Research Group Publications

Books

  • Jun Ueda, Joshua Schultz, and H. Harry Asada, Cellular Actuators: Modularity and Variability in Muscle-Inspired Actuation, Cambridge, MA: Butterworth-Heinemann/Elsevier, 2017 978-0-12-803687-7

Book Chapters

  • Joshua Schultz, “Muscle-Like Actuators and Their System Dynamics” in Novel Bioinspired Actuator Designs for Robotics (Studies in Computational Intelligence, 888) Basel: Springer Nature Switzerland AG, pp. 65-74, 2021
  • Dipayan Das, Nathanael Rake, and Joshua Schultz, “The TU Hand: Using Compliant Connections to Modulate Grasping Behavior”, Grasping and Manipulation Competition 2016 New York: Springer, 2018

International Journal Articles

  • Phuc D.H. Bui and Joshua A. Schultz “A Configuration Sensing Approach for Fabric-Reinforced Inflatable Soft Robots Based on Interior Illumination“, Robotics Reports v3, no 1 pp 12–23 2025 https://doi.org/10.1089/rorep.2024.0042
  • Phuc D.H. Bui, Benjamin Prugh, Alejandra M.E. Padilla, Caroline Schell, Michael Keller, and Joshua A. Schultz “Endurance tests for a fabric_reinforced inflatable soft actuator”, Frontiers in Materials v10, 2023 10.3389/fmats.2023.1112540
  • Dipayan Das and Joshua A. Schultz, “Principal Component Analysis of Grasp Force and Pose During In-Hand Manipulation”, Journal of Medical and Biological Engineering, v. 42, pp. 658–670 (2022), 10.1007/s40846-022-00748-x
  • Phuc D.H. Bui and Joshua A Schultz, “A Semilinear Parameter-Varying Observer Method for Fabric-Reinforced Soft Robots,” Frontiers in Robotics and AI v. 8, 323, November 2021 DOI: 10.3389/frobt.2021.749591
  • Joshua A Schultz and Nathanael J Rake, “A four-tendon robotic finger with tendon transmission inspired by the human extensor mechanism” Bioinspiration and Biomimetics v. 16, no. 4  046004, May 2021 10.1088/1748-3190/abc6b5
  • Caleb Fuller and Joshua Schultz, “Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators” Applied Sciences, Special Issue: Bio-Inspired Robotics v. 8 no. 3: 346, February 2018. 10.3390/app8030346
  • Michael Martell, JC Díaz, and Joshua Schultz, “A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers” ASME Journal of Mechanisms and Robotics v. 9 no. 5, pp. 051012-1-051012-10. 10.1115/1.4037566
  • Glenn Mathijssen, Joshua Schultz, Bram Vanderborght, and Antonio Bicchi, “A muscle-like recruitment actuator with modular redundant actuation units for soft robotics” Elsevier Robotics and Autonomous Systems pp. 2231-2237 – 10.1016/j.robot.2015.06.010
  • Joshua Schultz and Jun Ueda, “Nested Piezoelectric Cellular Actuators for a Biologically Inspired Camera Positioning Mechanism” IEEE Transactions on Robotics, v. 29 no. 5, October 2013. pp. 1125-1138. 10.1109/TRO.2013.2264863
  • Joshua Schultz and Jun Ueda, “Experimental Verification of Discrete Switching Vibration Suppression” ASME/IEEE Transactions on Mechatronics, v. 17 no. 2, April 2012, pp. 298-308. 10.1109/TMECH.2010.2099235
  • Joshua Schultz and Jun Ueda, “Two-Port Network Models for Compliant Rhomboidal Strain Amplifiers” IEEE Transactions on Robotics (2013), v. 29 no. 1, October 2012, pp. 42-54. 10.1109/TRO.2012.2216392

