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Refereed Journal Articles and Book Chapters
Julia Borras-Sol and Aaron M. Dollar
Dimensional Synthesis of a Three-fingered Dexterous Hand for Maximal Manipulation Workspace, International Journal of Robotics Research, (in press).

Parallel Mechanisms Dexterous Manipulation 2016
Nicolas Rojas and Aaron M. Dollar
The Coupler Surface of the RSRS Mechanism, ASME Journal of Mechanisms and Robotics, vol. 8(1), 014505, 2016.

Parallel Mechanisms 2015
Thomas Feix, Javier Romero, Heinz-Bodo Schmiedmayer, Aaron M. Dollar, and Danica Kragic
The GRASP Taxonomy of Human Grasp Types, IEEE Transactions on Human-Machine Systems, (in press).

Human Grasping and Manipulation 2015
Nicolas Rojas, Aaron M. Dollar, and Federico Thomas
A Unified Position Analysis of the Dixon and the Generalized Peaucellier Linkages, Mechanism and Machine Theory, vol. 94, pp. 28-40, 2015.

Parallel Mechanisms 2015
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar
Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, IEEE Robotics and Automation Magazine, vol. 22(3), pp. 36-52, 2015.

Dexterous Manipulation Robotic Grasping 2015
Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, and Aaron M. Dollar
Biomechanical Effects of Stiffness in Parallel with the Knee Joint during Walking, IEEE Transactions on Biomedical Engineering, vol. 62(10), pp. 2389–2401, 2015.

Leg Biomechanics Leg Exoskeletons and Orthoses 2015
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Workspace Shape and Characteristics for Human Two- and Three-Fingered Precision Manipulation, IEEE Transactions on Biomedical Engineering, vol. 62(9), pp. 2196-2207, 2015.

Human Grasping and Manipulation Dexterous Manipulation 2015
Lael U. Odhner and Aaron M. Dollar
Stable, Open-Loop Precision Manipulation with Underactuated Hands, International Journal of Robotics Research, vol. 34(11), pp. 1347-1360, 2015.

Dexterous Manipulation Robotic Grasping underactuated Mechanisms 2015
John P. Swensen, L.U. Odhner, Brandon Araki, and Aaron M. Dollar
Printing 3D Electrical Traces in Additive Manufactured Parts via Low Melting Temperature Metals, ASME Journal of Mechanisms and Robotics, vol. 7(2), 021004, 2015.

Fabrication Techniques 2015
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
The Yale Human Grasping Data Set: Grasp, Object, and Task Data in Household and Machine Shop Environments, International Journal of Robotics Research, vol. 34(3), pp. 251–255, 2015.

Human Grasping and Manipulation Robotic Grasping 2015
Raymond R. Ma, Joseph T. Belter, and Aaron M. Dollar
Hybrid Deposition Manufacturing: Design Strategies for Multi-Material Mechanisms via 3D-Printing and Material Deposition, ASME Journal of Mechanisms and Robotics, vol. 7(2), 021002, 2015.

Fabrication Techniques 2015
Hari Vasudevan, Aaron M. Dollar, and John B. Morrell
Design for Control of Wheeled Inverted Pendulum Platforms, ASME Journal of Mechanisms and Robotics, vol. 7(4), 041005, 2015.

Mobile Robots 2015
Thomas Feix, Tracy L. Kivell, Emmanuelle Pouydebat, and Aaron M. Dollar
Estimating Thumb–Index Finger Precision Grip and Manipulation Potential in Extant and Fossil Primates, Journal of the Royal Society Interface, vol. 12, 20150176, 2015.

Human Grasping and Manipulation Biological Hands 2015
Joseph T. Belter and Aaron M. Dollar
Strengthening of 3D Printed Fused Deposition Manufactured Parts using the Fill Composing Technique, PLOS ONE, vol. 10(4): e0122915, 2015.

