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Hannah Stuart

Hannah Stuart

Assistant Professor of Mechanical Engineering
Don M. Cunningham Endowed Professorship in Mechanical Engineering

5138 Etcheverry Hall
University of California, Berkeley
Berkeley, CA 94720-1740
hstuart@berkeley.edu
(510) 643-9786

For more information see: Embodied Dexterity Group (EDG)
Current Classes Taught

Hannah Stuart received her BS in Mechanical Engineering from the George Washington University in 2011. She then completed her MS and PhD in Mechanical Engineering at Stanford University in 2013 and 2018 respectively.


Research Description:

Professor Stuart’s research interests include: Dexterous manipulation; Bioinspired design; Soft and multi-material mechanisms; Skin contact conditions; Tactile sensing and haptics.

 

Mobile robots face a rapidly expanding range of potential applications, including remote exploration, search-and-rescue and household assistance. In many of these cases, the focus of interaction is via the robot’s end-effectors. However, current manipulators have limited capabilities in comparison to their biological counterparts. Our group is interested in improving robot dexterity through building end-effectors with embodied intelligence and robustness, especially for challenging submerged or wet environments. This includes the design of (1) novel grippers and hands, (2) touch perception for autonomous or teleoperated interventions and (3) bioinspired manipulation strategies. This vision includes the advancement of relevant design analysis tools and the validation of concepts by applying technologies in the field.

 

Key Publications:

Treers, L. K., Cao, C., & Stuart, H. S. (2021). Granular resistive force theory implementation for three-dimensional trajectories. IEEE Robotics and Automation Letters, 6(2), 1887-1894. https://ieeexplore.ieee.org/document/9345981
Open source files available: https://github.com/embodied-dexterity-group/granular_rft_3D

 

 
Li, M. S., Melville, D., Chung, E., & Stuart, H. S. (2020). Milliscale features increase friction of soft skin in lubricated contact. IEEE Robotics and Automation Letters, 5(3), 4781-4787. https://ieeexplore.ieee.org/document/9121672
 
 
Negrello, F., Stuart, H. S., & Catalano, M. G. (2020). Hands in the real world. Frontiers in Robotics and AI, 6, 147. https://www.frontiersin.org/articles/10.3389/frobt.2019.00147/full

 

Stuart, H. S., Wang, S., & Cutkosky, M. R. (2018). Tunable contact conditions and grasp hydrodynamics using gentle fingertip suction. IEEE Transactions on Robotics, 35(2), 295-306. https://ieeexplore.ieee.org/document/8554161

 

Stuart, H., Wang, S., Khatib, O., Cutkosky, M.R. (2017). “The Ocean One hands: An adaptive design for robust marine manipulation.” The International Journal of Robotics Research, 36(2):150-166. https://journals.sagepub.com/doi/full/10.1177/0278364917694723

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