Prof Kaspar Althoefer
Professor of Robotics Engineering
ERC Synergy Grant Awardee; Head of The Centre for Advanced Robotics
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 Transport2025
Fiber Bragg grating-based tactile sensing tool for minimally invasive surgeryZhang Z, Violakis G, Dawood AB, Abdalwareth A, Althoefer K, Polygerinos P, Angelmahr M and Schade W
Optical Fibers and Sensors for Medical Diagnostics, Treatment, and Environmental Applications XXV. vol. 13310
20-03-2025
Guest EditorialSpecial Collection on Tactile RoboticsYim M, Luo S, Lepora N, Yuan W, Althoefer K, Cheng G, Olvera JRG and Dahiya R
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 41, ii-iii.
01-01-2025
Corrigendum: Editorial: Advanced motion control and navigation of robots in extreme environments.Montazeri A, Sadeghzadeh-Nokhodberiz N, Shojaei K and Althoefer K
01-01-2025
2024
Variable Stiffness & Dynamic Force Sensor for Tissue PalpationDawood AB, Zhang Z, Angelmahr M, Arezzo A and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 296-301.
30-12-2024
Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft RobotKaleel D, Clement B and Althoefer K
Lecture Notes in Computer Science. vol. 15052, 242-253.
30-12-2024
Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated ObjectsZhao Z, Li Y, Li W, Qi Z, Ruan L, Zhu Y and Althoefer K
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 41, 538-557.
28-11-2024
Editorial: Advanced motion control and navigation of robots in extreme environmentsMontazeri A, Sadeghzadeh-Nokhodberiz N, Shojaei K and Althoefer K
Frontiers in Robotics and AI, Frontiers vol. 11
15-11-2024
Abraded optical fibre-based dynamic range force sensor for tissue palpationDawood AB, Chavali VK, Mack T, Zhang Z, Godaba H, Angelmahr M and Althoefer K
Frontiers in Robotics and AI, Frontiers vol. 11
11-11-2024
DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation TasksMao X, Giudici G, Coppola C, Althoefer K, Farkhatdinov I, Li Z and Jamone L
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 5104-5111.
18-10-2024
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered GrippersWang M, Li W, Liang H, Li B, Althoefer K, Su Y and Liu H
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 13946-13952.
18-10-2024
Hybrid Continuum-Eversion Robot: Precise Navigation and Decontamination in Nuclear Environments using Vine RobotAl-Dubooni M, Wong C and Althoefer K
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 12443-12449.
18-10-2024
Optimal Sensing in Soft Pneumatic Actuators via Stretchable Optical WaveguidesAljaber F, Hassan A, Vitanov I, Almeadadi N, AlHajri H, AlEnazi S, Al-Marri R, Althoefer K and Choe P
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 9208-9213.
18-10-2024
Reconfigurable Soft Gripper Based on Eversion and Electroadhesion for Cluttered EnvironmentsRagab D, Rendon-Morales E, Althoefer K and Godaba H
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 9195-9201.
18-10-2024
A structured framework to evaluate capsule endoscope locomotion systemsDinkar DK, Shaheed MH, Herrington E, Althoefer K and Thaha MA
Progress in Biomedical Engineering, Iop Publishing vol. 6 (4), 042003-042003.
01-10-2024
Let Me Give You a Hand: Enhancing Human Grasp Force With a Soft Robotic Assistive GloveSuulker C, Greenway A, Skach S, Farkhatdinov I, Miller SC and Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (9), 7811-7818.
24-07-2024
Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre ScaleShi J, Abad S-A, Menciassi A, Althoefer K and Wurdemann HA
2024 IEEE 7th International Conference on Soft Robotics (RoboSoft). vol. 00, 157-164.
17-04-2024
Hydraulic Volumetric Soft Everting Vine Robot Steering Mechanism for Underwater ExplorationKaleel D, Clement B and Althoefer K
IFAC-PapersOnLine. vol. 58 (20), 59-64.
01-01-2024
2023
The 40th International Conference on Robotics and Automation (ICRA) 2023: Embracing the Future: Making Robots for Humans [Conference Highlights]Althoefer K
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 30 (4), 105-109.