Fabrication Techniques 2015
Spencer B. Backus, Diego Sustaita, Lael U. Odhner and Aaron M. Dollar
Mechanical Analysis of Avian Feet: Multiarticular Muscles in Grasping and Perching, Royal Society Open Science, vol. 2(2), 140350, 2015.

Biological Hands 2015
Paul E.I. Pounds and Aaron M. Dollar
Stability of Helicopters in Compliant Contact under PD-PID Control IEEE Transactions on Robotics, vol. 30(6), pp. 1472-1486, 2014.

Aerial Manipulation 2014
Joseph T. Belter and Aaron M. Dollar
A Passively Adaptive Rotary-to-Linear Continuously Variable Transmission, IEEE Transactions on Robotics, vol. 30(5), pp. 1148- 1160, 2014.

Underactuated Mechanisms Robust Robotic Mechanisms 2014
Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Analysis of Human Grasping Behavior: Correlating Tasks, Objects and Grasps, IEEE Transactions on Haptics, vol. 7(4), pp. 430-441, 2014.

Human Grasping and Manipulation Robotic Grasping 2014
Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Analysis of Human Grasping Behavior: Object Characteristics and Grasp Type, IEEE Transactions on Haptics, vol. 7(3), pp. 311-323, 2014.

Human Grasping and Manipulation Robotic Grasping 2014
John P. Swensen, Ahsan I. Nawroj, and Aaron M. Dollar
Active Cells for Redundant and Configurable Articulated Structures, Smart Materials and Structures, vol. 23(10), 104003, 2014.

Cellular Robotics and Materials 2014
Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar
Exploring Dexterous Manipulation Workspaces with the iHY Hand, Journal of the Robotics Society of Japan, special issue on Ingenious Mechanisms in Robotics, vol. 32(4) pp. 318-322, 2014.

Dexterous Manipulation Robotic Grasping Underactuated Mechanisms 2014
Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, and Aaron M. Dollar
Design and Evaluation of a Quasi-Passive Knee Exoskeleton for Investigation of Motor Adaptation in Lower Extremity Joints, IEEE Transactions on Biomedical Engineering, vol. 61(6), pp. 1809-1821, 2014.

Leg Biomechanics Leg Exoskeletons and Orthoses 2014
Spencer B. Backus and Aaron M. Dollar
Robust Resonant Frequency-Based Contact Detection with Applications in Robotic Reaching and Grasping, ASME/IEEE Transactions on Mechatronics, vol. 19(5), pp. 1552-1561, 2014.

Sensors Robust Robotic Mechanisms 2014
Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert D. Howe, and Aaron M. Dollar
A Compliant, Underactuated Hand for Robust Manipulation, International Journal of Robotics Research, vol. 33(5), pp. 736-752, 2014.

Dexterous Manipulation Robotic Grasping Underactuated Mechanisms 2014
Julia Borras-Sol and Aaron M. Dollar
Actuation Torque Reduction in Parallel Robots using Joint Compliance, ASME Journal of Mechanisms and Robotics, Vol. 6(2), 021006, 2014.

Parallel Mechanisms Underactuated Mechanisms 2014
Kamran Shamaei, Paul Napolitano, and Aaron M. Dollar
Design and Functional Evaluation of a Quasi-Passive Complaint Stance Control Knee-Ankle-Foot Orthosis, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 22(2), pp. 258-268, 2014.

Leg Biomechanics Leg Exoskeletons and Orthoses 2014
Julia Borras-Sol and Aaron M. Dollar
Analyzing Dexterous Hands using a Parallel Robots Framework, Autonomous Robots, Special Issue on Modern Approaches for Dexterous Manipulation, Vol. 26 (1-2), pp. 169-180, 2014.

Parallel Mechanisms Dexterous Manipulation Underactuated Mechanisms 2014
Leif Jentoft, Aaron M. Dollar, Christopher R. Wagner, and Robert D. Howe
Intrinsic Embedded Sensors for Polymeric Mechatronics: Flexure and Force Sensing, Sensors, Special Issue on Tactile Sensing, vol. 14(3), pp. 3861-3870, 2014.

