Bio

Bio


Cutkosky applies analyses, simulations, and experiments to the design and control of robotic hands, tactile sensors, and devices for human/computer interaction. In manufacturing, his work focuses on design tools for rapid prototyping.

Academic Appointments


Honors & Awards


  • ASME Fellow, ASME (2014)
  • IEEE Fellow, IEEE (2012)
  • Fletcher Jones Chair II, Stanford School of Engineering (2011)
  • Best Inventions of 2006, Time Magazine (2006)
  • Fulbright Distinguished Faculty Chair, SSSA Pisa, Italy (2002)
  • Charles M. Pigott Professorship, Stanford University (1994-2001)
  • Anderson Faculty Scholar, Stanford University (1989)
  • Presidential Young Investigator Award, National Science Foundation (1986)

Professional Education


  • PhD, Carnegie Mellon (1985)

Research & Scholarship

Clinical Trials


  • Gait Retraining to Reduce Knee Osteoarthritis Pain Not Recruiting

    The purpose of this study is to determine how well people can be trained to produce new and different movements through the use of haptic feedback. One particular application is retraining individuals to walk differently in order to reduce knee joint loads to prevent or treat knee osteoarthritis as an alternative to surgical treatments.

    Stanford is currently not accepting patients for this trial. For more information, please contact Pete Shull, 650-469-3851.

    View full details

Publications

Journal Articles


  • 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
  • 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
  • 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

  • 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
  • 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., Slider, 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 Web of Science ID 000314258000021

  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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

  • Bio-Inspired Robot Design Arizona State University, Dept. of Mechanical and Aerospace Engineering 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
  • 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
  • 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
  • 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
  • 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
  • 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

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

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

  • 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

  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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

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

  • 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

  • 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
  • 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
  • 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
  • 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
  • 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
  • Towards penetration-based clawed climbing CLIMBING AND WALKING ROBOTS Provancher, W. R., Clark, J. E., Geisler, B., Cutkosky, M. R. 2005: 961-970
  • iSprawl: Autonomy, and the effects of power transmission CLIMBING AND WALKING ROBOTS Kim, S., Clark, J. E., Cutkosky, M. R. 2005: 859-867
  • 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
  • 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
  • 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
  • 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

  • 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
  • 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
  • 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
  • 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
  • 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
  • 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)
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • Design by composition for layered manufacturing JOURNAL OF MECHANICAL DESIGN Binnard, M., Cutkosky, M. R. 2000; 122 (1): 91-101
  • JATLite: A Java agent infrastructure with message routing IEEE INTERNET COMPUTING Jeon, H., Petrie, C., Cutkosky, M. R. 2000; 4 (2): 87-96
  • Biomimetic robotic mechanisms via shape deposition manufacturing ROBOTICS RESEARCH Bailey, S. A., Cham, J. G., Cutkosky, M. R., Full, R. J. 2000: 403-410
  • 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
  • A Design by Composition Approach for Layered Manufacturing ASME Transactions, Journal of Mechanical Design Binnard, M., Cutkosky, M., R. 2000; 122 (1): 91-101
  • Framework for modeling dependencies in collaborative engineering processes RESEARCH IN ENGINEERING DESIGN Park, H., Cutkosky, M. R. 1999; 11 (2): 84-102
  • 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
  • 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
  • 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
  • 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 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
  • 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
  • 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
  • Practical force-motion models for sliding manipulation INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Howe, R. D., Cutkosky, M. R. 1996; 15 (6): 557-572
  • Madefast: Collaborative engineering over the Internet COMMUNICATIONS OF THE ACM Cutkosky, M. R., Tenenbaum, J. M., GLICKSMAN, J. 1996; 39 (9): 78-87
  • 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
  • Agent based concurrent design ADVANCES IN CONCURRENT ENGINEERING: CE96 Cutkosky, M. R. 1996; 96: 439-447
  • CONTACT TRANSITION CONTROL WITH SEMIACTIVE SOFT FINGERTIPS IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION AKELLA, P. N., Cutkosky, M. R. 1995; 11 (6): 859-867
  • 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
  • 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
  • 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
  • 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
  • Contact Transition Control with Semi-active Soft Fingertips IEEE Transactions on Robotics and Automation Akella, P., Cutkosky, M., R. 1995; 11 (6): 859-865
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • QUASI-STATIC MANIPULATION WITH COMPLIANCE AND SLIDING INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kao, I., Cutkosky, M. R. 1992; 11 (1): 20-40
  • 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
  • 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
  • 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
  • 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
  • Knowledge Sharing Technology Project Overview Stanford Knowledge Systems Laboratory Report No. KSL 91-71 Fikes, R., Cutkosky, M., Gruber, T., Van-Baalen, J. 1991
  • 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
  • Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. 1990
  • 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
  • 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
  • ROBOTICS - A LONG-RANGE PLAN TO MAXIMIZE NATIONAL CAPABILITIES ANNUAL REVIEW OF COMPUTER SCIENCE Hopcroft, J., Cutkosky, M., LOZANOPEREZ, T. 1989; 4: 467-479
  • 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
  • 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
  • FRICTION, STABILITY AND THE DESIGN OF ROBOTIC FINGERS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Cutkosky, M. R., WRIGHT, P. K. 1986; 5 (4): 20-37
  • 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
  • Programmable Conformable Clamps Autofact 4, Philadelphia, PA Cutkosky, M., R., Kurokawa, E., Wright, P., K. 1982: 11.51-11.58

