Mark Cutkosky

All Publications

• Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing Robotics Research: the Ninth International Symposium Bailey, S., A., Cham, J., G., Cutkosky, M., R., Full, R., J. edited by Hollerbach, J., Koditschek, D. Springer-Verlag. : 403-410
• Climbing with adhesion: from bioinspiration to biounderstanding INTERFACE FOCUS Cutkosky, M. R. 2015; 5 (4)

  View details for DOI 10.1098/rsfs.2015.0015

  View details for Web of Science ID 000357875300003

• Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Suresh, S. A., Christensen, D. L., Hawkes, E. W., Cutkosky, M. 2015; 7 (2)

  View details for DOI 10.1115/1.4029492

  View details for Web of Science ID 000351672900006

• A Passive Parallel Master-Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME Elayaperumal, S., Cutkosky, M. R., Renaud, P., Daniel, B. L. 2015; 9 (1)

  View details for DOI 10.1115/1.4028944

  View details for Web of Science ID 000351642500009

• Design of an Optically Controlled MR-Compatible Active Needle IEEE TRANSACTIONS ON ROBOTICS Ryu, S. C., Quek, Z. F., Koh, J., Renaud, P., Black, R. J., Moslehi, B., Daniel, B. L., Cho, K., Cutkosky, M. R. 2015; 31 (1): 1-11

  View details for DOI 10.1109/TRO.2014.2367351

  View details for Web of Science ID 000352057900001

• Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor BIOINSPIRATION & BIOMIMETICS Eason, E. V., Hawkes, E. W., Windheim, M., Christensen, D. L., Libby, T., Cutkosky, M. R. 2015; 10 (1)

  View details for DOI 10.1088/1748-3190/10/1/016013

  View details for Web of Science ID 000349558000013

• Human climbing with efficiently scaled gecko-inspired dry adhesives JOURNAL OF THE ROYAL SOCIETY INTERFACE Hawkes, E. W., Eason, E. V., Christensen, D. L., Cutkosky, M. R. 2015; 12 (102)

  View details for DOI 10.1098/rsif.2014.0675

  View details for Web of Science ID 000345500000001

• Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor. Bioinspiration & biomimetics Eason, E. V., Hawkes, E. W., Windheim, M., Christensen, D. L., Libby, T., Cutkosky, M. R. 2015; 10 (1): 016013-?

  Abstract

  The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems.

  View details for DOI 10.1088/1748-3190/10/1/016013

  View details for PubMedID 25642752

• An analytic framework for developing inherently-manufacturable pop-up laminate devices SMART MATERIALS AND STRUCTURES Aukes, D. M., Goldberg, B., Cutkosky, M. R., Wood, R. J. 2014; 23 (9)

  View details for DOI 10.1088/0964-1726/23/9/094013

  View details for Web of Science ID 000341077700015

• Dynamic tactile sensing in The Human Hand: A Source of Inspiration for Robotic Hands Cutkosky, M., R., Ulmen, J. edited by Balasubrmanian, R., Santos, V. Berlin, Heidelberg: Springer Verlag, in press.. 2014: 1
• The Gecko's Toe: Scaling Directional Adhesives for Climbing Applications IEEE-ASME TRANSACTIONS ON MECHATRONICS Hawkes, E. W., Eason, E. V., Asbeck, A. T., Cutkosky, M. R. 2013; 18 (2): 518-526

  View details for DOI 10.1109/TMECH.2012.2209672

  View details for Web of Science ID 000321008100011

• Autonomous Real-Time Interventional Scan Plane Control With a 3-D Shape-Sensing Needle IEEE TRANSACTIONS ON MEDICAL IMAGING Elayaperumal, S., Plata, J. C., Holbrook, A. B., Park, Y., Pauly, K. B., Daniel, B. L., Cutkosky, M. R. 2014; 33 (11): 2128-2139

  Abstract

  This study demonstrates real-time scan plane control dependent on three-dimensional needle bending, as measured from magnetic resonance imaging (MRI)-compatible optical strain sensors. A biopsy needle with embedded fiber Bragg grating (FBG) sensors to measure surface strains is used to estimate its full 3-D shape and control the imaging plane of an MR scanner in real-time, based on the needle's estimated profile. The needle and scanner coordinate frames are registered to each other via miniature radio-frequency (RF) tracking coils, and the scan planes autonomously track the needle as it is deflected, keeping its tip in view. A 3-D needle annotation is superimposed over MR-images presented in a 3-D environment with the scanner's frame of reference. Scan planes calculated based on the FBG sensors successfully follow the tip of the needle. Experiments using the FBG sensors and RF coils to track the needle shape and location in real-time had an average root mean square error of 4.2 mm when comparing the estimated shape to the needle profile as seen in high resolution MR images. This positional variance is less than the image artifact caused by the needle in high resolution SPGR (spoiled gradient recalled) images. Optical fiber strain sensors can estimate a needle's profile in real-time and be used for MRI scan plane control to potentially enable faster and more accurate physician response.

  View details for DOI 10.1109/TMI.2014.2332354

  View details for Web of Science ID 000344589200006

  View details for PubMedID 24968093

• Design principles for efficient, repeated jumpgliding BIOINSPIRATION & BIOMIMETICS Desbiens, A. L., Pope, M. T., Christensen, D. L., Hawkes, E. W., Cutkosky, M. R. 2014; 9 (2)

  View details for DOI 10.1088/1748-3182/9/2/025009

  View details for Web of Science ID 000336804400010

• Quantified self and human movement: A review on the clinical impact of wearable sensing and feedback for gait analysis and intervention GAIT & POSTURE Shull, P. B., Jirattigalachote, W., Hunt, M. A., Cutkosky, M. R., Delp, S. L. 2014; 40 (1): 11-19

  View details for DOI 10.1016/j.gaitpost.2014.03.189

  View details for Web of Science ID 000336387300002

• Design and testing of a selectively compliant underactuated hand INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Aukes, D. M., Heyneman, B., Ulmen, J., Stuart, H., Cutkosky, M. R., Kim, S., Garcia, P., Edsinger, A. 2014; 33 (5): 721-735

  View details for DOI 10.1177/0278364913518997

  View details for Web of Science ID 000335548600005

• Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) Elayaperumal, S., Bae, J. H., Daniel, B. L., Cutkosky, M. R. 2014: 3975-3981

  View details for Web of Science ID 000349834604013

• Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis JOURNAL OF ORTHOPAEDIC RESEARCH Shull, P. B., Silder, A., Shultz, R., Dragoo, J. L., Besier, T. F., Delp, S. L., Cutkosky, M. R. 2013; 31 (7): 1020-1025

  Abstract

  This study examined the influence of a 6-week gait retraining program on the knee adduction moment (KAM) and knee pain and function. Ten subjects with medial compartment knee osteoarthritis and self-reported knee pain participated in weekly gait retraining sessions over 6 weeks. Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) scores and a 10-point visual-analog pain scale score were measured at baseline, post-training (end of 6 weeks), and 1 month after training ended. Gait retraining reduced the first peak KAM by 20% (p < 0.01) post-training as a result of a 7° decrease in foot progression angle (i.e., increased internal foot rotation), compared to baseline (p < 0.01). WOMAC pain and function scores were improved at post-training by 29% and 32%, respectively (p < 0.05) and visual-analog pain scale scores improved by two points (p < 0.05). Changes in WOMAC pain and function were approximately 75% larger than the expected placebo effect (p < 0.05). Changes in KAM, foot progression angle, WOMAC pain and function, and visual-analog pain score were retained 1 month after the end of the 6-week training period (p < 0.05). These results show that a 6-week gait retraining program can reduce the KAM and improve symptoms for individuals with medial compartment knee osteoarthritis and knee pain. © 2013 Orthopaedic Research Society Published by Wiley Periodicals, Inc. J Orthop Res 31:1020-1025, 2013.

  View details for DOI 10.1002/jor.22340

  View details for Web of Science ID 000319350500004

  View details for PubMedID 23494804

• Toe-in gait reduces the first peak knee adduction moment in patients with medial compartment knee osteoarthritis. Journal of biomechanics Shull, P. B., Shultz, R., Silder, A., Dragoo, J. L., Besier, T. F., Cutkosky, M. R., Delp, S. L. 2013; 46 (1): 122-128

  Abstract

  The first peak of the knee adduction moment has been linked to the presence, severity, and progression of medial compartment knee osteoarthritis. The objective of this study was to evaluate toe-in gait (decreased foot progression angle from baseline through internal foot rotation) as a means to reduce the first peak of the knee adduction moment in subjects with medial compartment knee osteoarthritis. Additionally, we examined whether the first peak in the knee adduction moment would cause a concomitant increase in the peak external knee flexion moment, which can eliminate reductions in the medial compartment force that result from lowering the knee adduction moment. We tested the following hypotheses: (a) toe-in gait reduces the first peak of the knee adduction moment, and (b) toe-in gait does not increase the peak external knee flexion moment. Twelve patients with medial compartment knee osteoarthritis first performed baseline walking trials and then toe-in gait trials at their self-selected speed on an instrumented treadmill in a motion capture laboratory. Subjects altered their foot progression angle from baseline to toe-in gait by an average of 5° (p<0.01), which reduced the first peak of the knee adduction moment by an average of 13% (p<0.01). Toe-in gait did not increase the peak external knee flexion moment (p=0.85). The reduced knee adduction moment was accompanied by a medially-shifted knee joint center and a laterally-shifted center of pressure during early stance. These results suggest that toe-in gait may be a promising non-surgical treatment for patients with medial compartment knee osteoarthritis.

