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2016


Thumb xl smpl
Skinned multi-person linear model

Black, M.J., Loper, M., Mahmood, N., Pons-Moll, G., Romero, J.

December 2016, Application PCT/EP2016/064610 (misc)

Abstract
The invention comprises a learned model of human body shape and pose dependent shape variation that is more accurate than previous models and is compatible with existing graphics pipelines. Our Skinned Multi-Person Linear model (SMPL) is a skinned vertex based model that accurately represents a wide variety of body shapes in natural human poses. The parameters of the model are learned from data including the rest pose template, blend weights, pose-dependent blend shapes, identity- dependent blend shapes, and a regressor from vertices to joint locations. Unlike previous models, the pose-dependent blend shapes are a linear function of the elements of the pose rotation matrices. This simple formulation enables training the entire model from a relatively large number of aligned 3D meshes of different people in different poses. The invention quantitatively evaluates variants of SMPL using linear or dual- quaternion blend skinning and show that both are more accurate than a Blend SCAPE model trained on the same data. In a further embodiment, the invention realistically models dynamic soft-tissue deformations. Because it is based on blend skinning, SMPL is compatible with existing rendering engines and we make it available for research purposes.

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Google Patents [BibTex]

2016


Google Patents [BibTex]


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Numerical Investigation of Frictional Forces Between a Finger and a Textured Surface During Active Touch

Khojasteh, B., Janko, M., Visell, Y.

Extended abstract presented in form of an oral presentation at the 3rd International Conference on BioTribology (ICoBT), London, England, September 2016 (misc)

Abstract
The biomechanics of the human finger pad has been investigated in relation to motor behaviour and sensory function in the upper limb. While the frictional properties of the finger pad are important for grip and grasp function, recent attention has also been given to the roles played by friction when perceiving a surface via sliding contact. Indeed, the mechanics of sliding contact greatly affect stimuli felt by the finger scanning a surface. Past research has shed light on neural mechanisms of haptic texture perception, but the relation with time-resolved frictional contact interactions is unknown. Current biotribological models cannot predict time-resolved frictional forces felt by a finger as it slides on a rough surface. This constitutes a missing link in understanding the mechanical basis of texture perception. To ameliorate this, we developed a two-dimensional finite element numerical simulation of a human finger pad in sliding contact with a textured surface. Our model captures bulk mechanical properties, including hyperelasticity, dissipation, and tissue heterogeneity, and contact dynamics. To validate it, we utilized a database of measurements that we previously captured with a variety of human fingers and surfaces. By designing the simulations to match the measurements, we evaluated the ability of the FEM model to predict time-resolved sliding frictional forces. We varied surface texture wavelength, sliding speed, and normal forces in the experiments. An analysis of the results indicated that both time- and frequency-domain features of forces produced during finger-surface sliding interactions were reproduced, including many of the phenomena that we observed in analyses of real measurements, including quasiperiodicity, harmonic distortion and spectral decay in the frequency domain, and their dependence on kinetics and surface properties. The results shed light on frictional signatures of surface texture during active touch, and may inform understanding of the role played by friction in texture discrimination.

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[BibTex]

[BibTex]


Thumb xl romo and mini
Behavioral Analysis Automation for Music-Based Robotic Therapy for Children with Autism Spectrum Disorder

Burns, R., Nizambad, S., Park, C. H., Jeon, M., Howard, A.

Workshop paper (5 pages) at the RO-MAN Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics, August 2016 (misc)

Abstract
In this full workshop paper, we discuss the positive impacts of robot, music, and imitation therapies on children with autism. We also discuss the use of Laban Motion Analysis (LMA) to identify emotion through movement and posture cues. We present our preliminary studies of the "Five Senses" game that our two robots, Romo the penguin and Darwin Mini, partake in. Using an LMA-focused approach (enabled by our skeletal tracking Kinect algorithm), we find that our participants show increased frequency of movement and speed when the game has a musical accompaniment. Therefore, participants may have increased engagement with our robots and game if music is present. We also begin exploring motion learning for future works.

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link (url) [BibTex]

link (url) [BibTex]


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Design and evaluation of a novel mechanical device to improve hemiparetic gait: a case report

Fjeld, K., Hu, S., Kuchenbecker, K. J., Vasudevan, E. V.

Extended abstract presented at the Biomechanics and Neural Control of Movement Conference (BANCOM), 2016, Poster presentation given by Fjeld (misc)

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Project Page [BibTex]

Project Page [BibTex]


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One Sensor, Three Displays: A Comparison of Tactile Rendering from a BioTac Sensor

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, USA, April 2016 (misc)

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[BibTex]

[BibTex]


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Special Issue on Causal Discovery and Inference

Zhang, K., Li, J., Bareinboim, E., Schölkopf, B., Pearl, J.

ACM Transactions on Intelligent Systems and Technology (TIST), 7(2), January 2016, (Guest Editors) (misc)

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[BibTex]

[BibTex]


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Empirical Inference (2010-2015)
Scientific Advisory Board Report, 2016 (misc)

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pdf [BibTex]

pdf [BibTex]


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Unsupervised Domain Adaptation in the Wild : Dealing with Asymmetric Label Set

Mittal, A., Raj, A., Namboodiri, V. P., Tuytelaars, T.

2016 (misc)

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Arxiv [BibTex]

Arxiv [BibTex]


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Designing Human-Robot Exercise Games for Baxter

Fitter, N. T., Hawkes, D. T., Johnson, M. J., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (misc)

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Project Page [BibTex]

Project Page [BibTex]


Thumb xl sabteaser
Perceiving Systems (2011-2015)
Scientific Advisory Board Report, 2016 (misc)

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pdf [BibTex]

pdf [BibTex]


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Extrapolation and learning equations

Martius, G., Lampert, C. H.

