web of Science ID 000284150003089

• A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime JOURNAL OF THE ROYAL SOCIETY INTERFACE Parness, A., Soto, D., Esparza, N., Gravish, N., Wilkinson, M., Autumn, K., Cutkosky, M. 2009; 6 (41): 1223-1232

  Abstract

  Gecko adhesion has become a paradigmatic example of bio-inspired engineering, yet among the many gecko-like synthetic adhesives (GSAs), truly gecko-like performance remains elusive. Many GSAs have previously demonstrated one or two features of the gecko adhesive. We present a new wedge-shaped GSA that exhibits several gecko-like properties simultaneously: directional features; zero force at detachment; high ratio of detachment force to preload force; non-adhesive default state; and the ability to maintain performance while sliding, even after thousands of cycles. Individual wedges independently detach and reattach during sliding, resulting in high levels of shear and normal adhesion during drag. This behaviour provides a non-catastrophic failure mechanism that is desirable for applications such as climbing robots where sudden contact failure would result in serious falls. The effects of scaling patch sizes up to tens of square centimetres are also presented and discussed. Patches of 1 cm(2) had an adhesive pressure of 5.1 kPa while simultaneously supporting 17.0 kPa of shear. After 30 000 attachment/detachment cycles, a patch retained 67 per cent of its initial adhesion and 76 per cent of its initial shear without cleaning. Square-based wedges of 20 mum and 50 mum are manufactured in a moulding process where moulds are fabricated using a dual-side, dual-angle lithography process on quartz wafers with SU-8 photoresist as the mould material and polydimethylsiloxane as the cast material.

  View details for DOI 10.1098/rsif.2009.0048

  View details for Web of Science ID 000271464500011

  View details for PubMedID 19324664

  View details for PubMedCentralID PMC2817158

• Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors IEEE TRANSACTIONS ON ROBOTICS Park, Y., Ryu, S. C., Black, R. J., Chau, K. K., Moslehi, B., Cutkosky, M. R. 2009; 25 (6): 1319-1331

  View details for DOI 10.1109/TRO.2009.2032965

  View details for Web of Science ID 000272490100009

• Using Haptic Feedback to Improve Grasp Force Control in Multiple Sclerosis Patients IEEE TRANSACTIONS ON ROBOTICS Jiang, L., Cutkosky, M. R., Ruutiainen, J., Raisamo, R. 2009; 25 (3): 593-601

  View details for DOI 10.1109/TRO.2009.2019789

  View details for Web of Science ID 000266878300012

• Design and fabrication of multi-material structures for bioinspired robots PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES Cutkosky, M. R., Kim, S. 2009; 367 (1894): 1799-1813

  Abstract

  New multi-material rapid prototyping processes are making possible the design and fabrication of bioinspired robot structures that share some of the desirable properties of animal appendages. The structures combine stiff and compliant materials and incorporate sensors and other discrete components, resulting in robots that are less demanding to control than traditionally designed robots and more robust. Current challenges include extending this approach to the structures that involve microscopic as well as macroscopic features.

  View details for DOI 10.1098/rsta.2009.0013

  View details for Web of Science ID 000264660800009

  View details for PubMedID 19376772

• Safe Control of Hopping in Uneven Terrain JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Howley, B., Cutkosky, M. 2009; 131 (1)

  View details for DOI 10.1115/1.3023133

  View details for Web of Science ID 000261515300012

• Exoskeletal Force Sensing End-Effectors with Embedded Optical Fiber Bragg Grating Sensors IEEE Transactions on Robotics Park, Y. L., Ryu, S., C., Black, R., J., Chau, K., Moslehi, B., Cutkosky, M., R. 2009; 25 (6): 1319 – 1331
• Rate-dependent frictional adhesion in natural and synthetic gecko setae Journal of the Royal Society Interface Gravish, N., Wilkinson, M., Sponberg, S., Parness, A., Esparza, N., Soto, D., Cutkosky, M. R. 2009; 7 (43): 259-269
• Design and Fabrication of Multi-Material Structures for Bio-Inspired Robots Philosophical Transactions of the Royal Society A, special issue on Biomimetics Cutkosky, M., R., Kim, S. 2009; 367 (1894): 1799-1813
• Scansorial Landing and Perching Lussier-Desbiens, A., Asbeck, A., Cutkosky, M., R. 2009
• A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality, and long life-time Journal of the Royal Society Interface Parness, A., Soto, D., Esparza, N., Gravish, N., Wilkinson, M., Autumn, K., Cutkosky, M. R. 2009; 6 (41): 1223-1232
• Bio-Inspired Mobile Robotics Harvard School of Engineering and Applied Sciences Cutkosky, M., R. 2009
• Climbing rough vertical surfaces with hierarchical directional adhesion IEEE International Conference on Robotics and Automation Asbeck, A., Dastoor, S., Parness, A., Fullerton, L., Esparza, N., Soto, D., Heyneman, B., Cutkosky, M. IEEE. 2009: 4328–4333

  View details for Web of Science ID 000276080402078

• Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot IEEE International Conference on Robotics and Automation Shin, D., Khatib, O., Cutkosky, M. IEEE. 2009: 3568–3573

  View details for Web of Science ID 000276080401260

• A Wearable Skin Stretch Device for Haptic Feedback 3rd Joint EuroHaptics Conference Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Bark, K., Wheeler, J., Lee, G., Savall, J., Cutkosky, M. IEEE. 2009: 464–469

  View details for Web of Science ID 000266714300076

• Design and Control of a Bio-inspired Human-Friendly Robot 11th International Symposium on Experimental Robotics (ISER) Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SPRINGER-VERLAG BERLIN. 2009: 43–52

  View details for Web of Science ID 000268803300005

• Thermally Constrained Motor Operation for a Climbing Robot IEEE International Conference on Robotics and Automation Trujillo, S., Cutkosky, M. IEEE. 2009: 4362–4367

  View details for Web of Science ID 000276080402084

• Biologically inspired climbing with a hexapedal robot JOURNAL OF FIELD ROBOTICS Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A., Full, R. J., Koditschek, D. E. 2008; 25 (4-5): 223-242

  View details for DOI 10.1002/rob.20238

  View details for Web of Science ID 000255368500002

• Smooth vertical surface climbing with directional adhesion IEEE International Conference on Robotics and Automation Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Santos, D., Cutkosky, M. R. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 2008: 65–74

  View details for DOI 10.1109/TRO.2007.909786

  View details for Web of Science ID 000253789900008

• Shape deposition manufacturing of biologically inspired hierarchical microstructures CIRP ANNALS-MANUFACTURING TECHNOLOGY Lanzetta, M., Cutkosky, M. R. 2008; 57 (1): 231-234

  View details for DOI 10.1016/j.cirp.2008.03.102

  View details for Web of Science ID 000257153300057

• Microfabricated dry adhesive displaying frictional adhesion. Soto, D., Parness, A., Esparza, N., Autumn, K., Kenny, T., Cutkosky, M. 2008
• Design and Control of a Bio-Inspired Human-Safe Robotic Arm Shin, D., Sardellitti, I., Park, Y. L., Khatib, O., Cutkosky, M. 2008
• Force and Tactile Sensors in Springer Handbook of Robotics Cutkosky, M., R., Howe, R., D., Provancher, William, R. edited by Siciliano, B., Khatib, O. Springer Verlag. 2008: 455–476
• Improving Finger Force Control with Vibrational Haptic Feedback for Multiple Sclerosis Jiang, L., Cutkosky, M., R., Ruutiainen, J., Raisamo, R. 2008
• Fingertip force control with embedded fiber Bragg grating sensors IEEE International Conference on Robotics and Automation Park, Y., Ryu, S. C., Black, R. J., Moslehi, B., Cutkosky, M. R. IEEE. 2008: 3431–3436