  View details for DOI 10.1016/j.jbiomech.2012.10.019

  View details for PubMedID 23146322

• MR-compatible biopsy needle with enhanced tip force sensing 2013 WORLD HAPTICS CONFERENCE (WHC) Elayaperumal, S., Bae, J. H., Christensen, D., Cutkosky, M. R., Daniel, B. L., Black, R. J., Costa, J. M., Faridian, F., Moslehi, B. 2013: 109-114

  View details for Web of Science ID 000325187400019

• Efficient Jumpgliding: Theory and Design Considerations 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Desbiens, A. L., Pope, M., Berg, F., Teoh, Z. E., Lee, J., Cutkosky, M. 2013: 4451-4458

  View details for Web of Science ID 000337617304071

• Simulation-Based Tools For Evaluating Underactuated Hand Designs 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Aukes, D. M., Cutkosky, M. R. 2013: 2067-2073

  View details for Web of Science ID 000337617302012

• Efficient Jumpgliding: Theory and Design Considerations Lussier-Desbiens, A., Pope, M., Berg, F., Toh, Z., Ern, Lee, J., Cutkosky, M., R. 2013

  View details for DOI 10.1109/ICRA.2013.6631209

• Slip Interface Classification through Tactile Signal Coherence 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Heyneman, B., Cutkosky, M. R. 2013: 801-808

  View details for Web of Science ID 000331367400118

• Dynamic Surface Grasping with Directional Adhesion 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) Hawkes, E. W., Christensen, D. L., Eason, E. V., Estrada, M. A., Heverly, M., Hilgemann, E., Jiang, H., Pope, M. T., Parness, A., Cutkosky, M. R. 2013: 5487-5493

  View details for Web of Science ID 000331367405082

• Dynamic Surface Grasping with Directional Adhesion Hawkes, E., W., Christensen, D., L., Eason, E., V., Estrada, M., A., Heverly, M., Hilgemann, E., Cutkosky, M. R. 2013

  View details for DOI 10.1109/IROS.2013.6697151

• Incremental Inspection for Microrobotic Quality Assurance Christensen, D., L., Hawkes, E., W., Wong-Foy, A., Pelrine, R., E., Cutkosky, M., R. 2013
• Simulation-Based Tools For Evaluating Underactuated Hand Designs Aukes, D., M., Cutkosky, M., R. 2013

  View details for DOI 10.1109/ICRA.2013.6630854

• Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis Journal of Orthopedic Research Shull, P., Silder, A., Shultz, R., Dragoo, J., Besier, T., Delp, S., Cutkosky, M. R. 2013; 31 (7)

  View details for DOI 10.1002/jor.22340

• Micro-Wedge Machining for the Manufacture of Directional Dry Adhesives ASME Journal of Micro and Nano-Manufacturing Day, P., Eason, E., Esparza, N., Christensen, D., Cutkosky, M., R. 2013; 1 (1, 011001)

  View details for DOI 10.1115/1.4023161

• The Gecko’s Toe: Scaling directional adhesives for climbing applications IEEE/ASME Transactions on Mechatronics Hawkes, E., Eason, E., Asbeck, A., Cutkosky, M., R. 2013; 18 (2): 518-526

  View details for DOI 10.1109/TMECH.2012.2209672

• EFFECTS OF GAMMA IRRADIATION ON ADHESION OF POLYMER MICROSTRUCTURE-BASED DRY ADHESIVES NUCLEAR TECHNOLOGY Day, P., Cutkosky, M., McLaughlin, A. 2012; 180 (3): 450-455

  View details for Web of Science ID 000311914300012

• Designing Compliant Spine Mechanisms for Climbing JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Asbeck, A. T., Cutkosky, M. R. 2012; 4 (3)

  View details for DOI 10.1115/1.40066591

  View details for Web of Science ID 000310596400007

• Selectively Compliant Underactuated Hand for Mobile Manipulation 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Aukes, D., Kim, S., Garcia, P., Edsinger, A., Cutkosky, M. R. 2012: 2824-2829

  View details for Web of Science ID 000309406702127

• Effects of Gamma irradiation on Adhesion of Polymer Micro-structure Based Dry Adhesives American Nuclear Society Journal of Nuclear Technology. Day, P., Cutkosky, M., McLaughlin, A. 2012; 180 (3): 450-455
• Jumping robot with a tunable suspension based on artificial muscles Dastoor, S., Weiss, S., Stuart, H., Cutkosky, M., R. 2012

  View details for DOI 10.1007/978-3-642-31525-1_9

• Applying principles from the locomotion of small animals to the design and operation of bio-inspired robots ETH Distinguished Lecture in Robotics, Systems, and Control Cutkosky, M., R. 2012
• Bio-Inspired Engineering Design IRCAD, University of Strasbourg, Strasbourg, France Cutkosky, M., R. 2012
• Designing Compliant Spine Mechanisms for Climbing ASME Journal of Mechanisms and Robotics Asbeck, A., Cutkosky, M., R. 2012; 4 (3)

  View details for DOI 10.1115/1.40066591

• Scaling Vertical Surfaces Smoothly and Efficiently with Directional Dry Adhesion Cutkosky, M., R. 2012
• Using mechanical properties to increase robustness and simplify control ARL/NSF Locomotion Systems Science Workshop, Arlington, VA Cutkosky, M., R. 2012
• Bio-Inspired Robot Design Arizona State University, Dept. of Mechanical and Aerospace Engineering Cutkosky, M., R. 2012
• Compliant Mechanisms for Bio-Inspired Robotics JPL Compliant Mechanisms Workshop, Pasadena, CA Cutkosky, M., R. 2012
• Biologically inspired tactile classification of object-hand and object-world interactions 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) Heyneman, B., Cutkosky, M. R. 2012

  View details for Web of Science ID 000321004000035

• Design of Dielectric Electroactive Polymers for a Compact and Scalable Variable Stiffness Device 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Dastoor, S., Cutkosky, M. 2012: 3745-3750

  View details for Web of Science ID 000309406703127

• Region of Attraction Estimation for a Perching Aircraft: A Lyapunov Method Exploiting Barrier Certificates 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Glassman, E., Desbiens, A. L., Tobenkin, M., Cutkosky, M., Tedrake, R. 2012: 2235-2242

  View details for Web of Science ID 000309406702037

• An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Ryu, S. C., Quek, Z. F., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. 2012: 1589-1594

  View details for Web of Science ID 000309406701092

• Training multi-parameter gaits to reduce the knee adduction moment with data-driven models and haptic feedback JOURNAL OF BIOMECHANICS Shull, P. B., Lurie, K. L., Cutkosky, M. R., Besier, T. F. 2011; 44 (8): 1605-1609

  Abstract

  The purpose of this study was to evaluate gait retraining for reducing the knee adduction moment. Our primary objective was to determine whether subject-specific altered gaits aimed at reducing the knee adduction moment by 30% or more could be identified and adopted in a single session through haptic (touch) feedback training on multiple kinematic gait parameters. Nine healthy subjects performed gait retraining, in which data-driven models specific to each subject were determined through experimental trials and were used to train novel gaits involving a combination of kinematic changes to the tibia angle, foot progression and trunk sway angles. Wearable haptic devices were used on the back, knee and foot for real-time feedback. All subjects were able to adopt altered gaits requiring simultaneous changes to multiple kinematic parameters and reduced their knee adduction moments by 29-48%. Analysis of single parameter gait training showed that moving the knee medially by increasing tibia angle, increasing trunk sway and toeing in all reduced the first peak of the knee adduction moment with tibia angle changes having the most dramatic effect. These results suggest that individualized data-driven gait retraining may be a viable option for reducing the knee adduction moment as a treatment method for early-stage knee osteoarthritis patients with sufficient sensation, endurance and motor learning capabilities.

  View details for DOI 10.1016/j.jbiomech.2011.03.016

  View details for Web of Science ID 000291131000026

  View details for PubMedID 21459384

• Landing, perching and taking off from vertical surfaces Lussier Desbiens, A., Asbeck, A. T., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2011: 355-370

  View details for DOI 10.1177/0278364910393286

  View details for Web of Science ID 000287650400008

• Effects of He++ Ion Irradiation on Adhesion of Polymer Microstructure-Based Dry Adhesives NUCLEAR SCIENCE AND ENGINEERING Day, P., Cutkosky, M., Greco, R., McLaughlin, A. 2011; 167 (3): 242-247

  View details for Web of Science ID 000288103600006

• Feasibility Study of an Optically Actuated MR-compatible Active Needle 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Ryu, S. C., Renaud, P., Black, R. J., Daniel, B. L., Cutkosky, M. R. 2011

  View details for Web of Science ID 000297477502138

• Capacitive Skin Sensors for Robot Impact Monitoring 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Phan, S., Quek, Z. F., Shah, P., Shin, D., Ahmed, Z., Khatib, O., Cutkosky, M. 2011: 2992-2997

  View details for Web of Science ID 000297477503053

• Informing Haptic Feedback Design for Gait Retraining Lurie, K., L., Shull, P., B., Nesbitt, K., F., Cutkosky, M., R. 2011
• Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots Shin, D., Phan, S., Quek, Z. F., Cutkosky, M., Khatib, O. 2011
• Get a Grip: Robotic Dexterous Manipulation from Finger Choreography to The Power Pinch Cutkosky, M., R. 2011
• Variable Impedance due to Electromechanical Coupling in Electroactive Polymer Actuators Dastoor, S., Cutkosky, M., R. 2011
• Virtual Pebble: a Haptic State Display for Pedestrians Jirattigalachote, W., Shull, Pete, B., Cutkosky, Mark, R. 2011
• Effects of He++ ion irradiation of Polymer Micro-structure Based Adhesives Nuclear Science and Engineering (ANS) Day, P., Cutkosky, M., Greco, R., McLaughlin, A. 2011; 167 (3): 242-247
• Instantaneous Stiffness Effects on Impact Forces in Human-Friendly Robots 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Shin, D., Quek, Z. F., Phan, S., Cutkosky, M., Khatib, O. 2011: 2998-3003

  View details for Web of Science ID 000297477503054

• Varying spring preloads to select grasp strategies in an adaptive hand 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Aukes, D., Heyneman, B., Duchaine, V., Cutkosky, M. R. 2011: 1373-1379

  View details for Web of Science ID 000297477501110

• Variable Impedance due to Electromechanical Coupling in Electroactive Polymer Actuators 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Dastoor, S., Cutkosky, M. 2011: 774-779

  View details for Web of Science ID 000297477501019

• Scansorial Landing and Perching ROBOTICS RESEARCH Desbiens, A. L., Asbeck, A. T., Cutkosky, M. R. 2011; 70: 169-184

  View details for Web of Science ID 000309893200011

• Scaling Walls: Applying Dry Adhesives to the Real World 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Hawkes, E. W., Ulmen, J., Esparza, N., Cutkosky, M. R. 2011

  View details for Web of Science ID 000297477505070

• Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions IEEE-ASME TRANSACTIONS ON MECHATRONICS Park, Y., Elayaperumal, S., Daniel, B., Ryu, S. C., Shin, M., Savall, J., Black, R. J., Moslehi, B., Cutkosky, M. R. 2010; 15 (6): 906-915

  View details for DOI 10.1109/TMECH.2010.2080360

  View details for Web of Science ID 000285361700010

• Effect of fibril shape on adhesive properties APPLIED PHYSICS LETTERS Soto, D., Hill, G., Parness, A., Esparza, N., Cutkosky, M., Kenny, T. 2010; 97 (5)

  View details for DOI 10.1063/1.3464553

  View details for Web of Science ID 000281059500064

• Rotational Skin Stretch Feedback: A Wearable Haptic Display for Motion IEEE TRANSACTIONS ON HAPTICS Bark, K., Wheeler, J., Shull, P., Savall, J., Cutkosky, M. 2010; 3 (3): 166-176

