Publications
![Relevant Publication](/common/publications/images/fav.png)
Publications of specific relevance to the Centre for Intelligent Transport
2023
Althoefer K (2023).
The 40th International Conference on Robotics and Automation (ICRA) 2023: Embracing the Future: Making Robots for Humans [Conference Highlights]. IEEE Robotics & Automation Magazine,
Institute of Electrical and Electronics Engineers (IEEE) vol. 30 (4), 105-109.
01-12-2023![Relevant Publication](/common/publications/images/fav.png)
Murtaza Z, Bonzini AA,
Althoefer K and
Jamone L (2023).
QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human Manipulation. 2023 IEEE International Conference on Development and Learning (ICDL).
11-11-2023![bullet icon](/common/publications/images/bullet24.png)
Kaleel D, Clement B and
Althoefer K (2023).
A Framework to Design and Build a Height Controllable Eversion Robot. 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA).
03-11-2023![bullet icon](/common/publications/images/bullet24.png)
Suulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D and
Althoefer K (2023).
Soft Cap for Vine Robots. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
05-10-2023![bullet icon](/common/publications/images/bullet24.png)
Hassan A, Abrar T, Aljaber F, Vitanov I and
Althoefer K (2023).
Eversion-Capable Fabric Robot Gripper with Novel Retraction Mechanism. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
05-10-2023![bullet icon](/common/publications/images/bullet24.png)
Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y,
Althoefer K and Kwok K-W (2023).
Intelligent Shape Decoding of a Soft Optical Waveguide Sensor. Advanced Intelligent Systems,
Wiley vol. 6 (2)
20-07-2023![bullet icon](/common/publications/images/bullet24.png)
Yip M, Salcudean S, Goldberg K,
Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K, Walsh CJ, Huang HH and Lee I-C (2023).
Artificial intelligence meets medical robotics. Science,
American Association for the Advancement of Science (AAAS) vol. 381 (6654), 141-146.
13-07-2023![bullet icon](/common/publications/images/bullet24.png)
Li W, Wang M, Li J, Su Y, Jha DK, Qian X,
Althoefer K and Liu H (2023).
L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (8), 5148-5155.
05-07-2023![bullet icon](/common/publications/images/bullet24.png)
(2023).
Welcome Page. 04-07-2023
Althoefer K, Ling Y, Li W, Qian X, Lee WW and Qi P (2023).
A Miniaturised Camera-based Multi-Modal Tactile Sensor. 2023 IEEE International Conference on Robotics and Automation (ICRA).
02-06-2023![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Coppola C and
Althoefer K (2023).
Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin. 2023 IEEE International Conference on Robotics and Automation (ICRA).
02-06-2023![bullet icon](/common/publications/images/bullet24.png)
Fras J and
Althoefer K (2023).
A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissue. 2023 IEEE International Conference on Robotics and Automation (ICRA).
02-06-2023![bullet icon](/common/publications/images/bullet24.png)
Aljaber F, Hassan A, Abrar T, Vitanov I and
Althoefer K (2023).
Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications. 2023 IEEE International Conference on Soft Robotics (RoboSoft).
07-04-2023![Relevant Publication](/common/publications/images/fav.png)
Giudici G, Omarali B, Bonzini AA,
Althoefer K,
Farkhatdinov I and
Jamone L (2023).
Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot. Towards Autonomous Robotic Systems 443-454.
01-01-20232022
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Suulker C, Skach S and
Althoefer K (2022).
Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (4), 10621-10627.
29-07-2022![bullet icon](/common/publications/images/bullet24.png)
Wang X, Wang Y,
Zhang K,
Althoefer K and
Su L (2022).
Learning to sense three-dimensional shape deformation of a single multimode fiber. Scientific Reports,
Nature Research 25-07-2022![bullet icon](/common/publications/images/bullet24.png)
Hassan A, Aljaber F, Vitanov I and
Althoefer K (2022).
Performance Evaluation and Optimisation of Multi-point Waveguide based optical Sensor for Soft Robots. 2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS).
10-07-2022![bullet icon](/common/publications/images/bullet24.png)
Omarali B, Palermo F,
Althoefer K, Valle M and
Farkhatdinov I (2022).
Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. 2022 International Conference on Robotics and Automation (ICRA).
27-05-2022![bullet icon](/common/publications/images/bullet24.png)
Kwok K-W, Wurdemann H, Arezzo A, Menciassi A and
Althoefer K (2022).
Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook. Proceedings of the IEEE,
Institute of Electrical and Electronics Engineers (IEEE) vol. 110 (7), 871-892.
02-05-2022![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Denoun B and
Althoefer K (2022).
Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
28-04-2022![bullet icon](/common/publications/images/bullet24.png)
Suulker C, Hassan A, Skach S and
Althoefer K (2022).
A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022![Relevant Publication](/common/publications/images/fav.png)
Liu C, Edwards O,
Althoefer K,
Zhang K and Godaba H (2022).
An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022![bullet icon](/common/publications/images/bullet24.png)
Sun Y, Wu L, Wang H,
Althoefer K and Qi P (2022).
The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022![bullet icon](/common/publications/images/bullet24.png)
Aljaber F, Hassan A, Vitanov I and
Althoefer K (2022).
Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022![bullet icon](/common/publications/images/bullet24.png)
Matsuno T, Miyagoshi R, Shimizu K, Ishihara M, Watanabe S, Shintake J,
Althoefer K and Hirai S (2022).
Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft).
08-04-2022![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Lam HK and
Althoefer K (2022).
Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments. Frontiers in Robotics and AI,
Frontiers Media vol. 9
18-02-2022![bullet icon](/common/publications/images/bullet24.png)
Jia G, Lam H-K and
Althoefer K (2022).
Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types. Pattern Recognition,
Elsevier vol. 121
01-01-20222021
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Omarali B,
Althoefer K, Mastrogiovanni F, Valle M and
Farkhatdinov I (2021).
Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC).
20-10-2021![Relevant Publication](/common/publications/images/fav.png)
Vitanov I,
Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T,
Hansard M,
Oh C,
Poslad S, Liu C, Godaba H,
Zhang K,
Jamone L and
Althoefer K (2021).
A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics vol. 10 (4), 112-112.
07-10-2021![bullet icon](/common/publications/images/bullet24.png)
Palermo F, Rincon-Ardila L,
Oh C,
Althoefer K,
Poslad S, Venture G and
Farkhatdinov I (2021).
Multi-modal robotic visual-tactile localisation and detection of surface cracks. 2021 IEEE 17th International Conference on Automation Science and Engineering.
05-10-2021![bullet icon](/common/publications/images/bullet24.png)
Wang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY,
Althoefer K, Liu Y, Fukuda T and Kwok K-W (2021).
Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics. Advanced Intelligent Systems,
Wiley vol. 3 (11)
30-08-2021![Relevant Publication](/common/publications/images/fav.png)
Slonina Z, Bonzini AA, Brown J, Wang S,
Farkhatdinov I,
Althoefer K,
Jamone L and
Versace E (2021).
Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. 2021 IEEE International Conference on Development and Learning (ICDL).
23-08-2021![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and
Althoefer K (2021).
Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop. Applied Sciences,
MDPI vol. 11 (14)
17-07-2021![bullet icon](/common/publications/images/bullet24.png)
Abrar T, Putzu F, Ataka A, Godaba H and
Althoefer K (2021).
Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure. 2021 IEEE International Conference on Robotics and Automation (ICRA).
05-06-2021![bullet icon](/common/publications/images/bullet24.png)
Obadina OO, Thaha MA,
Althoefer K and
Shaheed MH (2021).
Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm. Journal of Vibration and Control,
SAGE Publications, 107754632110034-107754632110034.
27-03-2021![bullet icon](/common/publications/images/bullet24.png)
Marques L, Murphy R,
Althoefer K, Tadokoro S and Laschi C (2021).
Robotics Responds to the COVID-19 Outbreak. IEEE Robotics & Automation Magazine,
Institute of Electrical and Electronics Engineers (IEEE) vol. 28 (1), 16-17.
01-03-2021![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Abrar T, Putzu F, Godaba H and
Althoefer K (2021).
Observer-based Control of Inflatable Robot with Variable Stiffness *. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
24-01-2021![bullet icon](/common/publications/images/bullet24.png)
Din AR,
Althoefer K,
Farkhatdinov I, Brown J, Morgan C and Shahdad S (2021).
Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry. The Surgeon,
Elsevier vol. 19 (5), e281-e288.
22-01-2021![bullet icon](/common/publications/images/bullet24.png)
Förster F and
Althoefer K (2021).
Attribution of autonomy and its role in robotic language acquisition. AI & SOCIETY,
Springer Nature vol. 37 (2), 605-617.
16-01-2021![bullet icon](/common/publications/images/bullet24.png)
Ishihara M, Matsuno T,
Althoefer K and Hirai S (2021).
Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. 2021 IEEE/SICE International Symposium on System Integration (SII).
14-01-2021![bullet icon](/common/publications/images/bullet24.png)
Bálint LAP,
Althoefer K and Macías LHP (2021).
Virtual Reality Percussion Simulator for Medical Student Training. 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI).
09-01-2021![bullet icon](/common/publications/images/bullet24.png)
Hassan A, Aljaber F, Godaba H, Vitanov I and
Althoefer K (2021).
Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers. 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI).
09-01-2021![bullet icon](/common/publications/images/bullet24.png)
Fras J, Arezzo A, Shiva A and
Althoefer K (2021).
Chapter 27 Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability. Soft Matter for Biomedical Applications 684-719.
01-01-20212020
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Palermo F, Konstantinova J,
Poslad S,
Althoefer K and
Farkhatdinov I (2020).
Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. Frontiers in Robotics and AI,
Frontiers Media 02-12-2020![bullet icon](/common/publications/images/bullet24.png)
Li W, Noh Y,
Alomainy A, Vitanov I, Zheng Y, Qi P and
Althoefer K (2020).
F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation. 2020 IEEE SENSORS.
28-10-2020![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Godaba H, Ataka A and
Althoefer K (2020).
Silicone-based Capacitive E-skin for Exteroception and
Proprioception. International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) 25 Oct 2020 - 29 Oct 2020.
25-10-2020![Relevant Publication](/common/publications/images/fav.png)
Godaba H, Sajad A, Patel N,
Althoefer K and
Zhang K (2020).
A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing. 2020 IEEE International Conference on Intelligent Robots and Systems.
24-10-2020![bullet icon](/common/publications/images/bullet24.png)
Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J, Xu G and
Althoefer K (2020).
Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation. IEEE Transactions on Medical Robotics and Bionics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 2 (4), 565-568.
14-10-2020![bullet icon](/common/publications/images/bullet24.png)
Putzu F, ABRAR T, Hassan A, Godaba H, Rizqi A and
Althoefer K (2020).
An In-Homogeneous Structured Eversion Actuator. Towards Autonomous Robotic Systems Conference (TAROS) Online 16 Sep 2020.
16-09-2020![bullet icon](/common/publications/images/bullet24.png)
Palermo F, Konstantinova J,
Althoefer K,
Poslad S and
Farkhatdinov I (2020).
Implementing Tactile and Proximity Sensing for Crack Detection. 2020 IEEE International Conference on Robotics and Automation (ICRA).
31-08-2020![bullet icon](/common/publications/images/bullet24.png)
Godaba H, Vitanov I, Aljaber F, Ataka A and
Althoefer K (2020).
A bending sensor insensitive to pressure: soft proprioception based on abraded optical fibres. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft).
15-07-2020![Relevant Publication](/common/publications/images/fav.png)
Frazier PA,
Jamone L,
Althoefer K and Calvo P (2020).
Plant Bioinspired Ecological Robotics. Frontiers in Robotics and AI,
Frontiers Media vol. 7
14-07-2020![bullet icon](/common/publications/images/bullet24.png)
Li X, Li W, Zheng Y,
Althoefer K and Qi P (2020).
Criminisi Algorithm Applied to a GelSight Fingertip Sensor for Multi-modality Perception. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).
09-07-2020![bullet icon](/common/publications/images/bullet24.png)
Fras J,
Althoefer K and Glowka J (2020).
