Publications

Haptic Intelligence Embodied Vision Robotics Conference Paper Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing Mack, L., Grüninger, F., Richardson, B. A., Lendway, R., Kuchenbecker, K. J., Stueckler, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, May 2025, Accepted (Accepted) BibTeX

Haptic Intelligence Conference Paper My Robot, My Motion: Expressive Real-Time Teleoperation Mohan, M., Kuchenbecker, K. J. In Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Melbourne, Australia, March 2025 (Published) BibTeX

Haptic Intelligence Conference Paper Reflectance Outperforms Force and Position in Model-Free Needle Puncture Detection L’Orsa, R., Bisht, A., Yu, L., Murari, K., Westwick, D. T., Sutherland, G. R., Kuchenbecker, K. J. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, USA, July 2024 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Expert Perception of Teleoperated Social Exercise Robots Mohan, M., Mat Husin, H., Kuchenbecker, K. J. In Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), :769-773, Boulder, USA, March 2024, Late-Breaking Report (LBR) (5 pages) presented at the IEEE/ACM International Conference on Human-Robot Interaction (HRI) (Published) DOI BibTeX

Haptic Intelligence Conference Paper Enhancing Surgical Team Collaboration and Situation Awareness through Multimodal Sensing Allemang–Trivalle, A. In Proceedings of the ACM International Conference on Multimodal Interaction, :716-720, Extended abstract (5 pages) presented at the ACM International Conference on Multimodal Interaction (ICMI) Doctoral Consortium, Paris, France, October 2023 (Published) DOI BibTeX

Haptic Intelligence Software Workshop Autonomous Motion Conference Paper Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control Oh, Y., Passy, J., Mainprice, J. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), :1612-1618, Busan, Korea, August 2023 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Wear Your Heart on Your Sleeve: Users Prefer Robots with Emotional Reactions to Touch and Ambient Moods Burns, R. B., Ojo, F., Kuchenbecker, K. J. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), :1914-1921, Busan, South Korea, August 2023 (Published) DOI URL BibTeX

Haptic Intelligence Conference Paper Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :169-175, Delft, The Netherlands, July 2023 (Published) DOI BibTeX

Haptic Intelligence Perceiving Systems Conference Paper Reconstructing Signing Avatars from Video Using Linguistic Priors Forte, M., Kulits, P., Huang, C. P., Choutas, V., Tzionas, D., Kuchenbecker, K. J., Black, M. J. In IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), :12791-12801, CVPR, June 2023 (Published) pdf arXiv project code DOI URL BibTeX

Haptic Intelligence Conference Paper Towards Semi-Automated Pleural Cavity Access for Pneumothorax in Austere Environments L’Orsa, R., Lama, S., Westwick, D., Sutherland, G., Kuchenbecker, K. J. In Proceedings of the International Astronautical Congress (IAC), :1-7, Paris, France, September 2022 (Published) BibTeX

Haptic Intelligence Conference Paper Wrist-Squeezing Force Feedback Improves Accuracy and Speed in Robotic Surgery Training Machaca, S., Cao, E., Chi, A., Adrales, G., Kuchenbecker, K. J., Brown, J. D. In Proceedings of the IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Seoul, Korea, August 2022 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Larger Skin-Surface Contact Through a Fingertip Wearable Improves Roughness Perception Gueorguiev, D., Javot, B., Spiers, A., Kuchenbecker, K. J. In Haptics: Science, Technology, Applications, :171-179, Lecture Notes in Computer Science, 13235, (Editors: Seiﬁ, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.), Springer, Hamburg, Germany, 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (EuroHaptics 2022), May 2022 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Robot, Pass Me the Tool: Handle Visibility Facilitates Task-Oriented Handovers Ortenzi, V., Filipovica, M., Abdlkarim, D., Pardi, T., Takahashi, C., Wing, A. M., Di Luca, M., Kuchenbecker, K. J. In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), :256-264, Sapporo, Japan, March 2022, Valerio Ortenzi and Maija Filipovica contributed equally to this publication (Published) DOI BibTeX

