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 2025

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

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. [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 [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 [More…]

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 [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 [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 [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 [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. [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 [More…]

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