Katherine J. Kuchenbecker

Skirkanich Assistant Professor of Innovation, MEAM

Research Interests

• Haptic (touch-based) interaction
• Design and control of haptic interfaces for virtual environments and teleoperation
• Improving the realism of haptic feedback
• Identification of dynamic systems
• Understanding human upper-limb movement
• Developing medical devices and medical robotic systems

Representative Publications

A. Blank, A. M. Okamura, and K. J. Kuchenbecker. Identifying the Role of Proprioception in Upper-Limb Prosthesis Control: Studies on Targeted Motion.  Accepted to ACM Transactions on Applied Perception, 2009. 

K. J. Kuchenbecker, J. Romano, and W. McMahan. Haptography: Capturing and Recreating the Rich Feel of Real Surfaces.  Invited Paper for International Symposium on Robotics Research, August 2009. 

J. M. Romano and K. J. Kuchenbecker.  The AirWand: Design and Characterization of a Large-Workspace Haptic Device. In Proceedings, IEEE International Conference on Robotics and Automation, pages 1461-1466, May 2009. 

J. M. Romano, S. R. Gray, N. T. Jacobs, and K. J. Kuchenbecker. Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile Actuation. In Proceedings, IEEE World Haptics Conference, pages 279-284, 2009. 

K. N. Winfree, J. Gewirtz, T. Mather, J. Fiene, and K. J. Kuchenbecker. A High Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.0. In Proceedings, IEEE World Haptics Conference, pages 261-266, 2009. 

A. M. Okamura, K. J. Kuchenbecker, and M. Mahvash.  Measurement-Based Modeling for Haptic Display. Chapter in Haptic Rendering: Algorithms and Applications.  Eds. M. Lin and M. Otaduy.  A. K. Peters Ltd.  Pages 443-468, July 2008. 

K. J. Kuchenbecker, D. Ferguson, M. Kutzer, M. Moses, and A. M. Okamura. The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction. In Proceedings, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 239-246, March 2008.

K. J. Kuchenbecker and G. Niemeyer.  Induced Master Motion in Force-Reflecting Teleoperation.  ASME Journal of Dynamic Systems, Measurement, and Control.  Volume 128(4):800-810, December 2006.

K. J. Kuchenbecker, J. Fiene, and G. Niemeyer.  Improving Contact Realism Through Event-Based Haptic Feedback.  IEEE Transactions on Visualization and Computer Graphics. Volume 12(2):219-230, March/April 2006.

W. R. Provancher, M. R. Cutkosky, K. J. Kuchenbecker, and G. Niemeyer. Contact Location Feedback for Haptic Perception of Curvature and Object Motion.  International Journal of Robotics Research, Volume 24(9):691-702, September 2005.

G. Niemeyer, K. J. Kuchenbecker, R. Bonneau, P. Mitra, A. M. Reid, J. Fiene, and G. Weldon.  THUMP: an Immersive Haptic Console for Surgical Simulation and Training.  In Proceedings, Medicine Meets Virtual Reality, January 2004.

Contact Information

Email: kuchenbe@seas.upenn.edu
Office: 224 Towne
Phone: 215.573.2786
Research Website: Penn Haptics Group