  View details for DOI 10.1109/ToH.2010.21

  View details for Web of Science ID 000289471100003

• Design and Control of a Bio-inspired Human-friendly Robot Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. SAGE PUBLICATIONS LTD. 2010: 571-584

  View details for DOI 10.1177/0278364909353956

  View details for Web of Science ID 000276644400006

• Rate-dependent frictional adhesion in natural and synthetic gecko setae JOURNAL OF THE ROYAL SOCIETY INTERFACE Gravish, N., Wilkinson, M., Sponberg, S., Parness, A., Esparza, N., Soto, D., Yamaguchi, T., Broide, M., Cutkosky, M., Creton, C., Autumn, K. 2010; 7 (43): 259-269

  Abstract

  Geckos owe their remarkable stickiness to millions of dry, hard setae on their toes. In this study, we discovered that gecko setae stick more strongly the faster they slide, and do not wear out after 30,000 cycles. This is surprising because friction between dry, hard, macroscopic materials typically decreases at the onset of sliding, and as velocity increases, friction continues to decrease because of a reduction in the number of interfacial contacts, due in part to wear. Gecko setae did not exhibit the decrease in adhesion or friction characteristic of a transition from static to kinetic contact mechanics. Instead, friction and adhesion forces increased at the onset of sliding and continued to increase with shear speed from 500 nm s(-1) to 158 mm s(-1). To explain how apparently fluid-like, wear-free dynamic friction and adhesion occur macroscopically in a dry, hard solid, we proposed a model based on a population of nanoscopic stick-slip events. In the model, contact elements are either in static contact or in the process of slipping to a new static contact. If stick-slip events are uncorrelated, the model further predicted that contact forces should increase to a critical velocity (V*) and then decrease at velocities greater than V*. We hypothesized that, like natural gecko setae, but unlike any conventional adhesive, gecko-like synthetic adhesives (GSAs) could adhere while sliding. To test the generality of our results and the validity of our model, we fabricated a GSA using a hard silicone polymer. While sliding, the GSA exhibited steady-state adhesion and velocity dependence similar to that of gecko setae. Observations at the interface indicated that macroscopically smooth sliding of the GSA emerged from randomly occurring stick-slip events in the population of flexible fibrils, confirming our model predictions.

  View details for DOI 10.1098/rsif.2009.0133

  View details for Web of Science ID 000272995800003

  View details for PubMedID 19493896

• Investigation of Rotational Skin Stretch for Proprioceptive Feedback With Application to Myoelectric Systems IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING Wheeler, J., Bark, K., Savall, J., Cutkosky, M. 2010; 18 (1): 58-66

  Abstract

  We present a new wearable haptic device that provides a sense of position and motion by inducing rotational skin stretch on the user's skin. In the experiments described in this paper, the device was used to provide proprioceptive feedback from a virtual prosthetic arm controlled with myoelectric sensors on the bicep and tricep muscles in 15 able-bodied participants. Targeting errors in blind movements with the haptic device were compared to cases where no feedback and contralateral proprioception were provided. Average errors were lower with the device than with no feedback but larger than with contralateral proprioceptive feedback. Participants also had lower visual demand with the device than with no feedback while tracking a 30 ( degrees ) moving range. The results indicate that the rotational skin stretch may ultimately be effective for proprioceptive feedback in myoelectric prostheses, particularly when vision is otherwise occupied.

  View details for DOI 10.1109/TNSRE.2009.2039602

  View details for Web of Science ID 000275049400007

  View details for PubMedID 20071271

• Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Shin, D., Seitz, F., Khatib, O., Cutkosky, M. 2010: 799-804

  View details for Web of Science ID 000284150003057

• Designing and building bio-inspired robots from the ground up Uomini, robot ed altre strane creature, Festival delle Scienze Cutkosky, M., R. 2010
• Effect of fibril shape on adhesive properties Applied Physics Letters Soto, D., Hill, G., Parness, A., Esparza, N., Cutkosky, M., Kenny, T. 2010; 97: 53701

  View details for DOI 10.1063/1.3464553

• Real-Time Estimation of Three-Dimensional Needle Shape and Deflection for MRI-Guided Interventions IEEE/ASME Transactions on Mechatronics Park, Y. L., Eleyaperumal, S., Daniel, B., Ryu, S. C., Shin, M., Savall, J., Cutkosky, M. R. 2010; 15 (6): 906-915
• Haptic Gait Retraining for Knee Osteoarthritis Treatment Shull, P., Lurie, K., Shin, M., Besier, T., Cutkosky, M., R. 2010
• Skin Nonlinearities and their Effect on User Perception for Rotational Skin Stretch Shull, P., Bark, K., Cutkosky, M., R. 2010
• Bio-Inspired Design in Research and Education Indo-US Forum on Design Research and Education Cutkosky, M., R. 2010
• Constrained Convergent Gait Regulation for a Climbing Robot 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Trujillo, S., Heyneman, B., Cutkosky, M. 2010: 5243-5249

  View details for Web of Science ID 000284150000118

• A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Ulmen, J., Cutkosky, M. 2010: 4836-4841

  View details for Web of Science ID 000284150001027

• Hybrid Aerial and Scansorial Robotics 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Desbiens, A. L., Asbeck, A., Dastoor, S., Cutkosky, M. 2010: 1114-1115

  View details for Web of Science ID 000284150001128

• Hybrid Aerial and Scansorial Robotics 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) Desbiens, A. L., Asbeck, A., Cutkosky, M. 2010: 72-77

  View details for Web of Science ID 000284150003089

• Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS Desbiens, A. L., Cutkosky, M. R. 2010; 57 (1-4): 313-327

  View details for DOI 10.1007/s10846-009-9377-z

  View details for Web of Science ID 000272360700016

• A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime JOURNAL OF THE ROYAL SOCIETY INTERFACE Parness, A., Soto, D., Esparza, N., Gravish, N., Wilkinson, M., Autumn, K., Cutkosky, M. 2009; 6 (41): 1223-1232

  Abstract

  Gecko adhesion has become a paradigmatic example of bio-inspired engineering, yet among the many gecko-like synthetic adhesives (GSAs), truly gecko-like performance remains elusive. Many GSAs have previously demonstrated one or two features of the gecko adhesive. We present a new wedge-shaped GSA that exhibits several gecko-like properties simultaneously: directional features; zero force at detachment; high ratio of detachment force to preload force; non-adhesive default state; and the ability to maintain performance while sliding, even after thousands of cycles. Individual wedges independently detach and reattach during sliding, resulting in high levels of shear and normal adhesion during drag. This behaviour provides a non-catastrophic failure mechanism that is desirable for applications such as climbing robots where sudden contact failure would result in serious falls. The effects of scaling patch sizes up to tens of square centimetres are also presented and discussed. Patches of 1 cm(2) had an adhesive pressure of 5.1 kPa while simultaneously supporting 17.0 kPa of shear. After 30 000 attachment/detachment cycles, a patch retained 67 per cent of its initial adhesion and 76 per cent of its initial shear without cleaning. Square-based wedges of 20 mum and 50 mum are manufactured in a moulding process where moulds are fabricated using a dual-side, dual-angle lithography process on quartz wafers with SU-8 photoresist as the mould material and polydimethylsiloxane as the cast material.

  View details for DOI 10.1098/rsif.2009.0048

  View details for Web of Science ID 000271464500011

  View details for PubMedID 19324664

• Exoskeletal Force-Sensing End-Effectors With Embedded Optical Fiber-Bragg-Grating Sensors IEEE TRANSACTIONS ON ROBOTICS Park, Y., Ryu, S. C., Black, R. J., Chau, K. K., Moslehi, B., Cutkosky, M. R. 2009; 25 (6): 1319-1331

  View details for DOI 10.1109/TRO.2009.2032965

  View details for Web of Science ID 000272490100009

• Using Haptic Feedback to Improve Grasp Force Control in Multiple Sclerosis Patients IEEE TRANSACTIONS ON ROBOTICS Jiang, L., Cutkosky, M. R., Ruutiainen, J., Raisamo, R. 2009; 25 (3): 593-601

  View details for DOI 10.1109/TRO.2009.2019789

  View details for Web of Science ID 000266878300012

• Design and fabrication of multi-material structures for bioinspired robots PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES Cutkosky, M. R., Kim, S. 2009; 367 (1894): 1799-1813

  Abstract

  New multi-material rapid prototyping processes are making possible the design and fabrication of bioinspired robot structures that share some of the desirable properties of animal appendages. The structures combine stiff and compliant materials and incorporate sensors and other discrete components, resulting in robots that are less demanding to control than traditionally designed robots and more robust. Current challenges include extending this approach to the structures that involve microscopic as well as macroscopic features.

  View details for DOI 10.1098/rsta.2009.0013

  View details for Web of Science ID 000264660800009

  View details for PubMedID 19376772

• Design Methodologies of a Hybrid Actuation Approach for a Human-Friendly Robot ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 Shin, D., Khatib, O., Cutkosky, M. 2009: 3568-3573

  View details for Web of Science ID 000276080401260

• Exoskeletal Force Sensing End-Effectors with Embedded Optical Fiber Bragg Grating Sensors IEEE Transactions on Robotics Park, Y. L., Ryu, S., C., Black, R., J., Chau, K., Moslehi, B., Cutkosky, M., R. 2009; 25 (6): 1319 – 1331
• Rate-dependent frictional adhesion in natural and synthetic gecko setae Journal of the Royal Society Interface Gravish, N., Wilkinson, M., Sponberg, S., Parness, A., Esparza, N., Soto, D., Cutkosky, M. R. 2009; 7 (43): 259-269
• Design and Fabrication of Multi-Material Structures for Bio-Inspired Robots Philosophical Transactions of the Royal Society A, special issue on Biomimetics Cutkosky, M., R., Kim, S. 2009; 367 (1894): 1799-1813
• Scansorial Landing and Perching Lussier-Desbiens, A., Asbeck, A., Cutkosky, M., R. 2009
• A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality, and long life-time Journal of the Royal Society Interface Parness, A., Soto, D., Esparza, N., Gravish, N., Wilkinson, M., Autumn, K., Cutkosky, M. R. 2009; 6 (41): 1223-1232
• Bio-Inspired Mobile Robotics Harvard School of Engineering and Applied Sciences Cutkosky, M., R. 2009
• Climbing rough vertical surfaces with hierarchical directional adhesion ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 Asbeck, A., Dastoor, S., Parness, A., Fullerton, L., Esparza, N., Soto, D., Heyneman, B., Cutkosky, M. 2009: 4328-4333