2016, arXiv preprint \url{https://arxiv.org/abs/1610.02995} (misc)

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Project Page [BibTex]

Project Page [BibTex]


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IMU-Mediated Real-Time Human-Baxter Hand-Clapping Interaction

Fitter, N. T., Huang, Y. E., Mayer, J. P., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the {\em IEEE/RSJ International Conference on Intelligent Robots and Systems} (misc)

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[BibTex]

[BibTex]

2012


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Methods, apparatuses, and systems for micromanipulation with adhesive fibrillar structures

Sitti, M., Mengüç, Y.

December 2012, US Patent App. 14/368,079 (misc)

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[BibTex]

2012



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Dry adhesive structures

Sitti, M., Murphy, M., Aksak, B.

December 2012, US Patent App. 13/533,386 (misc)

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[BibTex]

[BibTex]


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Methods of making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

June 2012, US Patent 8,206,631 (misc)

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[BibTex]

[BibTex]


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Simon Game with Data-driven Visuo-audio-haptic Buttons

Castillo, P., Romano, J. M., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012 (misc)

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[BibTex]

[BibTex]


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Haptic Vibration Feedback for a Teleoperated Ground Vehicle

Healey, S. K., McMahan, W., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012 (misc)

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[BibTex]

[BibTex]


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A Biofidelic CPR Manikin With Programmable Pneumatic Damping

Stanley, A. A., Healey, S. K., Maltese, M. R., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012, Finalist for Best Hands-on Demonstration Award (misc)

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[BibTex]

[BibTex]


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StrokeSleeve: Real-Time Vibrotactile Feedback for Motion Guidance

Bark, K., Cha, E., Tan, F., Jax, S. A., Buxbaum, L. J., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, Vancouver, Canada, March 2012 (misc)

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[BibTex]

[BibTex]


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Pen Tablet Drawing Program with Haptic Textures

Castillo, P., Romano, J. M., Culbertson, H., Mintz, M., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012 (misc)

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[BibTex]

[BibTex]


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Exploring Presentation Timing through Haptic Reminders

Tam, D., Kuchenbecker, K. J., MacLean, K., McGrenere, J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012 (misc)

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[BibTex]

[BibTex]


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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation

Wang, Y., Koch, E., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012, Finalist for Best Hands-on Demonstration Award (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2012, US Patent App. 13/429,621 (misc)

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[BibTex]

[BibTex]


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VerroTeach: Visuo-audio-haptic Training for Dental Caries Detection

Maggio, M. P., Parajon, R., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Vancouver, Canada, March 2012, {B}est Demonstration Award (three-way tie) (misc)

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[BibTex]

[BibTex]

2010


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VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Kuchenbecker, K. J., Gewirtz, J., McMahan, W., Standish, D., Martin, P., Bohren, J., Mendoza, P. J., Lee, D. I.

Hands-on demonstration presented at EuroHaptics, Amsterdam, Netherlands, Amsterdam, Netherlands, July 2010 (misc)

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[BibTex]

2010


[BibTex]


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TexturePad: Realistic Rendering of Haptic Textures

Romano, J. M., Landin, N., McMahan, W., Kuchenbecker, K. J.

Hands-on demonstration presented at EuroHaptics, Amsterdam, Netherlands, July 2010 (misc)

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[BibTex]

[BibTex]


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Realistic Haptic Contacts and Textures for Tablet Computing

Romano, J. M., Kuchenbecker, K. J.

Hands-on demonstration presented at the Stanford Medical Innovation Conference on Medical Robotics, Stanford, California, April 2010 (misc)

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[BibTex]

[BibTex]


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High-Frequency Tactile Feedback for the da Vinci Surgical System

Standish, D., Gewirtz, J., McMahan, W., Martin, P., Kuchenbecker, K. J.

Hands-on demonstration presented at the Stanford Medical Innovation Conference on Medical Robotics, April 2010 (misc)

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[BibTex]

[BibTex]


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High-Frequency Tactile Feedback for the da Vinci Surgical System

Standish, D., Gewirtz, J., McMahan, W., Martin, P., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Waltham, Massachusetts, March 2010 (misc)

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[BibTex]

[BibTex]


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The Haptic Board

Jiang, Z., Bhoite, M., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Waltham, Massachusetts, USA, March 2010 (misc)

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[BibTex]

[BibTex]


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Tactile Gaming Vest (TGV)

Palan, S., Wang, R., Naukam, N., Li, E., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Waltham, Massachusetts, March 2010 (misc)

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[BibTex]

[BibTex]


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Realistic Haptic Contacts and Textures for Tablet Computing

Romano, J. M., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Waltham, Massachusetts, March 2010, {B}est Teaser Award (misc)

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[BibTex]

[BibTex]


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GPU-Based Haptic Rendering of 3D Smoke

Yang, M., Lu, J., Safonova, A., Kuchenbecker, K. J.

Hands-on demonstration presented at IEEE Haptics Symposium, Waltham, Massachusetts, March 2010 (misc)

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[BibTex]

[BibTex]


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\textscLpzRobots: A free and powerful robot simulator

Martius, G., Hesse, F., Güttler, F., Der, R.

\urlhttp://robot.informatik.uni-leipzig.de/software, 2010 (misc)

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[BibTex]

[BibTex]


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Playful Machines: Tutorial

Der, R., Martius, G.

\urlhttp://robot.informatik.uni-leipzig.de/tutorial?lang=en, 2010 (misc)

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[BibTex]

[BibTex]