Sensors 2014
Aaron M. Dollar
Classifying Human Hand Use and the Activities of Daily Living, The Human Hand as an Inspiration for Robot Hand Development, Springer International Publishing, pp. 201-216, 2014.

Human Grasping and Manipulation Dexterous Manipulation 2014
Raymond R. Ma and Aaron M. Dollar
Linkage-Based Analysis and Optimization of an Underactuated Planar Manipulator for In-Hand Manipulation, ASME Journal of Mechanisms and Robotics, Vol. 6(1), 011002, 2014.

Dexterous Manipulation Robotic Grasping Underactuated Mechanisms 2014
Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Electrically Conductive Bulk Composites through a Contact-Connected Aggregate, PLOS ONE, vol. 8(12), e82260, 2013.

Cellular Robotics and Materials 2013
Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar
Estimation of Quasi-Stiffness of the Human Hip in the Stance Phase of Walking, PLOS ONE 8(12): e81841, 2013.

Leg Biomechanics 2013
Ian M. Bullock, Joshua Z. Zheng, Sara De La Rosa, Charlotte Guertler, and Aaron M. Dollar
Grasp Frequency and Usage in Daily Household and Machine Shop Tasks, IEEE Transactions on Haptics, vol. 6(3), pp. 296-308, 2013.

Human Grasping and Manipulation Robotic Grasping 2013
Oren Y. Kanner and Aaron M. Dollar
Kinematic Design of an Underactuated Robot Leg for Passive Terrain Adaptability and Stability, ASME Journal of Mechanisms and Robotics, vol. 5, Aug. 2013, 031006-1, 2013.

Legged Robots 2013
Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar
Open-Loop Precision Grasping with Underactuated Hands Inspired by a Human Manipulation Strategy, IEEE Transactions on Automation Science and Engineering, vol. 10(3), pp. 625-633, 2013.

Human Grasping and Manipulation Dexterous Manipulation 2013
Ian M. Bullock, Raymond R. Ma, and Aaron M. Dollar
A Hand-Centric Classification of Human and Robot Dexterous Manipulation, IEEE Transactions on Haptics, vol. 6(2), pp. 129-144, 2013.

Human Grasping and Manipulation Dexterous Manipulation 2013
Joseph T. Belter, J. Segil, Aaron M. Dollar, and R.F. Weir
The Mechanical Design and Performance Specifications of Anthropomorphic Prosthetic Hands: A Review, Journal of Rehabilitation Research and Development, vol. 50(5), pp.599-618, 2013.

Prosthetics 2013
Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar
Estimation of Quasi-Stiffness and Propulsive Work of the Human Ankle in the Stance Phase of Walking, PLOS ONE 8(3): e59935, 2013.

Leg Biomechanics 2013
Kamran Shamaei, Gregory S. Sawicki, and Aaron M. Dollar
Estimation of Quasi-Stiffness of the Human Knee in the Stance Phase of Walking, PLOS ONE 8(3): e59993, 2013.

Leg Biomechanics 2013
John P. Swensen and Aaron M. Dollar
The Connectedness of Packed Circles and Spheres with Application to Conductive Cellular Materials, PLOS ONE, vol. 7(12), e51695, 2012.

Cellular Robotics and Materials 2012
Lael U. Odhner and Aaron M. Dollar
The Smooth Curvature Model: An Efficient Representation of Euler-Bernoulli Flexures as Robot Joints, IEEE Transactions on Robotics, vol. 28(4), pp. 761-772, 2012.

Modeling of Flexural Joints 2012
Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar
Disturbance Response of Two-link Underactuated Serial-link Chains, ASME Journal of Mechanisms and Robotics, vol.4(2), 2012.

Underactuated Mechanisms 2012
Paul E.I. Pounds, Daniel R. Bersak, and Aaron M. Dollar
Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control, Autonomous Robots, 2012.

