Publications

Artificial haptic perception and decision-making

  • Jia, S. and Santos, V.J. “Tactile perception for teleoperated robotic exploration within granular media,” ACM Trans on Human-Robot Interaction 2021:10(4):1-27. doi.org/10.1145/3459996.
  • Gutierrez, K. and Santos, V.J. “Perception of tactile directionality via artificial fingerpad deformation and convolutional neural networks,” IEEE Trans on Haptics 2020:13(4):831-839. doi.org/10.1109/TOH.2020.2975555.
  • Hellman, R.B., Tekin, C., van der Schaar, M., and Santos, V.J. “Functional contour-following via haptic perception and reinforcement learning.” IEEE Trans on Haptics 2018:11(1):61-72. doi.org/10.1109/TOH.2017.2753233.
  • Jia, S. and Santos, V.J. “Multimodal haptic perception within granular media via recurrent neural networks.” Proc. RSS Workshop on “Tactile Sensing for Manipulation: Hardware, Modeling, and Learning,” Boston, MA, July 15, 2017.
  • Gutierrez, K. and Santos, V.J. “Online perception of tactile directionality using Hidden Markov Models.” Proc. RSS Workshop on “Tactile Sensing for Manipulation: Hardware, Modeling, and Learning,” Boston, MA, July 15, 2017.
  • Ponce Wong, R. D., Hellman, R. B. and Santos, V. J. “Haptic exploration of fingertip-sized geometric features using a multimodal tactile sensor.” Proc SPIE Defense, Security and Sensing / Sensing Technology and Applications “Sensors for Next-Generation Robotics” Conference, Baltimore, MD, May 5-9, 2014. Podium.
  • Ponce Wong, R. D., Hellman, R. B., and Santos, V. J., “Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration,” IEEE Transactions on Haptics, Special Issue on “Haptics in Rehabilitation and Neural Engineering,” 2014:7(2):191–202. Selected for oral presentation at a special session at the 2014 Haptics Symposium.

Eye tracking

  • Wang, X., Haji Fathaliyan, A., and Santos, V.J. “Toward shared autonomy control schemes for human-robot systems: Action primitive recognition using eye gaze features,” Front. Neurorobot, Special issue on “Active Vision and Perception in Human-Robot Collaboration” 2020:14:567571. doi.org/10.3389/fnbot.2020.567571 .
  • Haji Fathaliyan, A.*, Wang, X.*, and Santos, V.J. “Exploiting 3D gaze tracking for action recognition during bimanual manipulation to enhance human-robot collaboration,” Front. Robot. AI, Section on Bionics and Biomimetics, Special issue on “Mapping human sensory-motor skills for manipulation onto the design and control of robots,” 2018:5(25):1-15.  doi.org/10.3389/frobt.2018.00025 . (* equal contributors)

Grasp and manipulation

Human

  • Liu, H., Xie, X., Millar, M., Edmonds, M., Gao, F., Zhu, Y., Santos, V. J., Rothrock, B., and Zhu, S-C. “A Glove-Based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing.” Proc of IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS) , Vancouver, BC, Canada, Sept. 24-28, 2017, pp. 6617–6624. doi.org/10.1109/IROS.2017.8206575
  • Manis, R. P and Santos, V. J. “Independent digit contributions to rotational manipulation in a three-digit pouring task requiring dynamic stability.” Exp Brain Res 2015:233(7):2195–2204. doi.org/10.1007/s00221-015-4289-6
  • De Gregorio, M. and Santos, V. J., “Human grip responses to perturbations of objects during precision grip,” in The Human Hand as an Inspiration for Robot Hand Development, as part of the Springer Tracts in Advanced Robotics (STAR) series, Balasubramanian, R. and Santos, V. J., Eds., Heidelberg: Springer, 2014, Vol. 95, p. 159-188.
  • De Gregorio, M. and Santos, V. J., “Precision grip responses to unexpected rotational perturbations scale with axis of rotation,” Journal of Biomechanics 2013:46(6):1098-1103.
  • Manis, R. and Santos, V. J. “Multi-digit coordination during a pouring task that requires dynamic stability.” Proc Ann Mtg Amer Soc Biomech, Long Beach, CA, Aug. 10-13, 2011.
  • Manis, R. and Santos, V. J. “Characteristics of a three-fingered grasp during a pouring task requiring dynamic stability.” Proc Neural Control of Movement Ann Mtg, San Juan, Puerto Rico, April 26 – May 1, 2011.
  • De Gregorio, M. and Santos, V. J. “Rotational object perturbations result in characteristic types of kinematic grip responses.” Proc Ann Mtg Amer Soc Biomech, Providence, RI, Aug. 18-21, 2010. Podium.
  • De Gregorio, M., Bair, K., and Santos, V. J. “Characterizing reflexive grip responses to rotational perturbations of an object in precision grasp.” Proc Robotics: Science and Systems Conf, Seattle, WA, June 28 – July 1, 2009.
  • Valero-Cuevas, F. J., Venkadesan, M., Keenan, K. G., and Santos, V. J. “The neuromuscular systems does ordinary manipulation tasks the “hard ” way: Lessons for robotic manipulators? “ Proc Robotics: Science and Systems Conf, Seattle, WA, June 28 – July 1, 2009.
  • De Gregorio, M., Bair, K., and Santos, V. J. “Kinematic and kinetic analyses of reflexive grip responses to rotational perturbations of an object in precision grasp.” Proc 19th Neural Control of Movement Ann Mtg, Waikoloa, HI, April 28 – May 3, 2009.
  • De Gregorio, M., Bair, K., and Santos, V. J. “Characterizing reflexive grip responses to rotational perturbations of an object in precision grasp.” Robotics Tech. and the Next Frontier in Surgical Care Symposium, Scottsdale, AZ, Nov. 7, 2009.