01-12-2023
QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human ManipulationMurtaza Z, Bonzini AA, Althoefer K and Jamone L
2023 IEEE International Conference on Development and Learning (ICDL). vol. 00, 37-42.
11-11-2023
A Framework to Design and Build a Height Controllable Eversion RobotKaleel D, Clement B and Althoefer K
2023 11th International Conference on Control, Mechatronics and Automation (ICCMA). vol. 00, 239-244.
03-11-2023
Soft Cap for Vine RobotsSuulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D and Althoefer K
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 6462-6468.
05-10-2023
Eversion-Capable Fabric Robot Gripper with Novel Retraction MechanismHassan A, Abrar T, Aljaber F, Vitanov I and Althoefer K
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 10232-10237.
05-10-2023
Intelligent Shape Decoding of a Soft Optical Waveguide SensorMak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y, Althoefer K and Kwok K-W
Advanced Intelligent Systems, Wiley vol. 6 (2)
20-07-2023
Artificial intelligence meets medical roboticsYip M, Salcudean S, Goldberg K, Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K, Walsh CJ, Huang HH and Lee I-C
Science, American Association For The Advancement of Science (Aaas) vol. 381 (6654), 141-146.
13-07-2023
L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force SensingLi W, Wang M, Li J, Su Y, Jha DK, Qian X, Althoefer K and Liu H
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (8), 5148-5155.
05-07-2023
Welcome Page, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
04-07-2023
A Miniaturised Camera-based Multi-Modal Tactile SensorAlthoefer K, Ling Y, Li W, Qian X, Lee WW and Qi P
2023 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 12570-12575.
02-06-2023
A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissueFras J and Althoefer K
2023 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 662-668.
02-06-2023
Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skinDawood AB, Coppola C and Althoefer K
2023 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 614-619.
02-06-2023
Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various ApplicationsAljaber F, Hassan A, Abrar T, Vitanov I and Althoefer K
2023 IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 1-6.
07-04-2023
Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous RobotGiudici G, Omarali B, Bonzini AA, Althoefer K, Farkhatdinov I and Jamone L
In Towards Autonomous Robotic Systems, Springer Nature 443-454.
01-01-2023
2022
Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand ExoskeletonsSuulker C, Skach S and Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (4), 10621-10627.
29-07-2022
Learning to sense three-dimensional shape deformation of a single multimode fiberWang X, Wang Y, Zhang K, Althoefer K and Su L
Scientific Reports, Nature Research
25-07-2022
Performance Evaluation and Optimisation of Multi-point Waveguide based optical Sensor for Soft RobotsHassan A, Aljaber F, Vitanov I and Althoefer K
2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)., 1-4.
10-07-2022
Tactile Classification of Object Materials for Virtual Reality based Robot TeleoperationOmarali B, Palermo F, Althoefer K, Valle M and Farkhatdinov I
2022 International Conference on Robotics and Automation (ICRA). vol. 00, 9288-9294.
27-05-2022
Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and OutlookKwok K-W, Wurdemann H, Arezzo A, Menciassi A and Althoefer K
Proceedings of The IEEE, Institute of Electrical and Electronics Engineers (IEEE) vol. 110 (7), 871-892.
02-05-2022
Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin SensorsDawood AB, Denoun B and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)., 831-836.
28-04-2022
A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand ExoskeletonsSuulker C, Hassan A, Skach S and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 735-740.
08-04-2022
The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta RaySun Y, Wu L, Wang H, Althoefer K and Qi P
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 673-680.
08-04-2022
Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic ActuatorAljaber F, Hassan A, Vitanov I and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 859-864.
08-04-2022
An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion ModesLiu C, Edwards O, Althoefer K, Zhang K and Godaba H
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 715-721.
08-04-2022
Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based SensorMatsuno T, Miyagoshi R, Shimizu K, Ishihara M, Watanabe S, Shintake J, Althoefer K and Hirai S
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 903-910.
08-04-2022
Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown EnvironmentsAtaka A, Lam HK and Althoefer K
Frontiers in Robotics and AI, Frontiers Media vol. 9
18-02-2022
Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and typesJia G, Lam H-K and Althoefer K
Pattern Recognition, Elsevier vol. 121
01-01-2022
2021
Workspace Scaling and Rate Mode Control for Virtual Reality based Robot TeleoperationOmarali B, Althoefer K, Mastrogiovanni F, Valle M and Farkhatdinov I
2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC). vol. 00, 607-612.
