Publications and Patents
Abbreviations:
SV = Supplementary Video; SV_All = All supplementary videos in a single zip folder
ST = Supplementary Table; SF = Supplementary Figure
SI = Supplementary Information; SD = Supplementary Data
2021
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Bush NE, Solla SA, and Hartmann, MJZ (2021). Continuous, multidimensional coding of 3D complex tactile stimuli by
primary sensory neurons of the vibrissal system Proceedings of the National Academy of Sciences , 118(32), 10.1073/pnas.2020194118
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Zweifel NO, Bush NE, Abraham I, Murphey TD, and Hartmann, MJZ (2021). A dynamical model for generating synthetic data to active tactile behavior in the ratProceedings of the National Academy of Sciences , 118(27), 10.1073/pnas.2011905118
- Luo Y, Bresee CS, Rudnicki JW, and Hartmann, MJZ (2021). Constraints on the deformation of the vibrissa within the follicle PLoS Computational Biology, 17(4). 10.1371/journal.pcbi.1007887
- Kent TA, Kim S, Kornilowicz G, Yuan WZ, Hartmann, MJZ and Bergbreiter S (2021). WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection IEEE Robotics and Automation Letters, 6(2), 3357-3364
2020
- Furuta, T. Bush, N. E., Yang, A.E.T., Ebara S, Miyazaki N., Murata K., Hirai D., Shibata K, and Hartmann, M. J. (2020). The Cellular and Mechanical Basis for Response Characteristics of Identified Primary Afferents in the Rat Vibrissal System. Current Biology, 30(5), 815-
- Collinson, DW, Emnett, HM, Hartmann, M. J.Z., and Brinson LC (2020). Tapered Polymer Whiskers to Enable Three-Dimensional Tactile Feature Extraction. Soft Robotics, 8(1). 44- 58
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Zweifel N.O. and Hartmann, M. J. Z. (2020). Defining "active sensing" through an analysis of sensing energetics: homeoactive and alloactive sensingJournal of Neurophysiology , 124(1), 40-48.
2019
- Yan, S. W., Bush, N. E., andHartmann, M. J. (2019). Whisker vibrations and the activity of trigeminal primary afferents in response to airflow. Journal of Neuroscience, 39(30), 5881-5896.PDF
- Bush, N. E., Zweifel, N. O., and Hartmann, M. J. (2019). Shaking Paws Is Not the Same as Shaking Hands. Neuron, 102(5), 911-913.PDF
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Yang, A. E. T., Belli, H. M., and Hartmann, M. J. (2019). Quantification of vibrissal mechanical properties across the rat mystacial pad. Journal of neurophysiology , 121(5), 1879-1895.PDF
2018
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Yang AET, Hartmann MJZ, and Bergbreiter S (2018) Contact-resistive sensing of touch and airflow using a rat whisker. 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. August 26-29, 2018. Enschede, The Netherlands
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Emnett HM, Graff MM, and Hartmann MJZ (2018) A Novel Whisker Sensor Used for 3D Contact Point Determination and Contour Extraction. Proceedings of Robotics: Science and Systems. June 2018. Pittsburgh, Pennsylvania.
doi:110.15607/RSS.2018.XIV.059
PDF
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Belli HM, Bresee CS, Graff MM, and Hartmann MJZ (2018) Quantifying the three-dimensional facial morphology of the laboratory rat with a focus on the vibrissae. PLoS ONE. 13(4):e0194981.
doi:10.1371/journal.pone.0194981
PMCID:PMC5886528
PDF
2017
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Zhuang C, Kubilius J, Hartman MJZ, Yamins D (2017) Toward Goal-Driven Neural Network Models for the Rodent Whisker-Trigeminal System. Conference on Neural Information Processing Systems 2552-2562
PDF
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Abraham IA, Prabhakar A, Hartmann MJZ, Murphey TD (2017) Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation.
IEEE Robotics and Automation Letters
2(2):827-834
doi:
10.1109/LRA.2017.2654542
PDF
SV
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Huet LA, Rudnicki JW, Hartmann MJZ (2017) Tactile sensing with whiskers of various shapes: Determining the three-dimensional location of object contact based on mechanical signals at the whisker base.
