I did my PhD research in the Biomimetics and Dexterous Manipulation Lab (BDML) at Stanford University, advised by Professor Mark Cutkosky.
My work focused on stretchable tactile sensory skins to give robots a sense of touch. I also worked on high-performance selectively soft actuators for MR-compatible interventions and robot grippers. As an undergraduate I worked on cleanroom fabrication of stretchable and dissolvable electronics.
Publications
Gruebele, A., Lin, M., Brouwer, D., Yuan, S., Zerbe, A., Cutkosky, M. “A Stretchable Tactile Sleeve for Reaching into Cluttered Spaces”. IEEE Robotics and Automation Letters, 2021. Presented at RoboSoft 2021.
Gruebele, A.*, Zerbe, A.*, Coad, M., Okamura, A., Cutkosky, M. “Distributed Sensor Networks Deployed Using Soft Growing Robots”. Presented at RoboSoft 2021.
Yuan S., Shao, L., Yako, C., Gruebele, A., Salisbury, K. “Design and Control of Roller Grasper V2 for In-Hand Manipulation”. Presented at IROS 2020.
Gruebele, A., Roberge, J.P., Zerbe, A., Ruotolo, W., Huh, T.M., Cutkosky, M.R. "A Stretchable Capacitive Sensory Skin for Manipulation in Cluttered Environments". IEEE Robotics and Automation Letters, 2020. Presented at ICRA 2020.
Ruotolo, W., Thomasson, R., Herrera, J, Gruebele, A., Cutkosky, M. R. “Distal Hyperextension is Handy: High Range of Motion in Cluttered Environments.” IEEE Robotics and Automation Letters, 2020.
Gruebele A., Frishman S., Cutkosky, M.R. “Long-Stroke Rolling Diaphragm Actuators For Haptic Display of Forces in Teleoperation”. IEEE Robotics and Automation Letters 4, 1478 (2019). Presented at ICRA 2019.
Slade, P., Gruebele, A., Hammond, Z., Raitor, M., Okamura, A., Hawkes, E. “Design of a Soft Catheter for Low-Force and Constrained Surgery”. Intl. Conf. Intel. Robots and Syst,. (2017).
Burkhard, N., Frishman, S., Gruebele, A., Whitney, J. P., Goldman, R., Daniel, B., Cutkosky, M. “A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion”. Intl. Conf. Robot. Autom., (2017).
Webb, R. C. … Gruebele, A. ... Rogers, J. A. “Epidermal Devices for Non-Invasive, Precise and Continuous Mapping of Macrovascular and Microvascular Blood Flow”., Science Advances (2015).
Publication Details
My thesis titled “Robust Soft Sensors for the Real World” is available through the Stanford Library.
Gruebele, A., Lin, M., Brouwer, D., Yuan, S., Zerbe, A., Cutkosky, M. “A Stretchable Tactile Sleeve for Reaching into Cluttered Spaces”. IEEE Robotics and Automation Letters, 2021. Presented at RoboSoft 2021.
IEEE | PDF | Video | Presentation
Gruebele, A.*, Zerbe, A.*, Coad, M., Okamura, A., Cutkosky, M. “Distributed Sensor Networks Deployed Using Soft Growing Robots”. Presented at RoboSoft 2021.
IEEE | PDF | arXiv | Video | Presentation
Yuan S., Shao, L., Yako, C., Gruebele, A., Salisbury, K. “Design and Control of Roller Grasper V2 for In-Hand Manipulation”. Presented at IROS 2020
Gruebele, A., Roberge, J.P., Zerbe, A., Ruotolo, W., Huh, T.M., Cutkosky, M.R. "A Stretchable Capacitive Sensory Skin for Manipulation in Cluttered Environments". IEEE Robotics and Automation Letters, 2020. Presented at ICRA 2020.
IEEE | PDF | Video | ICRA Presentation
Ruotolo, W., Thomasson, R., Herrera, J, Gruebele, A., Cutkosky, M. R. “Distal Hyperextension is Handy: High Range of Motion in Cluttered Environments.” IEEE Robotics and Automation Letters, 2020.
Slade, P., Gruebele, A., Hammond, Z., Raitor, M., Okamura, A., Hawkes, E. “Design of a Soft Catheter for Low-Force and Constrained Surgery”. Intl. Conf. Intel. Robots and Syst,. (2017).
Burkhard, N., Frishman, S., Gruebele, A., Whitney, J. P., Goldman, R., Daniel, B., Cutkosky, M. “A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion”. Intl. Conf. Robot. Autom., (2017).
Webb, R. C. … Gruebele, A. ... Rogers, J. A. “Epidermal Devices for Non-Invasive, Precise and Continuous Mapping of Macrovascular and Microvascular Blood Flow”. Science Advances (2015).