Prof Kaspar Althoefer
Professor of Robotics Engineering
School of Engineering and Materials Science
Queen Mary University of London
Queen Mary University of London
Research
Robotics, Systems Engineering, Tactile Sensing, Soft Robotics, Human-Robot Interaction
Interests
Professor Althoefer's research focuses on robot autonomy, soft robotics, systems engineering, modelling of tool-environment interaction dynamics, tactile sensing and haptic perception with applications in robot-assisted minimally invasive surgery, rehabilitation, assistive technologies and human-robot interactions in the manufacturing environment.Publications
Publications of specific relevance to the Centre for Intelligent Transport2023
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
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
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
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
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
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
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
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
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
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
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
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
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. 01-01-2023
2022
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
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
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
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
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
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
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
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
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
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
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
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
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 01-01-2022
2021
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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. 01-01-2021
2020
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Fras J, Glowka J and Althoefer K (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. 01-01-2020
2019
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
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
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
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
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
Aljaber F and Althoefer K (2019). Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing. TAROS. 28-06-2019
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
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
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
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
Bálint LAP, Macías LHP and Althoefer K (2019). Virtual Reality Simulator for Medical Auscultation Training. Towards Autonomous Robotic Systems Conference. 28-06-2019
Putzu F, Konstantinova J and Althoefer K (2019). Eversion-type soft overtube for endoscopic surgery. The Hamlyn Symposium on Medical Robotics. 23-06-2019
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
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
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
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
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
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
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
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
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
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
FRAS J and ALTHOEFER K (2019). Soft biomimetic prosthetic hand:
Design, manufacturing and preliminary examination. International Conference on Intelligent Robots. 07-01-2019
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
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
Omarali B, Palermo F, Valle M, Poslad S, Althoefer K and Farkhatdinov I (2019). Position and Velocity Control for Telemanipulation with Interoperability Protocol. 01-01-2019
2018
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
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
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
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
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
Ataka A, Shiva A, Lam HK and Althoefer K (2018). Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator* *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), the STIFF-FLOP project grant from the European Communities Seventh Framework Programme under grant agreement 287728, and the Indonesia Endowment Fund for Education, Ministry of Finance Republic of Indonesia. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 01-10-2018
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
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
Puertolas Balint L and Althoefer K (2018). Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. CRAS. 11-08-2018
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
Caenazzo A and Althoefer K (2018). Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation. TAROS. 21-07-2018
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
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
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). AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients. International Conference on Soft Robotics. 24-04-2018
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
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
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
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
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
Stilli A, Althoefer K and Wurdemann HA (2018). Soft Robotics. Bio-inspired Antagonistic Stiffening. Developing Support Technologies 207-214. 01-01-2018
Ataka A, Shiva A, Lam HK and Althoefer K (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. 01-01-2018
Konstantinova J, Wurdemann H, Shafti A, Shiva A and Althoefer K (2018). Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:. 1-420. 01-01-2018
2017
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
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
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
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
KONSTANTINOVA J, Stilli and Althoefer (2017). Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. Sensors, MDPI vol. 17 (10) 13-10-2017
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