Soft Robotics
4(2):88-102
doi:
10.1089/soro.2016.0028
PMCID:
PMC5467137
PDF
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Belli HM, Yang AET, Bresee CS, and Hartmann MJZ (2017) Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper. Journal of Neurophysiology. 117:1807-1820
doi:
10.1152/jn.00054.2016
PMCID:
PMC5390285
PDF
SD
2016
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Bush NE, Solla SA, and Hartmann MJZ (2016) Whisking mechanics and active sensing.
Current Opinion in Neurobiology.
40:178-188
doi:
10.1016/j.conb.2016.08.001
PMCID:
PMC5312677
PDF
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Bush NE, Schroeder CL, Hobbs JA, Yang AET, Huet LA, Solla SA, and Hartmann MJZ (2016) Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system.
eLife
5:e13969
doi:
10.7554/eLife.13969
PMCID:
PMC4999311
PDF
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Yu YSW, Graff MM, Bresee CS, Man YB, and Hartmann MJZ (2016) Whiskers aid anemotaxis in rats.
Science Advances
2(8):e160071
doi:
10.1126/sciadv.1600716
PMCID:
PMC4996642
PDF
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Kaloti AS, Johnson EC, Bresee CS, Naufel SN, Perich MG, Jones DL, and Hartmann MJZ (2016) Representation of stimulus speed and direction in vibrissal-sensitive regions of the trigeminal nuclei: a comparison of single unit and population responses.
PLoS ONE
11(7):e0158399
doi:
10.1371/journal.pone.0158399
PMCID:
PMC4963183
PDF
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Yang AET and Hartmann MJZ (2016) Whisking kinematics enables object localization in head-centered coordinates based on tactile information from a single vibrissa.
Frontiers in Behavioral Neuroscience
10:145.
doi:
10.3389/fnbeh.2016.00145
PMCID:
PMC4949211
PDF
- Huet LA and Hartmann MJZ (2016) Simulations of a vibrissa slipping along a straight edge and an analysis of frictional effects during whisking. IEEE Transactions on Haptics
9(2):158-169
doi:
10.1109/TOH.2016.2522432
PMCID:
PMC5753595
PDF
SV1
SV2
SV3
- Hobbs JA, Towal RB, and Hartmann MJZ (2016) Spatiotemporal patterns of contact across the rat vibrissal array during exploratory behavior.
Frontiers in Behavioral Neuroscience
9:356.
doi:
10.3389/fnbeh.2015.00356.
PMCID:
PMC4700281
PDF
SV1
- Hobbs JA, Towal RB, and Hartmann MJZ (2016) Evidence for functional groupings of vibrissae across the rodent mystacial pad.
PLoS Computational Biology
12(1):e1004109
doi:
10.1371/journal.pcbi.1004109.
PMCID:
PMC4706419
PDF
- Yu YSW, Graff MM, and Hartmann MJZ (2016) Mechanical responses of rat vibrissae to airflow.
Journal of Experimental Biology
219:937-948.
doi:
10.1242/jeb.126896.
