Current Research - Theses - Previous Research

Previous Research

• ==> See BDML publications for newer publications.
• K.J. Kuchenbecker, W.R Provancher, G. Niemeyer, and M.R. Cutkosky, " Haptic Display of Contact Location Feedback," Proc. VR2004/Haptics 2004, March 27-31, Chicago, IL.
• W.R Provancher, K.J. Kuchenbecker, G. Niemeyer, and M.R. Cutkosky, " Perception of Curvature and Object Motion via Contact Location Feedback," Proc. 11th International Symposium on Robotics Research (ISRR '03).
• W.B. Griffin, W.R. Provancher, and M.R. Cutkosky, "Feedback Strategies for Dexterous Telemanipulation," Accepted to the 2003 International Conference on Intelligent Robots and Systems (IROS '03).
• W.R. Provancher and M.R. Cutkosky, "Sensing Local Geometry for Dexterous Manipulation," Presented at the 2002 International Symposium on Experimental Robotics. July 2002 Sant'Angelo d'Ischia, Italy.
• C.J. Hasser and M.R. Cutkosky, "System Identification of the Human Hand Grasping a Haptic Knob," Presented at the 10 th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), part of IEEE Virtual Reality 2002 (IEEE-VR2002), Orlando, FL, 24-25 March 2002, IEEE Computer Society Press.
• M.A. Costa and M.R. Cutkosky, "Roughness Perception of Haptically Displayed Fractal Surfaces," ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
• W.B. Griffin, R.P. Findley, M.L. Turner, and M.R. Cutkosky, "Calibration and Mapping of a Human Hand for Dexterous Telemanipulation," Presented at ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
• A.M. Okamura, M.W. Hage, J.T. Dennerlein, and M.R. Cutkosky, "Improving Reality-Based Models for Vibration Feedback", Presented at ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
• C. Richard and M.R. Cutkosky, "The Effects of Real and Computer Generated Friction on Human Performance in a Targeting Task", Presented at ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
• M.L. Turner, R.P. Findley, W.B. Griffin, M.R. Cutkosky, and D.H. Gomez, "Development and Testing of a Telemanipulation System with Arm and Hand Motion", Presented at ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems
• C. Richard, A.M. Okamura, and M.R. Cutkosky, "Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems," Proceeedings of the 2000 ASEE Annual Conference and Exposition, Session 3668.
• A.M. Okamura, N. Smaby, and M.R. Cutkosky, "An Overview of Dexterous Manipulation", Presented at the 2000 IEEE International Conference on Robotics and Automation
• C. Richard, M. Cutkosky, and K. MacLean, "Friction Identification for Haptic Display", 1999 ASME IMECE 8th Annual Symposium on Haptic Interfaces, Nashville, TN
• A.M. Okamura, M.A. Costa, M.L. Turner, C. Richard, and M.R. Cutkosky, "Haptic Exploration of Surfaces", accepted to the 1999 International Symposium on Experimental Robotics. (476k pdf)
• A.M. Okamura and M.R. Cutkosky, "Haptic Exploration of Fine Surface Features", accepted to the 1999 International Conference on Robotics and Automation. (552k pdf)
• M.L. Turner, D.H. Gomez, M.R. Tremblay, and M.R. Cutkosky, "Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation", 1998 ASME IMECE 7th Annual Symposium on Haptic Interfaces, Anaheim, CA. (67k pdf)
• A.M. Okamura, J.T. Dennerlein, and R.D. Howe, "Vibration Feedback Models for Virtual Environments", Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2485-2490. (126k pdf)
• C. Richard and M.R. Cutkosky, "Contact Force Perception with an Ungrounded Haptic Interface", 1997 ASME IMECE 6th Annual Symposium on Haptic Interfaces, Dallas, TX, Nov. 15-21. (150k pdf)
• A. West and M.R. Cutkosky, "Detection of Real and Virtual Fine Surface Features with a Haptic Interface and Stylus", 1997 ASME IMECE 6th Annual Symposium on Haptic Interfaces, Dallas, TX, Nov. 15-21. (125k pdf)
• C. Richard, A.M. Okamura, M.R. Cutkosky, "Getting a Feel for Dynamics: using haptic interface kits for teaching dynamics and controls", 1997 ASME IMECE 6th Annual Symposium on Haptic Interfaces, Dallas, TX, Nov. 15-21. (97k pdf)
• A.M. Okamura, M.L. Turner and M.R. Cutkosky, "Haptic Exploration of Objects with Rolling and Sliding", Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Vol. 3, April 20-25, Albuquerque, NM, pp. 2485-2490. (205k pdf)

