Research
Assistive Robotics, Assistive Robots
Healthcare Robotics
Human Robot Interaction, Human Robot Interactions
Robotic Manipulation, Robot Manipulation, Robot Manipulators, Robotic Manipulators
Human Robot Collaboration
Tactile Sensing
Accessibility, Accessible
Artificial Intelligence
Haptics
Human Interactions, Human Interaction
Machine Learning
Multimodal Sensing
Heat Transfer
Different Levels, Different Level
Physiological Sensors
Robotics Competition
Human Action, Human Actions
Human Intent, Human Intentions
Human Users
Imitation Learning
Object Properties
High Level Coordination
Mobility Impairments
Manipulation Strategies
Anomaly Detection
Food Items
Human Environment, Human Environments
Older Adults, Older Adult
Soft Tissue, Soft Tissues
Robotic Arms, Robot Arm
Model Predictive Control
Robotic Systems, Robotic System, Robot System
Control Design, Controller Design
Handheld Device
Physical Interactions, Physical Interaction
Robot Control
Short Duration Contact
Control Algorithms, Control Algorithm
Control Scheme
Experimental Validation
Neural Networks, Neural Network
Obstacle Avoidance
Robotic Surgery
List of Publications (87)
In 2024
87
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding. N Ha, R Ye, Z Liu, S Sinha, T Bhattacharjee arXiv preprint arXiv:2410.10017, 2024.
Found on Publication Page
86
Inferring Human Intent and Predicting Human Action in Human-Robot Collaboration. G Hoffman, T Bhattacharjee, S Nikolaidis Annual Review of Control, Robotics, and Autonomous Systems 7, 2024.
Found on Publication Page
85
RABBIT: A robot-assisted bed bathing system with multimodal perception and integrated compliance. R Madan, S Valdez, D Kim, S Fang, L Zhong, DT Virtue, T Bhattacharjee Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot ..., 2024.
Found on Publication Page
84
Assistive Applications, Accessibility, and Disability Ethics in HRI. KH Allen, RM Aronson, T Bhattacharjee, F Broz, ML Chang, M Collier, ... Companion of the 2024 ACM/IEEE International Conference on Human-Robot ..., 2024.
Found on Publication Page
83
An adaptable, safe, and portable robot-assisted feeding system. EK Gordon, RK Jenamani, A Nanavati, Z Liu, D Stabile, X Dai, ... Companion of the 2024 ACM/IEEE International Conference on Human-Robot ..., 2024.
Found on Publication Page
82
Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control. RK Jenamani, D Stabile, Z Liu, A Anwar, K Dimitropoulou, ... Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot ..., 2024.
Found on Publication Page
81
FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes. RK Jenamani, P Sundaresan, M Sakr, T Bhattacharjee, D Sadigh arXiv preprint arXiv:2407.07561, 2024.
Found on Publication Page
80
An Adaptable, Safe, and Portable Robot-Assisted Feeding System. E Kroll Gordon, RK Jenamani, A Nanavati, Z Liu, H Bolotski, R Karim, ... arXiv e-prints, arXiv: 2403.04134, 2024.
Found on Publication Page
79
MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loop. R Ye, Y Hu, YA Bian, L Kulm, T Bhattacharjee 2024 IEEE International Conference on Robotics and Automation (ICRA), 9540-9547, 2024.
Found on Publication Page
78
CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction. B Xu, L Zhong, G Zhang, X Liang, D Virtue, R Madan, T Bhattacharjee arXiv preprint arXiv:2405.03155, 2024.
Found on Publication Page
77
To Ask or Not To Ask: Human-in-the-loop Contextual Bandits with Applications in Robot-Assisted Feeding. R Banerjee, RK Jenamani, S Vasudev, A Nanavati, S Dean, ... arXiv preprint arXiv:2405.06908, 2024.
Found on Publication Page
In 2023
76
To Ask or Not To Ask: Robot-assisted Bite Acquisition with Human-in-the-loop Contextual Bandits. R Banerjee, S Dean, T Bhattacharjee First Workshop on Out-of-Distribution Generalization in Robotics at CoRL 2023, 2023.
Found on Publication Page
In 2022
75
Rcare world: A human-centric simulation world for caregiving robots. R Ye, W Xu, H Fu, RK Jenamani, V Nguyen, C Lu, K Dimitropoulou, ... 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2022.