PDF
SV1
2015
- Hobbs JA, Towal RB, and Hartmann MJZ (2015) Probability distributions of whisker-surface contact: quantifying elements of the rat vibrissotactile natural scene. Journal of Experimental Biology 218:2551-2562. PDF SI SV2 SV3
- Huet LA, Schroeder CL, and Hartmann MJZ (2015) Tactile signals transmitted by the vibrissa during active whisking behavior. Journal of Neurophysiology 113:3511-3518. PDF
SV1
2014
- Huet LA and Hartmann MJZ (2014) The search space of the rat during whisking behavior. Journal of Experimental Biology 217:3365-3376. PDF
SV1
- Quist BW, Seghete V, Huet LA, Murphey TD, and Hartmann MJZ (2014) Modeling forces and moments at the base of a rat vibrissa during noncontact whisking and whisking against an object. Journal of Neuroscience 34:9828-9844. PDF
2013
- Solomon JH, Locascio MA, and Hartmann MJZ (2013) Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain. Adaptive Behavior 21:29-46. PDF
2012
- Schroeder CL and Hartmann MJZ (2012) Sensory prediction on a whiskered robot: A tactile analogy to "optic flow". Frontiers in Neurorobotics 6:9. doi: 10.3389/fnbot.2012.00009. PDF
- Locascio MA, Solomon JH and Hartmann MJZ (2012) Linear reactive control of three-dimensional bipedal walking in the presence of noise and uncertainty. Adaptive Behavior 20:409-426. PDF
SV_All
SV1
SV2
SV3
SV4
SV5
SV6
- Quist BW and Hartmann MJ (2012) Mechanical signals at the base of a rat vibrissa: the effect of intrinsic vibrissa curvature and implications for tactile exploration. Journal of Neurophysiology 107:2298-2312. PDF
- Towal RB, Quist BW, Solomon J, and Hartmann MJZ (2012) Active Sensing: head and vibrissal velocity during exploratory behaviors of the rat. In: Frontiers in sensing: From Biology to Engineering (Barth FG, Humphrey JAC, Srinivasan MY, ed), pp209-224. New York: Springer Wien New York. PDF
2011
- Hartmann MJZ (2011) A night in the life of a rat: vibrissal mechanics and tactile exploration. Annals of the New York Academy of Sciences 1225:110-118. PDF
- Quist BW, Faruqi RA and Hartmann MJZ (2011) Variation in Young's modulus along the length of a rat vibrissa. Journal of Biomechanics 44:2775 - 2781. PDF
- Solomon JH and Hartmann MJZ (2011) Radial distance determination in the rat vibrissal system and the effects of Weber's law. Philosophical Transactions of the Royal Society B-Biological Sciences 366:3049-3057. PDF
- Towal RB, Quist BW, Gopal V, Solomon JH and Hartmann MJZ (2011) The morphology of the rat vibrissal array: a model for quantifying spatiotemporal patterns of whisker-object contact. PLoS Computational Biology 7:e1001120. PDF
SD1
SI1
SF1
SF2
ST1
ST2
2010
- Solomon JH and Hartmann MJZ (2010) Extracting object contours with the sweep of a robotic whisker using torque information. International Journal of Robotics Research 29:1233-1245. PDF
- Solomon JH, Wisse M and Hartmann MJZ (2010) Fully interconnected, linear control for limit cycle walking. Adaptive Behavior 18:492-506. PDF
2009
- Chiel HJ, Ting LH, Ekeberg O and Hartmann MJZ (2009) The brain in its body: motor control and sensing in a biomechanical context. Journal of Neuroscience 29:12807-12814. PDF
- Hartmann MJZ (2009) Active touch, exploratory movements, and sensory prediction. Integrative and Comparative Biology 49:681-690. PDF
2008
- Gopal V, Klosowiak JL, Jaeger R, Selimkhanov T and Hartmann MJZ (2008) Visualizing the invisible: the construction of three low-cost schlieren imaging systems for the undergraduate laboratory. European Journal of Physics 29:607-617. PDF
- Leung B, Pan Y, Schroeder C, Memik SO, Memik G and Hartmann MJZ (2008) Towards an 'early neural circuit simulator': a FPGA implementation of processing in the rat whisker system. 2008 International Conference on Field Programmable and Logic Applications, Vols 1 and 2 , Heidelberg, Germany 191-196. PDF
- Quist BW and Hartmann MJZ (2008) A two-dimensional force sensor in the millinewton range for measuring vibrissal contacts. Journal of Neuroscience Methods 172:158-167. PDF
- Solomon JH and Hartmann MJZ (2008) Artificial whiskers suitable for array implementation: accounting for lateral slip and surface friction. IEEE Transactions On Robotics 24:1157-1167. PDF
- Towal RB and Hartmann MJZ (2008) Variability in velocity profiles during free-air whisking behavior of unrestrained rats. Journal of Neurophysiology 100:740-752. PDF
ST1
SF1
SF2
SF3
SV1
2007
- Birdwell JA, Solomon JH, Thajchayapong M, Taylor MA, Cheely M, Towal RB, Conradt J and Hartmann MJZ (2007) Biomechanical models for radial distance determination by the rat vibrissal system. Journal of Neurophysiology 98:2439-2455. PDF N.B.: Due to a typesetting error, equation A14 is incorrect as published. It should be identical to the bottom half of equation 4 in the main text.