  View details for Web of Science ID 000258095002113

• Gecko-inspired climbing behaviors on vertical and overhanging surfaces IEEE International Conference on Robotics and Automation Santos, D., Heyneman, B., Kim, S., Esparza, N., Cutkosky, M. R. IEEE. 2008: 1125–1131

  View details for Web of Science ID 000258095000178

• Comparison of skin stretch and vibrotactile stimulation for feedback of proprioceptive information 16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems Bark, K., Wheeler, J. W., Premakumar, S., Cutkosky, M. R. IEEE COMPUTER SOC. 2008: 71–78

  View details for Web of Science ID 000254949300010

• Directional adhesion for climbing: theoretical and practical considerations JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY Santos, D., Spenko, M., Parness, A., Kim, S., Cutkosky, M. 2007; 21 (12-13): 1317-1341

  View details for DOI 10.1163/156856107782328399

  View details for Web of Science ID 000251189400010

• Dynamic stability of open-loop hopping JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Cham, J. G., Cutkosky, M. R. 2007; 129 (3): 275-284

  View details for DOI 10.1115/1.2718237

  View details for Web of Science ID 000247057300004

• Directional adhesive structures for controlled climbing on smooth vertical surfaces IEEE International Conference on Robotics and Automation Santos, D., Kim, S., Spenko, M., Parness, A., Cutkosky, M. IEEE. 2007: 1262–1267

  View details for Web of Science ID 000250915301043

• Force Sensing Smart Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing Park, Y. L., Chau, K., Black, R., J., Cutkosky, M., R. 2007
• Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot IEEE International Conference on Robotics and Automation Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V., Cutkosky, M. R. IEEE. 2007: 1268–1273

  View details for Web of Science ID 000250915301044

• Force sensing robot fingers using embedded fiber bragg grating sensors and shape deposition manufacturing IEEE International Conference on Robotics and Automation Park, Y., Chau, K., Black, R. J., Cutkosky, M. R. IEEE. 2007: 1510–1516

  View details for Web of Science ID 000250915301083

• Scaling hard vertical surfaces with compliant microspine arrays Conference on Robotics - Science and Systems Asbeck, A. T., Kim, S., Cutkosky, M. R., Provancher, W. R., Lanzetta, M. SAGE PUBLICATIONS LTD. 2006: 1165–79

  View details for DOI 10.1177/0278364906072511

  View details for Web of Science ID 000242802800002

• Frictional adhesion: a new angle on gecko attachment JOURNAL OF EXPERIMENTAL BIOLOGY Autumn, K., Dittmore, A., Santos, D., Spenko, M., Cutkosky, M. 2006; 209 (18): 3569-3579

  Abstract

  Directional arrays of branched microscopic setae constitute a dry adhesive on the toes of pad-bearing geckos, nature's supreme climbers. Geckos are easily and rapidly able to detach their toes as they climb. There are two known mechanisms of detachment: (1) on the microscale, the seta detaches when the shaft reaches a critical angle with the substrate, and (2) on the macroscale, geckos hyperextend their toes, apparently peeling like tape. This raises the question of how geckos prevent detachment while inverted on the ceiling, where body weight should cause toes to peel and setal angles to increase. Geckos use opposing feet and toes while inverted, possibly to maintain shear forces that prevent detachment of setae or peeling of toes. If detachment occurs by macroscale peeling of toes, the peel angle should monotonically decrease with applied force. In contrast, if adhesive force is limited by microscale detachment of setae at a critical angle, the toe detachment angle should be independent of applied force. We tested the hypothesis that adhesion is increased by shear force in isolated setal arrays and live gecko toes. We also tested the corollary hypotheses that (1) adhesion in toes and arrays is limited as on the microscale by a critical angle, or (2) on the macroscale by adhesive strength as predicted for adhesive tapes. We found that adhesion depended directly on shear force, and was independent of detachment angle. Therefore we reject the hypothesis that gecko toes peel like tape. The linear relation between adhesion and shear force is consistent with a critical angle of release in live gecko toes and isolated setal arrays, and also with our prior observations of single setae. We introduced a new model, frictional adhesion, for gecko pad attachment and compared it to existing models of adhesive contacts. In an analysis of clinging stability of a gecko on an inclined plane each adhesive model predicted a different force control strategy. The frictional adhesion model provides an explanation for the very low detachment forces observed in climbing geckos that does not depend on toe peeling.

  View details for DOI 10.1242/jeb.02486

  View details for Web of Science ID 000240154200010

  View details for PubMedID 16943497

• iSprawl: Design and tuning for high-speed autonomous open-loop running 7th International Conference on Climbing and Walking Robots (CLAWAR 2004) Kim, S., Clark, J. E., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2006: 903–12

  View details for DOI 10.1177/0278364906069150

  View details for Web of Science ID 000240939900007

• The effect of leg specialization in a biomimetic hexapedal running robot ASME International Mechanical Engineering Congress Clark, J. E., Cutkosky, M. R. ASME-AMER SOC MECHANICAL ENG. 2006: 26–35

  View details for DOI 10.1115/1.2168477

  View details for Web of Science ID 000236439100004

• Foot design and integration for bioinspired climbing robots Conference on Unmanned Systems Technology VIII Spenko, M., Cutkosky, M., Majidi, C., Fearing, R., Groff, R., Autumn, K. SPIE-INT SOC OPTICAL ENGINEERING. 2006

  View details for DOI 10.1117/12.665874

  View details for Web of Science ID 000239711700040

• Stability measure comparison for the design of a dynamic running robot 8th International Conference on Climbing and Walking Robots (CLAWAR 2005) Clark, J. E., Cutkosky, M. R. SPRINGER-VERLAG BERLIN. 2006: 261–268

  View details for Web of Science ID 000237058000031

• Design information retrieval: a thesauri-based approach for reuse of informal design information ENGINEERING WITH COMPUTERS Yang, M. C., Wood, W. H., Cutkosky, M. R. 2005; 21 (2): 177-192

  View details for DOI 10.1007/s00366-005-0003-9

  View details for Web of Science ID 000233647900008

• Feedback strategies for telemanipulation with shared control of object handling forces PRESENCE-TELEOPERATORS AND VIRTUAL ENVIRONMENTS Griffin, W. B., Provancher, W. R., Cutkosky, M. R. 2005; 14 (6): 720-731

  View details for Web of Science ID 000234542700008

• Contact location display for haptic perception of curvature and object motion 11th International Symposium on Robotics Research Provancher, W. R., Cutkosky, M. R., Kuchenbecker, K. J., Niemeyer, G. SAGE PUBLICATIONS LTD. 2005: 691–702

  View details for DOI 10.1177/0278364905057121

  View details for Web of Science ID 000232274300002

• SpinybotII: Climbing hard walls with compliant microspines 12th International Conference on Advanced Robotics Kim, S., Asbeck, A. T., Cutkosky, M. R., Provancher, W. R. IEEE. 2005: 601–606

  View details for Web of Science ID 000234272400088

• A biologically inspired passive antenna for steering control of a running robot 11th International Symposium on Robotics Research Cowan, N. J., Ma, E. J., Cutkosky, M., Full, R. J. SPRINGER-VERLAG BERLIN. 2005: 541–550

  View details for Web of Science ID 000228862600046

• Robotics in scansorial environments Conference on Unmanned Ground Vehicle Technology VII Autumn, K., Buehler, M., Cutkosky, M., Fearing, R., Full, R. J., Goldman, D., GROFF, R., PROVANCHER, W., Rizzi, A. A., Saranli, U., Saunders, A., Koditschek, D. E. SPIE-INT SOC OPTICAL ENGINEERING. 2005: 291–302