Aerial Manipulation 2012
Aaron M. Dollar and Robert D. Howe
Joint Coupling Design of Underactuated Hands for Unstructured Environments, International Journal of Robotics Research, vol. 30, pp. 1157-1169, 2011.

Robotic Grasping 2011
Aaron M. Dollar and Robert D. Howe
The Highly Adaptive SDM Hand: Design and Performance Evaluation, International Journal of Robotics Research, vol. 29(5), pp. 585–597,2010.

Robotic Grasping 2010
Aaron M. Dollar, Leif Jentoft, Jason H. Gao, and Robert D. Howe
Contact Sensing and Grasping Performance of Compliant Hands, Autonomous Robots, vol. 28(1), pp. 65-75, 2010.

Robotic Grasping Sensors 2010
Aaron M. Dollar and Hugh Herr
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State of the Art, IEEE Transactions on Robotics, vol. 24(1), February 2008.

Leg Exoskeletons and Orthoses 2008
Aaron M. Dollar and Robert D. Howe
A Robust Compliant Grasper via Shape Deposition Manufacturing, IEEE/ASME Transactions on Mechatronics, vol. 11(2), pp.154-161, 2006.

Robotic Grasping 2006
Aaron M. Dollar and Robert D. Howe
Towards Grasping in Unstructured Environments: Grasper Compliance and Configuration Optimization, Advanced Robotics, vol. 19(5), pp. 523-543, 2005. Robotic Grasping 2005
Refereed Conference Papers
Minas V. Liarokapis, Berk Calli, Adam J. Spiers, and Aaron M. Dollar
Unplanned, Model-Free, Single Grasp Object Classification with Underactuated Hands and Force Sensors, proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015*.

Robotic Grasping Sensors Underactuated Mechanisms 2015
Ahsan I. Nawroj, John P. Swensen, and Aaron M. Dollar
Design of Mesoscale Active Cells for Networked, Compliant Robotic Structures, proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015*.

Cellular Robotics and Materials 2015
Thomas Feix, Ian M. Bullock, and Aaron M. Dollar
Rotational Ranges of Human Precision Manipulation When Grasping Objects With Two to Five Digits, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015*.

Human Grasping and Manipulation Dexterous Manipulation 2015
Michael T. Leddy, Joseph T. Belter, Kevin D. Gemmell, and Aaron M. Dollar
Lightweight Custom Composite Prosthetic Components Using an Additive Manufacturing-based Molding Technique, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015*.

Prosthetics Fabrication Techniques 2015
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Human Precision Manipulation Workspace: Effects of Object Size and Number of Fingers Used, proceedings of the 2015 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, 2015*.

Human Grasping and Manipulation Dexterous Manipulation 2015
Neil Bajaj, Adam Spiers, and Aaron M. Dollar
State of the Art in Prosthetic Wrists: Commercial and Research Devices, proceedings of the 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015*.

Prosthetics 2015
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015*.

Dexterous Manipulation Robotic Grasping 2015
Minas Liarokapis, Aaron M. Dollar, and Kostas Kyriokpoulos
Humanlike, Task-Specific Reaching and Grasping with Redundant Arms and Low-Complexity Hands, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015*.

Robotic Grasping 2015
Adam Spiers, Janet van der Linden, Maria Oshodi, and Aaron M. Dollar
First Validation of the Haptic Sandwich: A Shape Changing Handheld Haptic Navigation Aid, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015*.

2015
Oren Y. Kanner, Nicolas Rojas, and Aaron M. Dollar
Design of a Passively-adaptive Three Degree-of-Freedom Multi-legged Robot with Underactuated Legs, proceedings of the 2015 ASME International Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2015.

Underactuated Mechanisms Legged Robots 2015
Raymond R. Ma, Nicolas Rojas, and Aaron M. Dollar
Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers, proceedings of the 2015 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2015*.