Found on Publication Page
74
Human-robot commensality: Bite timing prediction for robot-assisted feeding in groups. J Ondras, A Anwar, T Wu, F Bu, M Jung, JJ Ortiz, T Bhattacharjee 6th Annual Conference on Robot Learning, 2022.
Found on Publication Page
73
Robotic dough shaping. J Ondras, D Ni, X Deng, Z Gu, H Zheng, T Bhattacharjee 2022 22nd International Conference on Control, Automation and Systems (ICCAS ..., 2022.
Found on Publication Page
72
Analyzing material recognition performance of thermal tactile sensing using a large materials database and a real robot. H Bai, H Chen, E Healy, CC Kemp, T Bhattacharjee 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2255 ..., 2022.
Found on Publication Page
71
Real robot challenge: A robotics competition in the cloud. S Bauer, M Wu thrich, F Widmaier, A Buchholz, S Stark, A Goyal, ... NeurIPS 2021 Competitions and Demonstrations Track, 190-204, 2022.
Found on Publication Page
70
Balancing efficiency and comfort in robot-assisted bite transfer. S Belkhale, EK Gordon, Y Chen, S Srinivasa, T Bhattacharjee, D Sadigh 2022 International Conference on Robotics and Automation (ICRA), 4757-4763, 2022.
Found on Publication Page
69
Sparcs: Structuring physically assistive robotics for caregiving with stakeholders-in-the-loop. R Madan, RK Jenamani, VT Nguyen, A Moustafa, X Hu, K Dimitropoulou, ... 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2022.
Found on Publication Page
68
Learning from Demonstration using a Curvature Regularized Variational Auto-Encoder (CurvVAE). T Rhodes, T Bhattacharjee, DD Lee 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2022.
Found on Publication Page
67
Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. T Xu, T Zhao, JG Cruz-Garza, T Bhattacharjee, S Kalantari International Conference on Social Robotics, 314-327, 2022.
Found on Publication Page
66
Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation. R Madan, H Sikchi, EK Gordon, T Bhattacharjee arXiv preprint arXiv:2203.08371, 2022.
Found on Publication Page
In 2021
65
Material recognition via heat transfer given ambiguous initial conditions. T Bhattacharjee, HM Clever, J Wade, CC Kemp IEEE Transactions on Haptics 14 (4), 885-896, 2021.
Found on Publication Page
64
An exploration of accessible remote tele-operation for assistive mobile manipulators in the home. ME Cabrera, T Bhattacharjee, K Dey, M Cakmak 2021 30th IEEE International Conference on Robot & Human Interactive ..., 2021.
Found on Publication Page
63
Cursor-based Robot Tele-manipulation through 2D-to-SE2 Interfaces. ME Cabrera, K Dey, K Krishnaswamy, T Bhattacharjee, M Cakmak 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2021.
Found on Publication Page
62
Leveraging post hoc context for faster learning in bandit settings with applications in robot-assisted feeding. EK Gordon, S Roychowdhury, T Bhattacharjee, K Jamieson, SS Srinivasa 2021 IEEE International Conference on Robotics and Automation (ICRA), 10528 ..., 2021.
Found on Publication Page
61
Benchmarking structured policies and policy optimization for real-world dexterous object manipulation. N Funk, C Schaff, R Madan, T Yoneda, JU De Jesus, J Watson, ... IEEE Robotics and Automation Letters 7 (1), 478-485, 2021.
Found on Publication Page
60
Grasping with chopsticks: Combating covariate shift in model-free imitation learning for fine manipulation. L Ke, J Wang, T Bhattacharjee, B Boots, S Srinivasa 2021 IEEE International Conference on Robotics and Automation (ICRA), 6185-6191, 2021.
Found on Publication Page
In 2020
59
Is more autonomy always better? exploring preferences of users with mobility impairments in robot-assisted feeding. T Bhattacharjee, EK Gordon, R Scalise, ME Cabrera, A Caspi, M Cakmak, ... Proceedings of the 2020 ACM/IEEE international conference on human-robot ..., 2020.