Peer-Reviewed Conference Publications

  • J. Garrett Williamson and Joshua Schultz, “Increasing Sensing Spatial Resolution in Soft Robots With Stretchable Optical Networks” In Proceedings of the 18th IEEE Dallas Circuits and Systems Conference [to appear]
  • B. Kerst and J. Schultz, “Design and Implementation of an Adaptive Robotic Head Support for Children with Low Head Control”, In Proceedings of the 2025 International Conference on Rehabilitation Robotics (ICORR) [to appear]
  • P.D.H. Bui and Joshua Schultz, “Position Control for a Soft Actuator With High Uncertainty and Hysteresis”, in Proceedings of the  7th IEEE-RAS International Conference on Soft Robotics pp. 15–21, San Diego, CA doi: 10.1109/RoboSoft60065.2024.10521939
  • P.D.H. Bui and Joshua Schultz, “Inverse Kinematics of a Fabric-reinforced Inflatable Soft Robot”, in Proceedings of the  3rd International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), Tenerife, July 2023, pp. 1–6 doi: 10.1109/ICECCME57830.2023.10253002
  • J. Garrett Williamson and Joshua Schultz, “Stretchable Optical Waveguide Sensor Suitability for Wrinkle Degree Detection in Soft Robots”, in Proceedings of the 2023 IEEE RAS Conference on Soft Robotics (Robosoft2023), Singapore, pp.1–6 doi:10.1109/RoboSoft55895.2023.10122087
  • P.D.H. Bui and J. Schultz, “Pose Measurement and Contact Training of a Fabric-Reinforced Inflatable Soft Robot” in Proceedings of the 2023 IEEE/SICE International Symposium on System Integration (SII 2023), Atlanta, pp. 1–6 doi: 10.1109/SII55687.2023.10039331.
  • C. Alred and J. Schultz, “A Scalable System Model for Discrete Muscle-Like Actuators”, in 2022 IEEE/ASME Automation and Intelligent Mechatronics Conference, Sapphoro, pp. 1335-1340, doi: 10.1109/AIM52237.2022.9863313.
  • J. Schultz, H. Sanders, P.D.H. Bui, B. Layer, and M. Killpack, “Modeling the dynamics of soft robots by discs and threads” 2022 IEEE-RAS International Conference on Robotics and Automation, Philadelphia, pp. 3223-3229, doi: 10.1109/ICRA46639.2022.9812286.
  • P.D.H. Bui and J. Schultz. “States and Contact Forces Estimation for a Fabric-Reinforced Inflatable Soft Robot” In 2021 IEEE-RAS International Conference on Robotics and Automation, Xi’An, 2021 DOI 10.1109/ICRA48506.2021.9561296
  • J. Garrett Williamson, Caroline Schell, Michael W. Keller, and Joshua Schultz. Extending the reach of single-chamber inflatable soft robots using Magnetorheological Fluids. In IEEE International Conference on Soft Robotics, 119-125, New Haven, 2021 10.1109/RoboSoft51838.2021.9479295
  • Caleb Fuller, Umer Huzaifa, Amy LaViers, and Joshua Schultz. “Core-centered Actuation for Biped Locomotion of Humanoid Robots.” In Proceedings of the 2020 IEEE/RSJ Intelligent Robots and Systems Conference, pages 3481-3487, Las Vegas, 2020 DOI 10.1109/IROS45743.2020.9341364
  • Bradford Kerst, Lynda Crouch, Jamey Fox, and Joshua Schultz. “Effects of a Head Support on Children with Hypotonia in the Cervical Spine.” In Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) in conjunction with the 43rd Annual Conference of the Canadian Medical and Biological Engineering Society , pages 4783-4786, 2020 DOI 10.1109/EMBC44109.2020.9175744
  • Spenser Pulleyking and Joshua A. Schultz, “Flexure Hinge-based Biomimetic Thumb with a Rolling-Surface Metacarpal Joint” 2020 IEEE-RAS International Conference on Robotics and Automation, Paris, pp2960-2966, 2020 doi:0.1109/ICRA40945.2020.9196578
  • Umer Huzaifa, Caleb Fuller, Joshua A. Schultz, and Amy LaViers, “Toward a Bipedal Robot with Variable Gait Styles: Sagittal Forces Analysis in a Planar Simulation and a Prototype Ball-Tray Mechanism” 2019 IEEE-RAS/RSJ Intelligent Robots and Systems Conference, Macau, November 2019, pp. 2266 – 2272. DOI:10.1109/IROS40897.2019.8968025
  • Dipayan Das, Nathanael J. Rake, and Joshua A. Schultz, “Compliantly Underactuated Hands Based on Multiport Networks” 2016 IEEE-RAS International Conference on Humanoid Robots, Cancun, November 2016, pp. 1010 – 1015. DOI 10.1109/HUMANOIDS.2016.7803395
  • Nathanael J. Rake, Spencer P. Skinner, Gavin D. O’Mahony, and Joshua A. Schultz, “Modeling and Implementation of a Simplified Human Tendon Structure in a Robotic Finger” 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Singapore, June 2016, pp. 120-125. DOI: 10.1109/BIOROB.2016.7523608
  • Spenser Pulleyking, Dipayan Das, Joshua Schultz, “Simplified Robotic Thumb Inspired by Surgical Intervention” 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Singapore, June 2016, pp. 613-619. DOI: 10.1109/BIOROB.2016.7523794
  • Joshua Schultz, Glenn Mathijssen, Bram Vanderborght, and Antonio Bicchi, “A selective recruitment strategy for exploiting muscle-like actuator impedance properties” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany,pp. 2231-2237 IROS.2015
  • Michael Martell and Joshua Schultz, “Multiport Modeling of Force and Displacement in Elastic Transmissions for Underactuated Hands ,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 2015 pp. 1074-1079 10.1109/IROS.2014.6942691
  • Joshua Schultz, Glenn Mathijssen, Bram Vanderborght and Antonio Bicchi, “Toward Motor-Unit-Recruitment Actuators for Soft Robotics,” Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, São Paulo, Brazil, 2014 pp. 887-892. 10.1109/BIOROB.2014.6913893
  • Joshua Schultz and Jun Ueda, “A Camera Positioner Driven by Muscle-Like Actuation,” Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, June 2012 pp. 719-724. 10.1109/BioRob.2012.6290308
  • Joshua Schultz and Jun Ueda, “Analysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-Antagonist Arrangements,” Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, Arlington, VA, October 2011 pp. 407-410. DOI: 10.1115/DSCC2011-5953
  • Joshua Schultz and Jun Ueda, “Intersample Discretization of Control Inputs For Flexible Systems with Quantized Cellular Actuation, ” Proceedings of the ASME Dynamic Systems and Controls Conference, Cambridge, MA, USA, 2010 pp. 421-428.
  • Joshua Schultz and Jun Ueda, “Discrete Switching Vibration Suppression for Flexible Systems with Redundant Actuation,” Proceedings of the ASME/IEEE International Conference on Advanced Intelligent Mechatronics Singapore, July 2009 pp. 544-549. 10.1109/AIM.2009.5229955