  View details for Web of Science ID 000276080402078

• A Wearable Skin Stretch Device for Haptic Feedback WORLD HAPTICS 2009: THIRD JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Bark, K., Wheeler, J., Lee, G., Savall, J., Cutkosky, M. 2009: 464-469

  View details for Web of Science ID 000266714300076

• Design and Control of a Bio-inspired Human-Friendly Robot EXPERIMENTAL ROBOTICS Shin, D., Sardellitti, I., Park, Y., Khatib, O., Cutkosky, M. 2009; 54: 43-52

  View details for Web of Science ID 000268803300005

• Thermally Constrained Motor Operation for a Climbing Robot ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 Trujillo, S., Cutkosky, M. 2009: 4362-4367

  View details for Web of Science ID 000276080402084

• Safe Control of Hopping in Uneven Terrain JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Howley, B., Cutkosky, M. 2009; 131 (1)

  View details for DOI 10.1115/1.3023133

  View details for Web of Science ID 000261515300012

• Biologically inspired climbing with a hexapedal robot JOURNAL OF FIELD ROBOTICS Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A., Full, R. J., Koditschek, D. E. 2008; 25 (4-5): 223-242

  View details for DOI 10.1002/rob.20238

  View details for Web of Science ID 000255368500002

• Smooth vertical surface climbing with directional adhesion Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Santos, D., Cutkosky, M. R. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 2008: 65-74

  View details for DOI 10.1109/TRO.2007.909786

  View details for Web of Science ID 000253789900008

• Gecko-inspired climbing behaviors on vertical and overhanging surfaces 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Santos, D., Heyneman, B., Kim, S., Esparza, N., Cutkosky, M. R. 2008: 1125-1131

  View details for Web of Science ID 000258095000178

• Microfabricated dry adhesive displaying frictional adhesion. Soto, D., Parness, A., Esparza, N., Autumn, K., Kenny, T., Cutkosky, M. 2008
• Design and Control of a Bio-Inspired Human-Safe Robotic Arm Shin, D., Sardellitti, I., Park, Y. L., Khatib, O., Cutkosky, M. 2008
• Force and Tactile Sensors in Springer Handbook of Robotics Cutkosky, M., R., Howe, R., D., Provancher, William, R. edited by Siciliano, B., Khatib, O. Springer Verlag. 2008: 455-476
• Improving Finger Force Control with Vibrational Haptic Feedback for Multiple Sclerosis Jiang, L., Cutkosky, M., R., Ruutiainen, J., Raisamo, R. 2008
• Comparison of skin stretch and vibrotactile stimulation for feedback of proprioceptive information SYMPOSIUM ON HAPTICS INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS 2008, PROCEEDINGS Bark, K., Wheeler, J. W., Premakumar, S., Cutkosky, M. R. 2008: 71-78

  View details for Web of Science ID 000254949300010

• Shape deposition manufacturing of biologically inspired hierarchical microstructures CIRP ANNALS-MANUFACTURING TECHNOLOGY Lanzetta, M., Cutkosky, M. R. 2008; 57 (1): 231-234

  View details for DOI 10.1016/j.cirp.2008.03.102

  View details for Web of Science ID 000257153300057

• Fingertip force control with embedded fiber Bragg grating sensors 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 Park, Y., Ryu, S. C., Black, R. J., Moslehi, B., Cutkosky, M. R. 2008: 3431-3436

  View details for Web of Science ID 000258095002113

• Directional adhesion for climbing: theoretical and practical considerations JOURNAL OF ADHESION SCIENCE AND TECHNOLOGY Santos, D., Spenko, M., Parness, A., Kim, S., Cutkosky, M. 2007; 21 (12-13): 1317-1341

  View details for DOI 10.1163/156856107782328399

  View details for Web of Science ID 000251189400010

• Dynamic stability of open-loop hopping JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Cham, J. G., Cutkosky, M. R. 2007; 129 (3): 275-284

  View details for DOI 10.1115/1.2718237

  View details for Web of Science ID 000247057300004

• Directional adhesive structures for controlled climbing on smooth vertical surfaces PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 Santos, D., Kim, S., Spenko, M., Parness, A., Cutkosky, M. 2007: 1262-1267

  View details for Web of Science ID 000250915301043

• Force Sensing Smart Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing Park, Y. L., Chau, K., Black, R., J., Cutkosky, M., R. 2007
• Force sensing robot fingers using embedded fiber bragg grating sensors and shape deposition manufacturing PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 Park, Y., Chau, K., Black, R. J., Cutkosky, M. R. 2007: 1510-1516

  View details for Web of Science ID 000250915301083

• Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V., Cutkosky, M. R. 2007: 1268-1273

  View details for Web of Science ID 000250915301044

• Scaling hard vertical surfaces with compliant microspine arrays Asbeck, A. T., Kim, S., Cutkosky, M. R., Provancher, W. R., Lanzetta, M. SAGE PUBLICATIONS LTD. 2006: 1165-1179

  View details for DOI 10.1177/0278364906072511

  View details for Web of Science ID 000242802800002

• Frictional adhesion: a new angle on gecko attachment JOURNAL OF EXPERIMENTAL BIOLOGY Autumn, K., Dittmore, A., Santos, D., Spenko, M., Cutkosky, M. 2006; 209 (18): 3569-3579

  Abstract

  Directional arrays of branched microscopic setae constitute a dry adhesive on the toes of pad-bearing geckos, nature's supreme climbers. Geckos are easily and rapidly able to detach their toes as they climb. There are two known mechanisms of detachment: (1) on the microscale, the seta detaches when the shaft reaches a critical angle with the substrate, and (2) on the macroscale, geckos hyperextend their toes, apparently peeling like tape. This raises the question of how geckos prevent detachment while inverted on the ceiling, where body weight should cause toes to peel and setal angles to increase. Geckos use opposing feet and toes while inverted, possibly to maintain shear forces that prevent detachment of setae or peeling of toes. If detachment occurs by macroscale peeling of toes, the peel angle should monotonically decrease with applied force. In contrast, if adhesive force is limited by microscale detachment of setae at a critical angle, the toe detachment angle should be independent of applied force. We tested the hypothesis that adhesion is increased by shear force in isolated setal arrays and live gecko toes. We also tested the corollary hypotheses that (1) adhesion in toes and arrays is limited as on the microscale by a critical angle, or (2) on the macroscale by adhesive strength as predicted for adhesive tapes. We found that adhesion depended directly on shear force, and was independent of detachment angle. Therefore we reject the hypothesis that gecko toes peel like tape. The linear relation between adhesion and shear force is consistent with a critical angle of release in live gecko toes and isolated setal arrays, and also with our prior observations of single setae. We introduced a new model, frictional adhesion, for gecko pad attachment and compared it to existing models of adhesive contacts. In an analysis of clinging stability of a gecko on an inclined plane each adhesive model predicted a different force control strategy. The frictional adhesion model provides an explanation for the very low detachment forces observed in climbing geckos that does not depend on toe peeling.

  View details for DOI 10.1242/jeb.02486

  View details for Web of Science ID 000240154200010

  View details for PubMedID 16943497

• iSprawl: Design and tuning for high-speed autonomous open-loop running Kim, S., Clark, J. E., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2006: 903-912

  View details for DOI 10.1177/0278364906069150

  View details for Web of Science ID 000240939900007

• The effect of leg specialization in a biomimetic hexapedal running robot Clark, J. E., Cutkosky, M. R. ASME-AMER SOC MECHANICAL ENG. 2006: 26-35

  View details for DOI 10.1115/1.2168477

  View details for Web of Science ID 000236439100004

• Foot design and integration for bioinspired climbing robots UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2 Spenko, M., Cutkosky, M., Majidi, C., Fearing, R., Groff, R., Autumn, K. 2006; 6230

  View details for DOI 10.1117/12.665874

  View details for Web of Science ID 000239711700040

• Stability measure comparison for the design of a dynamic running robot CLIMBING AND WALKING ROBOTS Clark, J. E., Cutkosky, M. R. 2006: 261-268

  View details for Web of Science ID 000237058000031

• Design information retrieval: a thesauri-based approach for reuse of informal design information ENGINEERING WITH COMPUTERS Yang, M. C., Wood, W. H., Cutkosky, M. R. 2005; 21 (2): 177-192

  View details for DOI 10.1007/s00366-005-0003-9

  View details for Web of Science ID 000233647900008

• Feedback strategies for telemanipulation with shared control of object handling forces PRESENCE-TELEOPERATORS AND VIRTUAL ENVIRONMENTS Griffin, W. B., Provancher, W. R., Cutkosky, M. R. 2005; 14 (6): 720-731

  View details for Web of Science ID 000234542700008

• Contact location display for haptic perception of curvature and object motion Provancher, W. R., Cutkosky, M. R., Kuchenbecker, K. J., Niemeyer, G. SAGE PUBLICATIONS LTD. 2005: 691-702

  View details for DOI 10.1177/0278364905057121

  View details for Web of Science ID 000232274300002

• SpinybotII: Climbing hard walls with compliant microspines 2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS Kim, S., Asbeck, A. T., Cutkosky, M. R., Provancher, W. R. 2005: 601-606

  View details for Web of Science ID 000234272400088

• A biologically inspired passive antenna for steering control of a running robot ROBOTICS RESEARCH Cowan, N. J., Ma, E. J., Cutkosky, M., Full, R. J. 2005; 15: 541-550

  View details for Web of Science ID 000228862600046

• Robotics in scansorial environments UNMANNED GROUND VEHICLE TECHNOLOGY VII Autumn, K., Buehler, M., Cutkosky, M., Fearing, R., Full, R. J., Goldman, D., GROFF, R., PROVANCHER, W., Rizzi, A. A., Saranli, U., Saunders, A., Koditschek, D. E. 2005; 5804: 291-302

  View details for DOI 10.1117/12.506157

  View details for Web of Science ID 000231052500029

• Biomimetic Legged Robots: design principles and approach IEEE-RAS/IFRR International School of Robotics Science Cutkosky, M., R. 2005
• Reducing Error Rates with Low-Cost Haptic Feedback in Virtual Reality-Based Training Applications Jiang, L., Girortra, R., Cutkosky, M., R., Ullrich, C. 2005
• Scaling Hard Surfaces With Microspine Arrays Asbeck, A., Kim, S., Provancher, W., R., Cutkosky, M., R., Lanzetta, M. 2005
• Applying Biological Principles to Legged Robots for Planetary Exploration SD Forum, Xerox PARC, University of Pisa Cutkosky, M., R. 2005
• Methods for Creativity in Engineering Design the IMT Lucca Cutkosky, M., R. 2005
• Perception of curvature and object motion via contact location feedback ROBOTICS RESEARCH Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., Cutkosky, M. R. 2005; 15: 456-465