Found on Publication Page
58
Real robot challenge phase 2: Manipulating objects using high-level coordination of motion primitives. R Madan, EK Gordon, T Bhattacharjee, SS Srinivasa Submitted to Real Robot Challenge 2020, 2020.
Found on Publication Page
57
Adaptive robot-assisted feeding: An online learning framework for acquiring previously unseen food items. EK Gordon, X Meng, T Bhattacharjee, M Barnes, SS Srinivasa 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2020.
Found on Publication Page
56
Telemanipulation with chopsticks: Analyzing human factors in user demonstrations. L Ke, A Kamat, J Wang, T Bhattacharjee, C Mavrogiannis, SS Srinivasa 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2020.
Found on Publication Page
In 2019
55
A community-centered design framework for robot-assisted feeding systems. T Bhattacharjee, ME Cabrera, A Caspi, M Cakmak, SS Srinivasa Proceedings of the 21st International ACM SIGACCESS Conference on Computers ..., 2019.
Found on Publication Page
54
Desk organization: Effect of multimodal inputs on spatial relational learning. R Rowe, S Singhal, D Yi, T Bhattacharjee, SS Srinivasa 2019 28th IEEE International Conference on Robot and Human Interactive ..., 2019.
Found on Publication Page
53
Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition. EK Gordon, X Meng, M Barnes, T Bhattacharjee, SS Srinivasa arXiv preprint arXiv: 1908.07088, 2019.
Found on Publication Page
52
Sensing shear forces during food manipulation: Resolving the trade-off between range and sensitivity. H Song, T Bhattacharjee, SS Srinivasa 2019 International Conference on Robotics and Automation (ICRA), 8367-8373, 2019.
Found on Publication Page
51
Transfer depends on acquisition: Analyzing manipulation strategies for robotic feeding. D Gallenberger, T Bhattacharjee, Y Kim, SS Srinivasa 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI ..., 2019.
Found on Publication Page
50
Towards robotic feeding: Role of haptics in fork-based food manipulation. T Bhattacharjee, G Lee, H Song, SS Srinivasa IEEE Robotics and Automation Letters 4 (2), 1485-1492, 2019.
Found on Publication Page
49
Robot-assisted feeding: Generalizing skewering strategies across food items on a plate. R Feng, Y Kim, G Lee, EK Gordon, M Schmittle, S Kumar, T Bhattacharjee, ... The International Symposium of Robotics Research, 427-442, 2019.
Found on Publication Page
In 2018
48
A dataset of food manipulation strategies. T Bhattacharjee, H Song, G Lee, SS Srinivasa Harvard Dataverse, 2018.
Found on Publication Page
47
Towards material classification of scenes using active thermography. H Bai, T Bhattacharjee, H Chen, A Kapusta, CC Kemp 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2018.
Found on Publication Page
46
Inferring object properties with a tactile-sensing array given varying joint stiffness and velocity. T Bhattacharjee, JM Rehg, CC Kemp International Journal of Humanoid Robotics 15 (01), 1750024, 2018.
Found on Publication Page
45
Multimodal tactile perception of objects in a real home. T Bhattacharjee, HM Clever, J Wade, CC Kemp IEEE Robotics and Automation Letters 3 (3), 2523-2530, 2018.
Found on Publication Page
In 2017
44
Small forces that differ with prior motor experience can communicate movement goals during human-human physical interaction. A Sawers, T Bhattacharjee, JL McKay, ME Hackney, CC Kemp, LH Ting Journal of neuroengineering and rehabilitation 14, 1-13, 2017.
Found on Publication Page
43
A model that predicts the material recognition performance of thermal tactile sensing. T Bhattacharjee, H Bai, H Chen, CC Kemp arXiv: 1711.01490, 2017.
Found on Publication Page
42
Older adults' acceptance of a robot for partner dance-based exercise. TL Chen, T Bhattacharjee, JM Beer, LH Ting, ME Hackney, WA Rogers, ... PloS one 12 (10), e0182736, 2017.
Found on Publication Page
41
A force and thermal sensing skin for robots in human environments. J Wade, T Bhattacharjee, RD Williams, CC Kemp Robotics and Autonomous Systems 96, 1-14, 2017.
Found on Publication Page
40
Rapid haptic perception using force and thermal sensing. T Bhattacharjee Georgia Institute of Technology, 2017.