Instant soft robot: A simple recipe for quick and easy manufacturing. IEEE International Conference on Soft Robotics RoboSoft 2020 Online 15 May 2020 - 15 Jun 2020.
15-05-2020![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Abrar T, Putzu F, Godaba H and
Althoefer K (2020).
Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE), 1-1.
26-02-2020![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C,
Althoefer K and Nanayakkara T (2020).
Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings. IEEE Robotics and Automation Letters vol. 5 (2), 2824-2831.
10-02-2020
Althoefer K (2020).
TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models. International Journal of Robotics Research,
SAGE Publications 06-01-2020![Relevant Publication](/common/publications/images/fav.png)
Omarali B, Denoun B,
Althoefer K,
Jamone L, Valle M and
Farkhatdinov I (2020).
Virtual Reality based Telerobotics Framework with Depth Cameras. 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
04-01-2020![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Noh Y, Elnaz Naghibi S,
Althoefer K and Nanayakkara T (2020).
Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. Intelligent Robotics and Applications c1-c1.
01-01-2020![bullet icon](/common/publications/images/bullet24.png)
Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and
Althoefer K (2020).
An Inhomogeneous Structured Eversion Actuator. Towards Autonomous Robotic Systems 37-48.
01-01-2020![bullet icon](/common/publications/images/bullet24.png)
Li W,
Alomainy A, Vitanov I, Noh Y, Qi P and
Althoefer K (2020).
F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE), 1-1.
01-01-2020![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Godaba H and
Althoefer K (2020).
Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. Towards Autonomous Robotic Systems 62-65.
01-01-2020![bullet icon](/common/publications/images/bullet24.png)
Vitanov I, Rizqi A and
Althoefer K (2020).
Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach. Towards Autonomous Robotic Systems 58-61.
01-01-2020![bullet icon](/common/publications/images/bullet24.png)
Fras J, Glowka J and
Althoefer K (2020).
Instant soft robot: A simple recipe for quick and easy manufacturing. 01-01-20202019
![bullet icon](/common/publications/images/bullet24.png)
Godaba H, Putzu F, Abrar T, Konstantinova J and
Althoefer K (2019).
Payload capabilities and operational limits of eversion robots. Annual Conference Towards Autonomous Robotic Systems.
17-07-2019![bullet icon](/common/publications/images/bullet24.png)
Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C, Back J, Lindenroth L, Gomez A, Toussaint N, Zimmer V, Knight C, Fletcher T, Lloyd D, Simpson J, Pasupathy D, Liu H,
Althoefer K,
et al. (2019).
Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. Towards Autonomous Robotic Systems Conference (TAROS).
17-07-2019![bullet icon](/common/publications/images/bullet24.png)
Dawood AB, Godaba H and
Althoefer K (2019).
Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot. Annual Conference Towards Autonomous Robotic Systems.
17-07-2019
Zhang K and
Althoefer K (2019).
Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. 20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019.
07-07-2019![bullet icon](/common/publications/images/bullet24.png)
Putzu F, Konstantinova J and
Althoefer K (2019).
Soft particles for granular jamming. Towards Autonomus Robotics Systems (TAROS) 5 Jul 2019 - 3 Jul 2020.
03-07-2019![bullet icon](/common/publications/images/bullet24.png)
Danabek D, Otaran A,
Althoefer K and
Farkhatdinov I (2019).
Mobile robot trajectory analysis with the help of vision system. Towards Autonomous Robotic Systems Conference (TAROS).
03-07-2019![bullet icon](/common/publications/images/bullet24.png)
Aljaber F and
Althoefer K (2019).
Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing. TAROS.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Hassan A, Godaba H and
Althoefer K (2019).
Design Analysis of a Fabric Based Lightweight Robotic Gripper. Annual Conference Towards Autonomous Robotic Systems.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Ali A,
Althoefer K and Konstantinova J (2019).
Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links. Towards Autonomous Robotic Systems Conference.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Fras J and
Althoefer K (2019).
Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems. Annual Conference Towards Autonomous Robotic Systems.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Stilli A, Konstantinova J, Wurdemann HA and
Althoefer K (2019).
Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. Annual Conference Towards Autonomous Robotic Systems.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Bálint LAP, Macías LHP and
Althoefer K (2019).
Virtual Reality Simulator for Medical Auscultation Training. Towards Autonomous Robotic Systems Conference.
28-06-2019![bullet icon](/common/publications/images/bullet24.png)
Putzu F, Konstantinova J and
Althoefer K (2019).
Eversion-type soft overtube for endoscopic surgery. The Hamlyn Symposium on Medical Robotics.
23-06-2019![bullet icon](/common/publications/images/bullet24.png)
Sadati S, Shiva A, Elnaz Naghibi S, Rucker C, Renson L, Bergeles C,
Althoefer K, Nanayakkara T, Hauser H and Walker I (2019).
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. Robotics: Science and Systems XV.
22-06-2019![bullet icon](/common/publications/images/bullet24.png)
Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and
Althoefer K (2019).
An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. Front Neurorobot vol. 13, 34-34.
29-05-2019![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Lam HK and
Althoefer K (2019).
Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments. 2019 International Conference on Robotics and Automation (ICRA).
24-05-2019![bullet icon](/common/publications/images/bullet24.png)
Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA and
Althoefer K (2019).
Real-time robot-assisted ergonomics. International Conference on Robotics and Automation (ICRA).
20-05-2019![bullet icon](/common/publications/images/bullet24.png)
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H,
Althoefer K, Hajnal J, Singh D and Rhode K (2019).
Analysis of a customized clutch joint designed for the safety management of an ultrasound robot. Applied Sciences (Switzerland) vol. 9 (9)
09-05-2019![bullet icon](/common/publications/images/bullet24.png)
Li W, Konstantinova J,
Alomainy A and
Althoefer K (2019).
Elastomer-based touch sensor: Visualization of tactile pressure distribution. Towards Autonomous Robotic Systems (TAROS).
26-04-2019![bullet icon](/common/publications/images/bullet24.png)
Abrar T, Putzu F, Konstantinova J and
Althoefer K (2019).
EPAM: Eversive Pneumatic Artificial Muscle. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).
14-04-2019![bullet icon](/common/publications/images/bullet24.png)
Li W, Konstantinova J, Noh Y, Ma Z,
Alomainy A and
Althoefer K (2019).
An Elastomer-based Flexible Optical Force and Tactile Sensor. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).
14-04-2019![bullet icon](/common/publications/images/bullet24.png)
Matsuno T, Wang Z,
Althoefer K and Hirai S (2019).
Adaptive update of reference capacitances in conductive fabric based robotic skin. IEEE Robotics and Automation Letters vol. 4 (2), 2212-2219.
27-02-2019![bullet icon](/common/publications/images/bullet24.png)
Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and
Althoefer K (2019).
Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robotics,
Mary Ann Liebert vol. 6 (2), 228-249.
31-01-2019![bullet icon](/common/publications/images/bullet24.png)
FRAS J and
ALTHOEFER K (2019).
Soft biomimetic prosthetic hand:
Design, manufacturing and preliminary examination. International Conference on Intelligent Robots.
07-01-2019![bullet icon](/common/publications/images/bullet24.png)
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J,
Althoefer K, Singh D and Rhode K (2019).
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. J Vis Exp (143)
07-01-2019![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Shiva A, Lam H-K and
Althoefer K (2019).
Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 Madrid, Spain 1 Oct 2018 - 5 Oct 2018.
07-01-2019![bullet icon](/common/publications/images/bullet24.png)
Omarali B, Palermo F, Valle M,
Poslad S,
Althoefer K and
Farkhatdinov I (2019).
Position and Velocity Control for Telemanipulation with Interoperability Protocol. 01-01-20192018
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Stilli A, Kolokotronis E, Fras J, Ataka A,
Althoefer K and Wurdemann HA (2018).
Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. International Conference on Intelligent Robots and Systems (IROS).
27-12-2018![bullet icon](/common/publications/images/bullet24.png)
COTUGNO G, KONSTANTINOVA J,
ALTHOEFER KA and Nanayakkara T (2018).
Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands. PLoS ONE,
Public Library of Science (PLoS) 26-12-2018![bullet icon](/common/publications/images/bullet24.png)
Obadina O, Bernth J,
Althoefer K and Hasan Shaheed M (2018).
A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System. UK-RAS Conference: Robots Working For and Among Us Proceedings.
12-10-2018![bullet icon](/common/publications/images/bullet24.png)
Putzu F,
Althoefer K and Manfredi L (2018).
Silicone-based ultra-stretchable strain sensors. UK-RAS Conference: Robots Working For and Among Us Proceedings.
12-10-2018![bullet icon](/common/publications/images/bullet24.png)
Fras J and
Althoefer K (2018).
Bio-mimetic pneumatic soft prosthetic hand. UK-RAS Conference: Robots Working For and Among Us Proceedings.
12-10-2018
ALTHOEFER KA (2018).
Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading. Advanced Robotics,
Taylor & Francis 05-10-2018![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Shiva A, Lam HK and
Althoefer K (2018).
Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-10-2018![bullet icon](/common/publications/images/bullet24.png)
Puertolas Balint L and
Althoefer K (2018).
Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. CRAS 2018 London.
10-09-2018![bullet icon](/common/publications/images/bullet24.png)
PUTZU F, ABRAR T and
ALTHOEFER K (2018).
Plant-Inspired Soft Pneumatic Eversion Robot. BioRob 2018 Enschede, Netherlands 26 Aug 2018 - 29 Aug 2018.
29-08-2018![bullet icon](/common/publications/images/bullet24.png)
Puertolas Balint L and
Althoefer K (2018).
Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. CRAS.
11-08-2018![bullet icon](/common/publications/images/bullet24.png)
FRAS J and
ALTHOEFER K (2018).
Soft Pneumatic Prosthetic Hand. TAROS.
21-07-2018![bullet icon](/common/publications/images/bullet24.png)
OBADINA OO, THAHA MA,
ALTHOEFER K and
SHAHEED MH (2018).
A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System., Editors: Giuliani M, Assaf T and Giannaccini ME.
Lecture Notes in Computer Science,
Springer Verlag, 28-39.
21-07-2018![bullet icon](/common/publications/images/bullet24.png)
Caenazzo A and
Althoefer K (2018).
Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation. TAROS.
21-07-2018![bullet icon](/common/publications/images/bullet24.png)
Li W, Konstantinova J, Noh Y,
Alomainy A and
Althoefer K (2018).
Camera-based force and tactile sensor. TAROS.
21-07-2018
ALTHOEFER KA (2018).
Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers 09-07-2018
ALTHOEFER KA (2018).
iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Autonomous Robots,
Springer Verlag 23-06-2018![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Lam H-K and
Althoefer K (2018).
Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments**This work was supported in part by King's College London, the EPSRC in the framework of the NCNR (National Centre for Nuclear Robotics) project (EP/R02572X/1), and the Indonesia Endowment Fund for Education, Ministry of Finance Republic of Indonesia. 2018 IEEE International Conference on Robotics and Automation (ICRA).
21-05-2018![bullet icon](/common/publications/images/bullet24.png)
FRAS J, Noh Y, Macias M, Wurdemann H and
ALTHOEFER K (2018).
Bio-inspired octopus robot based on novel soft fluidic actuator. IEEE International Conference on Robotics and Automation (ICRA).
20-05-2018
ALTHOEFER KA (2018).
Real-Time Vision-Based Stiffness Mapping. Sensors,
MDPI AG 26-04-2018
ALTHOEFER KA (2018).
AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients. International Conference on Soft Robotics.
24-04-2018![bullet icon](/common/publications/images/bullet24.png)
FRAS J, Macias M, Noh Y and
ALTHOEFER K (2018).
Fluidical bending actuator designed for soft octopus robot tentacle. 2018 IEEE International Conference on Soft Robotics (RoboSoft).
23-04-2018
ALTHOEFER KA (2018).
Antagonistic actuation and stiffness control in soft inflatable robots. Nature Reviews Materials 20-04-2018![bullet icon](/common/publications/images/bullet24.png)
ALJaber F and
Althoefer K (2018).
Towards Creating a Flexible Shape Senor for Soft Robots. 2018 IEEE International Conference on Soft Robotics (RoboSoft).