Robotic Grasping Dexterous Manipulation 2015
Raymond R. Ma, Adam Spiers, and Aaron M. Dollar
M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper, proceedings of the 2015 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2015*.

Robotic Grasping Dexterous Manipulation 2015
John P. Swensen, L.U. Odhner, Brandon Araki, and Aaron M. Dollar
Injected 3D Electrical Traces in Additive Manufactured Parts with Low Melting Temperature Metals, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

Fabrication Techniques 2015
Ian M. Bullock, Charlotte Guertler, and Aaron M. Dollar,
Patterned Compliance in Robotic Finger Pads for Versatile Surface Usage in Dexterous Manipulation, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

Dexterous Manipulation 2015
Kamran Shamaei, Massimo Cenciarini, Albert Adams, Karen Gregorczyk, Jeffrey Schiffman, and Aaron M. Dollar,
Effects of Exoskeletal Stiffness in Parallel with the Knee on the Motion of the Human Body Center of Mass during Walking, proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.

Leg Exoskeletons and Orthoses Leg Biomechanics 2015
Hari Vasudevan, Aaron M.Dollar, and John B. Morrell
Design of Cluster Geometries for Clusterwheel IP Robots: Obstacle size and Controllability, proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014.

2014
Raymond R. Ma and Aaron M. Dollar
An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation, proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014.

Robotic Grasping Dexterous Manipulation 2014
Nicolas Rojas and Aaron M. Dollar
Characterization of the Precision Manipulation Capabilities of Robot Hands via the Continuous Group of Displacements, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Parallel Mechanisms Dexterous Manipulation 2014
Spencer B. Backus, Lael U. Odhner, and Aaron M. Dollar
Design of Hands for Aerial Manipulation: Actuator Number and Routing for Grasping and Perching, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Aerial Manipulation Robotic Grasping 2014
Joseph T. Belter and Aaron M. Dollar
Strengthening of 3D Printed Robotic Parts via Fill Compositing, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Fabrication Techniques Robust Robotic Mechanisms 2014
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Analyzing Human Fingertip Usage in Dexterous Precision Manipulation: Implications for Robotic Finger Design, proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Human Manipulation Dexterous Manipulation 2014
Joseph T. Belter, Bo C. Reynolds, and Aaron M. Dollar
Grasp and Force Based Taxonomy of Split-Hook Prosthetic Terminal Devices proceedings of the 2014 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, IL, 2014.

Prosthetics 2014
Kamran Shamaei, Albert A. Adams, Massimo Cenciarini, Karen N. Gregorczyk, and Aaron M. Dollar
Preliminary Investigation of Effects of a Quasi-Passive Knee Exoskeleton on Gait Energetics , proceedings of the 2014 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, IL, 2014.

Leg Exoskeletons and Orthoses Leg Biomechanics 2014
John P. Swensen and Aaron M. Dollar
Optimization of Parallel Spring Antagonists for Nitinol Shape Memory Alloy Actuators, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

Cellular Robotics and Materials 2014
John P. Swensen, Ahsan I. Nawroj, and Aaron M. Dollar
Simple, Scalable Active Cells for Articulated Robot Structures, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

Cellular Robotics and Materials 2014
Oren Y. Kanner, Lael U. Odhner, and Aaron M. Dollar
The Design of Exactly Constrained Walking Robots, proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, May 31-June 7, 2014.

Underactuated Mechanisms Legged Robots 2014
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Dexterous Workspace of Human Two- and Three-Fingered Precision Manipulation, proceedings of the 2014 IEEE Haptics Symposium, Houston, Texas, February 23-26, 2014.

Human Grasping and Manipulation 2014
Hari Vasudevan, Aaron M.Dollar, John B.Morrell
Energy-based limit cycle compensation for dynamically balancing wheeled inverted pendulum machines, Proceedings of ASME 6th Annual Dynamic Systems and Control Conference (DSCC-2013), Stanford, CA, USA, 2013.