Theses

• William R. Provancher, On Tactile Sensing and Display, 2003
• Weston B. Griffin, Shared Control for Dexterous Telemanipulation with Haptic Feedback, 2003
         Thesis Defense Presentation, 2003 (.ppt 6.2 MB)
• Christopher J. Hasser, The Effects of Displacement Quantization and Zero-Order Hold on the Limit Cycle Behavior of Haptic Knobs, 2001
         Thesis Defense Presentation, 2001 (.ppt 3.8 MB)
  
• Michael L. Turner, Programming Dexterous Manipulation by Demonstration, 2001
• Michael A. Costa, Fractal Description of Rough Surfaces for Haptic Display, 2000
  
• Allison M. Okamura, Haptic Exploration of Unkown Objects, 2000
  
• Christopher Richard, On the Identification and Haptic Display of Friction, 2000
  

Previous Research

• D.C. Chang and M.R. Cutkosky, "Rolling with Deformable Fingertips", presented at the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, August 5-9, Pittsburgh, PA. (55k pdf)
• J.M. Hyde, M.R. Tremblay and M.R. Cutkosky, "An Object-Oriented Framework for Event-Driven Dextrous Manipulation", Presented at the 4th International Symposium on Experimental Robotics, June 1995, Stanford, CA. (67k pdf)
• J.S. Son, M.R. Cutkosky and R.D. Howe, "Comparison of Contact Sensor Localization Abilities During Manipulation", presented at the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, August 5-9, Pittsburgh, PA. (note: ps file)
• M.R. Tremblay and M.R. Cutkosky,"Using Sensor Fusion and Contextual Information to Perform Event Detection during a Phase-Based Manipulation Task", presented at the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, August 5-9, Pittsburgh, PA. (55k pdf)
• J.M. Hyde and M.R. Cutkosky, "Controlling Contact Transition", IEEE Control Systems Magazine, Vol. 14., No. 1., February, 1994, pp.25-30. (82k pdf)
• "Tactile Sensing and Information Processing for Man and Machine Systems", October 1994 annual report for ONR. (22k pdf)
• M.R. Cutkosky and J.M. Hyde, "Manipulation control with dynamic tactile sensing", 6th International Symposium on Robotics Research, Hidden Valley, Pennsylvania, October 1993. (274k pdf)
• B. Edin, R.D. Howe, G. Westling and M.R. Cutkosky, "Relaying Frictional Information to a Human Operator by Physiological Mechanisms," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23, No. 2, March/April 1993, pp. 427-432.
• R.D. Howe and M.R. Cutkosky, "Dynamic Tactile Sensing: Perception of Fine Surface Features with Stress Rate Sensing," IEEE Transactions on Robotics and Auto mation, Vol. 9, No. 2, April, 1993, pp. 140-151.
• M.R. Tremblay and M.R. Cutkosky, "Estimating Friction Using Incipient Slip Sensing During a Manipulation Task", Proceedings of the 1993 IEEE International Conference on Robotics and Automation, May 2-6, Atlanta, GA, pp. 363-368. (94k pdf)
• I. Kao and M.R. Cutkosky, "Comparison of Theoretical and Experimental Force/Motion Trajectories for Dextrous Manipulation with Sliding," The International Journal of Robotics Research, Vol. 12, No. 6, December 1993, pp. 529-534.
• R.D. Howe and M.R. Cutkosky, "Touch Sensing for Robotic Manipulation and Recognition," The Robotics Review 2, O. Khatib, J. Craig and T. Lozano-Perez, eds., M.I.T. Press, Cambridge, MA, 1992, pp. 55-112.
• M.R. Tremblay, W.J. Packard and M.R. Cutkosky, "Utilizing Sensed Incipient Slip Signals for Grasp Force Control," Proceedings of the 1992 ASME Japan-USA Symposium on Flexible Automation, May 13-15, San Francisco, CA, pp.1237-1243.
• Howe, H.D., and Cutkosky, M.R. "Sensing skin acceleration for slip and texture perception," Proceedings of the 1989 IEEE Conference on Robotics and Automation, Scottsdale, AZ, May 14-16, 1989