01-04-2018![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Naghibi SE,
Althoefer K and Nanayakkara T (2018).
Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement. 2018 IEEE International Conference on Soft Robotics (RoboSoft).
01-04-2018![bullet icon](/common/publications/images/bullet24.png)
Mehta A, Velazquez-Pimentel D, Sadek S and
Althoefer K (2018).
Development of an Adaptable, Soft Robot with an Aortic Diameter Sensor to Modulate Blood Flow in an Extreme Biological Environment. 2018 IEEE International Conference on Soft Robotics (RoboSoft).
01-04-2018![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Sullivan L, Walker ID,
Althoefer K and Nanayakkara T (2018).
Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. IEEE Robotics and Automation Letters vol. 3 (3), 2283-2290.
12-02-2018![bullet icon](/common/publications/images/bullet24.png)
Stilli A,
Althoefer K and Wurdemann HA (2018).
Soft Robotics. Bio-inspired Antagonistic Stiffening. Developing Support Technologies 207-214.
01-01-2018![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Shiva A, Lam HK and
Althoefer K (2018).
Magnetic-field-inspired Navigation for Soft Continuum Manipulator. 01-01-2018![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Wurdemann H, Shafti A, Shiva A and
Althoefer K (2018).
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:. 1-420.
01-01-20182017
![bullet icon](/common/publications/images/bullet24.png)
Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H,
Althoefer K and Menciassi A (2017).
Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery. International Journal of Medical Robotics and Computer Assisted Surgery,
Wiley vol. 14 (1)
05-12-2017![bullet icon](/common/publications/images/bullet24.png)
Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC,
Althoefer K, Sze KY, Yeung CK and Kwok KW (2017).
Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation. Soft Robotics vol. 4 (4), 324-337.
01-12-2017![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Cotugno G, Stilli A, Noh Y,
Althoefer K and IEEE (2017).
Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor. IEEE Sensors Conference 29 Oct 2017 - 1 Nov 2017.
01-11-2017![bullet icon](/common/publications/images/bullet24.png)
KONSTANTINOVA J, Cotugno G, Stilli A, Noh Y and
Althoefer K (2017).
Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor. IEEE Sensors Conference Glasgow 29 Oct 2017 - 1 Nov 2017.
29-10-2017
ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017).
Anchoring like octopus: biologically inspired soft artificial sucker. Journal of the Royal Society Interface,
Royal Society, The vol. 14 (135)
25-10-2017![bullet icon](/common/publications/images/bullet24.png)
KONSTANTINOVA J, Stilli and
Althoefer (2017).
Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. Sensors,
MDPI vol. 17 (10)
13-10-2017![bullet icon](/common/publications/images/bullet24.png)
Sareh S,
Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017).
Anchoring like octopus: biologically inspired soft artificial sucker. J R Soc Interface vol. 14 (135)
01-10-2017
ALTHOEFER KA, fras J, noh Y and Wurdemann H (2017).
Soft fluidic rotary actuator with improved actuation properties. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems.
24-09-2017![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Naghibi SE, Walker ID,
Althoefer K and Nanayakkara T (2017).
Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods. IEEE Robotics and Automation Letters vol. 3 (1), 328-335.
22-08-2017![bullet icon](/common/publications/images/bullet24.png)
Stilli A, Grattarola L, Feldmann H, Wurdemann HA and
Althoefer K (2017).
Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators. IEEE International Conference on Robotics and Automation.
21-07-2017![bullet icon](/common/publications/images/bullet24.png)
KONSTANTINOVA J, Krivic S, Stilli A, Piater J and
Althoefer K (2017).
Autonomous Object Handover using Wrist Tactile Information. 18th Towards Autonomous Robotic Systems (TAROS) Conference Surrey, United Kingdom 19 Jul 2017 - 21 Jul 2017.
19-07-2017![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID,
Althoefer K and Nanayakkara T (2017).
A geometry deformation model for braided continuum manipulators. Frontiers Robotics AI vol. 4 (JUN)
30-06-2017![bullet icon](/common/publications/images/bullet24.png)
Garbin N, Stilli A, Shiva A, Fras J, Slawinski PR, Obstein KL,
Althoefer K, Wurdemann HA and Valdastri P (2017).
Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer Screening. 10th Hamlyn Symposium on Medical Robotics 2017.
25-06-2017![bullet icon](/common/publications/images/bullet24.png)
Shao W, Kosmas P,
Althoefer K and Barras J (2017).
Canceling strong and complex interference in NQR-based landmine detection. International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016.
12-06-2017![bullet icon](/common/publications/images/bullet24.png)
Ranasinghe A,
Althoefer K, Dasgupta P, Nagar A and Nanayakkara T (2017).
Wearable haptic based pattern feedback sleeve system. Advances in Intelligent Systems and Computing vol. 547, 302-312.
13-04-2017![bullet icon](/common/publications/images/bullet24.png)
Wang S, Singh D, Lau D, Reddy K,
Althoefer K, Rhode K and Housden RJ (2017).
Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 10170 LNCS, 14-23.
13-04-2017![bullet icon](/common/publications/images/bullet24.png)
Shao W, Barras J,
Althoefer K and Kosmas P (2017).
Detecting NQR signals severely polluted by interference. Signal Processing vol. 138, 256-264.
31-03-2017![bullet icon](/common/publications/images/bullet24.png)
Luo S, Zhu L,
Althoefer K and Liu H (2017).
Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. Neurocomputing 11-03-2017![bullet icon](/common/publications/images/bullet24.png)
Stilli A, Wurdemann HA and
Althoefer K (2017).
A Novel Concept for Safe, Stiffness-Controllable Robot Links. Soft Robotics vol. 4 (1), 16-22.
01-03-2017![bullet icon](/common/publications/images/bullet24.png)
Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and
Althoefer K (2017).
Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model. PLoS ONE,
Public Library of Science (PLoS) 01-03-2017![bullet icon](/common/publications/images/bullet24.png)
Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD,
Althoefer K and Dasgupta P (2017).
Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery. Med Eng Phys 21-02-2017![bullet icon](/common/publications/images/bullet24.png)
KONSTANTINOVA J, Cotugno G, Dasgupta P,
Althoefer K and Nanayakkara T (2017).
Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs. PLoS ONE,
Public Library of Science (PLoS) 15-02-2017![bullet icon](/common/publications/images/bullet24.png)
Sadati SM, Naghibi SE, Shiva A, Walker ID,
Althoefer K and Nanayakkara T (2017).
Mechanics of continuum manipulators, a comparative study of five methods with experiments. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 10454 LNAI, 686-702.
01-01-2017![bullet icon](/common/publications/images/bullet24.png)
Stopforth R, Davrajh S and
Althoefer K (2017).
Low Cost Soft Endoscope Robotic Probe. 2017 IEEE AFRICON.
01-01-20172016
ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ (2016).
Embroidered Electromyography: A Systematic Design Guide. IEEE Transactions on Neural Systems and Rehabilitation Engineering 01-12-2016
ALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H and Liu H (2016).
Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-12-2016![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Stilli A, Faragasso A and
Althoefer K (2016).
Fingertip proximity sensor with realtime visual-based calibration. IROS 2016.
28-11-2016![bullet icon](/common/publications/images/bullet24.png)
Luo S, Mou W,
Althoefer K and Liu H (2016).
Iterative Closest Labeled Point for tactile object shape recognition. IEEE International Conference on Intelligent Robots and Systems.
28-11-2016![bullet icon](/common/publications/images/bullet24.png)
Noh Y, Bimbo J, Stilli A, Wurdemann H, Liu H, Housden J, Rhode K and
Althoefer K (2016).
A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam. International Conference on Intelligent Robots and Systems.
28-11-2016![bullet icon](/common/publications/images/bullet24.png)
Lindenroth L, Back J, Schoisengeier A, Noh Y, Würdemann H,
Althoefer K and Liu H (2016).
Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. IEEE International Conference on Intelligent Robots and Systems.
28-11-2016![bullet icon](/common/publications/images/bullet24.png)
Back J, Lindenroth L, Karim R,
Althoefer K, Rhode K and Liu H (2016).
New kinematic multi-section model for catheter contact force estimation and steering. IEEE International Conference on Intelligent Robots and Systems.
28-11-2016
ALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H, Housden J and Rhode K (2016).
Multi-axis force/torque sensor based on simply supported beam and optoelectronics. Journal of Sensors MDPI 17-11-2016
ALTHOEFER KA (2016).
Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography. IEEEROBOTICS&AUTOMATIONMAGAZINE 07-11-2016![bullet icon](/common/publications/images/bullet24.png)
Maurtua I, Pedrocchi N, Orlandini A, Fernandez JDG, Vogel C, Geenen A,
Althoefer K and Shafti A (2016).
FourByThree: Imagine humans and robots working hand in hand. IEEE International Conference on Emerging Technologies and Factory Automation, ETFA.
03-11-2016![bullet icon](/common/publications/images/bullet24.png)
Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T and
Althoefer K (2016).
Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. IEEE Trans Biomed Eng vol. 63 (11), 2425-2435.
01-11-2016![bullet icon](/common/publications/images/bullet24.png)
Stopforth R, Davrajh S and
Althoefer K (2016).
Low Cost Robotic Endoscope Design Considerations. 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech).
01-11-2016![bullet icon](/common/publications/images/bullet24.png)
Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and
Althoefer K (2016).
Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization. IEEE Sensors Journal vol. 16 (22), 7924-7932.
16-08-2016![bullet icon](/common/publications/images/bullet24.png)
Shafti A, Lazpita BU, Elhage O, Wurdemann HA and
Althoefer K (2016).
Analysis of Comfort and Ergonomics for Clinical Work Environments **This work was supported by the Horizon 2020 Research and Innovation Programme under grant agreement 287728 in the framework of EU project FourByThree. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
01-08-2016![bullet icon](/common/publications/images/bullet24.png)
Manerol RBR, Shafti A, Michael B, Grewal J, Fernández JLR,
Althoefer K and Howard MJ (2016).
Wearable Embroidered Muscle Activity Sensing Device for the Human Upper Leg. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
01-08-2016![bullet icon](/common/publications/images/bullet24.png)
Qi P, Zhang C, Li J, Li Z, Dai JS and
Althoefer K (2016).
A compact continuum manipulator system with enhanced steering abilities for robot-Assisted surgery. BioRob 2016.
26-07-2016![bullet icon](/common/publications/images/bullet24.png)
Schoisengeier A, Lindenroth L, Back J, Qiu C, Noh Y,
Althoefer K, Dai JS, Rhode K and Liu H (2016).
Design of a flexible force-sensing platform for medical ultrasound probes. BioRob 2016.
26-07-2016![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Cotugno G, Dasgupta P,
Althoefer K and Nanayakkara T (2016).
Autonomous robotic palpation of soft tissue using the modulation of applied force. BioRob2016.
26-07-2016![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P and
Althoefer K (2016).
Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. BioRob 2016.
26-07-2016![bullet icon](/common/publications/images/bullet24.png)
Shiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A,
Althoefer K and Wurdemann HA (2016).
Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. IEEE Robotics and Automation Letters vol. 1 (2), 632-637.
01-07-2016![bullet icon](/common/publications/images/bullet24.png)
Li M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H and
Althoefer K (2016).
Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments., Editors: Zhang D.
PLoS One,
Public Library of Science vol. 11 (6), e0157681-e0157681.
28-06-2016![bullet icon](/common/publications/images/bullet24.png)
Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M, Menciassi A, Wurdemann H, Noh Y,
Althoefer K, Fras J, Glowka J, Nawrat Z, Cassidy G, Walker R and Morino M (2016).
Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models. Surgical Endoscopy: surgical and interventional techniques,
Springer Verlag (Germany) 23-06-2016![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Qi P, Liu H and
Althoefer K (2016).
Real-time planner for multi-segment continuum manipulator in dynamic environments. IEEE International Conference on Robotics and Automation.
08-06-2016![bullet icon](/common/publications/images/bullet24.png)
Shafti A, Manero RBR, Borg AM,
Althoefer K and Howard MJ (2016).
Designing embroidered electrodes for wearable surface electromyography. IEEE International Conference on Robotics and Automation.
