Publications

This page provides information on full-length articles. Open source files are at our Github page (previous repository) and research videos can be found at our YouTube channel. Short-form conference and workshop abstracts.

Last updated: October 2022

The Robustness of Tether Friction in Non-idealized Terrains

“Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage the capstan effect and create exponentially-amplified holding forces. Experiments show that an [More…]

IEEE Robotics and Automation Letters, December 2022
Justin Page; Laura Treers; Steven Jens Jorgensen; Ronald Fearing; Hannah S Stuart

Mole crab-inspired vertical self-burrowing

“We present EMBUR—EMerita BUrrowing Robot—the first legged robot inspired by the Pacific mole crab, Emerita analoga, capable of burrowing vertically downward. We choose Emerita analoga as a model organism for its rapid downward burrowing behaviors, as it is four times as fast as the most rapid bivalve mollusk. Vertical burrowing [More…]

Frontiers in Robotics and AI, Oct 2022
Laura Treers, Ben McInroe, Robert Full, Hannah S Stuart

(Preprint) Cutaneous perception identification using smartphone haptic feedback

“The skin’s ability to sense its environment is vital to activities of daily living. Cutaneous sensory perception diagnostics allow for the early detection and symptom tracking of tactile dysfunction. However, lack of access to healthcare and the limited frequency of current screening tools can leave skin sensation impairments undiscovered or [More…]

TechRxiv, August 2022
Wilson O. Torres, Michael E. Abbott, Yiching Wang, and Hannah S. Stuart

Resonant pneumatic tactile sensing for soft grippers

Abstract: “Soft robots capable of dexterous manipulation can enable the exploration of extreme environments. Equipping these robots with tactile sensing is a challenge, as sensors must be flexible, stretchable, and robust to environmental conditions. We present a tactile sensor design with a pneumatically driven acoustic resonator, without electronics near from [More…]

IEEE Robotics and Automation Letters, July 2022
Monica S. Li; Tae Myung Huh; Christopher R. Yahnker; Hannah S. Stuart

Effect of variable transmission on body-powered prosthetic grasping

Body-powered upper-limb prostheses remain a popular option for those with limb absence due to their passive nature. These devices typically feature a constant transmission ratio between the forces input by the user and the grasp forces output by the prosthetic gripper. Work incorporating continuously variable transmissions into robotic hands has [More…]

International Conference on Rehabilitation Robotics (ICORR), June 2022
Michael E. Abbott, Andrew I.W. McPherson, Wilson O. Torres, Keilani Adachi, and Hannah S. Stuart

Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Abstract: “Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for [More…]

arXiv.org (Accepted to ICRA 2022), Nov 2021
Erin Y. Chang, Raghid Mardini, Andrew I. W. McPherson, Yuri Gloumakov, Hannah S. Stuart

Mobility Experiments Assessing Performance of Front-Back Differential Drive Velocity on Sandy Terrain

Abstract: “Sand traps are a hazard for both Martian and lunar rovers. Conventional drive control methods aim to limit wheel slip without considering the effect that both slippage and sinkage have on the forces generated by a rotating wheel. Sandy terrain models, such as granular Resistive Force Theory (RFT), suggest [More…]

2021 Proceedings of the ISTVS 20th International Conference, Montréal, Québec, Canada, In Press
Cao, C., Creager C., Lieu, D.K, Stuart, H.S.

A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration

Abstract: “We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing through suction flow monitoring is applied to a new suction cup design that contains multiple chambers for air flow. Each chamber connects with its own remote pressure transducer, which enables both absolute and differential pressure measures [More…]

IEEE International Conference on Intelligent Robots and Systems (IROS), Dec 2021
Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Ken Goldberg, Hannah S. Stuart

Bio-inspired Geotechnical Engineering: Principles, Current Work, Opportunities and Challenges

Abstract: “A broad diversity of biological organisms and systems interact with soil in ways that facilitate their growth and survival. These interactions are made possible by strategies that enable organisms to accomplish functions that can be analogous to those required in geotechnical engineering systems. Examples include anchorage in soft and [More…]

Géotechnique, April 2021
Alejandro Martinez, Jason DeJong, et. al.

Dynamic Analysis of Gyroscopic Force Redistribution for a Wheeled Rover

Abstract: “Current Mars rovers feature large, complex suspensions to overcome obstacles. Unfavorable contact force distribution can cause slip and high drive torque demands. When traversing step-like obstacles, the vehicle is most likely to slip when the back wheels start trying to ascend the obstacle. Minimizing the ratio of tractive force [More…]

2021 ACSE Earth and Space, April 2021
Cyndia A. Cao, Dennis K. Lieu, Hannah S. Stuart

Kinesthetic feedback improves grasp performance in cable-driven prostheses

Abstract: “Despite significant progress in the realm of upper-limb prosthetic design, end-users still abandon modern myoelectric prostheses, with haptic feedback listed as a primary need. The passive scheme of cable-driven body-powered prostheses provides kinesthetic sensory information to the user but can also lead to discomfort and fatigue due to the [More…]

2021 IEEE International Conference on Robotics and Automation (ICRA), Oct 2021
Michael E. Abbott, Joshua D. Fajardo, H.W. Lim, and Hannah S. Stuart

Assistive supernumerary grasping with the back of the hand

Abstract: “The Dorsal Grasper, an assistive wearable grasping device, incorporates supernumerary fingers and an artificial palm with the forearm and back of the hand, respectively. It enables power wrap grasping and adduction pinching with its V-shaped soft fingers. Designed with C6/C7 spinal cord injury in mind, it takes advantage of [More…]

