2021

Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Suneel Belkhale, Ethan Kroll Gordon, Yuxiao Chen, Siddhartha Srinivasa, Tapomayukh Bhattacharjee, and Dorsa Sadigh.
Under Review 2021.

A Robot Cluster for Reproducible Research in Dexterous Manipulation
Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R Walter, Rishabh Madan, Charles Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K Gordon, Tapomayukh Bhattacharjee, Siddhartha S Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, and Bernhard Schölkopf.
Under Review 2021.

Conference / Journal Papers

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, and Jan Peters
IEEE Robotics and Automation Letters 2021.

An exploration of accessible remote teleoperation for assistive mobile manipulators in the home
Maria E. Cabrera, Tapomayukh Bhattacharjee, Kavi Dey, and Maya Cakmak.
IEEE International Symposium on Robot and Human Interactive Communication 2021.

Cursor-based robot tele-manipulation through 2D-to-SE2 interfaces
Maria E. Cabrera, Kavi Dey, Kavita Krishnaswamy, Tapomayukh Bhattacharjee, and Maya Cakmak.
IEEE/RSJ International Conference on Intelligent Robots and Systems 2021.

Material recognition via heat transfer given ambiguous initial conditions
Tapomayukh Bhattacharjee, Henry M Clever, Joshua Wade, and Charles C Kemp.
IEEE Transactions on Haptics 2021.

Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation
L. Ke, J. Wang, T. Bhattacharjee, B. Boots, and S. S. Srinivasa.
IEEE International Conference on Robotics and Automation. 2021.

Leveraging Post hoc Context for Faster Learning in Bandit Settings with Applications in Robot-assisted Feeding
E.K. Gordon, S. Roychowdhury, T. Bhattacharjee, K. Jamieson, and S. S. Srinivasa.
IEEE International Conference on Robotics and Automation. 2021.

2020

Conference / Journal Papers

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
L. Ke, A. Kamat, J. Wang, T. Bhattacharjee, C. Mavrogiannis, and S. S. Srinivasa.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2020.

Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items
E.K. Gordon, X. Meng, T. Bhattacharjee, M. Barnes, and S. S. Srinivasa.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2020.

Is More Autonomy Always Better? Exploring Preferences of Users with Mobility Impairments in Robot-assisted Feeding
T. Bhattacharjee, E.K. Gordon, R. Scalise, M.E. Cabrera, A. Caspi, M. Cakmak, and S.S. Srinivasa.
ACM/IEEE International Conference on Human-Robot Interaction. 2020.

Other Papers

Grasping with Chopsticks: Fine Grained Manipulation using Inexpensive Hardware by Imitation Learning
L. Ke, J. Wang, T. Bhattacharjee, B. Boots, and S. S. Srinivasa.
Workshop on Hand-Object Interaction - From Human Demonstrations to Robot Manipulation (HOBI 2020), IEEE International Conference on Robot and Human Interactive Communication. 2020.

2019

Conference / Journal Papers

A Community-Centered Design Framework for Robot-Assisted Feeding Systems
T. Bhattacharjee, M. E. Cabrera, A. Caspi, M. Cakmak, and S.S. Srinivasa.
International ACM SIGACCESS Conference on Computers and Accessibility. 2019.

Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate
R. Feng, Y. Kim, G. Lee, E.K. Gordon, M. Schmittle, S. Kumar, T. Bhattacharjee, and S.S. Srinivasa.
International Symposium on Robotics Research. 2019.

Transfer depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding
D. Gallenberger, T. Bhattacharjee, Y. Kim, and S.S. Srinivasa.
ACM/IEEE International Conference on Human-Robot Interaction. 2019.
Best Paper Award Winner for Technical Advances in HRI

Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity
H. Song, T. Bhattacharjee, and S.S. Srinivasa.
IEEE International Conference on Robotics and Automation. 2019.

Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation
T. Bhattacharjee, G. Lee, H. Song, and S.S. Srinivasa.
IEEE Robotics and Automation Letters. 2019.

Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning
R. Rowe, S. Singhal, D. Yi, T. Bhattacharjee, and S. S. Srinivasa.
International Symposium on Robot and Human Interactive Communication. 2019.