- Gopal V and Hartmann MJZ (2007) Using hardware models to quantify sensory data acquisition across the rat vibrissal array. Bioinspiration & Biomimetics 2:S135-S145. PDF
2006
- Reed K, Peshkin M, Hartmann M, Grabowecky M, Patton J and Vishton P (2006) Haptically linked dyads - are two motor-control systems better than one?. Psychological Science 17:365-366. PDF
- Reed KB, Peshkin M, Hartmann MJ, Patton J, Vishton PM and Grabowecky M (2006) Haptic cooperation between people, and between people and machines. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12 , Beijing, China 2109-2114. PDF
- Solomon JH and Hartmann MJ (2006) Robotic whiskers used to sense features. Nature 443:525. PDF
SI1
SV1
- Towal RB and Hartmann MJ (2006) Right-left asymmetries in the whisking behavior of rats anticipate head movements. Journal of Neuroscience 26:8838-8846. PDF
SV1
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SV4
2005
- Lu H, Hartmann M and Bower J (2005) Correlations between Purkinje cell single-unit activity and simultaneously recorded field potentials in the immediately underlying granule cell layer. Journal of Neurophysiology 94:1849-1860. PDF
- Reed K, Peshkin M, Hartmann M, Colgate J and Patton J (2005) Kinesthetic interaction. 2005 IEEE 9th International Conference on Rehabilitation Robotics , Chicago, IL 569-574. PDF
- Schultz A, Solomon J, Peshkin M and Hartmann M (2005) Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction. 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4 , Barcelona, Spain 2588-2593. PDF
2003
- Hartmann M, Johnson N, Towal R and Assad C (2003) Mechanical characteristics of rat vibrissae: Resonant frequencies and damping in isolated whiskers and in the awake behaving animal. Journal of Neuroscience 23:6510-6519. PDF
- Lewis M, Etienne-Cummings R, Hartmann M, Xu Z and Cohen A (2003) An in silico central pattern generator: silicon oscillator, coupling, entrainment, and physical computation. Biological Cybernetics 88:137-151. PDF
2001
- Assad C, Hartmann M and Lewis M (2001) Introduction to the special issue on biomorphic robotics. Autonomous Robots 11:195-200. PDF
- Hartmann M (2001) Active sensing capabilities of the rat whisker system. Autonomous Robots 11:249-254. PDF
- Hartmann M and Bower J (2001) Tactile responses in the granule cell layer of cerebellar folium Crus IIa of freely behaving rats. Journal of Neuroscience 21:3549-3563. PDF
- Lewis M, Hartmann M, Etienne-Cummings R and Cohen A (2001) Control of a robot leg with an adaptive aVLSI CPG chip. Neurocomputing 38:1409-1421. PDF
2000
- Hartmann M, Assad C, Rasnow B and Bower J (2000) Applications of video mixing and digital overlay to neuroethology. Methods - A Companion to Methods in Enzymology 21:385-391. PDF
- Lewis M, Etienne-Cummings R, Hartmann M and Cohen A (2000) Toward biomorphic control using custom aVLSI CPG chips. IEEE International Conference on Robotics and Automation (ICRA) , San Francisco, CA . PDF
1998
- Hartmann M and Bower J (1998) Oscillatory activity in the cerebellar hemispheres of unrestrained rats. Journal of Neurophysiology 80:1598-1604. PDF
1997
- Rasnow B, Assad C, Hartmann M and Bower J (1997) Applications of multimedia computers and video mixing to neuroethology. Journal of Neuroscience Methods 76:83-91. PDF