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
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
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
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
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
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
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
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
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
Luo S, Zhu L, Althoefer K and Liu H (2017). Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. Neurocomputing 11-03-2017
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
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
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
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
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
Stopforth R, Davrajh S and Althoefer K (2017). Low Cost Soft Endoscope Robotic Probe. 2017 IEEE AFRICON. 01-01-2017
2016
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
Konstantinova J, Stilli A, Faragasso A and Althoefer K (2016). Fingertip proximity sensor with realtime visual-based calibration. IROS 2016. 28-11-2016
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Ataka A, Shiva A, Shafti A, Wurdemann H and Althoefer K (2016). Reactive motion planning for mobile continuum arm in dynamic industrial environment. 01-01-2016
2015
Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A (2015). Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications. Soft Robotics vol. 2 (4), 146-154. 01-12-2015
Yu Y, Qi P, Althoefer K and Lam HK (2015). Lagrangian Dynamics and Nonlinear Control of a Continuum Manipulator. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). 01-12-2015
Sareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K (2015). Macrobend optical sensing for pose measurement in soft robot arms. Smart Materials and Structures, IOP Publishing vol. 24 (12) 06-11-2015
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). 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, Elsevier vol. 71, 41-54. 01-10-2015
Secco EL, Nagar A, Deters C, Wurdemann H, Lam H-K and Althoefer K (2015). 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. 01-10-2015
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). 14N NQR, relaxation and molecular dynamics of the explosive TNT. Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 61-66. 28-09-2015
Faragasso A, Stilli A, Bimbo J, Wurdemann HA and Althoefer K (2015). Multi-Axis Stiffness Sensing Device for Medical Palpation. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 01-09-2015
Qi P, Liu H, Seneviratne L and Althoefer K (2015). Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs. Volume 5A: 39th Mechanisms and Robotics Conference. 02-08-2015
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. Volume 5B: 39th Mechanisms and Robotics Conference. 02-08-2015
Wurdemann HA, Sareh S, Shafti A, Noh Y, Faragasso A, Chathuranga DS, Liu H, Hirai S and Althoefer K (2015). 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
Shafti A, Andorno F, Marchese N, Arolfo S, Aydin A, Elhage O, Noh Y, Wurdemann HA, Arezzo A, Dasgupta P and Althoefer K (2015). Comfort and Learnability Assessment of a New Soft Robotic Manipulator for Minimally Invasive Surgery* *The authors would like to thank Guy's Hospital administration and staff for support during the course of these experiments. The work described in this paper is funded by the Seventh Framework Programme of the European Commission under grant agreement 287728 in the framework of EU project STIFF-FLOP. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 01-08-2015
Noh Y, Housden RJ, Gomez A, Knight C, Garcia F, Liu H, Razavi R, Rhode K and Althoefer K (2015). 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
Wang S, Housden J, Singh D, Althoefer K and Rhode K (2015). 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
Ranasinghe A, Dasgupta P, Althoefer K and Nanayakkara T (2015). Identification of Haptic Based Guiding Using Hard Reins. PLOS ONE, Public Library of Science (PLoS) vol. 10 (7) 22-07-2015
Luo S, Mou W, Althoefer K and Liu H (2015). 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
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
Luo S, Mou W, Althoefer K and Liu H (2015). Localizing the Object Contact through Matching Tactile Features with Visual Map. 2015 IEEE International Conference on Robotics and Automation (ICRA). 01-05-2015
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
Xie H, Liu H, Noh Y, Li J, Wang S and Althoefer K (2015). A Fiber-Optics-Based Body Contact Sensor for a Flexible Manipulator. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (6), 3543-3550. 01-05-2015
Kyriakidou G, Jakobsson A, Althoefer K and Barras J (2015). Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy. Analytical Chemistry, American Chemical Society (ACS) vol. 87 (7), 3806-3811. 12-03-2015
Bimbo J, Kormushev P, Althoefer K and Liu H (2015). Global estimation of an object’s pose using tactile sensing. Advanced Robotics, Taylor & Francis vol. 29 (5), 363-374. 04-03-2015
Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and Althoefer K (2015). Finger contact sensing and the application in dexterous hand manipulation. Autonomous Robots, Springer Nature vol. 39 (1), 25-41. 21-01-2015
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
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
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
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
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
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
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
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
Manwell T, Jupp A, Althoefer K and Liu H (2015). Surface Classification for Crawling Peristaltic Worm Robot. 01-01-2015
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
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. 01-01-2015
2014
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
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
Qi P, Liu C, Zhang L, Wang S, Lam H-K and Althoefer K (2014). Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). 01-12-2014
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
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
Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K (2014). Multi-fingered haptic palpation using pneumatic feedback actuators. Sensors and Actuators A Physical, Elsevier vol. 218, 132-141. 01-10-2014
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
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2014). 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
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