  View details for DOI 10.1117/12.506157

  View details for Web of Science ID 000231052500029

• Biomimetic Legged Robots: design principles and approach IEEE-RAS/IFRR International School of Robotics Science Cutkosky, M., R. 2005
• Reducing Error Rates with Low-Cost Haptic Feedback in Virtual Reality-Based Training Applications Jiang, L., Girortra, R., Cutkosky, M., R., Ullrich, C. 2005
• Scaling Hard Surfaces With Microspine Arrays Asbeck, A., Kim, S., Provancher, W., R., Cutkosky, M., R., Lanzetta, M. 2005
• Applying Biological Principles to Legged Robots for Planetary Exploration SD Forum, Xerox PARC, University of Pisa Cutkosky, M., R. 2005
• Methods for Creativity in Engineering Design the IMT Lucca Cutkosky, M., R. 2005
• Perception of curvature and object motion via contact location feedback 11th International Symposium on Robotics Research Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., Cutkosky, M. R. SPRINGER-VERLAG BERLIN. 2005: 456–465

  View details for Web of Science ID 000228862600039

• Towards penetration-based clawed climbing 7th International Conference on Climbing and Walking Robots (CLAWAR 2004) Provancher, W. R., Clark, J. E., Geisler, B., Cutkosky, M. R. SPRINGER. 2005: 961–970

  View details for Web of Science ID 000234133600094

• iSprawl: Autonomy, and the effects of power transmission 7th International Conference on Climbing and Walking Robots (CLAWAR 2004) Kim, S., Clark, J. E., Cutkosky, M. R. SPRINGER. 2005: 859–867

  View details for Web of Science ID 000234133600084

• Reducing error rates with low-cost haptic feedback in virtual reality-based training applications 1st Joint Eurohaptics Conference/Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Li, J., Girotra, R., Cutkosky, M. R., Ullrich, C. IEEE COMPUTER SOC. 2005: 420–425

  View details for Web of Science ID 000228426200058

• The SPRING hand: Development of a self-adaptive prosthesis for restoring natural grasping AUTONOMOUS ROBOTS Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R., DARIO, P. 2004; 16 (2): 125-141

  View details for Web of Science ID 000189079000002

• Stride period adaptation of a biomimetic running hexapod 10th International Symposium on Robotics Research (ISRR 2001) Cham, J. G., Karpick, J. K., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2004: 141–53

  View details for DOI 10.1177/0278364904041323

  View details for Web of Science ID 000188890700005

• Haptic display of contact location 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2004) Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., Cutkosky, M. R. IEEE COMPUTER SOC. 2004: 40–47

  View details for Web of Science ID 000189492300006

• Climbing Walls with Microspines Asbeck, A., T., Kim, S., McClung, A., Parness, A., Cutkosky, M., R 2004
• Isprawl : Autonomy, and the Efects of Power Transmission Kim, S., Clark, J., E., Cutkosky, M., R 2004
• Towards Penetration-Based Clawed Climbing Provancher, W., Clark, J., E., Geisler, B., Cutkosky, M., R. 2004
• Rapid Maneuvering of a Biologically Inspired Hexapedal Robot McClung, A., Cham, J., G., Cutkosky, M., R. 2004
• Dynamic Simulation and Analysis of a Passively Self-Stabilizing Hexapedal Running Robot Clark, J., Thelen, D., G., Cutkosky, M., R. 2004
• Haptic Display of Contact Location Feedback Kuchenbecker, K., J., Provancher, W., R, Niemeyer, G., Cutkosky, M., R. 2004
• Error analysis for the in-situ fabrication-of mechanisms JOURNAL OF MECHANICAL DESIGN Rajagopalan, S., Cutkosky, M. 2003; 125 (4): 809-822

  View details for DOI 10.1115/1.1631577

  View details for Web of Science ID 000188788300019

• A high force miniature gripper fabricated via shape deposition manufacturing 20th IEEE International Conference on Robotics and Automation (ICRA) Stefanini, C., Cutkosky, M. R., Dario, P. IEEE. 2003: 1836–1841

  View details for Web of Science ID 000187419900295

• Biomimetic Robots Cutkosky, M., R. 2003
• Quasistatic Manipulation with Compliance and Sliding Cutkosky, M., R. 2003
• Process Planning for Embedding Flexible Materials in Multi-material Prototypes Hatanaka, M., Cutkosky, M., R. 2003
• Adapting Work Through Actuator Phasing in Running Cham, J., G., Cutkosky, M., R. 2003
• Perception of Curvature and Object Motion via Contact Location Feedback Provancher, W., R, Kuchenbecker, K., J., Niemeyer, G., Cutkosky, M., R. 2003
• Feedback Strategies for Dexterous Telemanipulation Griffin, W., B., Provancher, W., R., Cutkosky, M., R. 2003
• A Biologically Inspired Passive Antenna for Steering Control of a Running Robot Cowan, N., Ma, E., J., Cutkosky, M., R., Full, R., J. 2003
• Trust-Based Facilitator: Handling Word-of-Mouth Trust for Agent-Based E-Commerce Electronic Commerce Research Ono, C., Nishiyama, S., Kim, K., Paulson, B., C., Cutkosky, M., R., Petrie, C., J. 2003; 3 (3-4): 201-220
• Error Analysis for the In-Situ Fabrication of Mechanisms ASME Transactions, Journal of Mechanical Design Rajagopalan, S., Cutkosky, M., R. 2003; 125 (4): 809-822
• Sensing local geometry for dexterous manipulation 8th International Symposium on Experimental Robotics (ISER 02) Provancher, W. R., Cutkosky, M. R. SPRINGER-VERLAG BERLIN. 2003: 507–516

  View details for Web of Science ID 000181801300046

• Feedback strategies for shared control in dexterous telemanipulation IEEE/RSJ International Conference on Intelligent Robots and Systems Griffin, W. B., Provancher, W. R., Cutkosky, M. R. IEEE. 2003: 2791–2796

  View details for Web of Science ID 000187883300452

• Stride period adaptation for a biomimetic running hexapod 10th International Symposium on Robotics Research (ISRR 2001) Karpick, J. K., Cham, J. G., Clark, J. E., Cutkosky, M. R. SPRINGER-VERLAG BERLIN. 2003: 133–145

  View details for Web of Science ID 000183013700009

• Fast and robust: Hexapedal robots via shape deposition manufacturing 7th International Symposium on Experimental Robotics Cham, J. G., Bailey, S. A., Clark, J. E., Full, R. J., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2002: 869–82

  View details for Web of Science ID 000181344700005

• System identification of the human hand grasping a haptic knob 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002) Hasser, C. J., Cutkosky, M. R. IEEE COMPUTER SOC. 2002: 180–189

  View details for Web of Science ID 000175458900024

• Sensing Local Geometry for Dexterous Manipulation Provancher, W., Cutkosky, M., R. 2002
• Project-based Mechatronics Education at Stanford BMW Technology Center Cutkosky, M., R. 2002
• Facilitator Agents based on Word-of-mouth Trust IPSJ Transactions Ono, C., Kanetomo, D., Kim, K., Paulson Jr, B., C., Cutkosky, M., Petrie Jr, C., J. 2002; 43 (2)
• Friction modeling and display in haptic applications involving user performance Richard, C., Cutkosky, M., R. 2002
• Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems ASEE Journal of Engineering Education Okamura, A., M., Richard, C., Cutkosky, M., R. 2002; 92 (3): 345-349
• Feature detection for haptic exploration with robotic fingers INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Okamura, A. M., Cutkosky, M. R. 2001; 20 (12): 925-938

  View details for Web of Science ID 000174018800001

• Reality-based models for vibration feedback in virtual environments IEEE-ASME TRANSACTIONS ON MECHATRONICS Okamura, A. M., Cutkosky, M. R., Dennerlein, J. T. 2001; 6 (3): 245-252

