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A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
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Posts
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Blog Post number 4
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Blog Post number 1
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portfolio
Portfolio item number 1
Short description of portfolio item number 1
Wrist-worn Haptic Device
Short description of portfolio item number 2
publications
3D indoor positioning with spatial modulation for visible light communications
Published in Optics Communications, 2023
Abstract: In this paper, a novel three-dimensional (3D) indoor visible light positioning (VLP) algorithm is proposed based on the spatial modulation (SM) and its error performance assessed as compared to the conventional received signal strength (RSS)-based 3D VLP systems. As contrasted to the traditional VLP system, the proposed SM-based 3D VLP system first estimates the optical channel gain between the transmitting light-emitting diodes (LEDs) and the two photo detectors (PDs) attached to the user by a pilot-based channel estimation technique. Then, unknown 3D positions of the receiver are determined by the trilateration algorithm with distances computed from the estimates of the channel gains. Consequently, the 3D VLP system achieves an interference-free transmission with increased spectral efficiency and without the need for a demultiplexing process at the receiving end. The algorithm’s performance is evaluated regarding positioning error by applying the SM over four LEDs and the number of pilots selected as a function of the environmental signal-to-noise ratios (SNRs). The computer simulation results show that the positioning errors are obtained in an order of magnitude smaller than RSS-based techniques in an indoor industrial environment. This is mainly because the distances involved in determining the 3D positions can be determined more precisely by the pilot-aided channel estimation method without creating any data rate problem in transmission due to the higher spectral efficiency of the SM.
Recommended citation: U. Sen, Y. E. Yesilirmak, I. O. Bayman, T. Arsan, E. Panayirci, and N. Stevens, “3D indoor positioning with spatial modulation for visible light communications,” Optics Communications, vol. 529, p. 129091, Feb. 2023, doi: 10.1016/j.optcom.2022.129091.
Design for Wrist-Worn Haptic Device with Custom Voice Coil Actuation
Published in IEEE 2023 World Haptics Conference, 2023
In this paper, we propose a wrist-worn device with custom voice coil actuation to provide haptic feedback on the wrist while allowing participants to use their hands in real-world interactions. The custom voice coil is designed with a magnet and a strip of wires rolled around a cylinder. The intensity and frequency of the rendered feedback can be adjusted by design parameters, such as wire width, coil height, coil diameter, and the chosen magnet power. The proposed haptic device can be triggered effectively by users’ interactions in virtual environments.
Recommended citation: U. Sen, M. Sarac, Design for Wrist-Worn Haptic Device with Custom Voice Coil Actuation, in 2023 IEEE World Haptics Conference, Work-in-Progress, Delft, Netherlands, 2023.
Circular formations of non-communicating robot groups via local strategies
Published in Adaptive Behavior, 2023
Abstract: Local strategies, which are based on cost minimization, to achieve circular formations of autonomous robot groups are presented. It is assumed that the group members have no communication capabilities or any means of interchanging information among themselves, and that they can only rely on their sensors, which provide relative positions of their nearby group members. It is verified on simulations that via appropriately defined cost functions arc, arc-triangle and circle formations are obtained, which can be maintained during navigation.
Recommended citation: F. Kerestecioğlu, Ü. Şen, Ç. Işıkver, and A. Göktekin, “Circular formations of non-communicating robot groups via local strategies,” Adaptive Behavior, vol. 32, no. 4, pp. 291–300, Aug. 2024, doi: 10.1177/10597123231204627.
Gamifying Haptics User Studies: Comparison of Response Times from Smartphone Interfaces
Published in IEEE Transactions on Haptics, 2025
Abstract: Haptics user studies are often restricted to a set, physical location and use methods that do not captivate the user. Applying game design elements can create an entertaining environment and increase user engagement. Using ubiquitous tools, like smartphones, to conduct haptics user studies could allow researchers to access larger participant groups while a gamified approach could facilitate the data collection by making the experiment more enjoyable. To explore this concept, this work presents a gamified version of an existing psychophysical experiment that investigates response time to multisensory cues using a smartphone based on “Whac-A-Mole”. We conducted a user study to compare our gamified interface with an existing psychophysical interface with thirteen participants exploring the response time from eighteen combinations of auditory, haptic, and visual stimuli at different levels of intensities and participant preferences for both interfaces. The results demonstrate that the gamified interface successfully captured similar trends in response times and significantly elevated participant enjoyment (p<0.003), but did not result in equivalent response times to the original interface. This work shows the benefits and drawbacks of following a gamification approach when designing haptics user studies and discusses factors and trade-offs to consider when gamifying studies.
Recommended citation: B. Kudsi, D, Xu, U. Sen, K.T. Yoshida, F. Stroppa, C.M. Nunez, M. Sarac, "Gamifying Haptics User Studies: Comparison of Response Times From Smartphone Interfaces," in IEEE Transactions on Haptics, vol. 18, no. 2, pp. 423-429, April-June 2025, doi: 10.1109/TOH.2025.3536885.
Hand Dominance and Congruence for Wrist-Worn Haptics Using Custom Voice-Coil Actuation
Published in IEEE Robotics and Automation Letters, 2025
Abstract: During virtual interactions, rendering haptic feedback on a remote location (like the wrist) instead of the fingertips frees users’ hands from mechanical devices. This allows for real interactions while still providing information about the mechanical properties of virtual objects. In this letter, we investigate the impact of using the dominant or non-dominant hand for virtual interactions and the best mapping between the active hand and the wrist receiving the haptic feedback, which can be defined as hand-wrist congruence through a user experiment based on a stiffness discrimination task. To render force feedback, we present CoWrHap – a novel wrist-worn haptic device with custom-made voice coil actuation. Our results show that participants performed the tasks (i) better with non-congruent mapping but reported better experiences with congruent mapping, and (ii) with no statistical difference in terms of hand dominance but with better user experience (enjoyment, pleasantness, etc.) using their dominant hands.
Recommended citation: A. Adeyemi, U. Sen, S. M. Ercan, and M. Sarac, “Hand Dominance and Congruence for Wrist-Worn Haptics Using Custom Voice-Coil Actuation,” IEEE Robot. Autom. Lett., vol. 9, no. 4, pp. 3053–3059, Apr. 2024, doi: 10.1109/LRA.2024.3360815.
A Highly Articulated Backbone for Soft Snake Robots
Published in Living Machines 2025, 2025
Backbones are a critical component of bioinspired snake robots, providing support and actuator attachment points. Current soft snake robots overwhelmingly rely on continuum backbones, which are contin- uous strips or rods. Continuum backbones are straightforward to man- ufacture, but tie together torsional and bending stiffness, buckling load and maximum curvature. For example, increasing cross-section size to raise buckling load increases torsional stiffness and bending stiffness in at least one plane. Biological snakes have highly articulated backbones that break these scalings, but they also have complex vertebra geome- try and musculature. In this work, we develop a concept for a highly articulated, snake-inspired backbone and a corresponding actuator lay- out. The artificial vertebrae include key features identified in biology literature, such as articulation points and motion limiters. We measure range of motion in two planes, note emergent twist, and demonstrate lo- comotion. The results show feasibility of an alternative soft snake robot design, with closer mimicry of biology and significantly higher mechani- cal complexity. Emergent behaviors tying twist and bending deformation suggest a path forward for producing complex movements from simple actuation inputs, but further work is needed to model robot mechanics.
Recommended citation: Y. Nandwana, U. Sen, G. Olson, “A Highly Articulated Backbone for Soft Snake Robots,” in Living Machines, Sheffield, UK, 2025. [Accepted]
talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Undergradute Teaching Assistant
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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