Xie H, Liu H, Seneviratne LD and Althoefer K (2014). 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
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and Althoefer K (2014). Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Materials and Structures, IOP Publishing vol. 23 (9) 17-07-2014
Konstantinova J, Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2014). Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (8), 2490-2501. 26-06-2014
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T and Dasgupta P (2014). The granular jamming integrated actuator. 2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS). 01-06-2014
Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A (2014). 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
Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K and Würdemann H (2014). 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
Konstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K and Nanayakkara T (2014). 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
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
Wanninayake IB, Seneviratne LD and Althoefer K (2014). Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe. 2014 IEEE International Conference on Robotics and Automation (ICRA). 01-05-2014
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
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
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
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
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
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
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
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
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
Qi P, Liu H, Seneviratne L and Althoefer K (2014). 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
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
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
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
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
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. 01-01-2014
2013
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
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
Xie H, Liu* H, Luo S, Seneviratne LD and Althoefer K (2013). 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
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
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
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
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
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD (2013). 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
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
Rowe MD, Smith JAS, Barras J and Althoefer K (2013). Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions. Magnetic Resonance Detection of Explosives and Illicit Materials 35-43. 10-08-2013
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
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T (2013). Granular jamming transitions for a robotic mechanism. 18-06-2013
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2013). 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
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
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
Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K (2013). 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
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
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
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. 01-01-2013
2012
Li J, Liu H, Althoefer K and Seneviratne LD (2012). A stiffness probe for soft tissue abnormality identification during laparoscopic surgery. 14-12-2012
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Wanninayake IB, Althoefer K and Seneviratne LD (2012). Novel Air-float Tactile Array for Stiffness Characterization in Soft Tissue Palpation. 01-01-2012
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
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
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
Liu H, Song X, Bimbo J, Althoefer K and Senerivatne L (2012). Intelligent Fingertip Sensing for Contact Information Identification. 01-01-2012
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
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
Deters C, Wurdemann HA, Dai JS, Seneviratne LD and Althoefer K (2012). Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent Agents. 01-01-2012
2011
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
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
Song X, Seneviratne LD and Althoefer K (2011). Slip parameter estimation for tele-operated ground vehicles in slippery terrain. 14-07-2011
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
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
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
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
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and Althoefer K (2011). Resuts of kidney lesion experiments with haptic probe. 01-01-2011
2010
Sangpradit K, Althoefer K and Seneviratne L (2010). Tissue parameter estimation for a mechatronic probe using inverse finite element analysis. 01-12-2010
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Arghir S, Dobrescu R, Popescu D and Humaila H (2010). Critical Resource Infrastructure Supervision and Intervention System. 01-01-2010
2009
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Sangpradit K, Liu H, Seneviratne LD and Althoefer K (2009). Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. 01-01-2009
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
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. 01-01-2009
2008
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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. 01-01-2008
2007
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Liu H, Puangmali P, Althoefer KA and Seneviratne LD (2007). Experimental study of soft tissue recovery using optical fiber probe. 01-01-2007
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2007). Validation of soil parameter identification for track-terrain interaction dynamics. 01-01-2007
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
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
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
Song Z, Zweiri Y, Seneviratne LD and Althoefer K (2007). NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLES. 01-01-2007
2006
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
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
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