  View details for Web of Science ID 000171123900005

• Representation of heterogeneous objects during design, processing and freeform-fabrication MATERIALS & DESIGN Rajagopalan, S., Goldman, R., Shin, K. H., Kumar, V., Cutkosky, M., Dutta, D. 2001; 22 (3): 185-197

  View details for Web of Science ID 000166302000005

• Biomimetic design and fabrication of a hexapedal running robot IEEE International Conference on Robotics and Automation Clark, J. E., Cham, J. G., Bailey, S. A., Froehlich, E. M., Nahata, P. K., Full, R. J., Cutkosky, M. R. IEEE. 2001: 3643–3649

  View details for Web of Science ID 000172615800580

• Feature-guided exploration with a robotic finger IEEE International Conference on Robotics and Automation Okamura, A. M., Cutkosky, M. R. IEEE. 2001: 589–596

  View details for Web of Science ID 000172615800095

• See Labs Run: A Design-oriented Laboratory for Teaching Dynamic Systems Cham, J., G., Stafford, B., Cutkosky, M., R. 2001
• Design Education and Research at Stanford Cutkosky, M., R. 2001
• Stride Period Adaptation for a Biomimetic Running Hexapod Cham, J., G., Clark, J., E., Cutkosky, M., R. 2001
• Trust-Based Facilitator Agent for e-Partnerships Ono, C., Kanetomo, D., Kim, K., Paulson Jr, B., C., Cutkosky, M., R., Petrie, C., J. 2001
• An interactive aid for designing and planning heterogeneous layered prototypes Clark, J., Xia, L., Cutkosky, R. 2001
• Comparing the locomotion dynamics of the cockroach and a shape deposition manufactured biomimetic hexapod 7th International Symposium on Experimental Robotics Bailey, S. A., Cham, J. G., Cutkosky, M. R., Full, R. J. SPRINGER-VERLAG BERLIN. 2001: 239–248

  View details for Web of Science ID 000175560500025

• A traction stress sensor array for use in high-resolution robotic tactile imaging JOURNAL OF MICROELECTROMECHANICAL SYSTEMS Kane, B. J., Cutkosky, M. R., Kovacs, G. T. 2000; 9 (4): 425-434

  View details for Web of Science ID 000166597800003

• Design by composition for layered manufacturing JOURNAL OF MECHANICAL DESIGN Binnard, M., Cutkosky, M. R. 2000; 122 (1): 91-101

  View details for Web of Science ID 000086722000012

• JATLite: A Java agent infrastructure with message routing IEEE INTERNET COMPUTING Jeon, H., Petrie, C., Cutkosky, M. R. 2000; 4 (2): 87-96

  View details for Web of Science ID 000086068200014

• Biomimetic robotic mechanisms via shape deposition manufacturing 9th International Symposium of Robotics Research (ISRR 99) Bailey, S. A., Cham, J. G., Cutkosky, M. R., Full, R. J. SPRINGER-VERLAG LONDON LTD. 2000: 403–410

  View details for Web of Science ID 000087440500049

• A Traction Stress Sensor Array for use in High Resolution Robotics Tactile Imaging Journal of Microelectromechanical Systems Kane, B., J., Cutkosky, M., R., Kovacs, G., T.A. 2000; 9 (4): 425-434
• The Effects of Real and Computer Generated Friction on Human Performance in a Targeting Task Richard, C., Cutkosky, M., R. 2000
• Material Modeling for Shape Deposition Manufacturing of Biomimetic Components Xu, X., Cheng, W., Dudek, D., Cutkosky, M., R., Full, R., J., Hatanaka, M. 2000
• A Design by Composition Approach for Layered Manufacturing ASME Transactions, Journal of Mechanical Design Binnard, M., Cutkosky, M., R. 2000; 122 (1): 91-101
• Improving Reality-Based Models for Vibration Feedback Okamura, A., M., Hage, M., W., Cutkosky, M., R., Dennerlein, J., T. 2000
• Haptic Exploration of Surfaces Experimental Robotics VI , Lecture Notes in Control and Information Sciences Okamura, A., M., Costa, M., A., Turner, M., L., Richard, C., Cutkosky, M., R. edited by Corke, P., Trevelyan, J. Springer-Verlag. 2000: 423–432
• An Overview of Dexterous Manipulation Okamura, A., M., Smaby, N., Cutkosky, M., R. 2000
• Model Sharing Among Agents in a Concurrent Product Development Team in Knowledge Intensive Computer Aided Design Ozawa, M., Cutkosky, M., R., Howley, B., J. edited by Finger, S., Tomiyama, T., Mantyla, M. Kluwer Academic Publishers, Norwell, MA. 2000: 1
• Calibration and Mapping of a Human Hand for Dexterous Telemanipulation Griffin, W., B., Findley, R., P., Turner, M., L., Cutkosky, M., R. 2000
• Robust Dynamic Locomotion Through Feedforward-Preflex Interaction Cham, J., G., Bailey, S., A., Cutkosky, M., R. 2000
• Roughness Perception of Haptically Displayed Fractal Surfaces Costa, M., A., Cutkosky, M., R. 2000
• Development and Testing of a Telemanipulation System with Arm and Hand Motion Turner, M., L., Findley, R., P., Griffin, W., B., Cutkosky, M., R., Gomez, D., H. 2000
• Error Analysis for the In-Situ Fabrication of Mechanisms Goel, P., Rajagopalan, S., Cutkosky, M., R. 2000
• Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems Richard, C., Okamura, A., M., Cutkosky, M., R. 2000
• Composing and Sharing Hybrid Dynamic Models in an Agent-Based Concurrent Engineering Environment Howley, B., Cutkosky, M., R., Biswas, G. 2000
• Framework for modeling dependencies in collaborative engineering processes RESEARCH IN ENGINEERING DESIGN Park, H., Cutkosky, M. R. 1999; 11 (2): 84-102

  View details for Web of Science ID 000082639200002

• Layered Manufacturing with Embedded Components: Process Planning Issues Cham, J., G., Pruitt, B., L., Cutkosky, M., R., Binnard, M., Weiss, L., Neplotnik, G. 1999
• Machine Generation of Thesauri: Adapting to Evolving Vocabularies in Design Documentation. Yang, M., C., Cutkosky, M., R. 1999
• Friction Identification for Haptic Display Richard, C., Cutkosky, M., R., Maclean, K. 1999
• Optimal Pose Selection for In-Situ Fabrication of Planar Mechanisms Rajagopalan, S., Cutkosky, M., R. 1999
• Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation Turner, M., L., Gomez, D., H., Tremblay, M., R., Cutkosky, M., R. 1999
• Haptic exploration of fine surface features International Conference on Robotics and Automation (ICRA '99) Okamura, A. M., Cutkosky, M. R. IEEE. 1999: 2930–2936

  View details for Web of Science ID 000081625700464

• A phase management framework for event-driven dextrous manipulation IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Hyde, J. M., Cutkosky, M. R. 1998; 14 (6): 978-985

  View details for Web of Science ID 000077839500012

• Data mining for thesaurus generation in informal design information retrieval International Computing Congress Held in Conjunction with ASCE Annual Convention and Exposition on Information Technologies in Civil Engineering - Leading the World YANG, M. C., Wood, W. H., Cutkosky, M. R. AMER SOC CIVIL ENGINEERS. 1998: 189–200