08-06-2016![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Shiva A, Ataka A, Naghibi SE, Walker ID,
Althoefer K and Nanayakkara T (2016).
A geometry deformation model for compound continuum manipulators with external loading. IEEE International Conference on Robotics and Automation.
08-06-2016![bullet icon](/common/publications/images/bullet24.png)
Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD and
Althoefer K (2016).
A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs. IEEE/ASME Transactions on Mechatronics vol. 21 (3), 1281-1292.
01-06-2016![bullet icon](/common/publications/images/bullet24.png)
Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H,
Althoefer K and Bimbo J (2016).
Stable Grip Control on Soft Objects With Time-Varying Stiffness. IEEE Transactions on Robotics vol. 32 (3), 626-637.
01-06-2016![bullet icon](/common/publications/images/bullet24.png)
Chen C, Zhang F, Barras J,
Althoefer K, Bhunia S and Mandal S (2016).
Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy. IEEE/ACM Trans Comput Biol Bioinform vol. 13 (3), 417-430.
01-05-2016![bullet icon](/common/publications/images/bullet24.png)
Qi P, Liu C, Ataka A, Lam HK and
Althoefer K (2016).
Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach. IEEE Transactions on Industrial Electronics vol. 63 (8), 5022-5035.
14-04-2016![bullet icon](/common/publications/images/bullet24.png)
Cotugno G,
Althoefer K and Nanayakkara T (2016).
The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands. IEEE Transactions on Systems, Man, and Cybernetics: Systems vol. 47 (7), 1061-1070.
05-04-2016![bullet icon](/common/publications/images/bullet24.png)
Qiu C, Qi P, Liu H,
Althoefer K and Dai JS (2016).
Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs. Journal of Mechanical Design, Transactions of the ASME vol. 138 (4)
01-04-2016![bullet icon](/common/publications/images/bullet24.png)
Dias J,
Althoefer K and Lima PU (2016).
Robot Competitions: What Did We Learn? [Competitions]. IEEE Robotics & Automation Magazine,
Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (1), 16-18.
04-03-2016![bullet icon](/common/publications/images/bullet24.png)
Noh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K and
Althoefer K (2016).
Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (6), 1641-1651.
08-02-2016![bullet icon](/common/publications/images/bullet24.png)
Ranasinghe A, Sornkarn N, Dasgupta P,
Althoefer K, Penders J and Nanayakkara T (2016).
Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins. IEEE Transactions on Cybernetics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 46 (2), 568-579.
13-01-2016![bullet icon](/common/publications/images/bullet24.png)
Bimbo J, Luo S,
Althoefer K and Liu H (2016).
In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers (IEEE) vol. 1 (1), 570-577.
01-01-2016![bullet icon](/common/publications/images/bullet24.png)
Ataka A, Shiva A, Shafti A, Wurdemann H and
Althoefer K (2016).
Reactive motion planning for mobile continuum arm in dynamic industrial environment. 01-01-20162015
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Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications. Soft Robotics vol. 2 (4), 146-154.
01-12-2015![bullet icon](/common/publications/images/bullet24.png)
Yu Y, Qi P,
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Lagrangian Dynamics and Nonlinear Control of a Continuum Manipulator. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO).
01-12-2015![bullet icon](/common/publications/images/bullet24.png)
Sareh S, Noh Y, Li M, Ranzani T, Liu H and
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Macrobend optical sensing for pose measurement in soft robot arms. Smart Materials and Structures,
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Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; a study for monoclinic TNT. Solid State Nuclear Magnetic Resonance,
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Secco EL, Nagar A, Deters C, Wurdemann H, Lam H-K and
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A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs. 2015 IEEE International Conference on Computer and Information Technology; Ubiquitous Computing and Communications; Dependable, Autonomic and Secure Computing; Pervasive Intelligence and Computing.
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Smith JAS, Rowe MD,
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14N NQR, relaxation and molecular dynamics of the explosive TNT. Solid State Nuclear Magnetic Resonance,
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28-09-2015![bullet icon](/common/publications/images/bullet24.png)
Faragasso A, Stilli A, Bimbo J, Wurdemann HA and
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Multi-Axis Stiffness Sensing Device for Medical Palpation. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-09-2015![bullet icon](/common/publications/images/bullet24.png)
Qi P, Liu H, Seneviratne L and
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Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs. Volume 5A: 39th Mechanisms and Robotics Conference.
02-08-2015![bullet icon](/common/publications/images/bullet24.png)
Bai G, Qi P,
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Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application. Volume 5B: 39th Mechanisms and Robotics Conference.
02-08-2015![bullet icon](/common/publications/images/bullet24.png)
Wurdemann HA, Sareh S, Shafti A, Noh Y, Faragasso A, Chathuranga DS, Liu H, Hirai S and
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Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
01-08-2015![bullet icon](/common/publications/images/bullet24.png)
Shafti A, Andorno F, Marchese N, Arolfo S, Aydin A, Elhage O, Noh Y, Wurdemann HA, Arezzo A, Dasgupta P and
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Comfort and Learnability Assessment of a New Soft Robotic Manipulator for Minimally Invasive Surgery. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
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Noh Y, Housden RJ, Gomez A, Knight C, Garcia F, Liu H, Razavi R, Rhode K and
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An ergonomic handheld ultrasound probe providing contact forces and pose information. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
01-08-2015![bullet icon](/common/publications/images/bullet24.png)
Wang S, Housden J, Singh D,
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Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound. International Journal of Medical Robotics and Computer Assisted Surgery,
Wiley: 12 months vol. 12 (3), 342-354.
31-07-2015![bullet icon](/common/publications/images/bullet24.png)
Ranasinghe A, Dasgupta P,
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Identification of Haptic Based Guiding Using Hard Reins. PLOS ONE,
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22-07-2015![bullet icon](/common/publications/images/bullet24.png)
Luo S, Mou W,
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Novel Tactile-SIFT Descriptor for Object Shape Recognition. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (9), 5001-5009.
13-07-2015![bullet icon](/common/publications/images/bullet24.png)
Li M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P,
Althoefer K and Wurdemann HA (2015).
Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue. Medical & Biological Engineering & Computing,
Springer Nature vol. 53 (11), 1177-1186.
28-05-2015![bullet icon](/common/publications/images/bullet24.png)
Luo S, Mou W,
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Localizing the Object Contact through Matching Tactile Features with Visual Map. 2015 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2015![bullet icon](/common/publications/images/bullet24.png)
Maghooa F, Stilli A, Noh Y,
Althoefer K and Wurdemann HA (2015).
Tendon and Pressure Actuation for a Bio-Inspired Manipulator Based on an Antagonistic Principle. 2015 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2015![bullet icon](/common/publications/images/bullet24.png)
Xie H, Liu H, Noh Y, Li J, Wang S and
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A Fiber-Optics-Based Body Contact Sensor for a Flexible Manipulator. IEEE Sensors Journal,
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Kyriakidou G, Jakobsson A,
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Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy. Analytical Chemistry,
American Chemical Society (ACS) vol. 87 (7), 3806-3811.
12-03-2015![bullet icon](/common/publications/images/bullet24.png)
Bimbo J, Kormushev P,
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Global estimation of an object’s pose using tactile sensing. Advanced Robotics,
Taylor & Francis vol. 29 (5), 363-374.
04-03-2015![bullet icon](/common/publications/images/bullet24.png)
Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and
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Finger contact sensing and the application in dexterous hand manipulation. Autonomous Robots,
Springer Nature vol. 39 (1), 25-41.
21-01-2015![bullet icon](/common/publications/images/bullet24.png)
Sareh S, Noh Y, Ranzani T, Wurdemann H, Liu H and
Althoefer K (2015).
A 7.5mm Steiner Chain Fibre-Optic System for Multi-Segment Flex Sensing. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Back J, Manwell T, Karim R, Rhode K,
Althoefer K and Liu H (2015).
Catheter Contact Force Estimation from Shape Detection Using a Real-Time Cosserat Rod Model. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Back J, Dasgupta P, Seneviratne L,
Althoefer K and Liu H (2015).
Feasibility Study-Novel Optical Soft Tactile Array Sensing for Minimally Invasive Surgery. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Stilli A and
Althoefer K (2015).
Force and Proximity Fingertip Sensor to Enhance Grasping Perception. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Morland MFE,
Althoefer K and Nanayakkara T (2015).
Novel Method to form Adaptive Internal Impedance Profiles in Walkers. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Back J, Karim R, Noh Y, Rhode K,
Althoefer K and Liu H (2015).
Tension Sensing for a Linear Actuated Catheter Robot. 01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Luo S, Liu X,
Althoefer K and Liu H (2015).
Tactile Object Recognition with Semi-Supervised Learning. 01-01-2015
Althoefer K, Wurdemann H and Stilli A (2015).
Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamics. 01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Wurdemann HA, Stilli A and
Althoefer K (2015).
Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control. 01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Manwell T, Jupp A,
Althoefer K and Liu H (2015).
Surface Classification for Crawling Peristaltic Worm Robot. 01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Bai G, Qi P,
Althoefer K, Li D, Kong X and Dai JS (2015).
Kinematic analysis of a mechanism with dual remote centre of motion and its potential application. 01-01-2015![bullet icon](/common/publications/images/bullet24.png)
Sadati SMH, Noh Y, Elnaz Naghibi S,
Althoefer K and Nanayakkara T (2015).
Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. 01-01-20152014
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Deters C, Lam H-K, Secco EL, Wurdemann HA, Seneviratne LD and
Althoefer K (2014).
Accurate Bolt Tightening Using Model-Free Fuzzy Control for Wind Turbine Hub Bearing Assembly. IEEE Transactions on Control Systems Technology,
Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (1), 1-12.
15-12-2014![bullet icon](/common/publications/images/bullet24.png)
Luo S, Mou W, Li M,
Althoefer K and Liu H (2014).
Rotation and translation invariant object recognition with a tactile sensor. IEEE SENSORS 2014 Proceedings.
12-12-2014![bullet icon](/common/publications/images/bullet24.png)
Qi P, Liu C, Zhang L, Wang S, Lam H-K and
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Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014).
01-12-2014![bullet icon](/common/publications/images/bullet24.png)
Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and
Althoefer K (2014).
Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments. Mechatronics,
Elsevier vol. 24 (8), 1092-1100.
01-12-2014![bullet icon](/common/publications/images/bullet24.png)
Kyriakidou G, Jakobsson A, Gudmundson E, Gregorovič A, Barras J and
Althoefer K (2014).
Improved modeling and bounds for NQR spectroscopy signals. 10-11-2014![bullet icon](/common/publications/images/bullet24.png)
Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and
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Multi-fingered haptic palpation using pneumatic feedback actuators. Sensors and Actuators A Physical,
Elsevier vol. 218, 132-141.
01-10-2014![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Ranzani T, Gerboni G, Lekstutyte L,
Althoefer K, Dasgupta P and Nanayakkara T (2014).
Robotic Granular Jamming: Does the Membrane Matter? Soft Robotics,
Mary Ann Liebert vol. 1 (3), 192-201.
01-09-2014![bullet icon](/common/publications/images/bullet24.png)
Wanninayake IB, Dasgupta P, Seneviratne LD and
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Modeling and Optimizing Output Characteristics of Intensity Modulated Optical Fiber-Based Displacement Sensors. IEEE Transactions on Instrumentation and Measurement,
Institute of Electrical and Electronics Engineers (IEEE) vol. 64 (3), 758-767.
28-08-2014![bullet icon](/common/publications/images/bullet24.png)
Qiu C, Qi P, Liu HB,
Althoefer K and Dai JS (2014).
Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator. Volume 5A: 38th Mechanisms and Robotics Conference.
17-08-2014![bullet icon](/common/publications/images/bullet24.png)
Xie H, Liu H, Seneviratne LD and
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An Optical Tactile Array Probe Head for Tissue Palpation During Minimally Invasive Surgery. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (9), 3283-3291.
28-07-2014![bullet icon](/common/publications/images/bullet24.png)
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and
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Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Materials and Structures,
IOP Publishing vol. 23 (9)
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Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review. IEEE Sensors Journal,
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MRI‐safe robots. BJU International,
Wiley vol. 113 (6), 975-976.
