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.
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Last updated: May 2025

Tactile Sensing

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

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

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

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