2013
Joseph T. Belter and Aaron M. Dollar
Novel Differential Mechanism Enabling Two DOF from a Single Actuator: Application to a Prosthetic Hand, proceedings of the 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, Washington USA, 2013.

Prosthetics 2013
Kamran Shamaei, Pablo Napolitano, and Aaron M. Dollar
A Quasi-Passive Compliant Stance Control Knee-Ankle-Foot Orthosis, proceedings of the 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, Washington USA, 2013.

Leg Biomechanics 2013
Julia Borras-Sol and Aaron M. Dollar
Framework Comparison Between a Multifingered Hand and a Parallel Manipulator, proceedings of the 2013 International Workshop on Computational Kinematics, Barcelona, Spain, May 12-15, 2013.

Parallel Mechanisms Dexterous Manipulation 2013
Ian M. Bullock, Thomas Feix, and Aaron M. Dollar
Finding Small, Versatile Sets of Human Grasps to Span Common Objects, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

Human Grasping and Manipulation 2013
Raymond R. Ma, Lael U. Odhner, and Aaron M. Dollar
A Modular, Open-Source 3D Printed Underactuated Hand, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

Robotic Grasping Education 2013
Zhong Li, Devin Balkcom, and Aaron M. Dollar
Rigid 2D Space-Filling Folds of Unbroken Linear Chains, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

Cellular Robotics and Materials 2013
Julia Borras-Sol and Aaron M. Dollar
A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation, proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

Parallel Mechanisms Dexterous Manipulation 2013
Lael U. Odhner, Chad Walker, and Aaron M. Dollar
Simplifying Robot Hands using Recursively Scaled Power Grasps, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

Robotic Grasping 2012
Julia Borras-Sol and Aaron M. Dollar
Static Analysis of Parallel Robots with Compliant Joints for In-Hand Manipulation, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

Parallel Mechanisms Dexterous Manipulation 2012
Stefan A.J. Spanjer, Ravi Balasubramanian, Just Herder, and Aaron M. Dollar
Improved Grasp Robustness through Variable Transmission Ratios in Underactuated Fingers, proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

Underactuated Mechanisms Robotic Grasping 2012
Ian M. Bullock, Julia Borras-Sol, and Aaron M. Dollar
Assessing Assumptions in Kinematic Hand Models: A Review, proceedings of the 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012.

Human Grasping and Manipulation 2012
Oren Y. Kanner and Aaron M. Dollar
Optimization of Coupling Ratio and Kinematics of an Underactuated Robot Leg for Passive Terrain Adaptability, proceedings of the 2012 ASME International Design Engineering Technical Conferences (IDETC), Mechanisms and Robotics Conference, 2012.

Underactuated Mechanisms Legged Robots 2012
Stefan A.J. Spanjer, Ravi Balasubramanian, Aaron M. Dollar, and Just Herder
Underactuated Gripper that is able to Convert from Precision to Power Grasp by a Variable Transmission Ratio, proceedings of the 2012 IEEE International Conference on Reconfigurable Mechanisms and Robotics (ReMAR), 2012.

Underactuated Mechanisms Robotic Grasping 2012
Spencer B. Backus and Aaron M. Dollar
Robust, Inexpensive Resonant Frequency Based Contact Detection for Robotic Manipulators, proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012.

Sensors 2012
Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar
Precision Grasping and Manipulation of Small Objects from Flat Surfaces Using Underactuated Fingers, proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012.

Dexterous Manipulation 2012
Ravi Balasubramanian and Aaron M. Dollar
Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011.

Underactuated Mechanisms 2011
Lael U. Odhner and Aaron M. Dollar
Toward Simpler Models of Bending Sheet Joints, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011.

Modeling of Flexural Joints 2011
Paul E.I. Pounds and Aaron M. Dollar
UAV Rotorcraft in Compliant Contact: Stability Analysis and Simulation, proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, Sept. 25-30, 2011.