Haptic Intelligence Conference Paper Sensorimotor-Inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision Thomas, N., Fazlollahi, F., Brown, J. D., Kuchenbecker, K. J. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :6174-6181, Prague, Czech Republic, September 2021 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Optimal Grasp Selection, and Control for Stabilising a Grasped Object, with Respect to Slippage and External Forces Pardi, T., E., A. G., Ortenzi, V., Stolkin, R. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2020), :429-436, Munich, Germany, July 2021 (Published) DOI BibTeX

Haptic Intelligence Conference Paper PrendoSim: Proxy-Hand-Based Robot Grasp Generator Abdlkarim, D., Ortenzi, V., Pardi, T., Filipovica, M., Wing, A. M., Kuchenbecker, K. J., Di Luca, M. In ICINCO 2021: Proceedings of the International Conference on Informatics in Control, Automation and Robotics, :60-68, (Editors: Gusikhin, Oleg and Nijmeijer, Henk and Madani, Kurosh), SciTePress, Sétubal, 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2021), July 2021 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Ungrounded Vari-Dimensional Tactile Fingertip Feedback for Virtual Object Interaction Young, E. M., Kuchenbecker, K. J. In CHI ’21: Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, :217, ACM, New York, NY, Conference on Human Factors in Computing Systems (CHI 2021), May 2021 (Published) DOI URL BibTeX

Haptic Intelligence Conference Paper Robot Interaction Studio: A Platform for Unsupervised HRI Mohan, M., Nunez, C. M., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :3330-3336, Xian, China, May 2021 (Published) DOI BibTeX

Haptic Intelligence Conference Paper The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception Block, A. E., Christen, S., Gassert, R., Hilliges, O., Kuchenbecker, K. J. In HRI ’21: Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, :380-388, ACM, New York, NY, USA, ACM/IEEE International Conference on Human-Robot Interaction (HRI 2021), March 2021 (Published) Block21-HRI-Commandments.pdf DOI BibTeX

Haptic Intelligence Conference Paper Synchronicity Trumps Mischief in Rhythmic Human-Robot Social-Physical Interaction Fitter, N. T., Kuchenbecker, K. J. In Robotics Research, 10:269-284, Springer Proceedings in Advanced Robotics, (Editors: Amato, Nancy M. and Hager, Greg and Thomas, Shawna and Torres-Torriti, Miguel), Springer, Cham, 18th International Symposium on Robotics Research (ISRR 2017), 2020 (Published) DOI BibTeX

Haptic Intelligence Conference Paper An ERT-Based Robotic Skin with Sparsely Distributed Electrodes: Structure, Fabrication, and DNN-Based Signal Processing Park, K., Park, H., Lee, H., Park, S., Kim, J. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :1617-1624, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020 (Published) DOI BibTeX

Haptic Intelligence Autonomous Learning Conference Paper Calibrating a Soft ERT-Based Tactile Sensor with a Multiphysics Model and Sim-to-real Transfer Learning Lee, H., Park, H., Serhat, G., Sun, H., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :1632-1638, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Capturing Experts’ Mental Models to Organize a Collection of Haptic Devices: Affordances Outweigh Attributes Seifi, H., Oppermann, M., Bullard, J., MacLean, K. E., Kuchenbecker, K. J. In Proceedings of the ACM SIGCHI Conference on Human Factors in Computing Systems (CHI), :268, Conference on Human Factors in Computing Systems (CHI 2020), April 2020 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Changes in Normal Force During Passive Dynamic Touch: Contact Mechanics and Perception Gueorguiev, D., Lambert, J., Thonnard, J., Kuchenbecker, K. J. In Proceedings of the IEEE Haptics Symposium (HAPTICS), :746-752, IEEE Haptics Symposium (HAPTICS 2020), March 2020 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Haptic Object Parameter Estimation during Within-Hand-Manipulation with a Simple Robot Gripper Mohtasham, D., Narayanan, G., Calli, B., Spiers, A. J. In Proceedings of the IEEE Haptics Symposium (HAPTICS), :140-147, March 2020 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Effect of Remote Masking on Detection of Electrovibration Jamalzadeh, M., Güçlü, B., Vardar, Y., Basdogan, C. In Proceedings of the IEEE World Haptics Conference (WHC), :229-234, Tokyo, Japan, July 2019 () DOI BibTeX