  View details for Web of Science ID 000083193200025

• Agent-Based Collaborative Design of Parts in Assembly Mori, T., Cutkosky, M., R. 1998
• A Phase Management Framework for Event-Driven Dexterous Manipulation IEEE Transactions on Robotics and Automation Hyde, J., M., Cutkosky, M., R. 1998; 14 (6): 978-985
• Model Sharing among Agents in a Concurrent Product Development Team Ozawa, M., Cutkosky, M., R., Howley, B. 1998
• Multi Disciplinary Early Performance Evaluation Via Logical Description of Mechanisms: DVD pick up head example Ozawa, M., Iwasaki, Y., Cutkosky, M., R. 1998
• Representation and Processing of Heterogeneous Objects for Solid Freeform Fabrication Kumar, V., Rajagopalan, S., Cutkosky, M., R., Dutta, D. 1998
• Design Information Retrieval: Improving Access to the Informal Side of Design Wood, William, H., Yang, Maria, C., Cutkosky, M. R., Agogino, Alice, M. 1998
• Tolerance Representation for Mechanism Assemblies in Layered Manufacturing Rajagopalan, S., Cutkosky, M., R. 1998
• Building Block Design for Layered Shape Manufacturing Binnard, M., Cutkosky, M., R. 1998
• Representation and reasoning of geometric tolerances in design AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Tsai, J. C., Cutkosky, M. R. 1997; 11 (4): 325-341

  View details for Web of Science ID A1997XZ31100007

• Robotic stiffness control and calibration as applied to human grasping tasks IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Kao, I., Cutkosky, M. R., Johansson, R. S. 1997; 13 (4): 557-566

  View details for Web of Science ID A1997XN63100007

• Haptic exploration of objects with rolling and sliding 1997 IEEE International Conference on Robotics and Automation (ICRA97) - Teaming to Make an Impact Okamura, A. M., Turner, M. L., Cutkosky, M. R. IEEE. 1997: 2485–2490

  View details for Web of Science ID A1997BJ42X00394

• Detection of Real and Virtual Fine Surface Features with a Haptic Interface and Stylus West, A., Cutkosky, M., R. 1997
• Combining Constraint Propagation and Backtracking for Distributed Engineering in Constraints & Agents Petrie, C., Jeon, H., Cutkosky, M., R. edited by Freuder, Eugene, C. AAAI Press.. 1997: 1
• Getting a Feel for Dynamics: using haptic interface kits for teaching dynamics and controls Richard, C., Okamura, A., M., Cutkosky, M., R. 1997
• Automated Indexing of Design Concepts for Information Management Yang, Maria, C., Cutkosky, Mark, R. 1997
• Representation and reasoning about geometric tolerances in design Artificial Intelligence for Engineering Design, Analysis and Manufacturing Tsai, J., C., Cutkosky, M., R. 1997; 11: 325-341
• Contact Force Perception with an Ungrounded Haptic Interface Richard, C., Cutkosky, M., R. 1997
• Practical force-motion models for sliding manipulation INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Howe, R. D., Cutkosky, M. R. 1996; 15 (6): 557-572

  View details for Web of Science ID A1996VW54300003

• Madefast: Collaborative engineering over the Internet COMMUNICATIONS OF THE ACM Cutkosky, M. R., Tenenbaum, J. M., GLICKSMAN, J. 1996; 39 (9): 78-87

  View details for Web of Science ID A1996VE89000021

• Comparison of contact sensor localization abilities during manipulation ROBOTICS AND AUTONOMOUS SYSTEMS Son, J. S., Cutkosky, M. R., Howe, R. D. 1996; 17 (4): 217-233

  View details for Web of Science ID A1996UQ59500001

• CMOS-compatible traction stress sensor for use in high-resolution tactile imaging 8th International Conference on Solid-State Sensors and Actuators (Eurosensors IX) Kane, B. J., Cutkosky, M. R., Kovacs, G. T. ELSEVIER SCIENCE SA. 1996: 511–16

  View details for Web of Science ID A1996VV39200013

• Agent based concurrent design 3rd ISPE International Conference on Concurrent Engineering - Research and Applications Cutkosky, M. R. TECHNOMIC PUBL CO INC. 1996: 439–447

  View details for Web of Science ID 000086011500056

• Design for Manufacturability via Agent Interaction Frost, H., R., Cutkosky, M., R. 1996
• Combining Constraint Propagation and Backtracking for Distributed Engineering Petrie, C., Jeon, H., Cutkosky, M., R. 1996
• Stable User-specific Haptic Rendering of the Virtual Wall Gillespie, B., Cutkosky, M. 1996
• CONTACT TRANSITION CONTROL WITH SEMIACTIVE SOFT FINGERTIPS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION AKELLA, P. N., Cutkosky, M. R. 1995; 11 (6): 859-867

  View details for Web of Science ID A1995TJ77600007

• Incremental kinematic analysis of mechanisms JOURNAL OF MECHANICAL DESIGN Konkar, R., Cutkosky, M. 1995; 117 (4): 589-596

  View details for Web of Science ID A1995TY06400015

• Die-less forming of thermoplastic-matrix continuous fiber composite materials - Process and demonstration JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Ramani, K., Miller, A. K., Cutkosky, M. R. 1995; 117 (4): 501-507

  View details for Web of Science ID A1995TT90200006

• USING PARETO OPTIMALITY TO COORDINATE DISTRIBUTED AGENTS AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Petrie, C. J., Webster, T. A., Cutkosky, M. R. 1995; 9 (4): 269-281

  View details for Web of Science ID A1995RW92300004

• Collaborative engineering based on knowledge sharing agreements CONCURRENT ENGINEERING-RESEARCH AND APPLICATIONS OLSEN, G. R., Cutkosky, M., Tenenbaum, J. M., GRUBER, T. R. 1995; 3 (2): 145-159

  View details for Web of Science ID A1995UX96000009

• Using sensor fusion and contextual information to perform event detection during a phase-based manipulation task 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots Tremblay, M. R., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1995: 262–267

  View details for Web of Science ID A1995BE13L00042

• Comparison of contact sensor localization abilities during manipulation 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots Son, J. S., Cutkosky, M. R., Howe, R. D. I E E E, COMPUTER SOC PRESS. 1995: 96–103

  View details for Web of Science ID A1995BE13K00016

• Incremental Kinematic Analysis of Mechanisms ASME Journal of Mechanical Design Konkar, R., Cutkosky, M., R. 1995; 117 (4): 589-596
• Die-less Forming of Thermoplastic-Matrix Continuous Fiber Composite Materials – Process and Demonstration ASME Journal of Engineering for Industry Ramani, K., Miller, A., K., Cutkosky, M., R. 1995; 117 (4): 501-507
• Comparison of Contact Sensor Localization Abilities During Manipulation Son, J., S., Cutkosky, M., R., Howe, R., D. 1995
• Event Detection Using Context and Sensor Fusion During a Phase-Based Manipulation Task. Tremblay, M., Cutkosky, M., R. 1995
• An Object-Oriented Framework or Event-Driven Dextrous Manipulation Tremblay, M., R., Hyde, J., M., Cutkosky, M., R. 1995
• Contact Transition Control with Semi-active Soft Fingertips IEEE Transactions on Robotics and Automation Akella, P., Cutkosky, M., R. 1995; 11 (6): 859-865
• Rolling with deformable fingertips 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems - Human Robot Interaction and Cooperative Robots Chang, D. C., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1995: 194–199

  View details for Web of Science ID A1995BE13K00030

• SHARE - A METHODOLOGY AND ENVIRONMENT FOR COLLABORATIVE PRODUCT DEVELOPMENT INTERNATIONAL JOURNAL OF INTELLIGENT & COOPERATIVE INFORMATION SYSTEMS Toye, G., Cutkosky, M. R., Leifer, L. J., Tenenbaum, J. M., GLICKSMAN, J. 1994; 3 (2): 129-153

  View details for Web of Science ID A1994PD87500003

• CONTROLLING CONTACT TRANSITION 1993 IEEE International Conference on Robotics and Automation Hyde, J. M., Cutkosky, M. R. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 1994: 25–30

  View details for Web of Science ID A1994PU93400007

• AN AGENT-BASED APPROACH TO CONCURRENT CABLE HARNESS DESIGN AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Park, H., Cutkosky, M. R., CONRU, A. B., Lee, S. H. 1994; 8 (1): 45-61