Books and Book Chapters


  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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

Conference Proceedings


  • Efficient Jumpgliding: Theory and Design Considerations Lussier-Desbiens, A., Pope, M., Berg, F., Toh, Z., Ern, Lee, J., Cutkosky, M., R. 2013
  • 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
  • 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
  • Jumping robot with a tunable suspension based on artificial muscles Dastoor, S., Weiss, S., Stuart, H., Cutkosky, M., R. 2012
  • Scaling Vertical Surfaces Smoothly and Efficiently with Directional Dry Adhesion Cutkosky, M., R. 2012
  • Landing, perching and taking off from vertical surfaces Lussier Desbiens, A., Asbeck, A. T., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2011: 355-370
  • 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
  • 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
  • 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
  • Scansorial Landing and Perching Lussier-Desbiens, A., Asbeck, A., Cutkosky, M., R. 2009
  • 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
  • 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
  • Improving Finger Force Control with Vibrational Haptic Feedback for Multiple Sclerosis Jiang, L., Cutkosky, M., R., Ruutiainen, J., Raisamo, R. 2008
  • 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
  • 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
  • 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
  • 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

  • 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
  • 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
  • Stride period adaptation of a biomimetic running hexapod Cham, J. G., Karpick, J. K., Cutkosky, M. R. SAGE PUBLICATIONS LTD. 2004: 141-153
  • 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
  • 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
  • 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
  • Sensing Local Geometry for Dexterous Manipulation Provancher, W., Cutkosky, M., R. 2002
  • Friction modeling and display in haptic applications involving user performance Richard, C., Cutkosky, M., R. 2002
  • 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
  • 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
  • Improving Reality-Based Models for Vibration Feedback Okamura, A., M., Hage, M., W., Cutkosky, M., R., Dennerlein, J., T. 2000
  • An Overview of Dexterous Manipulation Okamura, A., M., Smaby, N., Cutkosky, M., R. 2000
  • 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
  • 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
  • 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
  • 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
  • Haptic exploration of objects with rolling and sliding Okamura, A. M., Turner, M. L., Cutkosky, M. R. IEEE. 1997: 2485-2490
  • Detection of Real and Virtual Fine Surface Features with a Haptic Interface and Stylus West, A., Cutkosky, M., R. 1997
  • 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
  • Contact Force Perception with an Ungrounded Haptic Interface Richard, C., Cutkosky, M., R. 1997
  • 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
  • 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
  • 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
  • Comparison of Contact Sensor Localization Abilities During Manipulation Son, J., S., Cutkosky, M., R., Howe, R., D. 1995
  • Event Detection Using Context and Sensor Fusion During a Phase-Based Manipulation Task. Tremblay, M., Cutkosky, M., R. 1995
  • An Object-Oriented Framework or Event-Driven Dextrous Manipulation Tremblay, M., R., Hyde, J., M., Cutkosky, M., R. 1995
  • Rolling with deformable fingertips Chang, D. C., Cutkosky, M. R. I E E E, COMPUTER SOC PRESS. 1995: 194-199
  • CONTROLLING CONTACT TRANSITION Hyde, J. M., Cutkosky, M. R. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 1994: 25-30
  • Collaborative Engineering based on Knowledge Sharing Agreements Olsen, G., Cutkosky, M., R edited by Brocks, P., Prasad, B. 1994
  • 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
  • DESIGN SPACE NAVIGATION AS A COLLABORATIVE AID Petrie, C., Cutkosky, M., Park, H. KLUWER ACADEMIC PUBL. 1994: 611-623
  • 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
  • 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
  • Estimating Friction Using Incipient Slip Sensing During a Manipulation Task Tremblay, M., R., Cutkosky, M., R. 1993
  • 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
  • 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
  • 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 Kambhampati, S., Cutkosky, M., R., Tenenbaum, J., M., Lee, S, H. 1991
  • 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
  • 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
  • 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
  • HUMAN GRASP CHOICE AND ROBOTIC GRASP ANALYSIS Cutkosky, M. R., Howe, R. D. SPRINGER-VERLAG. 1990: 5-31
  • 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
  • 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
  • Grasp Control Using Tactile Sensing Cutkosky, M., R. 1988
  • Closing the Loop in CAD/CAM Integration Vann, C., S., Cutkosky, M., R. 1988
  • The Sliding of Robot Fingers Under Combined Torsion and Shear Loading Howe, R., D., Kao, I., 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
  • 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
  • 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

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