Robotic

  • Chong, E., Zhang, L., and Santos, V.J. “A learning-based harmonic mapping: Framework, assessment, and case study of human-to-robot hand pose mapping,” Intl Journal of Robotics Research, 2021:40(2-3). doi.org/10.1177/0278364920962205 .
  • Santos, V. J., Davoodi, R., and Loeb, G. E. “Intelligent Local Grasp Control Algorithms for Tele-operated Robotic Manipulators.” Submitted in response to a Neurorobotic Control Workshop hosted by the Defense Advanced Research Projects Agency, June 2008.
  • Miller, A. T., Allen, P., Santos, V. J., and Valero-Cuevas, F. J. “From robotic hands to human hands: A visualization and simulation engine for grasping research.” Ind Robot 2005:32(1):55-63.
  • Miller, A., Allen, P., Santos, V. J., and Valero-Cuevas, F. J. “From robotic hands to human hands: A visualization and simulation engine for grasping research.” Proc Intl Conf Intelligent Manip Grasping, Genoa, Italy, 2004.

Prosthetic

  • Santos, V. J., Davoodi, R., and Loeb, G. E. “Intelligent Local Grasp Control Algorithms Plan for RP2009.” Defense Advanced Research Projects Agency Revolutionizing Prosthetics 2009 Program, Aug. 2007.

Tactile sensor design

  • Day, N., Peñaloza, J., Santos, V.J., and Killpack, M.D. “Scalable fabric tactile sensor arrays for soft bodies,” J Micromech Microeng, Special Issue on “Soft robotics and smart system technologies” 2018:28(6):064004. doi.org/10.1088/1361-6439/aab221 , Supplemental videos
  • Yin, J., Santos, V.J., and Posner, J.D., “Bioinspired flexible microfluidic shear force sensor skin,” Sensors and Actuators A: Physical 2017:264:289-297. doi.org/10.1016/j.sna.2017.08.001
  • Ponce Wong, R. D., Posner, J. D., and Santos, V. J., “Flexible microfluidic normal force sensor skin for tactile feedback,” Sensors and Actuators A: Physical 2012:179:62–69.
  • Ponce, R. D., Posner, J. D., and Santos, V. J. “Capacitance-based MEMS tactile sensors for artificial fingertips.” Robotics Tech. and the Next Frontier in Surgical Care Symposium, Scottsdale, AZ, Nov. 7, 2009.
  • Wettels, N., Santos, V. J., Johansson, R. S., and Loeb, G. E. “Biomimetic tactile sensor array.” Adv Robot 2008:22(8):829-849.
  • Fishel, J. A., Santos, V. J., and Loeb, G. E. “A robust micro-vibration sensor for biomimetic fingertips.” Proc 2nd IEEE/RAS-EMBS Intl Conf Biomed Robotics and Biomechatronics, Scottsdale, AZ, Oct. 19-22, 2008.
  • Wettels, N., Smith, L. M., Santos, V. J., and Loeb, G. E. “Deformable skin design to enhance response of a biomimetic tactile sensor.” Proc 2nd IEEE/RAS-EMBS Intl Conf Biomed Robotics and Biomechatronics, Scottsdale, AZ, Oct. 19-22, 2008.
  • Wettels, N., Santos, V. J., and Loeb, G.E. “Biomimetic tactile sensor array for grip control.” Full-day tutorial: “Is human-like dexterous manipulation within our robotic grasp?,” Proc Ann Intl Conf IEEE Robotics and Automation, Pasadena, CA, May 19-23, 2008.
  • Fishel, J., Wettels, N., Santos, V. J., and Loeb, G. E. “Measurement of sliding friction-induced vibrations for tactile feedback control.” Proc 12th Ann Grodins Graduate Research Symposium, University of Southern California, Los Angeles, CA, April 5, 2008, pp. 33-34.
  • Wettels, N., Santos, V. J., and Loeb, G. E. “Biomimetic tactile sensor: Functional electro-hydraulic impedance sensing.” Proc 12th Ann Grodins Graduate Research Symposium, University of Southern California, Los Angeles, CA, April 5, 2008, pp. 145-146.
  • Wettels, N., Popovic, D., Santos, V. J., Johansson, R. S., and Loeb, G. E. “Biomimetic tactile sensor for control of grip.” Proc 10th Intl Conf Rehab Robotics, Noordwijk, the Netherlands, June 13-15, 2007.
  • Wettels, N., Popovic, D., Santos, V. J., Johansson, R. S., and Loeb, G. E. “Biomimetic tactile sensing.” Proc Ann Fall Mtg Biomed Engin Soc, Los Angeles, CA, Sept. 26-29, 2007.