  View details for Web of Science ID A1994PM98100005

• Collaborative Engineering based on Knowledge Sharing Agreements Olsen, G., Cutkosky, M., R edited by Brocks, P., Prasad, B. 1994
• SHARE: A Methodology and Environment for Collaborative Product Development The International Journal of Intelligent and Cooperative Information Systems Toye, G., Cutkosky, M., R., Leifer, L., J., Tenenbaum, J., M., Glicksman, J. 1994; 3 (2): 129-53
• Design Space Navigation Petrie, C., Cutkosky, M., Park, H. 1994
• Tactile Sensor with 3-Axis Force and Vibration Sensing Functions and its Application to Detect Rotational Sip Yamada, Y., Cutkosky, M., R. 1994
• DESIGN SPACE NAVIGATION AS A COLLABORATIVE AID 3rd International Conference on Artificial Intelligence in Design Petrie, C., Cutkosky, M., Park, H. KLUWER ACADEMIC PUBL. 1994: 611–623

  View details for Web of Science ID A1994BC43X00035

• COMPARISON OF THEORETICAL AND EXPERIMENTAL FORCE/MOTION TRAJECTORIES FOR DEXTEROUS MANIPULATION WITH SLIDING INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kao, I., Cutkosky, M. R. 1993; 12 (6): 529-534

  View details for Web of Science ID A1993MH68800002

• INTEGRATING GENERAL-PURPOSE PLANNERS AND SPECIALIZED REASONERS - CASE-STUDY OF A HYBRID PLANNING ARCHITECTURE IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS Kambhampati, S., Cutkosky, M. R., Tenenbaum, J. M., Lee, S. H. 1993; 23 (6): 1503-1518

  View details for Web of Science ID A1993MT27400003

• DYNAMIC TACTILE SENSING - PERCEPTION OF FINE SURFACE-FEATURES WITH STRESS RATE SENSING IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Howe, R. D., Cutkosky, M. R. 1993; 9 (2): 140-151

  View details for Web of Science ID A1993LZ62200002

• A PHYSIOLOGICAL METHOD FOR RELAYING FRICTIONAL INFORMATION TO A HUMAN TELEOPERATOR IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS Edin, B. B., Howe, R., Westling, G., Cutkosky, M. 1993; 23 (2): 427-432

  View details for Web of Science ID A1993LR79800009

• PACT - AN EXPERIMENT IN INTEGRATING CONCURRENT ENGINEERING SYSTEMS COMPUTER Cutkosky, M. R., ENGELMORE, R. S., Fikes, R. E., Genesereth, M. R., GRUBER, T. R., MARK, W. S., TENEBAUM, J. M., Weber, J. C. 1993; 26 (1): 28-37

  View details for Web of Science ID A1993KG31600005

• ESTIMATING FRICTION USING INCIPIENT SLIP SENSING DURING A MANIPULATION TASK 1993 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION Tremblay, M. R., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1993: 429–434

  View details for Web of Science ID A1993BY79J00065

• CONTACT TRANSITION CONTROL - AN EXPERIMENTAL-STUDY 1993 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION Hyde, J. M., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1993: 363–368

  View details for Web of Science ID A1993BY79J00055

• Concurrent Design and Planning Cutkosky, M., R. 1993
• Computational Support for Interactive Cable Harness Routing and Design Conru, A., Cutkosky, M., R. 1993
• Friction in Robotic Manipulation and Fixturing Cutkosky, M., R. 1993
• Interactive Dynamics with Haptic Display Gillespie, B., Cutkosky, M., R. 1993
• Contact Transition Control: an Experimental Study Hyde, J., M., Cutkosky, M., R. 1993
• PACT: An Experiment in Integrating Concurrent Engineering Systems IEEE Computer, special issue on Computer Support for Concurrent Engineering Cutkosky, M., Engelmore, R., Fikes, R., Gruber, T., Genesereth, M., Mark, W. 1993: 28-37
• An Agent-Based Approach to Concurrent Cable Harness Design Tech Report CDR 19930217, Center for Design Research, Stanford University, Stanford, CA Park, H., Cutkosky, M., R., Conru, A., B., Lee, S. H. 1993: 94305
• SHARE: A Methodology and Environment for Collaborative Product Developement Toye, G., Cutkosky, M., R., Leifer, L., J., Tenenbaum, J., M., Glicksman, J. 1993
• Manipulation Control with Dynamic tactile Sensing Cutkosky, M., R., Hyde, J. 1993
• Dynamic Tactile Sensing: Perception of Fine Surface Features with Stress Rate Sensing IEEE Transactions on Robotics and Automation Howe, R., Cutkosky, M., R. 1993; 9 (2): 140-151
• Relaying Frictional Information to a Human Operator by Physiological Mechanisms IEEE Transactions on Systems, Man, and Cybernetics Edin, B., Howe, R., Westling, G., Cutkosky, M., R. 1993; 23 (2): 427-432
• Estimating Friction Using Incipient Slip Sensing During a Manipulation Task Tremblay, M., R., Cutkosky, M., R. 1993
• Integrating General Purpose Planners and Specialized Reasoners: Case Study of a Hybrid Planning Architecture IEEE Transactions on Systems, Man, and Cybernetics Kambhampati, S., Cutkosky, M., R., Tenenbaum, J., M., Lee, S. H. 1993; 23 (6): 1503-1518
• WORKING WITH MULTIPLE REPRESENTATIONS IN A CONCURRENT DESIGN SYSTEM JOURNAL OF MECHANICAL DESIGN Cutkosky, M. R., Tenenbaum, J. M., Brown, D. R. 1992; 114 (3): 515-524

  View details for Web of Science ID A1992JR45800023

• QUASI-STATIC MANIPULATION WITH COMPLIANCE AND SLIDING INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kao, I., Cutkosky, M. R. 1992; 11 (1): 20-40

  View details for Web of Science ID A1992HC87100002

• Quasistatic Manipulation with Compliance and Sliding The International Journal of Robotics Research Kao, I., Cutkosky, M., R. 1992; 11 (1): 20-40
• ISSUES IN INCREMENTAL-ANALYSIS OF ASSEMBLIES FOR CONCURRENT DESIGN 2ND INTERNATIONAL CONF ON ARTIFICIAL INTELLIGENCE DESIGN Tsai, J. C., Konkar, R., Cutkosky, M. R. KLUWER ACADEMIC PUBL. 1992: 617–635

  View details for Web of Science ID A1992BW43W00031

• A New Approach to the Forming of Thermoplastic-Matrix Continuous-Fiber Composites. Part II: Experiments and Model. Journal of Thermoplastic Composite Materials Ramani, K., Miller, A., Cutkosky, M., R. 1992; 5: 227-202
• Issues in Incremental Analysis of Assemblies for Concurrent Design Artificial Intelligence in Design '92 Tsai, J. C., Konkar, R., Cutkosky, M., R. edited by Gero, J. Kluwer Academic Publishers. 1992: 617–635
• Modeling and Sensing Finger/Object Contacts for Dextrous Manipulation Cutkosky, M., R. 1992
• Providing Computational Support for Concurrent Engineering Cutkosky, M., R. 1992
• Tolerance Reasoning for Concurrent Design Tsai, J. C., Cutkosky, M., R. 1992
• Computational Support for Concurrent Engineering of Cable Harnesses Park, H., Lee, S. H., Cutkosky, M., R. 1992
• Touch Sensing for Robotic Manipulation and Recognition The Robotics Review 2 Howe, R., D., Cutkosky, M., R. edited by Khatib, O., Craig, J., Lozano-Perez, T. M.I.T. Press, Cambridge, MA. 1992: 55–112
• Real Physics for Real Engineers: Response to A Prolegomena to Any Future Qualitative Physics Computational Intelligence Olsen, G., Kambhampati, S., Cutkosky, M. 1992; 8 (2): 286-288
• A New Approach to the Forming of Thermoplastic-Matrix Continuous-Fiber Composites. Part I: Process and Machine. Journal of Thermoplastic Composite Materials Ramani, K., Miller, A., Cutkosky, M., R. 1992; 5: 184-201
• FIXTURE PLANNING WITH FRICTION JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Lee, S. H., Cutkosky, M. R. 1991; 113 (3): 320-327