Haptic Intelligence Conference Paper Fingertip Interaction Metrics Correlate with Visual and Haptic Perception of Real Surfaces Vardar, Y., Wallraven, C., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :395-400, Tokyo, Japan, July 2019 () DOI BibTeX

Haptic Intelligence Conference Paper Objective and Subjective Assessment of Algorithms for Reducing Three-Axis Vibrations to One-Axis Vibrations Park, G., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference, :467-472, July 2019 () DOI BibTeX

Haptic Intelligence Conference Paper A Clustering Approach to Categorizing 7 Degree-of-Freedom Arm Motions during Activities of Daily Living Gloumakov, Y., Spiers, A. J., Dollar, A. M. In Proceedings of the International Conference on Robotics and Automation (ICRA), :7214-7220, Montreal, Canada, May 2019 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Haptipedia: Accelerating Haptic Device Discovery to Support Interaction & Engineering Design Seifi, H., Fazlollahi, F., Oppermann, M., Sastrillo, J. A., Ip, J., Agrawal, A., Park, G., Kuchenbecker, K. J., MacLean, K. E. In Proceedings of the ACM SIGCHI Conference on Human Factors in Computing Systems (CHI), :1-12, Glasgow, Scotland, May 2019 () DOI BibTeX

Haptic Intelligence Conference Paper Improving Haptic Adjective Recognition with Unsupervised Feature Learning Richardson, B. A., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :3804-3810, Montreal, Canada, May 2019 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Internal Array Electrodes Improve the Spatial Resolution of Soft Tactile Sensors Based on Electrical Resistance Tomography Lee, H., Park, K., Kim, J., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :5411-5417, Montreal, Canada, May 2019, Hyosang Lee and Kyungseo Park contributed equally to this publication (Published) DOI BibTeX

Haptic Intelligence Conference Paper A Novel Texture Rendering Approach for Electrostatic Displays Fiedler, T., Vardar, Y. In Proceedings of International Workshop on Haptic and Audio Interaction Design (HAID), Lille, France, March 2019 () Fiedler19-HAID-Electrostatic BibTeX

Haptic Intelligence Conference Paper Passive Probing Perception: Effect of Latency in Visual-Haptic Feedback Gourishetti, R., Isaac, J. H. R., Manivannan, M. In :186-198, Springer, Cham, EuroHaptics, June 2018 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Mechanics of pseudo-haptics with computer mouse Kumar, A., Gourishetti, R., Manivannan, M. In :1-6, IEEE, IEEE International Symposium on Haptic, Audio and Visual Environments and Games (HAVE), December 2017 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J. In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), :456-463, Lisbon, Portugal, August 2017 () DOI BibTeX

Haptic Intelligence Conference Paper Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display Young, E. M., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :599-604, Munich, Germany, June 2017, Finalist for best poster paper (Published) DOI BibTeX

Haptic Intelligence Conference Paper High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable Hu, S., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :394-399, Munich, Germany, June 2017 (Published) DOI BibTeX

Haptic Intelligence Conference Paper A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :107-112, Munich, Germany, June 2017 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Handling Scan-Time Parameters in Haptic Surface Classification Burka, A., Kuchenbecker, K. J. In Proceedings of the IEEE World Haptics Conference (WHC), :424-429, Munich, Germany, June 2017 (Published) DOI BibTeX

Haptic Intelligence Conference Paper Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :439-445, Singapore, May 2017 (Published) DOI BibTeX

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