Other Papers

A Contextual Bandit Framework for Adaptive Robotic Bite Acquisition
E.K. Gordon, X. Meng, T. Bhattacharjee, M. Barnes, and S. S. Srinivasa.
Humanoids 2019 Workshop on Robotic Food Manipulation. 2019.

Learning from Failures in Robot-Assisted Feeding: Using Online Learning to Develop Manipulation Strategies for Bite Acquisition
E.K. Gordon, X. Meng, M. Barnes, T. Bhattacharjee, and S. S. Srinivasa.
IJCAI 2019 Workshop on AIxFood. 2019.

Bite Acquisition of Soft Food Items via Reconfiguration
G. Lee, T. Bhattacharjee, and S. S. Srinivasa.
RSS 2019 Workshop on Task-Informed Grasping (TIG-II) - From Perception to Physical Interaction. 2019.

2018

Conference / Journal Papers

Multimodal Tactile Perception of Objects in a Real Home
T. Bhattacharjee, H. M. Clever, J. Wade, and C. C. Kemp.
IEEE Robotics and Automation Letters. 2018.

Inferring Object Properties with a Tactile-Sensing Array Given Varying Joint Stiffness and Velocity
T. Bhattacharjee, J. M. Rehg, and C. C. Kemp.
International Journal of Humanoid Robotics. 2018.

Towards Material Classification of Scenes using Active Thermography
H. Bai, T. Bhattacharjee, H. Chen, A. Kapusta, and C. C. Kemp.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2018.

Other Papers

Autonomous robot feeding for upper-extremity mobility impaired people: Integrating sensing, perception, learning, motion planning, and robot control
T. Bhattacharjee, D. Gallenberger, D. Dubois, L. L'Écuyer-Lapiere, Y. Kim, A. Mandalika, R. Scalise, R. Qu, H. Song, E. Gordon, and S.S. Srinivasa.
Conference on Neural Information Processing Systems (NeurIPS). 2018.
Best Demonstration Award Winner

2017

Conference / Journal Papers

A Force and Thermal Sensing Skin for Robots in Human Environments
J. Wade, T. Bhattacharjee, R. D. Williams, and C. C. Kemp.
Robotics and Autonomous Systems. 2017.

Older Adults’ Acceptance of a Robot for Partner Dance-based Exercise
T. L. Chen, T. Bhattacharjee, J. M. Beer, L. H. Ting, M. E. Hackney, W. A. Rogers, and C. C. Kemp.
PLoS ONE. 2017.

Small Forces that differ with Prior Motor Experience can Communicate Movement Goals during Human-Human Physical Interaction
A. Sawers, T. Bhattacharjee, J. L. McKay, M. E. Hackney, C. C. Kemp, and L. H. Ting.
Journal of NeuroEngineering and Rehabilitation. 2017.

Other Papers

Rapid Haptic Perception using Force and Thermal Sensing
T. Bhattacharjee.
Ph.D. Dissertation. 2017.

2016

Conference / Journal Papers

A Passivity Criterion for Real-Time Haptic Simulation of Viscoelastic Soft Tissues
H. I. Son and T. Bhattacharjee.
Part I- Journal of Systems and Control Engineering. 2016.

A CRF that Combines Touch and Vision for Haptic Mapping
A. A. Shenoi, T. Bhattacharjee, and C. C. Kemp.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016.

Data-driven Haptic Perception for Robot-Assisted Dressing
A. Kapusta, W. Yu, T. Bhattacharjee, C. K. Liu, G. Turk, and C. C. Kemp.
IEEE International Symposium on Robot and Human Interactive Communication. 2016.

Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation
D. Park, Z. Erickson, T. Bhattacharjee, and C. C. Kemp.
IEEE International Conference on Robotics and Automation. 2016.

Data-driven Thermal Recognition of Contact with People and Objects
T. Bhattacharjee, J. Wade, Y. Chitalia, and C. C. Kemp.
IEEE Haptics Symposium. 2016.

Other Papers

Force and Thermal Sensing with a Fabric-based Skin
J. Wade, T. Bhattacharjee, and C. C. Kemp.
IROS 2016 Workshop - See, Touch and Hear - Workshop on Multimodal Sensor-based Robot Control for HRI and Soft Manipulation. 2016.

