Publications

Haptic Intelligence Robotics Miscellaneous Bio-Inspired Gradient (BIG) Whiskers: Stiffness-Shifting Structures Provide Dynamic Functional Benefits for Contact Sensing Schulz, A. K., Andrussow, I., Farsijani, F., Faulkner, R., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the IEEE-RAS International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, April 2025, Accepted (Accepted) BibTeX

Haptic Intelligence Miscellaneous Error-State Extended Kalman Filter Sensor Fusion for Tracking Collaborating Humans Hudhud Mughrabi, M., Allemang–Trivalle, A., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the German Robotics Conference (GRC), Nuremberg, Germany, March 2025 (Published) BibTeX

Haptic Intelligence Miscellaneous Haptify: A Measurement System for Benchmarking Grounded Force-Feedback Devices Fazlollahi, F., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the German Robotics Conference (GRC), Nuremberg, Germany , March 2025 (Published) BibTeX

Haptic Intelligence Miscellaneous A Method for Single-Input Sequencing of Hyperelastic Balloons Gertler, I., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the IEEE-RAS International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, April 2025, Accepted (Accepted) BibTeX

Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous Demonstration: Minsight - A Soft Vision-Based Tactile Sensor for Robotic Fingertips Andrussow, I., Sun, H., Martius, G., Kuchenbecker, K. J. Hands-on demonstration presented at the Conference on Robot Learning (CoRL), Munich, Germany, November 2024 (Published) BibTeX

Haptic Intelligence Miscellaneous Demonstration: OCRA - A Kinematic Retargeting Algorithm for Expressive Whole-Arm Teleoperation Mohan, M., Kuchenbecker, K. J. Hands-on demonstration presented at the Conference on Robot Learning (CoRL), Munich, Germany, November 2024 (Published) BibTeX

Haptic Intelligence Robotic Materials Miscellaneous Active Haptic Feedback for a Virtual Wrist-Anchored User Interface Bartels, J. U., Sanchez-Tamayo, N., Sedlmair, M., Kuchenbecker, K. J. Adjunct Proceedings of the Annual ACM Symposium on User Interface Software and Technology (UIST), Hands-on demonstration presented at the Annual ACM Symposium on User Interface Software and Technology (UIST), Pittsburgh, USA, October 2024 (Published) DOI BibTeX

Haptic Intelligence Miscellaneous Adapting a High-Fidelity Simulation of Human Skin for Comparative Touch Sensing Schulz, A., Serhat, G., Kuchenbecker, K. J. Extended abstract (1 page) presented at the American Society of Biomechanics Annual Meeting (ASB), Madison, USA, August 2024 (Published) BibTeX

Haptic Intelligence Robotics Miscellaneous Modeling Shank Tissue Properties and Quantifying Body Composition with a Wearable Actuator-Accelerometer Set Rokhmanova, N., Martus, J., Faulkner, R., Fiene, J., Kuchenbecker, K. J. Extended abstract (1 page) presented at the American Society of Biomechanics Annual Meeting (ASB), Madison, USA, August 2024 (Published) BibTeX

Haptic Intelligence Robotics Miscellaneous GaitGuide: A Wearable Device for Vibrotactile Motion Guidance Rokhmanova, N., Martus, J., Faulkner, R., Fiene, J., Kuchenbecker, K. J. Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI, Yokohama, Japan, May 2024 (Published) URL BibTeX

Haptic Intelligence Robotic Materials Miscellaneous Three-Dimensional Surface Reconstruction of a Soft System via Distributed Magnetic Sensing Sundaram, V. H., Smith, L., Turin, Z., Rentschler, M. E., Gonzalez Welker, C. Workshop paper (3 pages) presented at the ICRA Workshop on Advancing Wearable Devices and Applications Through Novel Design, Sensing, Actuation, and AI, Yokohama, Japan, May 2024 (Published) BibTeX

Haptic Intelligence Robotic Materials Miscellaneous Cutaneous Electrohydraulic (CUTE) Wearable Devices for Multimodal Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Extended abstract (1 page) presented at the IEEE RoboSoft Workshop on Multimodal Soft Robots for Multifunctional Manipulation, Locomotion, and Human-Machine Interaction, San Diego, USA, April 2024 (Published) BibTeX

Haptic Intelligence Robotic Materials Miscellaneous Cutaneous Electrohydraulic Wearable Devices for Expressive and Salient Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (Published) BibTeX

Haptic Intelligence Robotic Materials Miscellaneous Demonstration: Cutaneous Electrohydraulic (CUTE) Wearable Devices for Expressive and Salient Haptic Feedback Sanchez-Tamayo, N., Yoder, Z., Ballardini, G., Rothemund, P., Keplinger, C., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE RoboSoft Conference, San Diego, USA, April 2024 (Published) BibTeX