  View details for Web of Science ID 000228862600039

• Towards penetration-based clawed climbing CLIMBING AND WALKING ROBOTS Provancher, W. R., Clark, J. E., Geisler, B., Cutkosky, M. R. 2005: 961-970

  View details for Web of Science ID 000234133600094

• iSprawl: Autonomy, and the effects of power transmission CLIMBING AND WALKING ROBOTS Kim, S., Clark, J. E., Cutkosky, M. R. 2005: 859-867

  View details for Web of Science ID 000234133600084

• Reducing error rates with low-cost haptic feedback in virtual reality-based training applications WORLD HAPTICS CONFERENCE: FIRST JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRUTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Li, J., Girotra, R., Cutkosky, M. R., Ullrich, C. 2005: 420-425

  View details for Web of Science ID 000228426200058

• The SPRING hand: Development of a self-adaptive prosthesis for restoring natural grasping AUTONOMOUS ROBOTS Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R., DARIO, P. 2004; 16 (2): 125-141

  View details for Web of Science ID 000189079000002

• Stride period adaptation of a biomimetic running hexapod Cham, J. G., Karpick, J. K., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2004: 141-153

  View details for DOI 10.1177/0278364904041323

  View details for Web of Science ID 000188890700005

• Haptic display of contact location 12TH INTERNATIONAL SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., Cutkosky, M. R. 2004: 40-47

  View details for Web of Science ID 000189492300006

• Climbing Walls with Microspines Asbeck, A., T., Kim, S., McClung, A., Parness, A., Cutkosky, M., R 2004
• Isprawl : Autonomy, and the Efects of Power Transmission Kim, S., Clark, J., E., Cutkosky, M., R 2004
• Towards Penetration-Based Clawed Climbing Provancher, W., Clark, J., E., Geisler, B., Cutkosky, M., R. 2004
• Rapid Maneuvering of a Biologically Inspired Hexapedal Robot McClung, A., Cham, J., G., Cutkosky, M., R. 2004
• Dynamic Simulation and Analysis of a Passively Self-Stabilizing Hexapedal Running Robot Clark, J., Thelen, D., G., Cutkosky, M., R. 2004
• Haptic Display of Contact Location Feedback Kuchenbecker, K., J., Provancher, W., R, Niemeyer, G., Cutkosky, M., R. 2004
• Error analysis for the in-situ fabrication-of mechanisms JOURNAL OF MECHANICAL DESIGN Rajagopalan, S., Cutkosky, M. 2003; 125 (4): 809-822

  View details for DOI 10.1115/1.1631577

  View details for Web of Science ID 000188788300019

• Stride period adaptation for a biomimetic running hexapod ROBOTICS RESEARCH Karpick, J. K., Cham, J. G., Clark, J. E., Cutkosky, M. R. 2003; 6: 133-145

  View details for Web of Science ID 000183013700009

• Biomimetic Robots Cutkosky, M., R. 2003
• Quasistatic Manipulation with Compliance and Sliding Cutkosky, M., R. 2003
• Process Planning for Embedding Flexible Materials in Multi-material Prototypes Hatanaka, M., Cutkosky, M., R. 2003
• Adapting Work Through Actuator Phasing in Running Cham, J., G., Cutkosky, M., R. 2003
• Perception of Curvature and Object Motion via Contact Location Feedback Provancher, W., R, Kuchenbecker, K., J., Niemeyer, G., Cutkosky, M., R. 2003
• Feedback Strategies for Dexterous Telemanipulation Griffin, W., B., Provancher, W., R., Cutkosky, M., R. 2003
• A Biologically Inspired Passive Antenna for Steering Control of a Running Robot Cowan, N., Ma, E., J., Cutkosky, M., R., Full, R., J. 2003
• Trust-Based Facilitator: Handling Word-of-Mouth Trust for Agent-Based E-Commerce Electronic Commerce Research Ono, C., Nishiyama, S., Kim, K., Paulson, B., C., Cutkosky, M., R., Petrie, C., J. 2003; 3 (3-4): 201-220
• Error Analysis for the In-Situ Fabrication of Mechanisms ASME Transactions, Journal of Mechanical Design Rajagopalan, S., Cutkosky, M., R. 2003; 125 (4): 809-822
• Sensing local geometry for dexterous manipulation EXPERIMENTAL ROBOTICS VIII Provancher, W. R., Cutkosky, M. R. 2003; 5: 507-516

  View details for Web of Science ID 000181801300046

• Feedback strategies for shared control in dexterous telemanipulation IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 Griffin, W. B., Provancher, W. R., Cutkosky, M. R. 2003: 2791-2796

  View details for Web of Science ID 000187883300452

• A high force miniature gripper fabricated via shape deposition manufacturing 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS Stefanini, C., Cutkosky, M. R., Dario, P. 2003: 1836-1841

  View details for Web of Science ID 000187419900295

• Fast and robust: Hexapedal robots via shape deposition manufacturing Cham, J. G., Bailey, S. A., Clark, J. E., Full, R. J., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2002: 869-882

  View details for Web of Science ID 000181344700005

• System identification of the human hand grasping a haptic knob 10TH SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS Hasser, C. J., Cutkosky, M. R. 2002: 180-189

  View details for Web of Science ID 000175458900024

• Sensing Local Geometry for Dexterous Manipulation Provancher, W., Cutkosky, M., R. 2002
• Project-based Mechatronics Education at Stanford BMW Technology Center Cutkosky, M., R. 2002
• Facilitator Agents based on Word-of-mouth Trust IPSJ Transactions Ono, C., Kanetomo, D., Kim, K., Paulson Jr, B., C., Cutkosky, M., Petrie Jr, C., J. 2002; 43 (2)
• Friction modeling and display in haptic applications involving user performance Richard, C., Cutkosky, M., R. 2002
• Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems ASEE Journal of Engineering Education Okamura, A., M., Richard, C., Cutkosky, M., R. 2002; 92 (3): 345-349
• Feature detection for haptic exploration with robotic fingers INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Okamura, A. M., Cutkosky, M. R. 2001; 20 (12): 925-938

  View details for Web of Science ID 000174018800001

• Reality-based models for vibration feedback in virtual environments IEEE-ASME TRANSACTIONS ON MECHATRONICS Okamura, A. M., Cutkosky, M. R., Dennerlein, J. T. 2001; 6 (3): 245-252

  View details for Web of Science ID 000171123900005

• Representation of heterogeneous objects during design, processing and freeform-fabrication MATERIALS & DESIGN Rajagopalan, S., Goldman, R., Shin, K. H., Kumar, V., Cutkosky, M., Dutta, D. 2001; 22 (3): 185-197

  View details for Web of Science ID 000166302000005

• Biomimetic design and fabrication of a hexapedal running robot 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS Clark, J. E., Cham, J. G., Bailey, S. A., Froehlich, E. M., Nahata, P. K., Full, R. J., Cutkosky, M. R. 2001: 3643-3649

  View details for Web of Science ID 000172615800580

• See Labs Run: A Design-oriented Laboratory for Teaching Dynamic Systems Cham, J., G., Stafford, B., Cutkosky, M., R. 2001
• Design Education and Research at Stanford Cutkosky, M., R. 2001
• Stride Period Adaptation for a Biomimetic Running Hexapod Cham, J., G., Clark, J., E., Cutkosky, M., R. 2001
• Trust-Based Facilitator Agent for e-Partnerships Ono, C., Kanetomo, D., Kim, K., Paulson Jr, B., C., Cutkosky, M., R., Petrie, C., J. 2001
• An interactive aid for designing and planning heterogeneous layered prototypes Clark, J., Xia, L., Cutkosky, R. 2001
• Feature-guided exploration with a robotic finger 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS Okamura, A. M., Cutkosky, M. R. 2001: 589-596

  View details for Web of Science ID 000172615800095

• Comparing the locomotion dynamics of the cockroach and a shape deposition manufactured biomimetic hexapod EXPERIMENTAL ROBOTICS VII Bailey, S. A., Cham, J. G., Cutkosky, M. R., Full, R. J. 2001; 271: 239-248

  View details for Web of Science ID 000175560500025

• A traction stress sensor array for use in high-resolution robotic tactile imaging JOURNAL OF MICROELECTROMECHANICAL SYSTEMS Kane, B. J., Cutkosky, M. R., Kovacs, G. T. 2000; 9 (4): 425-434

  View details for Web of Science ID 000166597800003

• Design by composition for layered manufacturing JOURNAL OF MECHANICAL DESIGN Binnard, M., Cutkosky, M. R. 2000; 122 (1): 91-101

  View details for Web of Science ID 000086722000012

• JATLite: A Java agent infrastructure with message routing IEEE INTERNET COMPUTING Jeon, H., Petrie, C., Cutkosky, M. R. 2000; 4 (2): 87-96

  View details for Web of Science ID 000086068200014

• Biomimetic robotic mechanisms via shape deposition manufacturing ROBOTICS RESEARCH Bailey, S. A., Cham, J. G., Cutkosky, M. R., Full, R. J. 2000: 403-410

  View details for Web of Science ID 000087440500049

• A Traction Stress Sensor Array for use in High Resolution Robotics Tactile Imaging Journal of Microelectromechanical Systems Kane, B., J., Cutkosky, M., R., Kovacs, G., T.A. 2000; 9 (4): 425-434
• The Effects of Real and Computer Generated Friction on Human Performance in a Targeting Task Richard, C., Cutkosky, M., R. 2000
• Material Modeling for Shape Deposition Manufacturing of Biomimetic Components Xu, X., Cheng, W., Dudek, D., Cutkosky, M., R., Full, R., J., Hatanaka, M. 2000
• A Design by Composition Approach for Layered Manufacturing ASME Transactions, Journal of Mechanical Design Binnard, M., Cutkosky, M., R. 2000; 122 (1): 91-101
• Improving Reality-Based Models for Vibration Feedback Okamura, A., M., Hage, M., W., Cutkosky, M., R., Dennerlein, J., T. 2000
• Haptic Exploration of Surfaces Experimental Robotics VI , Lecture Notes in Control and Information Sciences Okamura, A., M., Costa, M., A., Turner, M., L., Richard, C., Cutkosky, M., R. edited by Corke, P., Trevelyan, J. Springer-Verlag. 2000: 423-432
• An Overview of Dexterous Manipulation Okamura, A., M., Smaby, N., Cutkosky, M., R. 2000
• Model Sharing Among Agents in a Concurrent Product Development Team in Knowledge Intensive Computer Aided Design Ozawa, M., Cutkosky, M., R., Howley, B., J. edited by Finger, S., Tomiyama, T., Mantyla, M. Kluwer Academic Publishers, Norwell, MA. 2000: 1
• Calibration and Mapping of a Human Hand for Dexterous Telemanipulation Griffin, W., B., Findley, R., P., Turner, M., L., Cutkosky, M., R. 2000
• Robust Dynamic Locomotion Through Feedforward-Preflex Interaction Cham, J., G., Bailey, S., A., Cutkosky, M., R. 2000
• Roughness Perception of Haptically Displayed Fractal Surfaces Costa, M., A., Cutkosky, M., R. 2000
• Development and Testing of a Telemanipulation System with Arm and Hand Motion Turner, M., L., Findley, R., P., Griffin, W., B., Cutkosky, M., R., Gomez, D., H. 2000
• Error Analysis for the In-Situ Fabrication of Mechanisms Goel, P., Rajagopalan, S., Cutkosky, M., R. 2000
• Feeling is believing: Using a Force-Feedback Joystick to Teach Dynamic Systems Richard, C., Okamura, A., M., Cutkosky, M., R. 2000
• Composing and Sharing Hybrid Dynamic Models in an Agent-Based Concurrent Engineering Environment Howley, B., Cutkosky, M., R., Biswas, G. 2000
• Framework for modeling dependencies in collaborative engineering processes RESEARCH IN ENGINEERING DESIGN Park, H., Cutkosky, M. R. 1999; 11 (2): 84-102