Found on Publication Page
In 2016
39
Force and thermal sensing with a fabric-based skin. J Wade, T Bhattacharjee, CC Kemp See, Touch and Hear: 2nd Workshop on multimodal sensor-based robot control ..., 2016.
Found on Publication Page
38
A crf that combines tactile sensing and vision for haptic mapping. AA Shenoi, T Bhattacharjee, CC Kemp Submitted to Proceedings of IEEE/RSJ International Conference on Intelligent ..., 2016.
Found on Publication Page
37
Data-driven haptic perception for robot-assisted dressing. A Kapusta, W Yu, T Bhattacharjee, CK Liu, G Turk, CC Kemp 2016 25th IEEE international symposium on robot and human interactive ..., 2016.
Found on Publication Page
36
Multimodal execution monitoring for anomaly detection during robot manipulation. D Park, Z Erickson, T Bhattacharjee, CC Kemp 2016 IEEE International Conference on Robotics and Automation (ICRA), 407-414, 2016.
Found on Publication Page
35
A CRF that combines touch and vision for haptic mapping. AA Shenoi, T Bhattacharjee, CC Kemp 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2016.
Found on Publication Page
34
A passivity criterion for real-time haptic simulation of viscoelastic soft tissues. HI Son, T Bhattacharjee Proceedings of the Institution of Mechanical Engineers, Part I: Journal of ..., 2016.
Found on Publication Page
33
Data-driven thermal recognition of contact with people and objects. T Bhattacharjee, J Wade, Y Chitalia, CC Kemp 2016 IEEE Haptics Symposium (HAPTICS), 297-304, 2016.
Found on Publication Page
In 2015
32
Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact. T Bhattacharjee, J Wade, CC Kemp Robotics: Science and Systems 2015, 2015.
Found on Publication Page
31
Combining tactile sensing and vision for rapid haptic mapping. T Bhattacharjee, AA Shenoi, D Park, JM Rehg, CC Kemp 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2015.
Found on Publication Page
30
Evaluation by expert dancers of a robot that performs partnered stepping via haptic interaction. TL Chen, T Bhattacharjee, JL McKay, JE Borinski, ME Hackney, LH Ting, ... PloS one 10 (5), e0125179, 2015.
Found on Publication Page
29
Antagonistic muscle based robot control for physical interactions. T Bhattacharjee, G Niemeyer 2015 IEEE International Conference on Robotics and Automation (ICRA), 298-303, 2015.
Found on Publication Page
28
A handheld device for the in situ acquisition of multimodal tactile sensing data. J Wade, T Bhattacharjee, CC Kemp arXiv preprint arXiv:1511.03152, 2015.
Found on Publication Page
In 2014
27
Inferring object properties from incidental contact with a tactile-sensing forearm. T Bhattacharjee, JM Rehg, CC Kemp Georgia Institute of Technology, 2014.
Found on Publication Page
26
A robotic system for reaching in dense clutter that integrates model predictive control, learning, haptic mapping, and planning. T Bhattacharjee, PM Grice, A Kapusta, MD Killpack, D Park, CC Kemp Georgia Institute of Technology, 2014.
Found on Publication Page
25
Analytical and psychophysical comparison of bilateral teleoperators for enhanced perceptual performance. HI Son, JH Cho, T Bhattacharjee, H Jung, DY Lee IEEE Transactions on Industrial Electronics 61 (11), 6202-6212, 2014.
Found on Publication Page
In 2013
24
Rapid categorization of object properties from incidental contact with a tactile sensing robot arm. T Bhattacharjee, A Kapusta, JM Rehg, CC Kemp 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids ..., 2013.
Found on Publication Page
23
Tactile sensing over articulated joints with stretchable sensors. T Bhattacharjee, A Jain, S Vaish, MD Killpack, CC Kemp 2013 World Haptics Conference (WHC), 103-108, 2013.
Found on Publication Page
22
Non-linear Task-Space Disturbance Observer for Position Regulation of Redundant Robot Arms against Perturbations in 3D Environments. T Bhattacharjee, Y Oh, SR Oh arXiv preprint arXiv:1311.0388, 2013.
