Publications

This page provides information on full-length articles.

Research videos can be found at our YouTube channel.
Open access versions of publications can be found at eScholarship.
Short-form conference and workshop abstracts.
Open source files are at our Github page.

Last updated: May 2024

Haptic contour following with the smart suction cup

Accepted for publication: More coming soon.

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

Fast in-hand slip control on unfeatured objects with programmable tactile sensing

Abstract: “Accurate dynamic object manipulation in a robotic hand remains a difficult task, especially when frictional slip is involved. Prior [More…]

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

Robotically adjustable kinematics in a wrist-driven orthosis eases grasping across tasks

Abstract: “Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers [More…]

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.

A Grasp Taxonomy for People with C5-7 Spinal Cord Injury

Abstract: “Despite the broad utility of grasp taxonomies to describe manual abilities, no such tool exists for people with spinal [More…]

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.

Nonlinear modeling for soft pneumatic actuators via data-driven parameter estimation

Abstract: “Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper [More…]

International Conference on Advanced Intelligent Mechatronics (AIM) -- ArXiV preprint, July 2024
Yang, W.-T., Stuart, H. S., Kurkcu, B., & Tomizuka, M.

A case study of student-community interaction through an education-first assistive device design class

Accepted for publication: More coming soon.

ASEE Annual Conference, July 2024
Stuart, H. S., Torres, W. O., & McPherson, A. I.

Regrasping on printed circuit boards with the smart suction cup

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.

Squirrel-inspired tendon-driven passive gripper for agile landing

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.

Haptic search with the smart suction cup on adversarial object

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…]

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

Skin Sensitivity Assessment Using Smartphone Haptic Feedback

Abstract: “Goal: This work presents a smartphone application to assess cutaneous sensory perception by establishing Vibrational Perception Thresholds (VPTs). Cutaneous [More…]

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

Modulating Wrist-Hand Kinematics in Motorized Assisted Grasping With C5-6 Spinal Cord Injury

Abstract: “Loss of hand function severely impacts the independence of people with spinal cord injuries (SCI) between C5 and C7. [More…]

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

Self-care selfies: Patient-uploaded videos capture meaningful changes in dexterity over 6 months

Abstract: “Objective: Upper extremity function reflects disease progression in multiple sclerosis (MS). This study evaluated the feasibility, validity, and sensitivity [More…]

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.

Push-pull locomotion: Increasing travel velocity in loose regolith via induced wheel slip

Abstract: “Push–pull locomotion is an effective mobility mode for traversing loose lunar regolith and climbing sandy slopes. A rover with an active [More…]

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

Tap and swipe smartphone gestures indicate hand tremor and finger joint range of motion

Abstract: “Conditions such as multiple sclerosis or arthritis impair normative hand function by diminishing motor control and limiting finger range [More…]

2023 IEEE Eurasia Conference on Biomedical Engineering, Healthcare and Sustainability (ECBIOS), August 2023
Wilson O. Torres, Hannah S. Stuart

Efficient reciprocating burrowing with anisotropic origami feet

Abstract: “Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to [More…]

Frontiers in Robotics and AI, July 2023
Sareum Kim, Laura Treers, Tae Myung Huh, Hannah S. Stuart

AcousTac: Tactile sensing with pneumatic-driven acoustic resonance for electronics-free soft skin

Abstract: “Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material [More…]

ArXiv, July 2023
Monica S. Li, Hannah S. Stuart

A wearable testbed for studying variable transmission in body-powered prosthetic gripping

Abstract: “For those with upper limb absence, body-powered prostheses continue to be popular for many activities despite being an old [More…]

International Conference on Rehabilitation Robotics (ICORR), June 2023
Andrew McPherson, Michael Abbott, Weston White, Yuri Gloumakov, Hannah S. Stuart

Characterizing the force-motion tradeoff in body-powered transmission design

Abstract: “Upper-limb prosthesis users continue to reject devices despite continued research efforts. Today, the passive topology of body-powered prehensors, which [More…]

IEEE Transactions on Neural Systems and Rehabilitation Engineering (T-NSRE), July 2023
Michael Abbott, Hannah S. Stuart

Walk-Burrow-Tug: Legged anchoring analysis using RFT-based granular limit surfaces

Abstract: “We develop a new resistive force theory based granular limit surface (RFT-GLS) method to predict and guide behaviors of [More…]

IEEE Robotics and Automation Letters, April 2023
Tae Myung Huh, Cyndia Cao, Jadesola Aderibigbe, Deaho Moon, Hannah S. Stuart

Mechanical modeling and optimal model-based design of a soft pneumatic actuator

Abstract: “Soft pneumatic actuators are widely used for soft grippers, which are known for their compliance as compared with traditional [More…]

International Conference on Soft Robotics (RoboSoft), February 2023
Wu-Te Yang, Hannah S. Stuart, Masayoshi Tomizuka