2021 IEEE International Conference on Robotics and Automation (ICRA), Oct 2021
Jungpyo Lee, Licheng Yu, Lucie Derbier and Hannah S. Stuart

Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

Abstract: “Modelling interaction forces as bodies intrude into granular media is a longstanding challenge in the design and control of machines that navigate and manipulate these highly complex materials. Granular Resistive Force Theory, or RFT, is a flexible, reduced-order model for predicting intrusion forces on bodies in granular media. 2D [More…]

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

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

Abstract: “This paper presents the design of a motoraugmented wrist-driven orthosis (MWDO) for improved grasp articulation for people with C6-C7 spinal cord injuries. Based on the traditional passive, wrist-driven orthotic (WDO) mechanism, the MWDO allows for both body-powered and motorized actuation of the grasping output thus enabling more flexible and [More…]

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

Milliscale features increase friction of soft skin in lubricated contact

Abstract: “Real world environments, such as kitchens, present objects covered in viscous fluids: soap, oil, water, etc. Understanding and designing for slippery and submerged contact, where fluid lubrication is present, is a continuing challenge in the robotics community. This work focuses on milliscale features (3 to 20 mm in size) [More…]

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

Tactile sensing based on fingertip suction flow for submerged dexterous manipulation

Abstract: “The ocean is a harsh and unstructured environment for robotic systems; high ambient pressures, saltwater corrosion and low-light conditions demand machines with robust electrical and mechanical parts that are able to sense and respond to the environment. Prior work shows that the addition of gentle suction flow to the [More…]

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

Hands in the Real World

Abstract: “Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors — fixtures, grippers or hands — as these machines perform manual tasks. Yet, effective deployment of versatile [More…]

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

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

Abstract: “Assistive orthotics have the potential to augment the grasping capabilities of individuals with limited hand functionality. People with a cervical-level spinal cord injury (SCI) lack direct control of semi-flaccid, curled fingers on both hands, which often precludes independent donning and doffing of orthotics, thus limiting their use in daily [More…]

2019 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Mar 2020
D. Kaneishi, J.E. Leu, J. O’Donnell, C. Affleck, R.P. Matthew, A. McPherson, M. Tomizuka, and H.S. Stuart

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

Abstract: “A mechanism for gripping onto plating scleractinian mesophotic corals is designed, realized and tested, with the goal of collecting samples via human-portable ROVs. Rotation-constrained teeth are employed to grip onto these thin structures which are abundant with surface ridges and asperities. Anisotropic contact conditions allow for gripper positional error [More…]

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

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

Abstract: “Active assistive devices have been designed to augment the hand grasping capabilities of individuals with spinal cord injuries (SCI). An intuitive bio-signal of wrist extension has been utilized in the device control, which imitates the passive grasping effect of tenodesis. However, controlling these devices in this manner limits the [More…]

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

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

Abstract: “We present a hand specialized for climbing unstructured rocky surfaces. Articulated fingers achieve grasps commonly used by human climbers. The gripping surfaces are equipped with dense arrays of spines that engage with asperities on hard rough materials. A load-sharing transmission system divides the shear contact force among spine tiles [More…]

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

Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

Abstract: “Gentle suction flow at the fingertips of a compliant hand can enhance object acquisition and increase the robustness of pinch grasps under water. The approach adds a low-pressure pump and flexible tubes that terminate at the distal phalanges. The light flow rate does not create a powerful suction force, [More…]

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

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

This thesis was completed in the Biomimetics and Dexterous Manipulation Lab. Work supported by the Stanford Graduate Fellowship, NSF Graduate Research Fellowship Program, and Lieberman Fellowship.

Stanford University Library, Doctoral Thesis, Dec 2017
H. Stuart

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

Abstract: “Underactuated, compliant, tendon-driven robotic hands are suited for deep-sea exploration. The robust Ocean One hand design utilizes elastic finger joints and a spring transmission to achieve a variety of pinch and wrap grasps. Compliance in the fingers and transmission determines the degree of load-sharing among contacts and the hands’ [More…]

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

Ocean One: A Robotic Avatar for Oceanic Discovery

Abstract: “The promise of oceanic discovery has long intrigued scientists and explorers, whether with the idea of studying underwater ecology and climate change or with the hope of uncovering natural resources and historic secrets buried deep in archaeological sites. This quest to explore the oceans requires skilled human access, yet [More…]

IEEE Robotics and Automation Magazine, Nov 2016
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

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

Abstract: “Pinching is an important capability for mobile robots handling small items or tools. Successful pinching requires force-closure and, in underwater applications, gentle suction flow at the fingertips can dramatically improve the handling of light objects by counteracting the negative effects of water lubrication and enhancing friction. In addition, monitoring the [More…]

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

A compliant underactuated hand with suction flow for underwater mobile manipulation

Abstract: “Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the [More…]

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

Design and testing of a selectively compliant underactuated hand

Abstract: “Motivated by the requirements of mobile manipulation, a compliant underactuated hand, capable of locking individual joints, has been developed. Locking is accomplished with electrostatic brakes in the joints and significantly increases the maximum pullout forces for power grasps. In addition, by locking and unlocking joints, the hand can adopt [More…]

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

Jumping robot with a tunable suspension based on artificial muscles

Abstract: “This paper describes the design and control of a suspension based on electroactive polymers for controlling the landing dynamics of a jumping robot. Tunable suspension elements can electrically change their stiffness up to a factor of 10 in less than 0.01 seconds. We discuss design parameters and performance relevant [More…]

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