2015

Conference / Journal Papers

Evaluation by Expert Dancers of a Robot that performs Partnered Stepping via Haptic Interaction
T. L. Chen, T. Bhattacharjee, J. L. Mckay, J. E. Borinski, M. E. Hackney, L. H. Ting, and C. C. Kemp.
PLoS ONE. 2015.
Pick of the week in the literature survey of 'latest and greatest articles' published in Biomechanics circles

Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
T. Bhattacharjee, J. Wade, and C. C. Kemp.
Robotics Science and Systems. 2015.

Combining Tactile Sensing and Vision for Rapid Haptic Mapping
T. Bhattacharjee, A. A. Shenoi, D. Park, J. M. Rehg, and C. C. Kemp.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2015.

Antagonistic Muscle Based Robot Control for Physical Interactions
T. Bhattacharjee and G. Niemeyer.
IEEE International Conference on Robotics and Automation. 2015.

Other Papers

A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data
J. Wade, T. Bhattacharjee, and C. C. Kemp.
IROS 2015 Workshop - See and Touch - 1st Workshop on Multimodal Sensor-based Robot Control for HRI and Soft Manipulation. 2015.

Sensing Incidental Contact to inform Manipulation in Clutter
T. Bhattacharjee and C. C. Kemp.
RSS 2015 Workshop - Learning for Visual and Tactile Interaction. 2015.

Haptic Perception during Manipulation Tasks using Whole Arm Tactile Sensing
T. Bhattacharjee and C. C. Kemp.
ICRA 2015 Workshop - "Get in Touch!" Tactile & Force Sensing for Autonomous, Compliant, Intelligent Robots. 2015.

Human Arms Remove Energy during Blindfolded Partnered Stepping Tasks with a Robot Follower
Y. S. Song, T. L. Chen, T. Bhattacharjee, J. L. Mckay, M. E. Hackney, C. C. Kemp, and L. H. Ting.
ICRA 2015 Workshop on Rehabilitation Robotics and Human Robot Interaction. 2015.

Human Arms Remove Energy for Increased Stability during Partnered Stepping Tasks with a Robot Follower
Y. S. Song, T. L. Chen, T. Bhattacharjee, J. L. Mckay, M. E. Hackney, C. C. Kemp, and L. H. Ting.
Society of Neural Control of Movement (NCM) 25th Annual Meeting. 2015.

Human Arms Remove Energy during Partnered Stepping Tasks with a Robot Follower
Y. S. Song, T. L. Chen, T. Bhattacharjee, J. L. Mckay, M. E. Hackney, C. C. Kemp, and L. H. Ting.
3rd ASU Rehabilitation Robotics Workshop. 2015.

2014

Conference / Journal Papers

Analytical and Psychophysical Comparison of Bilateral Teleoperators for Enhanced Perceptual Performance
H. I. Son, J. H. Cho, T. Bhattacharjee, H. R. Jung, and D. Y. Lee.
IEEE Transactions on Industrial Electronics. 2014.

Other Papers

A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
T. Bhattacharjee, P. M. Grice, A. Kapusta, M. D. Killpack, D. Park, and C. C. Kemp.
IROS 2014 Workshop - 3rd Workshop on Robots in Clutter - Perception and Interaction in Clutter. 2014.

2013

Conference / Journal Papers

Gain-Scheduling Control of Teleoperation Systems Interacting with Soft Tissues
J. H. Cho, H. I. Son, D. G. Lee, T. Bhattacharjee, H. R. Jung, and D. Y. Lee.
IEEE Transactions on Industrial Electronics. 2013.

Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm
T. Bhattacharjee, A. Kapusta, J. M. Rehg, and C. C. Kemp.
IEEE International Conference on Humanoid Robotics. 2013.

Tactile Sensing over Articulated Joints with Stretchable Sensors
T. Bhattacharjee, A. Jain, S. Vaish, M. D. Killpack, and C. C. Kemp.
IEEE World Haptics Conference. 2013.

Other Papers

A Simple Model of Dynamic Interaction Forces during Human-Robot Partnered Motion
J. L. McKay, M. Huang, T. L. Chen, T. Bhattacharjee, M. E. Hackney, C. C. Kemp, and L. H. Ting.
Piper Health Solutions Workshop on Rehabilitation Robotics. 2013.

