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

Bioinspired tearing manipulation with a robotic fish

Abstract: “We present SunBot, a robotic system for the study and implementation of fish-inspired tearing manipulations. Various fish species–such as [More…]

International Conference on Robotics and Automation (ICRA), January 2023
Stanley Wang, Juan Romero, Monica Li, Peter Wainwright, Hannah S. Stuart

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 [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 [More…]

Frontiers in Robotics and AI, Oct 2022
Laura Treers, Ben McInroe, Robert Full, 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 [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 [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 [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 [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 [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. [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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). [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