  View details for Web of Science ID 000082639200002

• Layered Manufacturing with Embedded Components: Process Planning Issues Cham, J., G., Pruitt, B., L., Cutkosky, M., R., Binnard, M., Weiss, L., Neplotnik, G. 1999
• Machine Generation of Thesauri: Adapting to Evolving Vocabularies in Design Documentation. Yang, M., C., Cutkosky, M., R. 1999
• Friction Identification for Haptic Display Richard, C., Cutkosky, M., R., Maclean, K. 1999
• Optimal Pose Selection for In-Situ Fabrication of Planar Mechanisms Rajagopalan, S., Cutkosky, M., R. 1999
• Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation Turner, M., L., Gomez, D., H., Tremblay, M., R., Cutkosky, M., R. 1999
• Haptic exploration of fine surface features ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS Okamura, A. M., Cutkosky, M. R. 1999: 2930-2936

  View details for Web of Science ID 000081625700464

• A phase management framework for event-driven dextrous manipulation IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Hyde, J. M., Cutkosky, M. R. 1998; 14 (6): 978-985

  View details for Web of Science ID 000077839500012

• Data mining for thesaurus generation in informal design information retrieval COMPUTING IN CIVIL ENGINEERING YANG, M. C., Wood, W. H., Cutkosky, M. R. 1998: 189-200

  View details for Web of Science ID 000083193200025

• Agent-Based Collaborative Design of Parts in Assembly Mori, T., Cutkosky, M., R. 1998
• Model Sharing among Agents in a Concurrent Product Development Team Ozawa, M., Cutkosky, M., R., Howley, B. 1998
• Multi Disciplinary Early Performance Evaluation Via Logical Description of Mechanisms: DVD pick up head example Ozawa, M., Iwasaki, Y., Cutkosky, M., R. 1998
• A Phase Management Framework for Event-Driven Dexterous Manipulation IEEE Transactions on Robotics and Automation Hyde, J., M., Cutkosky, M., R. 1998; 14 (6): 978-985
• Representation and Processing of Heterogeneous Objects for Solid Freeform Fabrication Kumar, V., Rajagopalan, S., Cutkosky, M., R., Dutta, D. 1998
• Design Information Retrieval: Improving Access to the Informal Side of Design Wood, William, H., Yang, Maria, C., Cutkosky, M. R., Agogino, Alice, M. 1998
• Tolerance Representation for Mechanism Assemblies in Layered Manufacturing Rajagopalan, S., Cutkosky, M., R. 1998
• Building Block Design for Layered Shape Manufacturing Binnard, M., Cutkosky, M., R. 1998
• Representation and reasoning of geometric tolerances in design AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Tsai, J. C., Cutkosky, M. R. 1997; 11 (4): 325-341

  View details for Web of Science ID A1997XZ31100007

• Robotic stiffness control and calibration as applied to human grasping tasks IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Kao, I., Cutkosky, M. R., Johansson, R. S. 1997; 13 (4): 557-566

  View details for Web of Science ID A1997XN63100007

• Haptic exploration of objects with rolling and sliding Okamura, A. M., Turner, M. L., Cutkosky, M. R. IEEE. 1997: 2485-2490

  View details for Web of Science ID A1997BJ42X00394

• Detection of Real and Virtual Fine Surface Features with a Haptic Interface and Stylus West, A., Cutkosky, M., R. 1997
• Combining Constraint Propagation and Backtracking for Distributed Engineering in Constraints & Agents Petrie, C., Jeon, H., Cutkosky, M., R. edited by Freuder, Eugene, C. AAAI Press.. 1997: 1
• Getting a Feel for Dynamics: using haptic interface kits for teaching dynamics and controls Richard, C., Okamura, A., M., Cutkosky, M., R. 1997
• Automated Indexing of Design Concepts for Information Management Yang, Maria, C., Cutkosky, Mark, R. 1997
• Representation and reasoning about geometric tolerances in design Artificial Intelligence for Engineering Design, Analysis and Manufacturing Tsai, J., C., Cutkosky, M., R. 1997; 11: 325-341
• Contact Force Perception with an Ungrounded Haptic Interface Richard, C., Cutkosky, M., R. 1997
• Practical force-motion models for sliding manipulation INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Howe, R. D., Cutkosky, M. R. 1996; 15 (6): 557-572

  View details for Web of Science ID A1996VW54300003

• Madefast: Collaborative engineering over the Internet COMMUNICATIONS OF THE ACM Cutkosky, M. R., Tenenbaum, J. M., GLICKSMAN, J. 1996; 39 (9): 78-87

  View details for Web of Science ID A1996VE89000021

• Comparison of contact sensor localization abilities during manipulation ROBOTICS AND AUTONOMOUS SYSTEMS Son, J. S., Cutkosky, M. R., Howe, R. D. 1996; 17 (4): 217-233

  View details for Web of Science ID A1996UQ59500001

• CMOS-compatible traction stress sensor for use in high-resolution tactile imaging Kane, B. J., Cutkosky, M. R., Kovacs, G. T. ELSEVIER SCIENCE SA. 1996: 511-516

  View details for Web of Science ID A1996VV39200013

• Agent based concurrent design ADVANCES IN CONCURRENT ENGINEERING: CE96 Cutkosky, M. R. 1996; 96: 439-447

  View details for Web of Science ID 000086011500056

• Design for Manufacturability via Agent Interaction Frost, H., R., Cutkosky, M., R. 1996
• Combining Constraint Propagation and Backtracking for Distributed Engineering Petrie, C., Jeon, H., Cutkosky, M., R. 1996
• Stable User-specific Haptic Rendering of the Virtual Wall Gillespie, B., Cutkosky, M. 1996
• CONTACT TRANSITION CONTROL WITH SEMIACTIVE SOFT FINGERTIPS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION AKELLA, P. N., Cutkosky, M. R. 1995; 11 (6): 859-867

  View details for Web of Science ID A1995TJ77600007

• Die-less forming of thermoplastic-matrix continuous fiber composite materials - Process and demonstration JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Ramani, K., Miller, A. K., Cutkosky, M. R. 1995; 117 (4): 501-507

  View details for Web of Science ID A1995TT90200006

• USING PARETO OPTIMALITY TO COORDINATE DISTRIBUTED AGENTS AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Petrie, C. J., Webster, T. A., Cutkosky, M. R. 1995; 9 (4): 269-281

  View details for Web of Science ID A1995RW92300004

• Collaborative engineering based on knowledge sharing agreements CONCURRENT ENGINEERING-RESEARCH AND APPLICATIONS OLSEN, G. R., Cutkosky, M., Tenenbaum, J. M., GRUBER, T. R. 1995; 3 (2): 145-159

  View details for Web of Science ID A1995UX96000009

• Using sensor fusion and contextual information to perform event detection during a phase-based manipulation task Tremblay, M. R., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1995: 262-267

  View details for Web of Science ID A1995BE13L00042

• Incremental Kinematic Analysis of Mechanisms ASME Journal of Mechanical Design Konkar, R., Cutkosky, M., R. 1995; 117 (4): 589-596
• Die-less Forming of Thermoplastic-Matrix Continuous Fiber Composite Materials – Process and Demonstration ASME Journal of Engineering for Industry Ramani, K., Miller, A., K., Cutkosky, M., R. 1995; 117 (4): 501-507
• Comparison of Contact Sensor Localization Abilities During Manipulation Son, J., S., Cutkosky, M., R., Howe, R., D. 1995
• An Object-Oriented Framework or Event-Driven Dextrous Manipulation Tremblay, M., R., Hyde, J., M., Cutkosky, M., R. 1995
• Comparison of contact sensor localization abilities during manipulation IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 2 Son, J. S., Cutkosky, M. R., Howe, R. D. 1995: 96-103

  View details for Web of Science ID A1995BE13K00016

• Event Detection Using Context and Sensor Fusion During a Phase-Based Manipulation Task. Tremblay, M., Cutkosky, M., R. 1995
• Contact Transition Control with Semi-active Soft Fingertips IEEE Transactions on Robotics and Automation Akella, P., Cutkosky, M., R. 1995; 11 (6): 859-865
• Rolling with deformable fingertips Chang, D. C., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1995: 194-199

  View details for Web of Science ID A1995BE13K00030

• SHARE - A METHODOLOGY AND ENVIRONMENT FOR COLLABORATIVE PRODUCT DEVELOPMENT INTERNATIONAL JOURNAL OF INTELLIGENT & COOPERATIVE INFORMATION SYSTEMS Toye, G., Cutkosky, M. R., Leifer, L. J., Tenenbaum, J. M., GLICKSMAN, J. 1994; 3 (2): 129-153

  View details for Web of Science ID A1994PD87500003

• CONTROLLING CONTACT TRANSITION Hyde, J. M., Cutkosky, M. R. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 1994: 25-30

