Publications

Abstract: “For gap-crossing agility, arboreal animals require the ability to stabilize dynamic landings on branches. Despite lacking a prehensile grip, [More…] about Free-ranging squirrels perform stable, above-branch landings by balancing using leg force and nonprehensile foot torque

Journal of Experimental Biology, April 2025
Lee, S, Wang, S, Kuang, D, Wang, E, Yim, J, Hunt, N, Fearing, RS, Stuart, HS, Full, RJ

Abstract: “Spinal cord injuries (SCI) substantially affect sensory, motor, and autonomous functions below the level of injury, reducing the independence [More…] about Expanding functional workspace for people with c5-c7 spinal cord injury with supernumerary dorsal grasping

IEEE Transactions on Neural Systems and Rehabilitation Engineering, December 2024
Lee, J, McPherson, AI, Huang, H, Yu, L, Gloumakov, Y, Stuart, HS

Abstract: “Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material [More…] about AcousTac: Tactile sensing with pneumatic-driven acoustic resonance for electronics-free soft skin

Soft Robotics, February 2025
Li, M, Stuart, HS

Abstract: “Acoustic transmission, or sound, can effectively communicate information over distances through various media. We focus on generating acoustic transmission [More…] about Milli-scale AcousTac sensing using soft Helmholtz resonators

PREPRINT: International Conference on Robotics and Automation (ICRA), May 2025
Aderibigbe, J, Li, M, Stuart, H.S.

Abstract: “Sandy environments present challenges for robotic space rovers and systems due to reduced traction, limiting mobility and tugging force. [More…] about A tugging controller that maximizes lateral resistive force by mounding sandy terrain

PREPRINT: International Conference on Robotics and Automation (ICRA), May 2025
Moon, D, Huang, C, Page, J, Stuart, H.S.

Abstract: “The Smart Suction Cup is a tactile sensing and gripping system designed to enhance pick-and-place operations in industrial settings. [More…] about Haptic contour following with the smart suction cup

International Conference on Intelligent Robots and Systems (IROS), July 2024
Sebastian Lee, Jungpyo Lee, Hannah Stuart

Abstract: “Accurate dynamic object manipulation in a robotic hand remains a difficult task, especially when frictional slip is involved. Prior [More…] about Fast in-hand slip control on unfeatured objects with programmable tactile sensing

IEEE Robotics and Automation Letters, May 2024
Yuri Gloumakov; Tae Myung Huh; Hannah S. Stuart

Abstract: “Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers [More…] about Robotically adjustable kinematics in a wrist-driven orthosis eases grasping across tasks

Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) -- ArXiV preprint, July 2024
Chang, E. Y., McPherson, A. I., & Stuart, H. S.

Abstract: “Despite the broad utility of grasp taxonomies to describe manual abilities, no such tool exists for people with spinal [More…] about A Grasp Taxonomy for People with C5-7 Spinal Cord Injury

Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) PREPRINT, July 2024
McPherson, A. I. [Andrew I.W.], Adachi, K., Gloumakov, Y., & Stuart, H. S.

Accepted for publication: More coming soon.

International Conference on Robotics and Automation (ICRA), May 2024
Lee, J., Sun, Z., Dong, Z., Chen, F., & Stuart, H. S.

Accepted for publication: More coming soon.

International Conference on Robotics and Automation (ICRA), May 2024
Wang, S. J., Kuang, D., Lee, S. D., Full, R. J., & Stuart, H. S.

Spotlighted article in Science Robotics’ “Editor’s Choice”: https://doi.org/10.1126/scirobotics.adp8528 Abstract: “Suction cups are an important gripper type in industrial robot applications, [More…] about Haptic search with the smart suction cup on adversarial object

IEEE Transactions on Robotics (T-RO), Nov 2023
Jungpyo Lee, Sebastian D. Lee, Tae Myung Huh, Hannah S. Stuart

Abstract: “Goal: This work presents a smartphone application to assess cutaneous sensory perception by establishing Vibrational Perception Thresholds (VPTs). Cutaneous [More…] about Skin Sensitivity Assessment Using Smartphone Haptic Feedback

IEEE Open Journal of Engineering in Medicine and Biology, Oct 2023
Torres, W. O. [Wilson O], Abbott, M. E., Wang, Y., & Stuart, H. S.

Abstract: “Loss of hand function severely impacts the independence of people with spinal cord injuries (SCI) between C5 and C7. [More…] about Modulating Wrist-Hand Kinematics in Motorized Assisted Grasping With C5-6 Spinal Cord Injury

IEEE Transactions on Medical Robotics & Bionics (T-MRB), Oct 2023
Chang, E., McPherson, A. I., Adolf, R., Gloumakov, Y., & Stuart, H. S.

Abstract: “Objective: Upper extremity function reflects disease progression in multiple sclerosis (MS). This study evaluated the feasibility, validity, and sensitivity [More…] about Self-care selfies: Patient-uploaded videos capture meaningful changes in dexterity over 6 months

Annals of Clinical and Translational Neurology, Oct 2023
Gopal, A., Torres, W. O. [Wilson O.], Winawer, I., Poole, S., Balan, A., Stuart, H. S., Fritz, N. E., Gelfand, J. M., Allen, D. D., & Bove, R.

Abstract: “Push–pull locomotion is an effective mobility mode for traversing loose lunar regolith and climbing sandy slopes. A rover with an active [More…] about Push-pull locomotion: Increasing travel velocity in loose regolith via induced wheel slip

Journal of Terramechanics, August 2023
Cyndia Cao, Deaho Moon, Colin Creager, Dennis K. Lieu, Hannah S. Stuart