Mechanical design of robotic systems

  • Peng, Y., Serfass, C.M., Kawazoe, A., Shao, Y., Gutierrez, K., Hill, C.N., Santos, V.J., Visell, Y., and Hsiao, L.C. “Elastohydrodynamic friction of robotic and human fingers on soft micropatterned substrates.” Nature Materials 2021:20:1707-1711.  doi.org/10.1038/s41563-021-00990-9
  • Hellman, R. B., Chang, E., and Santos, V. J. “Tendon-driven testbed for haptic exploration and sensory event-driven grasp and manipulation.” Proc IEEE Haptics Symposium, Houston, TX, Feb. 23-26, 2014, Hardware demonstration D78.
  • Hellman, R. and Santos, V. J. “Design of a back-driveable actuation system for modular control of tendon-driven robot hands,” Proc IEEE RAS/EMBS Intl Conf on Biomedical Robotics and Biomechatronics, Roma, Italy, June 24-27, 2012. Podium.

Neural representations

  • Overstreet, C.K., Hellman, R.B., Ponce Wong, R.D., Santos, V.J., and Helms Tillery, S.I. “Discriminability of single and multichannel intracortical microstimulation within somatosensory cortex,” Front. Bioengin. Biotech. 2016:4:91, Section on Bionics and Biomimetics. doi.org/10.3389/fbioe.2016.00091
  • Buneo, C.A., Helms Tillery, S., Santello, M., Santos, V. J., and Artemiadis, P. “Effective neural representations for brain-mediated human-robot interactions,” in Neuro-robotics: From brain machine interfaces to rehabilitation robotics, as part of the Springer series on Trends on Augmentation of Human Performance, Artemiadis, P., Ed., New York:Springer, 2014, Vol, 2, p. 207-237.
  • Overstreet, C.K., Ponce Wong, R. D., Hellman, R. B., Santos, V. J., and Helms Tillery, S. I. “Discrimination of multichannel ICMS driven by a tactile sensor,” Proc Ann. Mtg. of Soc of Neuroscience, San Diego, CA, Nov. 9-13, 2013.
  • Rincon-Gonzalez, L., Naufel, S., Santos, V. J., and Helms Tillery, S. I. “Interactions between tactile and proprioceptive representations in haptics,” Journal of Motor Behavior 2012:44(6):391-401.
  • Tanner, J., Santos, V. J., and Helms Tillery, S. I. “Examining simultaneous neural encoding of multiple tactile parameters,” Proc Ann. Mtg. of Soc of Neuroscience, New Orleans, LA, Oct. 13-17, 2012.
  • Naufel, S., Santos, V. J., and Helms Tillery, S. I. “Single-unit responses in somatosensory cortex to precision grip of textured surfaces.” Proc Ann. Mtg. of Soc of Neuroscience, Washington, DC, Nov. 12-16, 2011.
  • Naufel, S., Santos, V. J., and Helms Tillery, S. I. “Examining neural response in somatosensory cortex to textured surfaces.” Proc Ann. Mtg. of Soc of Neuroscience, San Diego, CA, Nov. 13-17, 2010.
  • Teplitzky, B. A., Santos, V. J., and Helms Tillery, S. I. “Closed loop non-invasive human-robot interaction: Temperature sensitive bionic finger.” Proc Ann Mtg Biomed Engin Soc, Austin, TX, Oct. 6-9, 2010.
  • Naufel, S., Meller, D., Santos, V. J., and Helms Tillery, S. I. “Evaluating performance in object discrimination tasks for neuroprosthetic hand research.” Proc Ann. Mtg. of Soc of Neuroscience, Chicago, IL, Oct. 17-21, 2009.