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
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
Song ZB, Zweiri YH, Althoefer K and Seneviratne LD (2006). Non-linear observer for slip estimation of tracked vehicles. 01-01-2006
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
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
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
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
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
Hutangkabodee S, Zweiri YH, Seneviratne LD and Altho K (2006). Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification. 01-01-2006
2005
Song ZB, Zweiri YH, Althoefer K and Seneviratne LD (2005). Non-linear observer for estimating slips of wheeled vehicles. 01-12-2005
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
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
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
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
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2005). TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERS. 01-01-2005
Song ZB, Zweiri YH, Seneviratne LD and Althoefer K (2005). DRIVER SUPPORT SYSTEM BASED ON A NON-LINEAR SLIP OBSERVER FOR OFF ROAD VEHICLES. 01-01-2005
2004
Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification methods for excavator arm parameters. 01-12-2004
Duran O, Althoefer K and Seneviratna LD (2004). Laser profiler model for robot-based pipe inspection. 01-12-2004
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
Zweiri YH, Seneviratne LD and Althoefer K (2004). Parameter Estimation for Excavator Arm Using Generalized Newton Method. 01-08-2004
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
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
Zweiri YH, Seneviratne LD and Althoefer K (2004). Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators. 01-01-2004
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
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
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
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
Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification methods for excavator arm parameters. 01-01-2004
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. 01-01-2004
2003
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). Soil parameters estimation for automated excavation. 01-12-2003
Gomez F, Althoefer K and Seneviratne LD (2003). Modelling of rotating ultrasonic sensors for pipe inspection. 01-12-2003
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
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
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
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
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
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
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
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). 01-01-2003
2002
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
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
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
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
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
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
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
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
Seneviratne LD, Visuwan P and Althoefer K (2002). Monitoring of threaded fastenings in automated assembly using artificial neural networks. 01-01-2002
Duran O, Althoefer K and Seneviratne LD (2002). Automated laser-based profiler for sewer inspection. 01-01-2002
Lara B, Seneviratne L and Althoefer K (2002). Error classification of self-tapping screw fastenings in automated assembly. 01-01-2002
Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K (2002). Dynamic modelling of diesel engines for design applications. 01-01-2002
2001
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
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. 01-02-2001
2000
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
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). 01-01-2000
1999
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
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). 01-01-1999
1998
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
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
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). 01-01-1998
1996
Althofer K and Fraser DA (1996). Fuzzy obstacle avoidance for robotic manipulators. Neural Network World vol. 6 (2), 133-142. 01-01-1996
1995
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. 01-01-1995
1993
Grants
Grants of specific relevance to the Centre for Intelligent TransportDigital Transformation of Electromagnetic Material Design and Manufacturing for Future Wireless Connectivity (DREAM)Yang Hao, Kaspar Althoefer, Arumugam Nallanathan and Anthony Phillips
£2,579,837 EPSRC Engineering and Physical Sciences Research Council (01-06-2023 - 31-05-2028)
PALPABLE: Multi-sensing tool for Minimally Invasive SurgeryKaspar Althoefer
£566,718 EPSRC - EU Scheme (01-01-2023 - 31-12-2026)
Eversion and Growing Robots: Pipe Navigation, Inspection and CharacterisationKaspar Althoefer
£119,659 Nuclear Decommissioning Authority (01-10-2022 - 30-09-2026)
iCASE Award Industrial Contribution (NDA) - Eversion robots for radiologically constrained environments characterisation and decommissioningKaspar Althoefer
£50,772 Dounreay Site Restoration Ltd (19-09-2022 - 18-09-2026)
ATHEMA - Accelerated thermal mapping for on-engine measurementsKaspar Althoefer
£89,936 Innovate UK (01-06-2023 - 30-11-2024)
Using machine learning techniques to optimise the motion performance of soft robots physically interacting with their environmentKaspar Althoefer
£99,076 Defence Science and Technology Lab.-GOV UK (04-10-2021 - 03-10-2024)
Dounreay Site Restoration Limited Consumables /Equipment fundingKaspar Althoefer
£49,975 Dounreay Site Restoration Ltd (22-03-2022 - 30-06-2024)
3D Mask Adapter for Successful Mask Fit Testing.Sarah Waia, Shakeel Shahdad, Ildar Farkhatdinov, Joshua Brown, Bukeikhan Omarali and Kaspar Althoefer
£47,837 Barts and the London Charity (01-11-2022 - 30-04-2024)
Active locomotion for a capsule endoscope – CE MoveMohamed Thaha, Mohammad Shaheed and Kaspar Althoefer
£13,893 NIHR National Institute for Health Research (01-06-2023 - 31-12-2023)
Collaborative object recognition, shared manipulation and learningAndrea Cavallaro and Kaspar Althoefer
£302,906 EPSRC Engineering and Physical Sciences Research Council (11-02-2019 - 31-12-2022)
STREAM - Snake robotics for on-engine advanced thermal mappingKaspar Althoefer
£89,835 Innovate UK (01-05-2021 - 31-10-2022)