  View details for Web of Science ID A1994PU93400007

• DESIGN SPACE NAVIGATION AS A COLLABORATIVE AID Petrie, C., Cutkosky, M., Park, H. KLUWER ACADEMIC PUBL. 1994: 611-623

  View details for Web of Science ID A1994BC43X00035

• Collaborative Engineering based on Knowledge Sharing Agreements Olsen, G., Cutkosky, M., R edited by Brocks, P., Prasad, B. 1994
• SHARE: A Methodology and Environment for Collaborative Product Development The International Journal of Intelligent and Cooperative Information Systems Toye, G., Cutkosky, M., R., Leifer, L., J., Tenenbaum, J., M., Glicksman, J. 1994; 3 (2): 129-53
• Design Space Navigation Petrie, C., Cutkosky, M., Park, H. 1994
• Tactile Sensor with 3-Axis Force and Vibration Sensing Functions and its Application to Detect Rotational Sip Yamada, Y., Cutkosky, M., R. 1994
• AN AGENT-BASED APPROACH TO CONCURRENT CABLE HARNESS DESIGN AI EDAM-ARTIFICIAL INTELLIGENCE FOR ENGINEERING DESIGN ANALYSIS AND MANUFACTURING Park, H., Cutkosky, M. R., CONRU, A. B., Lee, S. H. 1994; 8 (1): 45-61

  View details for Web of Science ID A1994PM98100005

• COMPARISON OF THEORETICAL AND EXPERIMENTAL FORCE/MOTION TRAJECTORIES FOR DEXTEROUS MANIPULATION WITH SLIDING INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kao, I., Cutkosky, M. R. 1993; 12 (6): 529-534

  View details for Web of Science ID A1993MH68800002

• INTEGRATING GENERAL-PURPOSE PLANNERS AND SPECIALIZED REASONERS - CASE-STUDY OF A HYBRID PLANNING ARCHITECTURE IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS Kambhampati, S., Cutkosky, M. R., Tenenbaum, J. M., Lee, S. H. 1993; 23 (6): 1503-1518

  View details for Web of Science ID A1993MT27400003

• DYNAMIC TACTILE SENSING - PERCEPTION OF FINE SURFACE-FEATURES WITH STRESS RATE SENSING IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Howe, R. D., Cutkosky, M. R. 1993; 9 (2): 140-151

  View details for Web of Science ID A1993LZ62200002

• A PHYSIOLOGICAL METHOD FOR RELAYING FRICTIONAL INFORMATION TO A HUMAN TELEOPERATOR IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS Edin, B. B., Howe, R., Westling, G., Cutkosky, M. 1993; 23 (2): 427-432

  View details for Web of Science ID A1993LR79800009

• Dynamic Tactile Sensing: Perception of Fine Surface Features with Stress Rate Sensing IEEE Transactions on Robotics and Automation Howe, R., Cutkosky, M., R. 1993; 9 (2): 140-151
• ESTIMATING FRICTION USING INCIPIENT SLIP SENSING DURING A MANIPULATION TASK PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3 Tremblay, M. R., Cutkosky, M. R. 1993: 429-434

  View details for Web of Science ID A1993BY79J00065

• CONTACT TRANSITION CONTROL - AN EXPERIMENTAL-STUDY PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3 Hyde, J. M., Cutkosky, M. R. 1993: 363-368

  View details for Web of Science ID A1993BY79J00055

• Concurrent Design and Planning Cutkosky, M., R. 1993
• Computational Support for Interactive Cable Harness Routing and Design Conru, A., Cutkosky, M., R. 1993
• Friction in Robotic Manipulation and Fixturing Cutkosky, M., R. 1993
• Interactive Dynamics with Haptic Display Gillespie, B., Cutkosky, M., R. 1993
• Contact Transition Control: an Experimental Study Hyde, J., M., Cutkosky, M., R. 1993
• PACT: An Experiment in Integrating Concurrent Engineering Systems IEEE Computer, special issue on Computer Support for Concurrent Engineering Cutkosky, M., Engelmore, R., Fikes, R., Gruber, T., Genesereth, M., Mark, W. 1993: 28-37
• An Agent-Based Approach to Concurrent Cable Harness Design Tech Report CDR 19930217, Center for Design Research, Stanford University, Stanford, CA Park, H., Cutkosky, M., R., Conru, A., B., Lee, S. H. 1993: 94305
• SHARE: A Methodology and Environment for Collaborative Product Developement Toye, G., Cutkosky, M., R., Leifer, L., J., Tenenbaum, J., M., Glicksman, J. 1993
• Manipulation Control with Dynamic tactile Sensing Cutkosky, M., R., Hyde, J. 1993
• Relaying Frictional Information to a Human Operator by Physiological Mechanisms IEEE Transactions on Systems, Man, and Cybernetics Edin, B., Howe, R., Westling, G., Cutkosky, M., R. 1993; 23 (2): 427-432
• Estimating Friction Using Incipient Slip Sensing During a Manipulation Task Tremblay, M., R., Cutkosky, M., R. 1993
• Integrating General Purpose Planners and Specialized Reasoners: Case Study of a Hybrid Planning Architecture IEEE Transactions on Systems, Man, and Cybernetics Kambhampati, S., Cutkosky, M., R., Tenenbaum, J., M., Lee, S. H. 1993; 23 (6): 1503-1518
• PACT - AN EXPERIMENT IN INTEGRATING CONCURRENT ENGINEERING SYSTEMS COMPUTER Cutkosky, M. R., ENGELMORE, R. S., Fikes, R. E., Genesereth, M. R., GRUBER, T. R., MARK, W. S., TENEBAUM, J. M., Weber, J. C. 1993; 26 (1): 28-37

  View details for Web of Science ID A1993KG31600005

• WORKING WITH MULTIPLE REPRESENTATIONS IN A CONCURRENT DESIGN SYSTEM JOURNAL OF MECHANICAL DESIGN Cutkosky, M. R., Tenenbaum, J. M., Brown, D. R. 1992; 114 (3): 515-524

  View details for Web of Science ID A1992JR45800023

• QUASI-STATIC MANIPULATION WITH COMPLIANCE AND SLIDING INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kao, I., Cutkosky, M. R. 1992; 11 (1): 20-40

  View details for Web of Science ID A1992HC87100002

• Quasistatic Manipulation with Compliance and Sliding The International Journal of Robotics Research Kao, I., Cutkosky, M., R. 1992; 11 (1): 20-40
• A New Approach to the Forming of Thermoplastic-Matrix Continuous-Fiber Composites. Part II: Experiments and Model. Journal of Thermoplastic Composite Materials Ramani, K., Miller, A., Cutkosky, M., R. 1992; 5: 227-202
• Issues in Incremental Analysis of Assemblies for Concurrent Design Artificial Intelligence in Design '92 Tsai, J. C., Konkar, R., Cutkosky, M., R. edited by Gero, J. Kluwer Academic Publishers. 1992: 617-635
• Modeling and Sensing Finger/Object Contacts for Dextrous Manipulation Cutkosky, M., R. 1992
• Providing Computational Support for Concurrent Engineering Cutkosky, M., R. 1992
• Tolerance Reasoning for Concurrent Design Tsai, J. C., Cutkosky, M., R. 1992
• Computational Support for Concurrent Engineering of Cable Harnesses Park, H., Lee, S. H., Cutkosky, M., R. 1992
• Touch Sensing for Robotic Manipulation and Recognition The Robotics Review 2 Howe, R., D., Cutkosky, M., R. edited by Khatib, O., Craig, J., Lozano-Perez, T. M.I.T. Press, Cambridge, MA. 1992: 55-112
• Real Physics for Real Engineers: Response to A Prolegomena to Any Future Qualitative Physics Computational Intelligence Olsen, G., Kambhampati, S., Cutkosky, M. 1992; 8 (2): 286-288
• A New Approach to the Forming of Thermoplastic-Matrix Continuous-Fiber Composites. Part I: Process and Machine. Journal of Thermoplastic Composite Materials Ramani, K., Miller, A., Cutkosky, M., R. 1992; 5: 184-201
• FIXTURE PLANNING WITH FRICTION JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Lee, S. H., Cutkosky, M. R. 1991; 113 (3): 320-327

  View details for Web of Science ID A1991HP73500009

• NEXT-CUT - A 2ND GENERATION FRAMEWORK FOR CONCURRENT ENGINEERING LECTURE NOTES IN COMPUTER SCIENCE Brown, D. R., Cutkosky, M. R., Tenenbaum, J. M. 1991; 492: 8-25

  View details for Web of Science ID A1991HT50900003

• DIE-LESS FORMING OF THERMOPLASTIC COMPOSITES - EXPERIMENTS ON THE DEMONSTRATION MACHINE 36TH INTERNATIONAL SAMPE SYMPOSIUM AND EXHIBITION, BOOK 1 AND 2 Vinci, R. P., Ramani, K., Miller, A. K., Cutkosky, M. R. 1991; 36: 2130-2141

  View details for Web of Science ID A1991BT52L00178

• MOTION PLANNING FOR FORMING THERMOPLASTIC COMPOSITES INTELLIGENT ROBOTICS Ramani, K., Cutkosky, M. R., Miller, A. K. 1991; 1571: 604-615

  View details for Web of Science ID A1991BU03Z00055

• MANIPULATION WITH SOFT FINGERS - CONTACT FORCE CONTROL 1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3 Akella, P., Siegwart, R., Cutkosky, M. 1991: 652-657

  View details for Web of Science ID A1991BT14J00098

• Die-Less Forming of Thermoplastic Components: Experiments on the Demonstration Machine Vinci, R., P., Ramani, K., Miller, A., K., Cutkosky, M., R. 1991
• A.I. in Design and Process Planning Cutkosky, M., R. 1991
• Providing Computational Support for Concurrent Engineering the International Journal of Systems Automation: Research and Applications Cutkosky, M., R., Tenenbaum, J., M. 1991; 1 (3): 239-261
• Next-Cut: A Second-Generation Framework for Concurrent Engineering in Computer-Aided Product Development. Brown, D., Cutkosky, M., R., Tenenbaum, J., M. edited by Sriram, D., Logcher, R. Springer-Verlag. 1991: 8-25
• Utilizing Sensed Incipient Slip Signals for Grasp Force Control Tremblay, M., R., Packard, W., J., Cutkosky, M., R. edited by Leu, M. 1991
• Manipulation with Soft Fingers: Contact Force Control Akella, P., Siegwart, R., Cutkosky, M., R. 1991
• Incremental and Interactive Geometric Reasoning for Fixture and Process Planning Lee, S, H., Cutkosky, M., R., Kambhampati, S. 1991
• COMBINING SPECIALIZED REASONERS AND GENERAL-PURPOSE PLANNERS - A CASE-STUDY PROCEEDINGS : NINTH NATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, VOLS 1 AND 2 Kambhampati, S., Cutkosky, M., Tenenbaum, M., Lee, S. H. 1991: 199-205