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Jiang A, Adejokun S, Faragasso A,
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The granular jamming integrated actuator. 2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS).
01-06-2014![bullet icon](/common/publications/images/bullet24.png)
Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T,
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Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach. Soft Robotics,
Mary Ann Liebert vol. 1 (2), 122-131.
01-06-2014![bullet icon](/common/publications/images/bullet24.png)
Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J,
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Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. Production Engineering,
Springer Nature vol. 8 (6), 755-764.
30-05-2014![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Li M, Mehra G, Dasgupta P,
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Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues. IEEE Transactions on Biomedical Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (6), 1651-1659.
15-05-2014![bullet icon](/common/publications/images/bullet24.png)
Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P,
Althoefer K and Wurdemann H (2014).
Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review. Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,
SAGE Publications vol. 228 (5), 509-522.
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Wanninayake IB, Seneviratne LD and
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Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Faragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H, Nanayakkara T, Wurdemann HA and
Althoefer K (2014).
Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Cotugno G, Mohan V,
Althoefer K and Nanayakkara T (2014).
Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned Synergies. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Li M, Faragasso A, Konstantinova J, Aminzadeh V, Seneviratne LD, Dasgupta P and
Althoefer K (2014).
A Novel Tumor Localization Method using Haptic Palpation based on Soft Tissue Probing Data. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Back J, Bimbo J, Noh Y, Seneviratne L,
Althoefer K and Liu H (2014).
Control a Contact Sensing Finger for Surface Haptic Exploration. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Sareh S, Jiang A, Faragasso A, Noh Y, Nanayakkara T, Dasgupta P, Seneviratne LD, Wurdemann RA and
Althoefer K (2014).
Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Noh Y, Sareh S, Back J, Würdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H and
Althoefer K (2014).
A Three-Axial Body Force Sensor for Flexible Manipulators. 2014 IEEE International Conference on Robotics and Automation (ICRA).
01-05-2014![bullet icon](/common/publications/images/bullet24.png)
Karim R, Ma Y, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A,
Althoefer K, Rinaldi CA, Razavi R, O’Neill MD, Schaeftter T and Rhode KS (2014).
Surface flattening of the human left atrium and proof-of-concept clinical applications. Computerized Medical Imaging and Graphics,
Elsevier vol. 38 (4), 251-266.
02-02-2014![bullet icon](/common/publications/images/bullet24.png)
Xie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD and
Althoefer K (2014).
Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (3), 829-838.
17-01-2014![bullet icon](/common/publications/images/bullet24.png)
Faragasso A, Stilli A, Bimbo J, Noh Y, Liu H, Nanayakkara T, Dasgupta P, Wurdemann HA and
Althoefer K (2014).
Endoscopic Add-on Stiffness Probe for Real-time Soft Surface Characterisation in MIS. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Qi P, Liu H, Seneviratne L and
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Towards Kinematic Modeling of a Multi-DOF Tendon Driven Robotic Catheter. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Noh Y, Secco EL, Sareh S, Würdemann H, Farazasso A, Back J, Liu H, Sklar E and
Althoefer K (2014).
A Continuum Body Force Sensor Designed for Flexible Surgical Robotics Devices. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Stilli A, Wurdemann HA and
Althoefer K (2014).
Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Manwell T, Vitek T, Ranzani T, Menciassi A,
Althoefer K and Liu H (2014).
Elastic Mesh Braided Worm Robot for Locomotive Endoscopy. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Qi P, Qiu C, Liu H, Dai JS, Seneviratne L and
Althoefer K (2014).
A Novel Continuum-Style Robot with Multilayer Compliant Modules. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-01-2014![bullet icon](/common/publications/images/bullet24.png)
Rowe MD, Smith JAS, Barras J and
Althoefer K (2014).
Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions. NATO Science for Peace and Security Series B: Physics and Biophysics, 35-43.
01-01-20142013
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Bimbo J, Seneviratne LD,
Althoefer K and Liu H (2013).
Combining Touch and Vision for the Estimation of an Object's Pose During Manipulation. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-11-2013![bullet icon](/common/publications/images/bullet24.png)
Ranasinghe A, Penders J, Dasgupra P, Althoefcr K and Nanayakkara T (2013).
A Two Party Haptic Guidance Controller Via a Hard Rein. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-11-2013![bullet icon](/common/publications/images/bullet24.png)
Xie H, Liu* H, Luo S, Seneviratne LD and
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Fiber Optics Tactile Array Probe for Tissue Palpation during Minimally Invasive Surgery. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-11-2013![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Li M, Aminzadeh V, Dasgupta P,
Althoefer K and Nanayakkara T (2013).
Force-Velocity Modulation Strategies for Soft Tissue Examination. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-11-2013![bullet icon](/common/publications/images/bullet24.png)
Ranasinghe A,
Althoefer K, Nanayakkara T, Penders J and Dasgupta P (2013).
An Optimal State Dependent Haptic Guidance Controller Via a Hard Rein. 2013 IEEE International Conference on Systems, Man, and Cybernetics.
01-10-2013![bullet icon](/common/publications/images/bullet24.png)
Li M, Luo S, Seneviratne LD, Nanayakkara T,
Althoefer K and Dasgupta P (2013).
Haptics for Multi-Fingered Palpation. 2013 IEEE International Conference on Systems, Man, and Cybernetics.
01-10-2013![bullet icon](/common/publications/images/bullet24.png)
Konstantinova J, Li M, Aminzadeh V,
Althoefer K, Nanayakkara T and Dasgupta P (2013).
Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination. 2013 IEEE International Conference on Systems, Man, and Cybernetics.
01-10-2013![bullet icon](/common/publications/images/bullet24.png)
Liu H, Sangpradit K, Li M, Dasgupta P,
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Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. Medical & Biological Engineering & Computing,
Springer Nature vol. 52 (1), 17-28.
15-09-2013![bullet icon](/common/publications/images/bullet24.png)
Song X, Liu H,
Althoefer K, Nanayakkara T and Seneviratne LD (2013).
Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration. IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 30 (1), 203-219.
11-09-2013![bullet icon](/common/publications/images/bullet24.png)
Rowe MD, Smith JAS, Barras J and
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Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions. Magnetic Resonance Detection of Explosives and Illicit Materials 35-43.
10-08-2013![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Aste T, Dasgupta P,
Althoefer K and Nanayakkara T (2013).
Granular Jamming With Hydraulic Control. Volume 6A: 37th Mechanisms and Robotics Conference.
04-08-2013![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Aste T, Dasgupta P,
Althoefer K and Nanayakkara T (2013).
Granular jamming transitions for a robotic mechanism. 18-06-2013![bullet icon](/common/publications/images/bullet24.png)
Wanninayake IB, Dasgupta P, Seneviratne LD and
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Air-float Palpation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery. IEEE Transactions on Biomedical Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 60 (10), 2735-2744.
20-05-2013![bullet icon](/common/publications/images/bullet24.png)
Deters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD and
Althoefer K (2013).
Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine Hubs. 2013 IEEE International Conference on Robotics and Automation.
01-05-2013![bullet icon](/common/publications/images/bullet24.png)
Searle TC,
Althoefer K, Seneviratne L and Liu H (2013).
An Optical Curvature Sensor for Flexible Manipulators. 2013 IEEE International Conference on Robotics and Automation.
01-05-2013![bullet icon](/common/publications/images/bullet24.png)
Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and
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Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching. IEEE Transactions on Industrial Electronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (2), 956-968.
15-03-2013![bullet icon](/common/publications/images/bullet24.png)
Taylor JG, Cutsuridis V, Hartley M,
Althoefer K and Nanayakkara T (2013).
Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics. Cognitive Computation,
Springer Nature vol. 5 (3), 340-354.
26-02-2013![bullet icon](/common/publications/images/bullet24.png)
Barras J, Murnane D,
Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G and Smith JAS (2013).
Nitrogen-14 Nuclear Quadrupole Resonance Spectroscopy: A Promising Analytical Methodology for Medicines Authentication and Counterfeit Antimalarial Analysis. Analytical Chemistry,
American Chemical Society (ACS) vol. 85 (5), 2746-2753.
20-02-2013![bullet icon](/common/publications/images/bullet24.png)
Barras J,
Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D and Assi S (2013).
Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines. TROPICAL MEDICINE & INTERNATIONAL HEALTH vol. 18, 21-21.
01-01-20132012
![bullet icon](/common/publications/images/bullet24.png)
Li J, Liu H,
Althoefer K and Seneviratne LD (2012).
A stiffness probe for soft tissue abnormality identification during laparoscopic surgery. 14-12-2012![bullet icon](/common/publications/images/bullet24.png)
Song X, Liu H, Bimbo J,
Althoefer K and Seneviratne LD (2012).
Object surface classificaiton based on friction properties for intelligent robotic hands. 14-12-2012![bullet icon](/common/publications/images/bullet24.png)
Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P and
Althoefer K (2012).
Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 19 (1), 121-130.
15-11-2012![bullet icon](/common/publications/images/bullet24.png)
Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD,
Althoefer KA and Smith JAS (2012).
Variable-Pitch Rectangular Cross-section Radiofrequency Coils for the Nitrogen-14 Nuclear Quadrupole Resonance Investigation of Sealed Medicines Packets. Analytical Chemistry,
American Chemical Society (ACS) vol. 84 (21), 8970-8972.
26-10-2012![bullet icon](/common/publications/images/bullet24.png)
Yao W, Schaeffter T, Seneviratne L and
Althoefer K (2012).
Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization. Journal of Medical Devices,
ASME International vol. 6 (4)
11-10-2012![bullet icon](/common/publications/images/bullet24.png)
Xie H, Jiang A, Seneviratne L and
Althoefer K (2012).
Pixel-based Optical Fiber Tactile Force Sensor for Robot Manipulation. 2012 IEEE Sensors.
01-10-2012![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P,
Althoefer K and Nanayakkara T (2012).
Adaptive grip control on an uncertain object. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2012![bullet icon](/common/publications/images/bullet24.png)
Liu H, Song X, Bimbo J, Seneviratne L and
Althoefer K (2012).
Surface Material Recognition through Haptic Exploration using an Intelligent Contact Sensing Finger. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2012![bullet icon](/common/publications/images/bullet24.png)
Song X, Liu H, Bimbo J,
Althoefer K and Seneviratne LD (2012).
A Novel Dynamic Slip Prediction and Compensation Approach Based on Haptic Surface Exploration. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2012![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Xynogalas G, Dasgupta P,
Althoefer K and Nanayakkara T (2012).
Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2012![bullet icon](/common/publications/images/bullet24.png)
Sargeant R, Seneviratne LD and
Althoefer K (2012).
A 2-Axis Optical Force–Torque Fingertip Sensor for Dexterous Grasping Using Linear Polarizers. IEEE Transactions on Instrumentation and Measurement,
Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (12), 3363-3377.
17-09-2012![bullet icon](/common/publications/images/bullet24.png)
Sargeant R, Liu H, Seneviratne LD and
Althoefer K (2012).
An Optical Multi-axial Force/Torque Sensor for Dexterous Grasping and Manipulation. 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).
01-09-2012![bullet icon](/common/publications/images/bullet24.png)
Liu H, Greco J, Song X, Bimbo J, Seneviratne L and
Althoefer K (2012).
Tactile Image based Contact Shape Recognition using Neural Network. 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).
01-09-2012![bullet icon](/common/publications/images/bullet24.png)
Bimbo J, Rodríguez-Jiménez S, Liu H, Song X, Burrus N, Senerivatne LD, Abderrahim M and
Althoefer K (2012).
Object Pose Estimation and Tracking by Fusing Visual and Tactile Information. 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).
01-09-2012![bullet icon](/common/publications/images/bullet24.png)
Jiang A, Ataollahi A,
Althoefer K, Dasgupta P and Nanayakkara T (2012).
A Variable Stiffness Joint by Granular Jamming. Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B.
12-08-2012![bullet icon](/common/publications/images/bullet24.png)
Lara B, Seneviratne LD and
Althoefer K (2012).
Automated Screw Insertion Monitoring Using Neural Networks: A Computational Intelligence Approach to Assembly in Manufacturing. Computational Intelligence and Its Applications 183-209.