Haptic Intelligence Miscellaneous Quantifying Haptic Quality: External Measurements Match Expert Assessments of Stiffness Rendering Across Devices Fazlollahi, F., Seifi, H., Ballardini, G., Taghizadeh, Z., Schulz, A., MacLean, K. E., Kuchenbecker, K. J. Work-in-progress paper (2 pages) presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (Published) BibTeX

Haptic Intelligence Miscellaneous CAPT Motor: A Strong Direct-Drive Rotary Haptic Interface Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE Haptics Symposium, Long Beach, USA, April 2024 (Published) URL BibTeX

Haptic Intelligence Miscellaneous Adapting a High-Fidelity Simulation of Human Skin for Comparative Touch Sensing in the Elephant Trunk Schulz, A., Serhat, G., Kuchenbecker, K. J. Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (Published) BibTeX

Haptic Intelligence Materials Miscellaneous Whiskers That Don’t Whisk: Unique Structure From the Absence of Actuation in Elephant Whiskers Schulz, A., Kaufmann, L., Brecht, M., Richter, G., Kuchenbecker, K. J. Abstract presented at the Society for Integrative and Comparative Biology Annual Meeting (SICB), Seattle, USA, January 2024 (Published) BibTeX

Haptic Intelligence Miscellaneous MPI-10: Haptic-Auditory Measurements from Tool-Surface Interactions Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Dataset published as a companion to the journal article "Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise" in IEEE Transactions on Haptics, January 2024 (Published) DOI BibTeX

Haptic Intelligence Miscellaneous Discrete Fourier Transform Three-to-One (DFT321): Code Landin, N., Romano, J. M., McMahan, W., Kuchenbecker, K. J. MATLAB code of discrete fourier transform three-to-one (DFT321), 2024 (Published) Code BibTeX

Haptic Intelligence Miscellaneous Seeking Causal, Invariant, Structures with Kernel Mean Embeddings in Haptic-Auditory Data from Tool-Surface Interaction Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Workshop paper (4 pages) presented at the IROS Workshop on Causality for Robotics: Answering the Question of Why, Detroit, USA, October 2023 (Published) Manuscript BibTeX

Haptic Intelligence Miscellaneous NearContact: Accurate Human Detection using Tomographic Proximity and Contact Sensing with Cross-Modal Attention Garrofé, G., Schoeffmann, C., Zangl, H., Kuchenbecker, K. J., Lee, H. Extended abstract (4 pages) presented at the International Workshop on Human-Friendly Robotics (HFR), Munich, Germany, September 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous The Role of Kinematics Estimation Accuracy in Learning with Wearable Haptics Rokhmanova, N., Pearl, O., Kuchenbecker, K. J., Halilaj, E. Abstract (1 page) presented at the American Society of Biomechanics Annual Meeting (ASB), Knoxville, USA, August 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous AiroTouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Can Recording Expert Demonstrations with Tool Vibrations Facilitate Teaching of Manual Skills? Gourishetti, R., Javot, B., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Capturing Rich Auditory-Haptic Contact Data for Surface Recognition Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Creating a Haptic Empathetic Robot Animal for Children with Autism Burns, R. B. Workshop paper (4 pages) presented at the RSS Pioneers Workshop, Daegu, South Korea, July 2023 (Published) URL BibTeX

Haptic Intelligence Miscellaneous Improving Haptic Rendering Quality by Measuring and Compensating for Undesired Forces Fazlollahi, F., Taghizadeh, Z., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Intelligent Control Systems Miscellaneous Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test: Code Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J. Code published as a companion to the journal article "Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test" in IEEE Transactions on Automation Science and Engineering, July 2023 (Published) DOI BibTeX

Haptic Intelligence Robotics Miscellaneous Strap Tightness and Tissue Composition Both Affect the Vibration Created by a Wearable Device Rokhmanova, N., Faulkner, R., Martus, J., Fiene, J., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous The Influence of Amplitude and Sharpness on the Perceived Intensity of Isoenergetic Ultrasonic Signals Gueorguiev, D., Rohou–Claquin, B., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Toward a Device for Reliable Evaluation of Vibrotactile Perception Ballardini, G., Kuchenbecker, K. J. Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Vibrotactile Playback for Teaching Manual Skills from Expert Recordings Gourishetti, R., Hughes, A. G., Javot, B., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous CAPT Motor: A Strong Direct-Drive Haptic Interface Javot, B., Nguyen, V. H., Ballardini, G., Kuchenbecker, K. J. Hands-on demonstration presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. Poster presented at the ICRA Workshop on Future of Construction: Robot Perception, Mapping, Navigation, Control in Unstructured and Cluttered Environments, London, UK, June 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous 3D Reconstruction for Minimally Invasive Surgery: Lidar Versus Learning-Based Stereo Matching Caccianiga, G., Nubert, J., Hutter, M., Kuchenbecker., K. J. Workshop paper (2 pages) presented at the ICRA Workshop on Robot-Assisted Medical Imaging, London, UK, May 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous AiroTouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction-Related Tasks Gong, Y., Tashiro, N., Javot, B., Lauer, A. P. R., Sawodny, O., Kuchenbecker, K. J. Extended abstract (1 page) presented at the ICRA Workshop on Communicating Robot Learning across Human-Robot Interaction, London, UK, May 2023 (Published) BibTeX