Found on Publication Page
21
Validation of a Control Algorithm for Human-like Reaching Motion using 7-DOF Arm and 19-DOF Hand-Arm Systems. T Bhattacharjee, Y Oh, SR Oh arXiv preprint arXiv:1311.0959, 2013.
Found on Publication Page
In 2012
20
Haptic classification and recognition of objects using a tactile sensing forearm. T Bhattacharjee, JM Rehg, CC Kemp 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2012.
Found on Publication Page
19
Gain-scheduling control of teleoperation systems interacting with soft tissues. JH Cho, HI Son, DG Lee, T Bhattacharjee, DY Lee IEEE Transactions on Industrial Electronics 60 (3), 946-957, 2012.
Found on Publication Page
In 2011
18
Control design for human-like reaching movements using redundancy in robot arm-trunk systems. T Bhattacharjee, Y Oh, JH Bae, SR Oh International Journal of Control, Automation and Systems 9, 1173-1186, 2011.
Found on Publication Page
17
Effect of impedance-shaping on perception of soft tissues in macro-micro teleoperation. HI Son, T Bhattacharjee, H Hashimoto IEEE Transactions on Industrial Electronics 59 (8), 3273-3285, 2011.
Found on Publication Page
16
Effect of scaling on the performance and stability of teleoperation systems interacting with soft environments. HI Son, T Bhattacharjee, H Hashimoto Advanced Robotics 25 (11-12), 1577-1601, 2011.
Found on Publication Page
In 2010
15
Estimation of environmental force for the haptic interface of robotic surgery. HI Son, T Bhattacharjee, DY Lee the international journal of medical robotics and computer assisted surgery ..., 2010.
Found on Publication Page
14
Controlling redundant robot arm-trunk systems for human-like reaching motion. T Bhattacharjee, Y Oh, JH Bae, SR Oh 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2010.
Found on Publication Page
13
Enhancement in operator's perception of soft tissues and its experimental validation for scaled teleoperation systems. HI Son, T Bhattacharjee, H Hashimoto IEEE/ASME Transactions on Mechatronics 16 (6), 1096-1109, 2010.
Found on Publication Page
12
Position-Position Control with Gain-Scheduling for Telesurgical Systems. JH Cho, HI Son, T Bhattacharjee, DG Lee, DY Lee The Abstracts of the international conference on advanced mechatronics ..., 2010.
Found on Publication Page
11
A study of neural network based inverse kinematics solution for a planar three joint robot with obstacle avoidance. T Bhattacharjee, A Bhattacharjee Assam University Journal of Science and Technology 5 (2), 1-7, 2010.
Found on Publication Page
10
Psychophysical evaluation of control scheme designed for optimal kinesthetic perception in scaled teleoperation. HI Son, T Bhattacharjee, H Jung, DY Lee 2010 IEEE International Conference on Robotics and Automation, 5346-5351, 2010.
Found on Publication Page
In 2009
8
Control design based on analytical stability criteria for optimized kinesthetic perception in scaled teleoperation. HI Son, T Bhattacharjee, DY Lee 2009 ICCAS-SICE, 3365-3370, 2009.
Found on Publication Page
7
Passivity analysis of haptic systems interacting with viscoelastic virtual environment. HI Son, T Bhattacharjee, DY Lee 2009 International Conference on Advanced Robotics, 1-6, 2009.
Found on Publication Page
In 2008
6
Haptic control with environment force estimation for telesurgery. T Bhattacharjee, HI Son, DY Lee 2008 30th Annual International Conference of the IEEE Engineering in ..., 2008.
Found on Publication Page
Unspecified
5
Content List of IROS 2022. Y Avigal, L Berscheid, K Goldberg, F Yang, C Cao, H Zhu, J Oh, J Zhang, ... .
Found on Publication Page
4
Grasping with Chopsticks: Fine Grained Manipulation using Inexpensive Hardware by Imitation Learning. L Ke, J Wang, T Bhattacharjee, B Boots, S Srinivasa .
Found on Publication Page
3
A Contextual Bandit Framework for Adaptive Robotic Bite Acquisition. EK Gordon, X Meng, T Bhattacharjee, M Barnes, SS Srinivasa .
Found on Publication Page
1
Haptic Perception during Manipulation Tasks using Whole-arm Tactile Sensing. T Bhattacharjee, CC Kemp .
Found on Publication Page
