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Embodied Dexterity Group

Design for interaction in challenging environments

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Publications

Last updated: June 2020

Conference and workshop abstracts

Open source files and data will additionally be published at our Github repository.

Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

[More…] about Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

Laura K. Treers, Cyndia Cao, Hannah S. Stuart
Robotics and Automation Letters
February 2021

Motor-Augmented Wrist-Driven Orthosis: Flexible Grasp Assistance for People with Spinal Cord Injury

Motor-Augmented Wrist-Driven Orthosis: Flexible Grasp Assistance for People with Spinal Cord Injury

[More…] about Motor-Augmented Wrist-Driven Orthosis: Flexible Grasp Assistance for People with Spinal Cord Injury

Andrew I. W. McPherson, Vatsal V. Patel, Phillip R. Downey, Ahmed Abbas Alvi, Michael E. Abbott and Hannah S. Stuart
42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, 2020

Milliscale features increase friction of soft skin in lubricated contact

Milliscale features increase friction of soft skin in lubricated contact

[More…] about Milliscale features increase friction of soft skin in lubricated contact

Monica S. Li, Dominic Melville, Ethan Chung and Hannah S. Stuart
Robotics and Automation Letters
June 2020

Tactile sensing based on fingertip suction flow for submerged dexterous manipulation

Tactile sensing based on fingertip suction flow for submerged dexterous manipulation

[More…] about Tactile sensing based on fingertip suction flow for submerged dexterous manipulation

Philippe Nadeau, Michael Abbott, Dominic Melville and Hannah S. Stuart
ICRA 2020 IEEE International Conference on Robotics and Automation

Hands in the Real World

Hands in the Real World

[More…] about Hands in the Real World

Francesca Negrello, Hannah S. Stuart, and Manuel G. Catalano
Frontiers in Robotics and AI
Jan 2020

Design and Assessment of a Single-size Semi-soft Assistive Mitten  for People with Cervical Spinal Cord Injuries

Design and Assessment of a Single-size Semi-soft Assistive Mitten for People with Cervical Spinal Cord Injuries

[More…] about Design and Assessment of a Single-size Semi-soft Assistive Mitten for People with Cervical Spinal Cord Injuries

D. Kaneishi, J.E. Leu, J. O’Donnell, C. Affleck, R.P. Matthew, A. McPherson, M. Tomizuka, and H.S. Stuart
Humanoids 2019 IEEE-RAS International Conference on Humanoid Robots

Gripper Design with Rotation-Constrained Teeth for Mobile Manipulation of Hard, Plating Corals with Human-Portable ROVs

Gripper Design with Rotation-Constrained Teeth for Mobile Manipulation of Hard, Plating Corals with Human-Portable ROVs

[More…] about Gripper Design with Rotation-Constrained Teeth for Mobile Manipulation of Hard, Plating Corals with Human-Portable ROVs

M.S. Li, R. van der Zande, A. Hernandez-Agreda, P. Bongaerts and H.S. Stuart
2019 IEEE OCEANS Conference Proceedings

Hybrid Control Interface of a Semi-soft Assistive Glove for People with Spinal Cord Injuries

Hybrid Control Interface of a Semi-soft Assistive Glove for People with Spinal Cord Injuries

[More…] about Hybrid Control Interface of a Semi-soft Assistive Glove for People with Spinal Cord Injuries

D. Kaneishi, R.P. Matthew, J.E. Leu, J. O’Donnell, B. Zhang, M. Tomizuka and H.S. Stuart
2019 IEEE-RAS-EMBS International Conference on Rehabilitation Robotics Proceedings

SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot

SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot

[More…] about SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot

S. Wang, H. Jiang, T.M. Huh, D. Sun, W. Ruotolo, M.W. Miller, W.R. Roderick, H.S. Stuart and M.R. Cutkosky
ASME Journal of Mechanisms and Robotics
February 2019

Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

[More…] about Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

H.S. Stuart, S. Wang, M.R. Cutkosky
IEEE Transactions on Robotics
Nov 2018

Robotic hand design for remote ocean exploration: active selection of compliance and contact conditions

[More…] about Robotic hand design for remote ocean exploration: active selection of compliance and contact conditions

H. Stuart
Stanford University Library, Doctoral Thesis
Dec 2017

The Ocean One hands: An adaptive design for robust marine manipulation

The Ocean One hands: An adaptive design for robust marine manipulation

[More…] about The Ocean One hands: An adaptive design for robust marine manipulation

H. Stuart, S. Wang, O. Khatib, M. Cutkosky
International Journal of Robotics Research
March 2017

Ocean One: A Robotic Avatar for Oceanic Discovery

Ocean One: A Robotic Avatar for Oceanic Discovery

[More…] about Ocean One: A Robotic Avatar for Oceanic Discovery

O. Khatib, X. Yeh, G. Brantner, B. Soe, B. Kim, S. Ganguly, H. Stuart, S. Wang, M. Cutkosky, A. Edsinger, P. Mullins, M. Barham, C.R. Voolstra, K.N. Salama, M. L’Hour, V. Creuze
IEEE Robotics and Automation Magazine
Nov 2016

Suction helps in a pinch: Improving underwater manipulation with gentle suction flow

Suction helps in a pinch: Improving underwater manipulation with gentle suction flow

[More…] about Suction helps in a pinch: Improving underwater manipulation with gentle suction flow

H.S. Stuart, M. Bagheri, S. Wang, H. Barnard, A.L. Sheng, M. Jenkins, M.R. Cutkosky
IROS 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems

A compliant underactuated hand with suction flow for underwater mobile manipulation

A compliant underactuated hand with suction flow for underwater mobile manipulation

[More…] about A compliant underactuated hand with suction flow for underwater mobile manipulation

H.S. Stuart, S. Wang, B. Gardineer, D.L. Christensen, D.M. Aukes, M.R. Cutkosky
ICRA 2014 IEEE International Conference on Robotics and Automation

Design and testing of a selectively compliant underactuated hand

Design and testing of a selectively compliant underactuated hand

[More…] about Design and testing of a selectively compliant underactuated hand

D.M. Aukes, B. Heyneman, J. Ulmen, H. Stuart, M.R. Cutkosky, S. Kim, P. Garcia, A. Edsinger
International Journal of Robotics Research
Feb 2014

Jumping robot with a tunable suspension based on artificial muscles

[More…] about Jumping robot with a tunable suspension based on artificial muscles

S. Dastoor, S. Weiss, H. Stuart, M. Cutkosky
Conference on Biomimetic and Biohybrid Systems
July 2012

Subject Areas

Actuation (3) Assistive Device (3) Contact Conditions (5) Dexterous Manipulation (3) Grasping (12) Hardware Design (9) ROV (2) Simulation (2) Suction (4) Tactile Sensing (2) Underactuation (7) Underwater (8)
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