Haptic Intelligence Miscellaneous Surface Perception through Haptic-Auditory Contact Data Khojasteh, B., Shao, Y., Kuchenbecker, K. J. Workshop paper (4 pages) presented at the ICRA Workshop on Embracing Contacts, London, UK, May 2023 (Published) URL BibTeX

Haptic Intelligence Miscellaneous OCRA: An Optimization-Based Customizable Retargeting Algorithm for Teleoperation Mohan, M., Kuchenbecker, K. J. Workshop paper (3 pages) presented at the ICRA Workshop Toward Robot Avatars, London, UK, May 2023 (Published) URL BibTeX

Haptic Intelligence Miscellaneous Wearable Biofeedback for Knee Joint Health Rokhmanova, N. Extended abstract (5 pages) presented at the ACM SIGCHI Conference on Human Factors in Computing Systems (CHI) Doctoral Consortium, Hamburg, Germany, April 2023 (Published) DOI BibTeX

Haptic Intelligence Miscellaneous A Lasting Impact: Using Second-Order Dynamics to Customize the Continuous Emotional Expression of a Social Robot Burns, R. B., Kuchenbecker, K. J. Workshop paper (5 pages) presented at the HRI Workshop on Lifelong Learning and Personalization in Long-Term Human-Robot Interaction (LEAP-HRI), Stockholm, Sweden, March 2023 (Published) URL BibTeX

Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous A Sequential Group VAE for Robot Learning of Haptic Representations Richardson, B. A., Kuchenbecker, K. J., Martius, G. :1-11, Workshop paper (8 pages) presented at the CoRL Workshop on Aligning Robot Representations with Humans, Auckland, New Zealand, December 2022 (Published) URL BibTeX

Haptic Intelligence Miscellaneous Semi-Automated Robotic Pleural Cavity Access in Space L’Orsa, R., de Lotbiniere-Bassett, M., Zareinia, K., Lama, S., Westwick, D., Sutherland, G., Kuchenbecker, K. J. Poster presented at the Canadian Space Health Research Symposium (CSHRS), Alberta, Canada, November 2022 (Published) BibTeX

Haptic Intelligence Autonomous Learning Empirical Inference Miscellaneous A Soft Vision-Based Tactile Sensor for Robotic Fingertip Manipulation Andrussow, I., Sun, H., Kuchenbecker, K. J., Martius, G. Workshop paper (1 page) presented at the IROS Workshop on Large-Scale Robotic Skin: Perception, Interaction and Control, Kyoto, Japan, October 2022 (Published) URL BibTeX

Haptic Intelligence Miscellaneous Do-It-Yourself Whole-Body Social-Touch Perception for a NAO Robot Burns, R. B., Rosenthal, R., Garg, K., Kuchenbecker, K. J. Workshop paper (1 page) presented at the IROS Workshop on Large-Scale Robotic Skin: Perception, Interaction and Control, Kyoto, Japan, October 2022 (Published) Poster URL BibTeX

Haptic Intelligence Robotics Miscellaneous Sensor Patterns Dataset for Endowing a NAO Robot with Practical Social-Touch Perception Burns, R. B., Lee, H., Seifi, H., Faulkner, R., Kuchenbecker, K. J. Dataset published as a companion to the journal article "Endowing a NAO Robot with Practical Social-Touch Perception" in Frontiers in Robotics and AI, October 2022 (Published) DOI BibTeX

Haptic Intelligence Miscellaneous Predicting Knee Adduction Moment Response to Gait Retraining Rokhmanova, N., Kuchenbecker, K. J., Shull, P. B., Ferber, R., Halilaj, E. Extended abstract presented at North American Congress of Biomechanics (NACOB), Ottawa, Canada, August 2022 (Published) BibTeX

Haptic Intelligence Miscellaneous A Sensorized Needle-Insertion Device for Characterizing Percutaneous Thoracic Tool-Tissue Interactions L’Orsa, R., Zareinia, K., Westwick, D., Sutherland, G., Kuchenbecker, K. J. Short paper (2 pages) presented at the Hamlyn Symposium on Medical Robotics (HSMR), London, UK, June 2022 (Published) BibTeX

Haptic Intelligence Miscellaneous Dense 3D Reconstruction Through Lidar: A New Perspective on Computer-Integrated Surgery Caccianiga, G., Kuchenbecker, K. J. Short paper (2 pages) presented at the Hamlyn Symposium on Medical Robotics (HSMR), London, UK, June 2022 (Published) BibTeX

Haptic Intelligence Miscellaneous Comparing Two Grounded Force-Feedback Haptic Devices Fazlollahi, F., Kuchenbecker, K. J. Hands-on demonstration presented at EuroHaptics, Hamburg, Germany, May 2022 (Published) BibTeX

Publications

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