04-07-2012![bullet icon](/common/publications/images/bullet24.png)
Puangmali P, Liu H, Seneviratne LD, Dasgupta P and
Althoefer K (2012).
Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 17 (4), 646-656.
04-05-2012![bullet icon](/common/publications/images/bullet24.png)
Sargeant R, Seneviratne LD and
Althoefer K (2012).
An Investigation of the Use of Linear Polarizers to Measure Force and Torque in Optical 6-DOF Force/Torque Sensors for Dexterous Manipulators. 2012 IEEE International Conference on Robotics and Automation.
01-05-2012![bullet icon](/common/publications/images/bullet24.png)
Liu H, Song X, Nanayakkarr T, Seneviratne LD and
Althoefer K (2012).
A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor. 2012 IEEE International Conference on Robotics and Automation.
01-05-2012![bullet icon](/common/publications/images/bullet24.png)
Wanninayake IB, Seneviratne LD and
Althoefer K (2012).
Novel Indentation Depth Measuring System for Stiffness Characterization in Soft Tissue Palpation. 2012 IEEE International Conference on Robotics and Automation.
01-05-2012![bullet icon](/common/publications/images/bullet24.png)
Li M, Liu H, Li J, Seneviratne LD and
Althoefer K (2012).
Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback**Research partially funded under the 7th Framework Program, grant agreement 287728 (EU project title: STIFF-FLOP), THEME 3: “Information and Communication Technologies”, Challenge 2: Cognitive Systems and Robotics. 2012 IEEE International Conference on Robotics and Automation.
01-05-2012![bullet icon](/common/publications/images/bullet24.png)
Barras J,
Althoefer K, Rowe MD, Poplett IJ and Smith JAS (2012).
The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy. Applied Magnetic Resonance,
Springer Nature vol. 43 (4), 511-529.
22-03-2012![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T and
Althoefer K (2012).
Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 18 (1), 386-396.
17-01-2012![bullet icon](/common/publications/images/bullet24.png)
Li J, Liu H,
Althoefer K and Seneviratne LD (2012).
A stiffness probe based on force and vision sensing for soft tissue diagnosis. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),
Institute of Electrical and Electronics Engineers (IEEE) vol. 2012, 944-947.
01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Wanninayake IB,
Althoefer K and Seneviratne LD (2012).
Novel Air-float Tactile Array for Stiffness Characterization in Soft Tissue Palpation. 01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Zirjakova J,
Althoefer K, Dasgupta P and Nanayakkara T (2012).
PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT. JOURNAL OF ENDOUROLOGY vol. 26, A20-A21.
01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Li M, Dasgupta P, Seneviratne LD and
Althoefer K (2012).
SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY. JOURNAL OF ENDOUROLOGY vol. 26, A48-A48.
01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Jiang A,
Althoefer K, Dasgupta P and Nanayakkara T (2012).
GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES. JOURNAL OF ENDOUROLOGY vol. 26, A403-A404.
01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Liu H, Song X, Bimbo J,
Althoefer K and Senerivatne L (2012).
Intelligent Fingertip Sensing for Contact Information Identification. 01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Li J, Zirjakova J, Yao W,
Althoefer K, Dasgupta P and Seneviratne LD (2012).
A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue. 01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and
Althoefer K (2012).
Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study. 01-01-2012![bullet icon](/common/publications/images/bullet24.png)
Deters C, Wurdemann HA, Dai JS, Seneviratne LD and
Althoefer K (2012).
Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent Agents. 01-01-20122011
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Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and
Althoefer K (2011).
14N quadrupole resonance and 1H T1 dispersion in the explosive RDX. Journal of Magnetic Resonance,
Elsevier vol. 213 (1), 98-106.
10-09-2011![bullet icon](/common/publications/images/bullet24.png)
Kumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L,
Althoefer K and Dasgupta P (2011).
POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe. Urology,
Elsevier vol. 78 (3), s20-s21.
01-09-2011![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne LD and
Althoefer K (2011).
Slip parameter estimation for tele-operated ground vehicles in slippery terrain. 14-07-2011![bullet icon](/common/publications/images/bullet24.png)
Yousef H, Boukallel M and
Althoefer K (2011).
Tactile sensing for dexterous in-hand manipulation in robotics—A review. Sensors and Actuators A Physical,
Elsevier vol. 167 (2), 171-187.
01-06-2011![bullet icon](/common/publications/images/bullet24.png)
Narimani M, Lam HK,
Althoefer K, Dilmaghan R, Wolfe C and Deters C (2011).
An Approach for Stability Analysis of Polynomial Fuzzy Model-Based Control Systems. 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011).
01-06-2011![bullet icon](/common/publications/images/bullet24.png)
Liu H, Li J, Song X, Seneviratne LD and
Althoefer K (2011).
Rolling Indentation Probe for Tissue Abnormality Identification during Minimally Invasive Surgery. IEEE Transactions on Robotics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 27 (3), 450-460.
07-04-2011![bullet icon](/common/publications/images/bullet24.png)
Sangpradit K, Liu H, Dasgupta P,
Althoefer K and Seneviratne LD (2011).
Finite-Element Modeling of Soft Tissue Rolling Indentation. IEEE Transactions on Biomedical Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (12), 3319-3327.
20-01-2011![bullet icon](/common/publications/images/bullet24.png)
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and
Althoefer K (2011).
Resuts of kidney lesion experiments with haptic probe. 01-01-20112010
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Sangpradit K,
Althoefer K and Seneviratne L (2010).
Tissue parameter estimation for a mechatronic probe using inverse finite element analysis. 01-12-2010![bullet icon](/common/publications/images/bullet24.png)
Sangpradit K,
Althoefer K and Seneviratne LD (2010).
Finite Element Modelling of Rolling Indentation for Tissue Adomanlity Identification. 2010 11th International Conference on Control Automation Robotics & Vision.
01-12-2010![bullet icon](/common/publications/images/bullet24.png)
Song X,
Althoefer K and Seneviratne L (2010).
A Robust Downward-Looking Camera Based Velocity Estimation with Height Compensation for Mobile Robots. 2010 11th International Conference on Control Automation Robotics & Vision.
01-12-2010![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD and
Althoefer K (2010).
MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures. IEEE Transactions on Biomedical Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (3), 721-726.
29-11-2010![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Seneviratne LD and
Althoefer K (2010).
Modeling of Light Intensity-Modulated Fiber-Optic Displacement Sensors. IEEE Transactions on Instrumentation and Measurement,
Institute of Electrical and Electronics Engineers (IEEE) vol. 60 (4), 1408-1415.
01-11-2010![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD and
Althoefer K (2010).
MRI-Compatible Fiber-Optic Force Sensors for Catheterization Procedures. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 10 (10), 1598-1608.
01-10-2010![bullet icon](/common/publications/images/bullet24.png)
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD and
Althoefer K (2010).
Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2010![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Challacombe B, Li J, Seneviratne L,
Althoefer K, Dasgupta P and Murphy D (2010).
A Comparative Study Between an Improved Novel Air-Cushion Sensor and a Wheeled Probe for Minimally Invasive Surgery. Journal of Endourology,
Mary Ann Liebert vol. 24 (7), 1155-1159.
01-07-2010![bullet icon](/common/publications/images/bullet24.png)
Al-Milli S, Seneviratne LD and
Althoefer K (2010).
Track–terrain modelling and traversability prediction for tracked vehicles on soft terrain. Journal of Terramechanics,
Elsevier vol. 47 (3), 151-160.
01-06-2010![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD and
Althoefer K (2010).
Novel Miniature MRI-Compatible Fiber-Optic Force Sensor for Cardiac Catheterization Procedures. 2010 IEEE International Conference on Robotics and Automation.
01-05-2010![bullet icon](/common/publications/images/bullet24.png)
Liu H, Li J, Poon Q-I, Seneviratne LD and
Althoefer K (2010).
Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification during Laparoscopic Surgery. 2010 IEEE International Conference on Robotics and Automation.
01-05-2010![bullet icon](/common/publications/images/bullet24.png)
Puangmali P, Dasgupta P, Seneviratne LD and
Althoefer K (2010).
Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery. 2010 IEEE International Conference on Robotics and Automation.
01-05-2010![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne LD and
Althoefer K (2010).
A Kalman Filter-Integrated Optical Flow Method for Velocity Sensing of Mobile Robots. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (3), 551-563.
22-04-2010![bullet icon](/common/publications/images/bullet24.png)
Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L and
Althoefer K (2010).
An indentation depth—force sensing wheeled probe for abnormality identification during minimally invasive surgery. Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,
SAGE Publications vol. 224 (6), 751-763.
22-04-2010![bullet icon](/common/publications/images/bullet24.png)
Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD and
Althoefer K (2010).
Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN). Journal of Magnetic Resonance,
Elsevier vol. 204 (1), 139-144.
21-02-2010
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD (2010).
Force Sensing in Medical Robotics. Mechatronics in Action 157-172.
01-01-2010![bullet icon](/common/publications/images/bullet24.png)
Arghir S, Dobrescu R, Popescu D and Humaila H (2010).
Critical Resource Infrastructure Supervision and Intervention System. 01-01-20102009
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Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and
Althoefer K (2009).
A haptic probe for soft tissue abnormality identification during minimally invasive surgery. 12-11-2009![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Schaeffter T, Seneviratne L and
Althoefer K (2009).
Measuring Tip and Side Forces of a Novel Catheter Prototype: A Feasibility Study. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2009![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Polygerinos P, Seneviratne LD and
Althoefer K (2009).
A Novel MRI Compatible Air-Cushion Tactile Sensor for Minimally Invasive Surgery. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2009![bullet icon](/common/publications/images/bullet24.png)
Liu H, Noonan DP, Challacombe BJ, Dasgupta P, Seneviratne LD and
Althoefer K (2009).
Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery. IEEE Transactions on Biomedical Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 57 (2), 404-414.
29-09-2009![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D and
Althoefer K (2009).
Air-Cushion Force-Sensitive Probe for Soft Tissue Investigation During Minimally Invasive Surgery. Journal of Endourology,
Mary Ann Liebert vol. 23 (9), 1421-1424.
01-09-2009![bullet icon](/common/publications/images/bullet24.png)
Puangmali P,
Althoefer K and Seneviratne LD (2009).
Mathematical Modeling of Intensity-Modulated Bent-Tip Optical Fiber Displacement Sensors. IEEE Transactions on Instrumentation and Measurement,
Institute of Electrical and Electronics Engineers (IEEE) vol. 59 (2), 283-291.
01-09-2009![bullet icon](/common/publications/images/bullet24.png)
Vivekananda U, Henderson A, Murphy DG,
Althoefer K, Seneviratne L and Dasgupta P (2009).
THE SCIENCE BEHIND HAPTICS IN ROBOTIC UROLOGICAL SURGERY. BJU International,
Wiley vol. 104 (4), 433-434.
21-07-2009![bullet icon](/common/publications/images/bullet24.png)
Tate E,
Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES and Wren SAC (2009).
Quantitative 35Cl Nuclear Quadrupole Resonance in Tablets of the Antidiabetic Medicine Diabinese. Analytical Chemistry,
American Chemical Society (ACS) vol. 81 (13), 5574-5576.
03-06-2009
Althoefer K, Tan CP, Zweiri YH and Seneviratne LD (2009).
Hybrid Soil Parameter Measurement and Estimation Scheme for Excavation Automation. IEEE Transactions on Instrumentation and Measurement,
Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (10), 3633-3641.
26-05-2009![bullet icon](/common/publications/images/bullet24.png)
Puangmali P,
Althoefer K and Seneviratne LD (2009).
Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments. 2009 IEEE International Conference on Robotics and Automation.
01-05-2009![bullet icon](/common/publications/images/bullet24.png)
Sangpradit K, Liu H, Seneviratne LD and
Althoefer K (2009).
Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. 2009 IEEE International Conference on Robotics and Automation.
01-05-2009![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Schaeffter T, Seneviratne L and
Althoefer K (2009).
A Fibre-Optic Catheter-Tip Force Sensor with MRI Compatibility: A Feasibility Study. 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and
Althoefer K (2009).
A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery. 01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Milli SA and
Althoefer K (2009).