  View details for Web of Science ID A1991BU53G00032

• Design of Robotic End-Effectors in The Encyclopedia of Artificial Intelligence Cutkosky, M., R. edited by Shapiro, S.C. John Wiley & Sons., Inc.. 1991: 1
• Combining Specialized Reasoners and General Purpose Planners: A Case Study Kambhampati, S., Cutkosky, M., R., Tenenbaum, J., M., Lee, S, H. 1991
• Knowledge Sharing Technology Project Overview Stanford Knowledge Systems Laboratory Report No. KSL 91-71 Fikes, R., Cutkosky, M., Gruber, T., Van-Baalen, J. 1991
• HUMAN GRASP CHOICE AND ROBOTIC GRASP ANALYSIS Cutkosky, M. R., Howe, R. D. SPRINGER-VERLAG. 1990: 5-31

  View details for Web of Science ID A1990BP78H00001

• TOWARD A COMPUTATIONAL FRAMEWORK FOR CONCURRENT ENGINEERING IECON 90, VOLS 1 AND 2 Cutkosky, M. R., Tenenbaum, J. M. 1990: 700-706

  View details for Web of Science ID A1990BS81S00128

• KINEMATICALLY ADMISSIBLE DIE-LESS FORMING FOR LONG TAPERED COMPONENTS OF FIBER-REINFORCED COMPOSITES ADVANCED MATERIALS : LOOKING AHEAD TO THE 21ST CENTURY Ramani, K., Cutkosky, M. R., Miller, A. K., Vinci, R. P. 1990; 25: 98-112

  View details for Web of Science ID A1990BS53V00009

• Next-Cut: A Computational Framework for Concurrent Engineering Brown, D., Cutkosky, M., R., Tenenbaum, J., M. 1990
• An Approach Toward Incremental and Interactive Planning for Concurrent Product and Process Design Kambhampati, S., Cutkosky, M., R. 1990
• Robotics: A Long Range Plan to Maximize National Capabilities Annual Review of Computer Science Hopcroft, J., Cutkosky, M., Lozano-Perez, T. edited by Traub, J., F. 1990: 467-479
• Robotic Grasping and Manipulation Cutkosky, M., R. 1990
• Representation and Propagation of Tolerances for CAD/CAM Systems Frants, L., Binford, T., O., Tsai, J., C., Cutkosky, M., R. 1990
• Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. 1990
• Dexterous Manipulation with Compliance and Sliding in Robotics Research: the Fifth International Symposium Kao, I., Cutkosky, M., R. edited by Miura, H., Arimoto, S. M.I.T. Press, Cambridge, MA. 1990: 375-382
• Kinematically Admissible Die-Less Forming for Long Tapered Components of Fiber-Reinforced Composites Ramani, K., Cutkosky, M., R., Miller, A., K., Vinci, R., P. 1990
• Towards an Assembly Editor for Concurrent Product and Process Design Konkar, R., Cutkosky, M., R., Tenenbaum, J., M. 1990
• Kinematically Admissible Motion Planning for Die-Less Forming of Composites Ramani, K., Cutkosky, M., R., Miller, A., K. 1990
• Dynamic Tactile Sensing Cutkosky, M., R., Howe, R., D. edited by Morecki, A., Bianchi, G., Jaworek, K. 1990
• Providing Process Histories for Feedback from CAM to CAD Vann, C., Cutkosky, M., R. 1990
• Grasping Manipulation and Control with Tactile Sensing Howe, R., Popp, N., Akella, P., Kao, I., Cutkosky, M., R. 1990
• Integrating Tactile Sensing with Control for Dexterous Manipulation Howe, R., Cutkosky, M., R. 1990
• Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. edited by Finger, S., Dixon, J. 1990: 1
• Human Grasp Choice and Robotic Grasp Analysis Dexterous Robot Hands Cutkosky, M., R., Howe, R., D. Springer-Verlag. 1990: 1
• A METHODOLOGY AND COMPUTATIONAL FRAMEWORK FOR CONCURRENT PRODUCT AND PROCESS DESIGN MECHANISM AND MACHINE THEORY Cutkosky, M. R., Tenenbaum, J. M. 1990; 25 (3): 365-381

  View details for Web of Science ID A1990DE75900010

• ON GRASP CHOICE, GRASP MODELS, AND THE DESIGN OF HANDS FOR MANUFACTURING TASKS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Cutkosky, M. R. 1989; 5 (3): 269-279

  View details for Web of Science ID A1989U953400002

• COMPUTING AND CONTROLLING THE COMPLIANCE OF A ROBOTIC HAND IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Cutkosky, M. R., Kao, I. 1989; 5 (2): 151-165

  View details for Web of Science ID A1989T669500003

• ROBOTICS - A LONG-RANGE PLAN TO MAXIMIZE NATIONAL CAPABILITIES ANNUAL REVIEW OF COMPUTER SCIENCE Hopcroft, J., Cutkosky, M., LOZANOPEREZ, T. 1989; 4: 467-479

  View details for Web of Science ID A1989DF24000017

• SENSING SKIN ACCELERATION FOR SLIP AND TEXTURE-PERCEPTION PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3 Howe, R. D., Cutkosky, M. R. 1989: 145-150

  View details for Web of Science ID A1989BQ26M00023

• MANIPULATING WITH SOFT FINGERS - MODELING CONTACTS AND DYNAMICS PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3 Akella, P., Cutkosky, M. 1989: 764-769

  View details for Web of Science ID A1989BQ26M00116

• Computing and Controlling the Compliance of a Robotic Grasp IEEE Transactions on Robotics and Automation Cutkosky, M., R., Kao, I. 1989; 5 (2): 151-165
• Modeling and Control of Grasps for Advanced Manufacturing Hands Nagurka, M., L., Wright, P., K., Cutkosky, M., R. edited by Dornfeld, D., A. 1989
• Manipulating with Soft Fingers: Modeling Contacts and Dynamics Akella, P., Cutkosky, M., R. 1989
• Design, Control and Coordination Knowledge of Manufacturing Manufacturing Hands Nagurka, M., L., Wright, P., K., Cutkosky, M., R. 1989
• Extending Concurrent Product and Process Design Toward Earlier Design Stages Cutkosky, M., R., Brown, D., Tenenbaum, J., M. 1989
• Sensing Skin Acceleration for Slip and Texture Perception Howe, R., D., Cutkosky, M., R. 1989
• Toward a Computer-Integrated Enterprise Cutkosky, M., R., Tenenbaum et. al, J., M. 1989
• Quasistatic Sliding Manipulation —On the Transient Response in Sliding Manipulation Kao, I., Cutkosky, M., R. 1989
• Electrorheological Fluid-Based Robotic Fingers with Tactile Sensing Kenaley, G., M., Cutkosky, M., R. 1989
• Fixture Planning with Friction for Concurrent Product/Process Design Cutkosky, M., R., Lee, S, H. 1989
• Tactile Sensing for Teleoperation and Robotic Hand Control Cutkosky, M., R. 1989
• A Computational Framework for Rapid Prototyping and Team Design Tenenbaum, J., M., Cutkosky, M., R. 1989
• Concurrent Product/Process Design Cutkosky, M., R. 1989
• Concurrent Product and Process Design for Early Stages of Design Tenenbaum, J., M., Brown, D., Cutkosky, M., R. 1989
• Modeling and Sensing Finger/Object Contacts for Manipulation Planning and Control Cutkosky, M., R. 1989
• Robotics: A Dream as Old as Antiquity in Brief Lessons in High Technology Cutkosky, M., R. edited by Meindl, J., D. The Portable Stanford Press, Stanford, CA. 1989: 155-189
• Review of Interpretation of Contact Geometries from Force Measurements in The Robotics Review 1 Cutkosky, M., R. edited by Khatib, O., Craig, J., Lozano-Perez, T. M.I.T. Press. 1989: 175-179
• Off-Line Programming for Robotic Deburring Vishnu, A., Cutkosky, M., R., Erickson, E. 1988
• Features in Process-Based Design Cutkosky, M., R., Tenenbaum, J., M., Muller, D. 1988
• Grasping as a Contact Sport in Robotics Research: the Fourth International Symposium Cutkosky, M., R., Akella, P., Howe, R., D., Kao, I. edited by Bolles, R., Roth, B. M.I.T. Press, Cambridge, MA. 1988: 199-206
• The Sliding of Robot Fingers Under Combined Torsion and Shear Loading Howe, R., D., Kao, I., Cutkosky, M., R. 1988
• Grasp Control Using Tactile Sensing Cutkosky, M., R. 1988
• Closing the Loop in CAD/CAM Integration Vann, C., S., Cutkosky, M., R. 1988
• Skin Materials for Robotic Fingers Cutkosky, M., R., Jourdain, J., M., Wright, P., K. 1987
• On Design Languages Cutkosky, M., R., Tenenbaum, J., M. edited by Waldron, M., B. 1987
• CAD/CAM Integration Through Concurrent Product and Process Design Cutkosky, M., R., Tenenbaum, J., M. 1987
• ACTIVE CONTROL OF A COMPLIANT WRIST IN MANUFACTURING TASKS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Cutkosky, M. R., WRIGHT, P. K. 1986; 108 (1): 36-43

  View details for Web of Science ID A1986A201800006

• FRICTION, STABILITY AND THE DESIGN OF ROBOTIC FINGERS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Cutkosky, M. R., WRIGHT, P. K. 1986; 5 (4): 20-37

  View details for Web of Science ID A1987F867600002

• Modeling Manufacturing Grips and Correlations with the Design of Robotic Hands Cutkosky, M., R., Wright, P., K. 1986
• Object-Oriented Modeling of Robot Hands Cutkosky, M., R., Howe, R., Witkin, A. 1986
• Control of a Compliant Wrist for Manufacturing Tasks in Robot Sensors Cutkosky, M., R., Wright, P., K. edited by Pugh, A. IFS Publications, Springer-Verlag, New York, NY. 1986: 17-32
• Robotic Grasping and Fine Manipulation Cutkosky, M., R. Kluwer Academic Publishers, Boston, MA. 1985
• Design of Grippers in The Handbook of Industrial Robotics Wright, P., K., Cutkosky, M., R. edited by Nof, S. John Wiley and Sons Inc., New York, NY. 1985: 1
• The Design of a Flexible Machining Cell for Small Batch Production Journal of Manufacturing Systems Cutkosky, M., R., Fussell, P., S., Milligan Jr., R. 1984; 3 (1): 39-59
• Position Sensing Wrists for Industrial Manipulators Cutkosky, M., R., Wright, P., K. 1982
• External Position Control of Industrial Manipulators Cutkosky, M., R., Wright, P., K. 1982
• Achieving Flexibility in Manufacturing Cells Wright, P., K., Cutkosky, M., R. 1982
• Programmable Conformable Clamps Autofact 4, Philadelphia, PA Cutkosky, M., R., Kurokawa, E., Wright, P., K. 1982: 11.51-11.58