Biomechanical modeling

  • Santos, V. J., Bustamante, C., and Valero-Cuevas, F. J. “Improving the fitness of high-dimensional biomechanical models via data-driven stochastic exploration.” IEEE Trans Biomed Engin 2009:56(3):552-64.
  • Santos, V. J., Bustamante, C. D., and Valero-Cuevas, F. J. “A Data-driven Markov Chain Monte Carlo Metropolis-Hastings Algorithm for a Model of the Human Thumb.” Proc 30th Ann Mtg Amer Soc Biomech, Palo Alto, CA, Aug. 22-25, 2007. Podium.
  • Santos, V. J. and Valero-Cuevas, F. J. “Reported anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb.” IEEE Trans Biomed Engin 2006:53(2):155-163.
  • Clewley, R., Valero-Cuevas, F. J., Guckenheimer, J., McNamara III, R. V., and Santos, V. J. “Rigorous estimation of neuromuscular degrees of freedom requires both fractal dimension and principal component analyses: Demonstration using hand motions.” Proc 5th World Cong Biomech, Munich, Germany, July 29 – Aug. 4, 2006.
  • Santos, V. J., Miller, A., Allen, P., and Valero-Cuevas, F. J. “Implementing data-driven models of the human thumb into a robotic grasp simulator to predict grasp stability.” Joint Proc 20th Cong Intl Soc Biomech, 29th Ann Mtg Amer Soc Biomech, Cleveland, OH, Musculoskeletal Modeling podium, Aug. 5, 2005, p.774 and Modeling poster, Aug. 4, 2005, p.993.
  • Valero-Cuevas, F. J., Lipson, H., Santos, V. J., and Anand, V. “Shifting to population-based models and inferring model structure from data are two directions that will enhance the clinical usefulness of modeling.” Joint Proc 20th Cong Intl Soc Biomech, 29th Ann Mtg Amer Soc Biomech, Cleveland, OH, Aug. 2005, p.963.
  • Santos, V. J. and Valero-Cuevas, F. J. “A Bayesian approach to biomechanical modeling to optimize over large parameter spaces while considering anatomical variability.” Proc 26th Ann Intl Conf IEEE Engin Med Biol Soc, San Francisco, CA, Sept. 2004. Podium.
  • Santos, V. J. and Valero-Cuevas, F. J. “Anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb.” Proc 25th Ann Intl Conf IEEE Engin Med Biol Soc, Cancun, Quintana Roo, Mexico, Sept. 2003.
  • Santos, V. J. and Valero-Cuevas, F. J. “Thumb kinematics with non-orthogonal and non-intersecting axes of rotation may be necessary to predict realistic isometric thumbtip forces in multiple directions.” Proc 28th Ann Mtg Amer Soc Biomech, Portland, OR, Sept. 2004.
  • Santos, V. J. and Valero-Cuevas, F. J. “Thumb kinematics with non-orthogonal and non-intersecting axes of rotation may be necessary to predict realistic isometric thumbtip forces in multiple directions.” Proc 5th Triennial Intl Hand and Wrist Biomech Symp, Syracuse, NY, Sept. 2004. Podium.
  • Santos, V. J. and Valero-Cuevas, F. J. “Anatomical variability naturally leads to different types of thumb kinematics.” Proc 5th Triennial Intl Hand and Wrist Biomech Symp, Syracuse, NY, Sept. 2004. Podium.
  • Santos, V. J. and Valero-Cuevas, F. J. “Investigating the interaction between variability in both musculoskeletal structure and muscle coordination for maximal voluntary static thumb forces.” Proc 14th Neural Control Mvt Ann Mtg, Sitges, Spain, March 2004.
  • Santos, V. J. and Valero-Cuevas, F. J. “Stochastic analysis of anatomical data suggests three characteristic kinematic descriptions of the thumb.” Proc 27th Ann Mtg Amer Soc Biomech, Toledo, OH, Sept. 2003.
  • Santos, V. J. and Valero-Cuevas, F. J. “Stochastic analysis of anatomical data suggests three characteristic types of thumb kinematics.” Proc Amer Soc Mech Engin Summer Bioeng Conf, Key Biscayne, FL, June 2003.

