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


  • Presidential Young Investigator Award, National Science Foundation
  • Anderson Faculty Scholar, Stanford University
  • Charles M. Pigott Professorship, Stanford University
  • Graduate School, Lucca, Italy
  • Scientific Advisory Board, IMT
  • Fulbright Distinguished Faculty Chair, Pisa, Italy

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


  • 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?

    View details for DOI 10.1002/jor.22340

    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., 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

  • 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
  • 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

  • Compliant Mechanisms for Bio-Inspired Robotics JPL Compliant Mechanisms Workshop, Pasadena, CA Cutkosky, M., R. 2012
  • 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
  • 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 of Polymer Micro-structure Based Adhesives Nuclear Science and Engineering (ANS) Day, P., Cutkosky, M., Greco, R., McLaughlin, A. 2011; 167 (3): 242-247
  • 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

  • Bio-Inspired Design in Research and Education Indo-US Forum on Design Research and Education Cutkosky, M., R. 2010
  • 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
  • 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

  • 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

  • Bio-Inspired Mobile Robotics Harvard School of Engineering and Applied Sciences Cutkosky, M., R. 2009
  • 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
  • Methods for Creativity in Engineering Design the IMT Lucca Cutkosky, M., R. 2005
  • 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
  • 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
  • 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
  • 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
  • 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)
  • 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
  • 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 about geometric tolerances in design Artificial Intelligence for Engineering Design, Analysis and Manufacturing Tsai, J., C., Cutkosky, M., R. 1997; 11: 325-341
  • Contact Transition Control with Semi-active Soft Fingertips IEEE Transactions on Robotics and Automation Akella, P., Cutkosky, M., R. 1995; 11 (6): 859-865
  • 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
  • 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
  • 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 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
  • 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
  • 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
  • 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
  • Knowledge Sharing Technology Project Overview Stanford Knowledge Systems Laboratory Report No. KSL 91-71 Fikes, R., Cutkosky, M., Gruber, T., Van-Baalen, J. 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
  • Research on Computational Design at Stanford Research in Engineering Design Cutkosky, M., R., Tenenbaum, J., M. 1990
  • 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
  • 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
  • Human Grasp Choice and Robotic Grasp Analysis Dexterous Robot Hands Cutkosky, M., R., Howe, R., D. Springer-Verlag. 1990: 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • Improving Finger Force Control with Vibrational Haptic Feedback for Multiple Sclerosis Jiang, L., Cutkosky, M., R., Ruutiainen, J., Raisamo, R. 2008
  • 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 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
  • 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
  • Haptic Display of Contact Location Feedback Kuchenbecker, K., J., Provancher, W., R, Niemeyer, G., Cutkosky, M., R. 2004
  • 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
  • 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
  • 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
  • An interactive aid for designing and planning heterogeneous layered prototypes Clark, J., Xia, L., Cutkosky, R. 2001
  • 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
  • Composing and Sharing Hybrid Dynamic Models in an Agent-Based Concurrent Engineering Environment Howley, B., Cutkosky, M., R., Biswas, G. 2000
  • 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
  • Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation Turner, M., L., Gomez, D., H., Tremblay, M., R., Cutkosky, M., R. 1999
  • 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
  • Building Block Design for Layered Shape Manufacturing Binnard, M., Cutkosky, M., R. 1998
  • 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
  • Contact Force Perception with an Ungrounded Haptic Interface Richard, C., Cutkosky, M., R. 1997
  • 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
  • Stable User-specific Haptic Rendering of the Virtual Wall Gillespie, B., Cutkosky, M. 1996
  • 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
  • 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
  • Tactile Sensor with 3-Axis Force and Vibration Sensing Functions and its Application to Detect Rotational Sip Yamada, Y., Cutkosky, M., R. 1994
  • 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
  • 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
  • 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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