  View details for Web of Science ID A1991HP73500009

• NEXT-CUT - A 2ND GENERATION FRAMEWORK FOR CONCURRENT ENGINEERING LECTURE NOTES IN COMPUTER SCIENCE Brown, D. R., Cutkosky, M. R., Tenenbaum, J. M. 1991; 492: 8-25

  View details for Web of Science ID A1991HT50900003

• DIE-LESS FORMING OF THERMOPLASTIC COMPOSITES - EXPERIMENTS ON THE DEMONSTRATION MACHINE 36TH INTERNATIONAL SYMP AND EXHIBITION OF THE SOC FOR THE ADVANCEMENT OF MATERIAL AND PROCESS ENGINEERING Vinci, R. P., Ramani, K., Miller, A. K., Cutkosky, M. R. SOC ADVANCEMENT MATERIAL & PROCESS ENGINEERING. 1991: 2130–2141

  View details for Web of Science ID A1991BT52L00178

• MOTION PLANNING FOR FORMING THERMOPLASTIC COMPOSITES INTERNATIONAL SYMP ON INTELLIGENT ROBOTICS Ramani, K., Cutkosky, M. R., Miller, A. K. TATA MCGRAW-HILL PUBL CO LTD. 1991: 604–615

  View details for Web of Science ID A1991BU03Z00055

• MANIPULATION WITH SOFT FINGERS - CONTACT FORCE CONTROL 1991 INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION Akella, P., Siegwart, R., Cutkosky, M. I E E E, COMPUTER SOC PRESS. 1991: 652–657

  View details for Web of Science ID A1991BT14J00098

• COMBINING SPECIALIZED REASONERS AND GENERAL-PURPOSE PLANNERS - A CASE-STUDY 9TH NATIONAL CONF ON ARTIFICIAL INTELLIGENCE ( AAAI-91 ) Kambhampati, S., Cutkosky, M., Tenenbaum, M., Lee, S. H. AMER ASSOC ARTIFICIAL INTELLIGENCE. 1991: 199–205

  View details for Web of Science ID A1991BU53G00032

• Die-Less Forming of Thermoplastic Components: Experiments on the Demonstration Machine Vinci, R., P., Ramani, K., Miller, A., K., Cutkosky, M., R. 1991
• A.I. in Design and Process Planning Cutkosky, M., R. 1991
• Providing Computational Support for Concurrent Engineering the International Journal of Systems Automation: Research and Applications Cutkosky, M., R., Tenenbaum, J., M. 1991; 1 (3): 239-261
• Next-Cut: A Second-Generation Framework for Concurrent Engineering in Computer-Aided Product Development. Brown, D., Cutkosky, M., R., Tenenbaum, J., M. edited by Sriram, D., Logcher, R. Springer-Verlag. 1991: 8–25
• Utilizing Sensed Incipient Slip Signals for Grasp Force Control Tremblay, M., R., Packard, W., J., Cutkosky, M., R. edited by Leu, M. 1991
• Manipulation with Soft Fingers: Contact Force Control Akella, P., Siegwart, R., Cutkosky, M., R. 1991
• Incremental and Interactive Geometric Reasoning for Fixture and Process Planning Lee, S, H., Cutkosky, M., R., Kambhampati, S. 1991
• Design of Robotic End-Effectors in The Encyclopedia of Artificial Intelligence Cutkosky, M., R. edited by Shapiro, S.C. John Wiley & Sons., Inc.. 1991: 1
• Combining Specialized Reasoners and General Purpose Planners: A Case Study Kambhampati, S., Cutkosky, M., R., Tenenbaum, J., M., Lee, S, H. 1991
• Knowledge Sharing Technology Project Overview Stanford Knowledge Systems Laboratory Report No. KSL 91-71 Fikes, R., Cutkosky, M., Gruber, T., Van-Baalen, J. 1991
• A METHODOLOGY AND COMPUTATIONAL FRAMEWORK FOR CONCURRENT PRODUCT AND PROCESS DESIGN MECHANISM AND MACHINE THEORY Cutkosky, M. R., Tenenbaum, J. M. 1990; 25 (3): 365-381

  View details for Web of Science ID A1990DE75900010

• DESIGN, CONTROL, AND COORDINATION KNOWLEDGE OF MANUFACTURING HANDS CONF ON DESIGN AND MANUFACTURING SYSTEMS Nagurka, M. L., WRIGHT, P. K., Cutkosky, M. R. SOC MANUFACTURING ENGINEERS. 1990: 287–294

  View details for Web of Science ID A1990BS79J00040

• TOWARD A COMPUTATIONAL FRAMEWORK FOR CONCURRENT ENGINEERING 16TH ANNUAL CONF OF THE IEEE INDUSTRIAL ELECTRONICS SOC ( IECON 90 ) Cutkosky, M. R., Tenenbaum, J. M. I E E E. 1990: 700–706

  View details for Web of Science ID A1990BS81S00128

• KINEMATICALLY ADMISSIBLE DIE-LESS FORMING FOR LONG TAPERED COMPONENTS OF FIBER-REINFORCED COMPOSITES 22ND INTERNATIONAL TECHNICAL CONF OF THE SOC FOR THE ADVANCEMENT OF MATERIAL AND PROCESS ENGINEERING - ADVANCED MATERIALS : LOOKING AHEAD TO 21ST CENTURY Ramani, K., Cutkosky, M. R., Miller, A. K., Vinci, R. P. SOC ADVANCEMENT MATERIAL & PROCESS ENGINEERING. 1990: 98–112

  View details for Web of Science ID A1990BS53V00009

• Next-Cut: A Computational Framework for Concurrent Engineering Brown, D., Cutkosky, M., R., Tenenbaum, J., M. 1990
• An Approach Toward Incremental and Interactive Planning for Concurrent Product and Process Design Kambhampati, S., Cutkosky, M., R. 1990
• Robotics: A Long Range Plan to Maximize National Capabilities Annual Review of Computer Science Hopcroft, J., Cutkosky, M., Lozano-Perez, T. edited by Traub, J., F. 1990: 467–479
• Robotic Grasping and Manipulation Cutkosky, M., R. 1990
• Representation and Propagation of Tolerances for CAD/CAM Systems Frants, L., Binford, T., O., Tsai, J., C., Cutkosky, M., R. 1990
• Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. 1990
• Dexterous Manipulation with Compliance and Sliding in Robotics Research: the Fifth International Symposium Kao, I., Cutkosky, M., R. edited by Miura, H., Arimoto, S. M.I.T. Press, Cambridge, MA. 1990: 375–382
• Kinematically Admissible Die-Less Forming for Long Tapered Components of Fiber-Reinforced Composites Ramani, K., Cutkosky, M., R., Miller, A., K., Vinci, R., P. 1990
• Towards an Assembly Editor for Concurrent Product and Process Design Konkar, R., Cutkosky, M., R., Tenenbaum, J., M. 1990
• Kinematically Admissible Motion Planning for Die-Less Forming of Composites Ramani, K., Cutkosky, M., R., Miller, A., K. 1990
• Dynamic Tactile Sensing Cutkosky, M., R., Howe, R., D. edited by Morecki, A., Bianchi, G., Jaworek, K. 1990
• Providing Process Histories for Feedback from CAM to CAD Vann, C., Cutkosky, M., R. 1990
• Grasping Manipulation and Control with Tactile Sensing Howe, R., Popp, N., Akella, P., Kao, I., Cutkosky, M., R. 1990
• Integrating Tactile Sensing with Control for Dexterous Manipulation Howe, R., Cutkosky, M., R. 1990
• Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. edited by Finger, S., Dixon, J. 1990: 1
• Human Grasp Choice and Robotic Grasp Analysis Dexterous Robot Hands Cutkosky, M., R., Howe, R., D. Springer-Verlag. 1990: 1
• HUMAN GRASP CHOICE AND ROBOTIC GRASP ANALYSIS WORKSHOP AT THE 1988 IEEE CONF ON ROBOTS AND AUTOMATION : DEXTROUS ROBOT HANDS Cutkosky, M. R., Howe, R. D. SPRINGER-VERLAG. 1990: 5–31