Partnered Human-Robot Stepping Based on Interactive Forces at the Hand
T. L. Chen, J. L. McKay, T. Bhattacharjee, M. E. Hackney, C. C. Kemp, and L. H. Ting.
Piper Health Solutions Workshop on Rehabilitation Robotics. 2013.

Non-linear Task-Space Disturbance Observer for Position Regulationof Redundant Robot Arms against Perturbations in 3D Environments
T. Bhattacharjee, Y. Oh, and S. R. Oh.
Technical Report, arXiv-1311.0388. 2013.

Validation of a Control Algorithm for Human-like Reaching Motion using 7-DOF Arm and 19-DOF Hand-Arm Systems
T. Bhattacharjee, Y. Oh, and S. R. Oh.
Technical Report, arXiv-1311.0959. 2013.

2012

Conference / Journal Papers

Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation
H. I. Son, T. Bhattacharjee, and H. Hashimoto.
IEEE Transactions on Industrial Electronics. 2012.

Haptic Classification and Recognition of Objects using a Tactile Sensing Forearm
T. Bhattacharjee, J. M. Rehg, and C. C. Kemp.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.

Other Papers

Partnered Human-Robot Stepping Based on Interactive Forces at the Hand
T. L. Chen, J. L. McKay, T. Bhattacharjee, M. E. Hackney, C. C. Kemp, and L. H. Ting.
American Society of Biomechanics (ASB) Annual Meeting. 2012.

Partnered Human-Robot Stepping Based on Interactive Forces at the Hand
T. L. Chen, J. L. McKay, T. Bhattacharjee, M. E. Hackney, C. C. Kemp, and L. H. Ting.
Biomedical Engineering Society (BMES) Meeting. 2012.

2011

Conference / Journal Papers

Enhancement in Operator’s Perception of Soft Tissues and its Experimental Validation for Scaled Teleoperation Systems
H. I. Son, T. Bhattacharjee, and H. Hashimoto.
IEEE Transactions on Mechatronics. 2011.

Effect of Scaling on the Performance and Stability of Teleoperation Systems Interacting with Soft Environments
H. I. Son, T. Bhattacharjee, and H. Hashimoto.
Advanced Robotics. 2011.

Control Design for Human-like Reaching Movements using Redundancy in Robot Arm-Trunk Systems
T. Bhattacharjee, Y. Oh, J. H. Bae, and S. R. Oh.
International Journal of Control Automation and Systems. 2011.

2010

Conference / Journal Papers

Estimation of Environmental Force for the Haptic Interface of Robotic Surgery
H. I. Son, T. Bhattacharjee, and D. Y. Lee.
International Journal of Medical Robotics and Computer Assisted Surgery. 2010.

Controlling Redundant Robot Arm-Trunk Systems for Human-like Reaching Motion
T. Bhattacharjee, Y. Oh, J. H. Bae, and S. R. Oh.
IEEE/RSJ International Conference on Intelligent Robots and Systems. 2010.

Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation
H. I. Son, T. Bhattacharjee, H. R. Jung, and D. Y. Lee.
IEEE International Conference on Robotics and Automation. 2010.

Position-Position Control with Gain-Scheduling for Telesurgical Systems
J. H. Cho, H. I. Son, T. Bhattacharjee, D. G. Lee, and D. Y. Lee.
International Conference on Advanced Mechatronics. 2010.

2009

Conference / Journal Papers

Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment
H. I. Son, T. Bhattacharjee, and D. Y. Lee.
International Conference on Advanced Robotics. 2009.

Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation
H. I. Son, T. Bhattacharjee, and D. Y. Lee.
International Joint Conference on Instrumentation, Control and Information Technology. 2009.

Other Papers

Analysis of Stability and Performance of Telesurgical Systems
T. Bhattacharjee.
M.S. Thesis. 2009.

2008

Conference / Journal Papers

Haptic Control with Environment Force Estimation for Telesurgery
T. Bhattacharjee, H. I. Son, and D. Y. Lee.
International Conference of the IEEE Engineering in Medicine and Biology Society. 2008.

2006

Other Papers

An Obstacle Avoiding Robot
T. Bhattacharjee.
B.Tech. (B.S.) Major Thesis. 2006.

A Cricket Playing Robot
T. Bhattacharjee.
B.Tech. (B.S.) Minor Thesis. 2006.