The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain. International Journal of Modelling Identification and Control,
Inderscience Publishers vol. 6 (1)
01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Puangmali P,
Althoefer K and Seneviratne LD (2009).
Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments. 01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Sangpradit K, Liu H, Seneviratne LD and
Althoefer K (2009).
Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. 01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Polygerinos P, Schaeffter T, Seneviratne L and
Althoefer K (2009).
A fibre-optic catheter-tip force sensor with MRI compatibility: a feasibility study. Annu Int Conf IEEE Eng Med Biol Soc vol. 2009, 1501-1054.
01-01-2009![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne L and
Althoefer K (2009).
A Vision Based Wheel Slip Estimation Technique for Mining Vehicles. IFAC-PapersOnLine,
Elsevier vol. 42 (23), 179-184.
01-01-20092008
![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne LD,
Althoefer K and Song Z (2008).
A robust slip estimation method for skid-steered mobile robots. 2008 10th International Conference on Control, Automation, Robotics and Vision.
01-12-2008![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne LD,
Althoefer K, Song Z and Mohseni-Vahed S (2008).
A vision-based technique for vehicle slip and velocity estimation. 01-12-2008![bullet icon](/common/publications/images/bullet24.png)
Mohseni-Vahed S,
Althoefer K, Seneviratne LD, Song X, Dai JS and Lam HK (2008).
Soil estimation based on dissipation energy during autonomous excavation. 01-12-2008![bullet icon](/common/publications/images/bullet24.png)
Song ZB, Seneviratne LD,
Althoefer K, Song XJ and Zweiri YH (2008).
Slip parameter estimation of a single wheel using a non-linear observer. Robotica,
Cambridge University Press (CUP) vol. 27 (6), 801-811.
09-10-2008
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupta P and Murphy D (2008).
Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery. 2008 IEEE Sensors.
01-10-2008![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and
Althoefer K (2008).
Robust Detection of Stochastic Nuclear Quadrupole Resonance Signals. IEEE Transactions on Signal Processing,
Institute of Electrical and Electronics Engineers (IEEE) vol. 56 (9), 4221-4229.
01-09-2008![bullet icon](/common/publications/images/bullet24.png)
Al-Milli S,
Althoefer K and Seneviratne LD (2008).
Maneuverability Performance of Tracked Vehicles on Soft Terrains. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-09-2008![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Bhaumik A,
Althoefer K and Seneviratne LD (2008).
Tactile Sensing using a Novel Air Cushion Sensor: A Feasibility Study. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-09-2008![bullet icon](/common/publications/images/bullet24.png)
Song X, Song Z, Seneviratne LD and
Althoefer K (2008).
Optical Flow-Based Slip and Velocity Estimation Technique for Unmanned Skid-Steered Vehicles. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-09-2008![bullet icon](/common/publications/images/bullet24.png)
AL-MILLI S, CHHANIYARA S, GEORGIOU E,
ALTHOEFER K, DAI JS and SENEVIRATNE L (2008).
EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIG. Advances in Mobile Robotics.
01-08-2008![bullet icon](/common/publications/images/bullet24.png)
CHHANIYARA S,
ALTHOEFER K and SENEVIRATNE LD (2008).
VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION. Advances in Mobile Robotics.
01-08-2008
Althoefer K, Lara B, Zweiri YH and Seneviratne LD (2008).
Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks. Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science,
SAGE Publications vol. 222 (6), 1081-1095.
01-06-2008![bullet icon](/common/publications/images/bullet24.png)
Al-ja'afreh T, Zweiri Y, Seneviratne L and
Althoefer K (2008).
A new soft-tissue indentation model for estimating circular indenter ‘force—displacement’ characteristics. Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,
SAGE Publications vol. 222 (5), 805-815.
01-05-2008![bullet icon](/common/publications/images/bullet24.png)
Puangmali P, Liu H,
Althoefer K and Seneviratne LD (2008).
Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive Surgery. 2008 IEEE International Conference on Robotics and Automation.
01-05-2008![bullet icon](/common/publications/images/bullet24.png)
Liu H, Noonan DP,
Althoefer K and Seneviratne LD (2008).
Rolling Mechanical Imaging: A novel Approach for Soft Tissue Modelling and Identification during Minimally Invasive Surgery. 2008 IEEE International Conference on Robotics and Automation.
01-05-2008![bullet icon](/common/publications/images/bullet24.png)
Puangmali P,
Althoefer K, Seneviratne LD, Murphy D and Dasgupta P (2008).
State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (4), 371-381.
01-04-2008![bullet icon](/common/publications/images/bullet24.png)
Song Z-B, Zweiri YH, Seneviratne LD and
Althoefer K (2008).
Non-linear observer for slip estimation of tracked vehicles. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,
SAGE Publications vol. 222 (4), 515-533.
01-04-2008![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and
Althoefer K (2008).
Detecting Stochastic Nuclear Quadrupole Resonance Signals in the Presence of Strong Radio Frequency Interference. 2008 IEEE International Conference on Acoustics, Speech and Signal Processing.
01-03-2008![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri Y, Seneviratne L and
Althoefer K (2008).
Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS vol. 5 (4), 425-432.
01-01-2008![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Liu H, Puangmali P,
Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (2008).
Wheel/Tissue Force Interaction: A New Concept for Soft Tissue Diagnosis during MIS. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),
Institute of Electrical and Electronics Engineers (IEEE) vol. 2008, 5556-5559.
01-01-2008![bullet icon](/common/publications/images/bullet24.png)
Zbyszewski D, Liu H, Puangmali P,
Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (2008).
Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MIS. 01-01-2008![bullet icon](/common/publications/images/bullet24.png)
ja'afreh TMA, Zweiri YH, Seneviratne LD and
Althoefer K (2008).
Modelling soft tissue-mechatronic tool interactions during indentation. International Journal of Modelling Identification and Control,
Inderscience Publishers vol. 4 (4)
01-01-2008![bullet icon](/common/publications/images/bullet24.png)
Song ZB, Zweiri YH, Seneviratne LD and
Althoefer K (2008).
Non-linear observer for slip estimation of tracked vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering vol. 222 (4), 515-533.
01-01-2008![bullet icon](/common/publications/images/bullet24.png)
Chhaniyara S, Bunnun P, Seneviratne LD and
Althoefer K (2008).
Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility Study. International Journal on Smart Sensing and Intelligent Systems,
De Gruyter vol. 1 (1), 245-267.
01-01-2008![bullet icon](/common/publications/images/bullet24.png)
Vahed SM, Song X, Dai JS, Lam HK, Seneviratne LD and
Althoefer K (2008).
Soil Estimation Based on Dissipation Energy during Autonomous Excavation. IFAC-PapersOnLine,
Elsevier vol. 41 (2), 13821-13826.
01-01-20082007
![bullet icon](/common/publications/images/bullet24.png)
SONG X, SENEVIRATNE LD,
ALTHOEFER K and SONG Z (2007).
VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES. International Journal of Information Acquisition,
World Scientific Publishing vol. 4 (04), 303-315.
01-12-2007![bullet icon](/common/publications/images/bullet24.png)
Vahed SM, Delaimi HA,
Althoefer K and Seneviratne LD (2007).
On-line Energy-based Method for Soil Estimation and Classification in Autonomous Excavation. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2007![bullet icon](/common/publications/images/bullet24.png)
Liu H, Noonan DP, Zweiri YH,
Althoefer KA and Seneviratne LD (2007).
The Development of nonlinear Viscoelastic Model for the Application of Soft Tissue Identification. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2007![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2007).
Validation of Soil Parameter Identification for Track-Terrain Interaction Dynamics. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2007![bullet icon](/common/publications/images/bullet24.png)
Liu H, Puangmali P,
Althoefer KA and Seneviratne LD (2007).
Experimental Study of Soft Tissue Recovery using Optical Fiber Probe. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2007![bullet icon](/common/publications/images/bullet24.png)
Song X, Seneviratne LD,
Althoefer K, Song Z and Zweiri YH (2007).
Visual Odometry for Velocity Estimation of UGVs. 2007 International Conference on Mechatronics and Automation.
01-08-2007![bullet icon](/common/publications/images/bullet24.png)
Song Z, Song X, Altheoer K, Zweiri Y and Seneviratne L (2007).
Non-Linear Observer for Slip Parameter Estimation of Unmanned Wheeled Vehicles. 2007 International Conference on Mechatronics and Automation.
01-08-2007![bullet icon](/common/publications/images/bullet24.png)
CHHANIYARA S,
ALTHOEFER K and SENEVIRATNE LD (2007).
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION. Advances in Climbing and Walking Robots.
01-07-2007![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD, Jakobsson A, Butt NR, Rowe MD, Smith JAS and
Althoefer K (2007).
Detection of Stochastic Nuclear Quadrupole Resonance Signals. 2007 15th International Conference on Digital Signal Processing.
01-07-2007![bullet icon](/common/publications/images/bullet24.png)
Gomez F,
Althoefer K and Seneviratne LD (2007).
An Ultrasonic Profiling Method for the Inspection of Tubular Structures. Computer-Aided Civil and Infrastructure Engineering,
Wiley vol. 22 (6), 400-418.
06-06-2007![bullet icon](/common/publications/images/bullet24.png)
Murphy D, Challacombe B, Nedas T, Elhage O,
Althoefer K, Seneviratne L and Dasgupta P (2007).
Equipamiento y tecnologa en robtica. Archivos Españoles de Urología,
Archivos Espanoles de Urologia vol. 60 (4), 349-355.
01-05-2007![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD, Jakobsson A, Smith JAS and
Althoefer K (2007).
Exploiting Spin Echo Decay in the Detection of Nuclear Quadrupole Resonance Signals. IEEE Transactions on Geoscience and Remote Sensing,
Institute of Electrical and Electronics Engineers (IEEE) vol. 45 (4), 925-933.
01-04-2007![bullet icon](/common/publications/images/bullet24.png)
Noonan DP, Liu H, Zweiri YH,
Althoefer KA and Seneviratne LD (2007).
A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery. Proceedings 2007 IEEE International Conference on Robotics and Automation.
01-04-2007![bullet icon](/common/publications/images/bullet24.png)
Chhaniyara S, Zweiri YH, Seneviratne LD and
Althoefer K (2007).
A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition. 2007 IEEE International Conference on Networking, Sensing and Control.
01-04-2007![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2007).
Automated Pipe Defect Detection and Categorization Using Camera/Laser-Based Profiler and Artificial Neural Network. IEEE Transactions on Automation Science and Engineering,
Institute of Electrical and Electronics Engineers (IEEE) vol. 4 (1), 118-126.
01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Seneviratne L,
Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X and Chhaniyara S (2007).
Vehicle-terrain interaction modeling and identification in rough terrain. 01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Al-Milli S,
Althoefer K and D.Seneviratne L (2007).
DYNAMIC ANALYSIS AND TRAVERSABILITY PREDICTION OF TRACKED VEHICLES ON SOFT TERRAIN. 2007 IEEE International Conference on Networking, Sensing and Control.
01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Liu H, Puangmali P,
Althoefer KA and Seneviratne LD (2007).
Experimental study of soft tissue recovery using optical fiber probe. 01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2007).
Validation of soil parameter identification for track-terrain interaction dynamics. 01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Vahed SM, Delaimi HA,
Althoefer K and Seneviratne LD (2007).
On-line energy-based method for soil estimation and classification in autonomous excavation. 01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Liu H, Noonan DP, Zweiri YH,
Althoefer KA and Seneviratne LD (2007).
The development of nonlinear viscoelastic model for the application of soft tissue identification. 01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2007).
MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS. IFAC-PapersOnLine,
Elsevier vol. 40 (20), 578-583.
01-01-2007![bullet icon](/common/publications/images/bullet24.png)
Song Z, Zweiri Y, Seneviratne LD and
Althoefer K (2007).
NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLES. 01-01-20072006
![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2006).
Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. Springer Tracts in Advanced Robotics vol. 25, 517-528.
27-09-2006![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2006).
Modelling of closed-chain manipulators on an excavator vehicle. Mathematical and Computer Modelling of Dynamical Systems,
Taylor & Francis vol. 12 (4), 329-345.
01-08-2006![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2006).
Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction. Machine Intelligence Research,
Springer Nature vol. 3 (3), 244-251.
01-07-2006![bullet icon](/common/publications/images/bullet24.png)
Gomez F,
Althoefer K and Seneviratne LD (2006).
Simulation of ultrasound imaging inside fully charged pipes. Automation in Construction,
Elsevier vol. 15 (3), 355-364.
01-05-2006![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD, Jakobsson A, Smith JAS and
Althoefer KA (2006).
Frequency selective detection of nuclear quadrupole resonance (NQR) spin echoes. Detection and Remediation Technologies for Mines and Minelike Targets XI.
01-05-2006![bullet icon](/common/publications/images/bullet24.png)
Song ZB, Zweiri YH,
Althoefer K and Seneviratne LD (2006).
Non-linear observer for slip estimation of tracked vehicles. 01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD,
Althoefer K, Smith JAS and Seneviratne LD (2006).
Detection of landmines using Nuclear Quadrupole Resonance (NQR): Signal processing to aid classification. 01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Song Z, Zweiri YH, Seneviratne LD and
Althoefer K (2006).
Non-linear Observer for Slip Estimation of Skid-steering Vehicles. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2006).
Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil Parameters. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Rao A, Noonan D,
Althoefer K and Seneviratne L (2006).
Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS Applications. ASME 2006 Frontiers in Biomedical Devices Conference.
01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Somasundaram SD,
Althoefer K, Smith JAS and Seneviratne LD (2006).
Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification. 01-01-2006![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and Altho K (2006).
Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification. 01-01-20062005
![bullet icon](/common/publications/images/bullet24.png)
Song ZB, Zweiri YH,
Althoefer K and Seneviratne LD (2005).
Non-linear observer for estimating slips of wheeled vehicles. 01-12-2005![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2005).
Stability analysis of a three-term backpropagation algorithm. Neural Networks,
Elsevier vol. 18 (10), 1341-1347.
30-08-2005![bullet icon](/common/publications/images/bullet24.png)
Khawaja K, Seneviratne L and
Althoefer K (2005).
Wheel-Tooling Gap Measurement System for Conform™ Extrusion Machinery Based on a Capacitive Sensor. Journal of Manufacturing Science and Engineering,
ASME International vol. 127 (2), 394-401.
25-04-2005![bullet icon](/common/publications/images/bullet24.png)
Tan CP, Zweiri YH,
Althoefer K and Seneviratne LD (2005).
Online Soil Parameter Estimation Scheme Based on Newton–Raphson Method for Autonomous Excavation. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 10 (2), 221-229.
01-04-2005
Althoefer K, Lara B and Seneviratne LD (2005).
Monitoring of Self-Tapping Screw Fastenings Using Artificial Neural Networks. Journal of Manufacturing Science and Engineering,
ASME International vol. 127 (1), 236-243.
01-02-2005![bullet icon](/common/publications/images/bullet24.png)
Tan C, Zweiri YH,
Althoefer K and Seneviratne LD (2005).
Online Soil-bucket Interaction Identification for Autonomous Excavation. Proceedings of the 2005 IEEE International Conference on Robotics and Automation.
01-01-2005![bullet icon](/common/publications/images/bullet24.png)
Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2005).
TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERS. 01-01-2005![bullet icon](/common/publications/images/bullet24.png)
Song ZB, Zweiri YH, Seneviratne LD and
Althoefer K (2005).
DRIVER SUPPORT SYSTEM BASED ON A NON-LINEAR SLIP OBSERVER FOR OFF ROAD VEHICLES. 01-01-20052004
![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Identification methods for excavator arm parameters. 01-12-2004![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratna LD (2004).
Laser profiler model for robot-based pipe inspection. 01-12-2004![bullet icon](/common/publications/images/bullet24.png)
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. 01-12-2004![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Parameter Estimation for Excavator Arm Using Generalized Newton Method. 01-08-2004![bullet icon](/common/publications/images/bullet24.png)
Klingajay M, Seneviratne LD and
Althoefer K (2004).
Model Based Monitoring Strategies for Threaded Assembly System. IFAC-PapersOnLine,
Elsevier vol. 37 (4), 533-538.
01-04-2004![bullet icon](/common/publications/images/bullet24.png)
Gomez F,
Althoefer K and Seneviratne LD (2004).
An ultrasonic profiling method for sewer inspection. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.
01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators. 01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Tan C, Zweiri YH,
Althoefer K and Seneviratne LD (2004).
Hybrid Model in a Real-Time Soil Parameter Identification Scheme for Autonomous Excavation. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.
01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Khawaja K,
Althoefer K, Clode MP and Seneviratne LD (2004).
Gap Sensing Benefits in Conform™ Extrusion Machinery. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.
01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2004).
Automated Pipe Inspection Using ANN and Laser Data Fusion. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.
01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. 01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2004).
Identification methods for excavator arm parameters. 01-01-2004![bullet icon](/common/publications/images/bullet24.png)
Silversides RW, Dai JS,
Althoefer KA and Seneviratne L (2004).
Non-Invasive Laser Based Measurement of the Helicoidal Motion of a Vibratory Platform With Three Leaf-Spring Legs. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B.
01-01-20042003
![bullet icon](/common/publications/images/bullet24.png)
Tan C, Zweiri YH,
Althoefer K and Seneviratne LD (2003).
Soil parameters estimation for automated excavation. 01-12-2003![bullet icon](/common/publications/images/bullet24.png)
Gomez F,
Althoefer K and Seneviratne LD (2003).
Modelling of rotating ultrasonic sensors for pipe inspection. 01-12-2003![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2003).
Pipe Inspection Using a Laser-Based Transducer and Automated Analysis Techniques. IEEE/ASME Transactions on Mechatronics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (3)
01-09-2003![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2003).
Modelling and control of an unmanned excavator vehicle. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering,
SAGE Publications vol. 217 (4), 259-274.
01-06-2003![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2003).
Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
01-01-2003![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2003).
A Sensor for Pipe Inspection: Model, Analysis and Image Extraction. Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429).
01-01-2003![bullet icon](/common/publications/images/bullet24.png)
Klingajay M, Seneviratne LD and
Althoefer K (2003).
Identification of threaded fastening parameters using the Newton Raphson Method. Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).
01-01-2003![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2003).
A Generalized Newton Method for Identification of Closed-chain Excavator Arm Parameters. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
01-01-2003![bullet icon](/common/publications/images/bullet24.png)
Gomez F,
Althoefer K and Seneviratne LD (2003).
Modeling of Ultrasound Sensor for Pipe Inspection. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
01-01-2003![bullet icon](/common/publications/images/bullet24.png)
Tan C, Zweiri YH,
Althoefer K and Seneviratne LD (2003).
On-line Soil Property Estimation for Autonomous Excavator Vehicles. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
01-01-20032002
![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Whidborne JF, Seneviratne LD and
Althoefer K (2002).
A Comparison of Dynamic Models of Various Complexity for Diesel Engines. Mathematical and Computer Modelling of Dynamical Systems,
Taylor & Francis vol. 8 (3), 273-289.
01-09-2002![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2002).
State of the art in sensor technologies for sewer inspection. IEEE Sensors Journal,
Institute of Electrical and Electronics Engineers (IEEE) vol. 2 (2), 73-81.
01-04-2002![bullet icon](/common/publications/images/bullet24.png)
Klingajay M, Seneviratne LD and
Althoefer K (2002).
Parameter estimation during automated screw insertions. 2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02..
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne DL (2002).
Automated Sewer Pipe Inspection through Image Processing. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Whidborne JF,
Althoefer K and Seneviratne LD (2002).
A New Three-Term Backpropagation Algorithm with Convergence Analysis. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2002).
Automated Sewer Inspection using Image Processing and a Neural Classifier. Proceedings of the 2002 International Joint Conference on Neural Networks. IJCNN'02 (Cat. No.02CH37290).
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2002).
Pipe Inspection using Intelligent Analysis Techniques with High Noise-Tolerance. IEEE/RSJ International Conference on Intelligent Robots and System.
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Seneviratne LD and
Althoefer K (2002).
Model-Based Automation for Heavy Duty Mobile Excavator. IEEE/RSJ International Conference on Intelligent Robots and System.
01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Seneviratne LD, Visuwan P and
Althoefer K (2002).
Monitoring of threaded fastenings in automated assembly using artificial neural networks. 01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Duran O,
Althoefer K and Seneviratne LD (2002).
Automated laser-based profiler for sewer inspection. 01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Lara B, Seneviratne L and
Althoefer K (2002).
Error classification of self-tapping screw fastenings in automated assembly. 01-01-2002![bullet icon](/common/publications/images/bullet24.png)
Zweiri YH, Whidborne JF, Seneviratne LD and
Althoefer K (2002).
Dynamic modelling of diesel engines for design applications. 01-01-20022001
Althoefer K, Krekelberg B, Husmeier D and Seneviratne L (2001).
Reinforcement learning in a rule-based navigator for robotic manipulators. Neurocomputing,
Elsevier vol. 37 (1-4), 51-70.
01-04-2001![bullet icon](/common/publications/images/bullet24.png)
Seneviratne LD, Ngemoh FA, Earles SWE and
Althoefer KA (2001).
Theoretical modelling of the self-tapping screw fastening process. Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science,
SAGE Publications vol. 215 (2), 135-154.
01-02-20012000
Althoefer K, Seneviratne LD and Shields R (2000).
Mechatronic strategies for torque control of electric powered screwdrivers. Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science,
SAGE Publications vol. 214 (12), 1485-1501.
01-12-2000![bullet icon](/common/publications/images/bullet24.png)
Lara B, Seneviratne LD and
Althoefer K (2000).
Radial basis artificial neural networks for screw insertions classification. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).
01-01-20001999
![bullet icon](/common/publications/images/bullet24.png)
Lara B,
Althoefer K and Seneviratne D (1999).
Use of artificial neural networks for the monitoring of screw insertions. Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).
01-01-1999![bullet icon](/common/publications/images/bullet24.png)
Seneviratne LD, Visuwan P and
Althoefer K (1999).
Weightless neural network based monitoring of screw fastenings. Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).
01-01-1999
Althoefer K, Seneviratne L and Krekelberg B (1999).
Learning in a neuro-fuzzy navigator for robotic manipulators. ICONIP'99. ANZIIS'99 & ANNES'99 & ACNN'99. 6th International Conference on Neural Information Processing. Proceedings (Cat. No.99EX378).
01-01-19991998
![bullet icon](/common/publications/images/bullet24.png)
Husmeier D and
Althoefer K (1998).
Modelling conditional probabilities with network committees: how overfitting can be useful. Neural Network World vol. 8 (4), 417-439.
01-12-1998
Althoefer K, Seneviratne LD, Zavlangas P and Krekelberg B (1998).
Fuzzy Navigation for Robotic Manipulators. International Journal of Uncertainty Fuzziness and Knowledge-Based Systems,
World Scientific Publishing vol. 6 (02), 179-188.
01-04-1998![bullet icon](/common/publications/images/bullet24.png)
Lara B,
Althoefer K and Seneviratne LD (1998).
Automated robot-based screw insertion system. IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).
01-01-1998![bullet icon](/common/publications/images/bullet24.png)
Bekit BW, Seneviratne LD, Whidborne JF and
Althoefer K (1998).
Fuzzy PID tuning for robot manipulators. IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).
01-01-19981996
Althofer K and Fraser DA (1996).
Fuzzy obstacle avoidance for robotic manipulators. Neural Network World vol. 6 (2), 133-142.
01-01-19961995
![bullet icon](/common/publications/images/bullet24.png)
Althöfer K, Fraser DA and Bugmann G (1995).
Rapid path planning for robotic manipulators using an emulated resistive grid. Electronics Letters,
Institution of Engineering and Technology (IET) vol. 31 (22), 1960-1961.
26-10-1995
Althofer K (1995).
The configuration space transformation for articulated manipulators: a novel approach based on RBF-networks. 4th International Conference on Artificial Neural Networks.
01-01-19951993
![bullet icon](/common/publications/images/bullet24.png)
Fraser DA, Azhar F and
Althoefer K (1993).
On-line adaptation in robot control. 01-01-1993