Patents

  • Joshua Schultz and Jun Ueda, US Patent no. 8,662,764 B2: Camera Positioning Mechanism using an Antagonistic Pair of Compliant Contractile Actuators, March 4, 2014.

Other Publications

  • J. Garrett Williamson, Caroline Schell, Michael W. Keller, and Joshua Schultz. Soft Robot Workspace Expansion Via Smart Material. In IEEE/RSJ Intelligent Robots and Systems 2020 Workshop on Application-Oriented Modelling and Control of Soft Robots , video presentation, Las Vegas, 2020
  • Phuc Duc Hong Bui and Joshua Schultz. Observer Design for a Fabric-Reinforced Inflatable Soft Robot. In IEEE/RSJ Intelligent Robots and Systems 2020 Workshop on Application-Oriented Modelling and Control of Soft Robots, video presentation, Las Vegas, 2020
  • Joshua Schultz, Haley Sanders, Phuc Duc Hong Bui, Michael W. Keller, and Marc D. Killpack. Representing Fabric-Reinforced Inatable Robots by Discs and Threads. In 2020 International Virtual Mechatronics Conference and Workshops Hosted by Oklahoma State University, video presentation, Stillwater, 2020
  • Caleb Fuller, Umer Huzaifa, Won Dong Shin, Joshua Schultz, Amy LaViers, and Hae Won Park, “Core-located Actuation for Bipedal Locomotion with Variable Gaits”, Contributed Poster Session, BioAct Workshop, IEEE International Conference on Biomedical Robotics and Biomechatronics [BioRob] 2018
  • Joshua Schultz, Yiğit Mengüç, Michael Tolley, and Bram Vanderborght, “What is the Path Ahead for Soft Robotics?” Guest Editorial for special issue, Soft Robotics, the Path Ahead, Soft Robotics December 2016, 3(4): 159-160. 10.1089/soro.2016.29010.jsc
  • Barry Trimmer, Bram Vanderborght, Yiğit Mengüç, Michael Tolley, and Joshua Schultz, “Soft Robotics as an Emerging Academic Field,” Soft Robotics December 2015, 2(4): 131-134. doi:10.1089/soro.2015.29004
  • Samuel Laney, Joshua Schultz “Optimized Packing Strategies for Discretized Actuators” New Frontiers and Applications for Soft Robotics IROS 2015
  • Joshua Schultz, Michael Martell, and Gavin O’Mahony, “Elastic Transmission Mechanisms: Multiport Models for Human-Like Compliant Grasping in Robotic Hands,” Workshop on Human versus Robot Grasping and Manipulation: How Can We Close the Gap?, Robotics Science and Systems Conference, Berkeley, CA. July 2014.
  • Joshua Schultz and Peter Hawrylak, “Modular Actuation Systems: A Scalable Solution for Delivering Robotic Performance,” Robot Makers: The Future of Rapid Digital Design and Fabrication of Robots Workshop, Robotics Science and Systems Conference, Berkeley, CA. July 2014.
  • Samuel Laney, “Symmetrical Close Packing of Cylindrical Objects,” IEEE Systems and Information Engineering Design Symposium, Charlottesville, VA. April 2014.