Biomechanics

  • Keenan, K., Santos, V. J., Venkadesan, M., and Valero-Cuevas, F. J. “Maximal voluntary fingertip force production is not limited by movement speed in combined motion and force tasks.” J Neurosci 2009:29(27):8784-8789.
  • Medina, F. A., McNamara III, R. V., Backus, S. L., Venkadesan, M., Santos, V. J., and Valero-Cuevas, F. J. “Muscle redundancy enables the transition between, and adjustments of, complex motor tasks.” Proc 5th World Cong Biomech, Munich, Germany, July 29 – Aug. 4, 2006. J Biomech 2006, Vol. 39, Suppl. 1, p.S33.
  • Valero-Cuevas, F. J., McNamara III, R. V., Santos, V. J., Venkadesan, M., Song, S., and Grace-Martin, K. “The nervous system transitions rapidly between incompatible control strategies by predictively exploiting the margins of error of the task.” Proc 5th World Cong Biomech, Munich, Germany, July 29 – Aug. 4, 2006. J Biomech 2006; Vol. 39, Suppl. 1, p.S95.
  • Medina, F. A., McNamara III, R. V., Backus, S. L., Venkadesan, M., Santos, V. J., Valero-Cuevas, F. J. “Muscle redundancy: tool or trouble?” Proc 16th Neural Control Mvt Ann Mtg, Key Biscayne, FL, Poster Session I. Limb Motor Function: Synergies, Poster No. D-04, May 5, 2006.
  • Ashley, D., Venkadesan, M., Santos, V. J., McNamara III, R. V., and Valero-Cuevas, F. J.. “Competing constraints in hybrid force-motion tasks may lead to a severe reduction of maximum voluntary force magnitudes.” Proc 15th Neural Control Mvt Ann Mtg, Key Biscayne, FL, April 2005.
  • Valero-Cuevas, F. J., Santos, V. J., Venkadesan, M., Song, S. “During abrupt transitions from finger motion to static force, errors in force direction are tuned to exploit the allowable margin of error afforded by surface friction.” Proc 5th Triennial Intl Hand and Wrist Biomech Symp, Syracuse, NY, Sept. 2004.
  • Valero-Cuevas, F. J., Santos, V. J., Song, S., and Venkadesan, M. “During abrupt transitions from finger motion to static force, errors in force direction are tuned to exploit the allowable margin of error afforded by surface friction.” Proc 14th Neural Control Mvt Ann Mtg, Sitges, Spain, March 2004.

Surgical skill assessment

  • Genovese, B., Yin, S., Sareh, S., DeVirgilio, M., Mukdad, L., Davis, J., Santos, V.J., and Benharash, P. “Surgical Hand Tracking in Open Surgery Using a Versatile Motion Sensing System: Are We There Yet?” The American Surgeon 2016:82(10):872–75.

Engineering education

  • Santos, V. J. “A dynamic approach to mechanics instruction at the undergraduate and graduate levels.” Proc National Academy of Engineering Frontiers of Engineering Education Symposium, Irvine, CA, Dec. 13-16, 2010.
  • Engler-Chiurazzi, E., Tsang, C., Garcia, A., Mennenga, S., Andrews, M., Acosta, J., Talboom, J., Braden, B. B., Camp, B., Cole, N., Zay, C., Holloway, S., Santos, V. J., Naufel, S., Teplitzky, B., Helms Tillery, S., McBeath, M., Bimonte-Nelson, H. “Generating new synapses at the first Arizona State University Brain Fair for Children: Teaching that ‘knowledge is power’.” Proc Ann. Mtg. of Soc of Neuroscience, San Diego, CA, Nov. 13-17, 2010.

Editorials

  • Yang, G.-Z., Cambias, J., Cleary, K., Daimler, E., Drake, J., Dupont, P.E., Hata, N., Kazanzides, P., Martel, S., Patel, R.V., Santos, V.J., Taylor, R.H.,“Medical robotics — Regulatory, ethical, and legal considerations for increasing levels of autonomy.” Science Robotics, 2, March 15, 2017. doi.org/10.1126/scirobotics.aam8638

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