  View details for Web of Science ID A1990BP78H00001

• ON GRASP CHOICE, GRASP MODELS, AND THE DESIGN OF HANDS FOR MANUFACTURING TASKS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Cutkosky, M. R. 1989; 5 (3): 269-279

  View details for Web of Science ID A1989U953400002

• COMPUTING AND CONTROLLING THE COMPLIANCE OF A ROBOTIC HAND IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Cutkosky, M. R., Kao, I. 1989; 5 (2): 151-165

  View details for Web of Science ID A1989T669500003

• ROBOTICS - A LONG-RANGE PLAN TO MAXIMIZE NATIONAL CAPABILITIES ANNUAL REVIEW OF COMPUTER SCIENCE Hopcroft, J., Cutkosky, M., LOZANOPEREZ, T. 1989; 4: 467-479

  View details for Web of Science ID A1989DF24000017

• SENSING SKIN ACCELERATION FOR SLIP AND TEXTURE-PERCEPTION 1989 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION : ROBOTICS IN UNSTRUCTURED ENVIRONMENTS Howe, R. D., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1989: 145–150

  View details for Web of Science ID A1989BQ26M00023

• MANIPULATING WITH SOFT FINGERS - MODELING CONTACTS AND DYNAMICS 1989 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION : ROBOTICS IN UNSTRUCTURED ENVIRONMENTS Akella, P., Cutkosky, M. I E E E, COMPUTER SOC PRESS. 1989: 764–769

  View details for Web of Science ID A1989BQ26M00116

• Computing and Controlling the Compliance of a Robotic Grasp IEEE Transactions on Robotics and Automation Cutkosky, M., R., Kao, I. 1989; 5 (2): 151-165
• Modeling and Control of Grasps for Advanced Manufacturing Hands Nagurka, M., L., Wright, P., K., Cutkosky, M., R. edited by Dornfeld, D., A. 1989
• Manipulating with Soft Fingers: Modeling Contacts and Dynamics Akella, P., Cutkosky, M., R. 1989
• Design, Control and Coordination Knowledge of Manufacturing Manufacturing Hands Nagurka, M., L., Wright, P., K., Cutkosky, M., R. 1989
• Extending Concurrent Product and Process Design Toward Earlier Design Stages Cutkosky, M., R., Brown, D., Tenenbaum, J., M. 1989
• Sensing Skin Acceleration for Slip and Texture Perception Howe, R., D., Cutkosky, M., R. 1989
• Toward a Computer-Integrated Enterprise Cutkosky, M., R., Tenenbaum et. al, J., M. 1989
• Quasistatic Sliding Manipulation —On the Transient Response in Sliding Manipulation Kao, I., Cutkosky, M., R. 1989
• Electrorheological Fluid-Based Robotic Fingers with Tactile Sensing Kenaley, G., M., Cutkosky, M., R. 1989
• Fixture Planning with Friction for Concurrent Product/Process Design Cutkosky, M., R., Lee, S, H. 1989
• Tactile Sensing for Teleoperation and Robotic Hand Control Cutkosky, M., R. 1989
• A Computational Framework for Rapid Prototyping and Team Design Tenenbaum, J., M., Cutkosky, M., R. 1989
• Concurrent Product/Process Design Cutkosky, M., R. 1989
• Concurrent Product and Process Design for Early Stages of Design Tenenbaum, J., M., Brown, D., Cutkosky, M., R. 1989
• Modeling and Sensing Finger/Object Contacts for Manipulation Planning and Control Cutkosky, M., R. 1989
• Robotics: A Dream as Old as Antiquity in Brief Lessons in High Technology Cutkosky, M., R. edited by Meindl, J., D. The Portable Stanford Press, Stanford, CA. 1989: 155–189
• Review of Interpretation of Contact Geometries from Force Measurements in The Robotics Review 1 Cutkosky, M., R. edited by Khatib, O., Craig, J., Lozano-Perez, T. M.I.T. Press. 1989: 175–179
• Off-Line Programming for Robotic Deburring Vishnu, A., Cutkosky, M., R., Erickson, E. 1988
• Features in Process-Based Design Cutkosky, M., R., Tenenbaum, J., M., Muller, D. 1988
• Grasping as a Contact Sport in Robotics Research: the Fourth International Symposium Cutkosky, M., R., Akella, P., Howe, R., D., Kao, I. edited by Bolles, R., Roth, B. M.I.T. Press, Cambridge, MA. 1988: 199–206
• Grasp Control Using Tactile Sensing Cutkosky, M., R. 1988
• Closing the Loop in CAD/CAM Integration Vann, C., S., Cutkosky, M., R. 1988
• The Sliding of Robot Fingers Under Combined Torsion and Shear Loading Howe, R., D., Kao, I., Cutkosky, M., R. 1988
• Skin Materials for Robotic Fingers Cutkosky, M., R., Jourdain, J., M., Wright, P., K. 1987
• On Design Languages Cutkosky, M., R., Tenenbaum, J., M. edited by Waldron, M., B. 1987
• CAD/CAM Integration Through Concurrent Product and Process Design Cutkosky, M., R., Tenenbaum, J., M. 1987
• ACTIVE CONTROL OF A COMPLIANT WRIST IN MANUFACTURING TASKS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Cutkosky, M. R., WRIGHT, P. K. 1986; 108 (1): 36-43

  View details for Web of Science ID A1986A201800006

• FRICTION, STABILITY AND THE DESIGN OF ROBOTIC FINGERS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Cutkosky, M. R., WRIGHT, P. K. 1986; 5 (4): 20-37

  View details for Web of Science ID A1987F867600002

• Modeling Manufacturing Grips and Correlations with the Design of Robotic Hands Cutkosky, M., R., Wright, P., K. 1986
• Object-Oriented Modeling of Robot Hands Cutkosky, M., R., Howe, R., Witkin, A. 1986
• Control of a Compliant Wrist for Manufacturing Tasks in Robot Sensors Cutkosky, M., R., Wright, P., K. edited by Pugh, A. IFS Publications, Springer-Verlag, New York, NY. 1986: 17–32
• Robotic Grasping and Fine Manipulation Cutkosky, M., R. Kluwer Academic Publishers, Boston, MA. 1985
• Design of Grippers in The Handbook of Industrial Robotics Wright, P., K., Cutkosky, M., R. edited by Nof, S. John Wiley and Sons Inc., New York, NY. 1985: 1
• The Design of a Flexible Machining Cell for Small Batch Production Journal of Manufacturing Systems Cutkosky, M., R., Fussell, P., S., Milligan Jr., R. 1984; 3 (1): 39-59
• Position Sensing Wrists for Industrial Manipulators Cutkosky, M., R., Wright, P., K. 1982
• External Position Control of Industrial Manipulators Cutkosky, M., R., Wright, P., K. 1982
• Achieving Flexibility in Manufacturing Cells Wright, P., K., Cutkosky, M., R. 1982
• Programmable Conformable Clamps Autofact 4, Philadelphia, PA Cutkosky, M., R., Kurokawa, E., Wright, P., K. 1982: 11.51-11.58