Aerial Manipulation 2011
Kamran Shamaei, Massimo Cenciarini, and Aaron M. Dollar
On the Mechanics of the Ankle in the Stance Phase of the Gait, proceedings of the 2011 International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug. 30-Sept. 3, 2011.

Leg Biomechanics 2011
Joseph T. Belter and Aaron M. Dollar
Performance Characteristics of Anthropomorphic Prosthetic Hands, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011.

Prosthetics 2011
Ian M. Bullock and Aaron M. Dollar
Classifying Human Manipulation Behavior, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011.

Human Grasping and Manipulation 2011
Massimo Cenciarini and Aaron M. Dollar
Biomechanical Considerations in the Design of Lower Limb Exoskeletons, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011.

Leg Biomechanics 2011
Kamran Shamaei and Aaron M. Dollar
On the Mechanics of the Knee during the Stance Phase of the Gait, proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June 29-July 1, 2011.

Leg Exoskeletons and Orthoses 2011
Raymond R. Ma and Aaron M. Dollar
On Dexterity and Dexterous Manipulation, proceedings of the 2011 IEEE International Conference on Advanced Robotics (ICAR), Tallinn, Estonia, June 20-23, 2011.

Dexterous Manipulation Human Grasping and Manipulation 2011
Ravi Balasubramanian and Aaron M. Dollar
A Comparison of Workspace and Force Capabilities between Classes of Underactuated Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Underactuated Mechanisms 2011
Ravi Balasubramanian and Aaron M. Dollar
Variation in Compliance In Two Classes of Two-Link Underactuated Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Underactuated Mechanisms 2011
Joseph T. Belter and Aaron M. Dollar
Underactuated Grasp Acquisition and Stability using Friction Based Coupling Mechanisms, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Robotic Grasping 2011
Lael U. Odhner and Aaron M. Dollar
Dexterous Manipulation with Underactuated Elastic Hands, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Dexterous Manipulation 2011
Paul E.I. Pounds, Daniel R. Bersak, and Aaron M. Dollar
Grasping From the Air: Hovering Capture and Load Stability, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Aerial Manipulation 2011
Joshua Z. Zheng, Sara De La Rosa, and Aaron M. Dollar
An Investigation of Grasp Type and Frequency in Daily Household and Machine Shop Tasks, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Human Grasping and Manipulation 2011
Kayla Matheus and Aaron M. Dollar
Benchmarking Grasping and Manipulation: Properties of the Objects of Daily Living, proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010).

Human Grasping and Manipulation 2010
Paul E.I. Pounds and Aaron M. Dollar
Hovering Stability of Helicopters with Elastic Constraints, proceedings of the 2010 ASME Dynamics Systems and Control Conference (DSCC 2010).

Aerial Manipulation 2010
Lael U. Odhner and Aaron M. Dollar
Fast, Accurate Models for Predicting the Compliance of Elastic Flexure-Jointed Robots, proceedings of the 2010 ASME International Design Engineering Technical Conferences, Mechanisms and Robotics Conference (IDETC 2010).

Modeling of Flexural Joints 2010
Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar
External Disturbances and Coupling Mechanisms in Underactuated Hands, proceedings of the 2010 ASME International Design Engineering Technical Conferences, Mechanisms and Robotics Conference (IDETC 2010).

Robotic Grasping 2010
Lael U. Odhner and Aaron M. Dollar
The Smooth Curvature Flexure Model: An Accurate, Low-Dimensional Approach for Robot Analysis, proceedings of the 2010 Robotics: Science and Systems Conference (RSS 2010).

Modeling of Flexural Joints 2010
Aaron M. Dollar and Hugh Herr
Design of a Quasi-Passive Knee Exoskeleton to Assist Running, proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008).

Leg Exoskeletons and Orthoses 2008
Peter Deckers, Aaron M. Dollar, and Robert D. Howe
Guiding Grasping with Proprioception and Markov Models, proceedings of the Workshop on Robot Manipulation: Sensing and Adapting to the Real World, Robotics: Science and Systems Conference (RSS), Atlanta, GA, June 30, 2007.

Robotic Grasping 2007
Aaron M. Dollar and Hugh Herr
Active Orthoses for the Lower Limbs: Challenges and State of the Art, proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007.

Leg Exoskeletons and Orthoses 2007
Aaron M. Dollar and Robert D. Howe
The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study, Winner of the Best Student Paper Award, proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 12-15, 2007.

Prosthetics 2007
Aaron M. Dollar and Robert D. Howe
Simple, Robust Autonomous Grasping in Unstructured Environments, proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April 10-14, 2007.

Robotic Grasping 2007
Aaron M. Dollar and Robert D. Howe
Joint Coupling Design of Underactuated Grippers, proceedings of the ASME 30th Annual Mechanisms and Robotics Conference, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006.

Robotic Grasping 2006
Aaron M. Dollar and Robert D. Howe
Designing Robust Robotic Graspers for Unstructured Environments, proceedings of the Workshop on Manipulation for Human Environments, 2006 Robotics: Science and Systems Conference (RSS), Philadelphia, PA, Aug. 19, 2006.

Robotic Grasping 2006
Aaron M. Dollar, Christopher R. Wagner, and Robert D. Howe
Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing, proceedings of the first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), selected for a single-track podium presentation, Pisa, Italy, Feb. 20-22, 2006.

Sensors 2006
Aaron M. Dollar, Amy E. Kerdok, Solomon Gilbert Diamond, Paul M. Novotny, and Robert D. Howe
Starting on the Right Track: Introducing Students to Mechanical Engineering with a Project-Based Machine Design Course, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Mechanical Engineering Education Symposium, 2005.

Education 2005
Aaron M. Dollar and Robert D. Howe
Design and Evaluation of a Robust Compliant Grasper using Shape Deposition Manufacturing, Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), Robotics panel of the Dynamic Systems and Control Division, 2005.

Robotic Grasping 2005
Aaron M. Dollar and R.D. Howe
Towards Grasping in Unstructured Environments: Optimization of Grasper Compliance and Configuration, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, NV, October 27-31, 2003. Robotic Grasping 2003
Other Publications
Kamran Shamaei
Compliant Knee Exoskeletons and Their Effects on Gait Biomechanics Ph.D. Dissertation, Yale University, December, 2014

Leg Exoskeletons and Orthoses Leg Biomechanics 2014
Robert D. Howe, Aaron M. Dollar, and Mark Claffee
Robots get a Grip, IEEE Spectrum, pp. 42-47, Dec. 2014.

Robotic Grasping Dexterous Manipulation 2014
Aaron M. Dollar, Daniela Rus, Paolo Fiorini
RoboticsCourseWare.org: An Open Repository for Robotics Pedagogical Materials, IEEE Robotics and Automation Magazine, pp. 14-15, June 2008.

Education 2008
Aaron M. Dollar
Design Principles for Robust Grasping in Unstructured Environments, Ph.D. Dissertation, Harvard University, Division of Engineering and Applied Sciences, October, 2006.

Robotic Grasping 2006
Aaron M. Dollar
A Robust Robotic Hand for Unstructured Environments, First Place, 2006 ASME Student Mechanism Design Competition, Graduate Division, 2006 International Design Engineering Technical Conferences (IDETC), Philadelphia, PA, Sept. 10-13, 2006.

Robotic Grasping 2006
Aaron M. Dollar and Daniela Rus
Teaching Robotics Everywhere: Spotlight on the Robotics Curriculum Clearinghouse, IEEE Robotics and Automation Magazine, Education Editorial Column, vol. 13(2), pp. 7-8, 2006.

Education 2006
Aaron M. Dollar
Arthropod Grasping and Manipulation: A Literature Review, Harvard BioRobotics Laboratory Technical Report, April 5, 2001. 2001
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