20-10-2021
A Suite of Robotic Solutions for Nuclear Waste DecommissioningVitanov 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
Robotics vol. 10 (4), 112-112.
07-10-2021
Multi-modal robotic visual-tactile localisation and detection of surface cracksPalermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G and Farkhatdinov I
2021 IEEE 17th International Conference on Automation Science and Engineering.
05-10-2021
Large‐Scale Surface Shape Sensing with Learning‐Based Computational MechanicsWang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY, Althoefer K, Liu Y, Fukuda T and Kwok K-W
Advanced Intelligent Systems, Wiley vol. 3 (11)
30-08-2021
Using RoboChick to Identify the Behavioral Features Promoting Social InteractionsSlonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L and Versace E
2021 IEEE International Conference on Development and Learning (ICDL).
23-08-2021
Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flopDawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and Althoefer K
Applied Sciences, Mdpi vol. 11 (14)
17-07-2021
Highly Manoeuvrable Eversion Robot Based on Fusion of Function with StructureAbrar T, Putzu F, Ataka A, Godaba H and Althoefer K
2021 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 12089-12096.
05-06-2021
Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithmObadina OO, Thaha MA, Althoefer K and Shaheed MH
Journal of Vibration and Control, Sage Publications, 107754632110034-107754632110034.
27-03-2021
Robotics Responds to the COVID-19 OutbreakMarques L, Murphy R, Althoefer K, Tadokoro S and Laschi C
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 28 (1), 16-17.
01-03-2021
Observer-based Control of Inflatable Robot with Variable Stiffness *Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 8646-8652.
24-01-2021
Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industryDin AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C and Shahdad S
The Surgeon, Elsevier vol. 19 (5), e281-e288.
22-01-2021
Attribution of autonomy and its role in robotic language acquisitionFörster F and Althoefer K
AI & Society, Springer Nature vol. 37 (2), 605-617.
16-01-2021
Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity SensorIshihara M, Matsuno T, Althoefer K and Hirai S
2021 IEEE/SICE International Symposium on System Integration (SII). vol. 00, 87-92.
14-01-2021
Virtual Reality Percussion Simulator for Medical Student TrainingBálint LAP, Althoefer K and Macías LHP
2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI). vol. 00, 295-299.
09-01-2021
Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable FingersHassan A, Aljaber F, Godaba H, Vitanov I and Althoefer K
2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI). vol. 00, 574-579.
09-01-2021
Chapter 27 Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness ControllabilityFras J, Arezzo A, Shiva A and Althoefer K
In Soft Matter For Biomedical Applications, Royal Society of Chemistry (Rsc) 684-719.
01-01-2021
2020
Automatic Fracture Characterization Using Tactile and Proximity Optical SensingPalermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I
Frontiers in Robotics and AI, Frontiers Media
02-12-2020
F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry ObservationLi W, Noh Y, Alomainy A, Vitanov I, Zheng Y, Qi P and Althoefer K
2020 IEEE SENSORS. vol. 00, 1-4.
28-10-2020
Silicone-based Capacitive E-skin for Exteroception and
ProprioceptionDawood AB, Godaba H, Ataka A and Althoefer K
International Conference on Intelligent Robots and Systems (IROS) Las Vegas, NV, USA (Virtual) 25 Oct 2020 - 29 Oct 2020.
25-10-2020
A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphingGodaba H, Sajad A, Patel N, Althoefer K and Zhang K
2020 IEEE International Conference on Intelligent Robots and Systems., 8716-8721.
24-10-2020
Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb RehabilitationLi M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J, Xu G and Althoefer K
IEEE Transactions on Medical Robotics and Bionics, Institute of Electrical and Electronics Engineers (IEEE) vol. 2 (4), 565-568.
14-10-2020
An In-Homogeneous Structured Eversion ActuatorPutzu F, ABRAR T, Hassan A, Godaba H, Rizqi A and Althoefer K
Towards Autonomous Robotic Systems Conference (TAROS) Online 16 Sep 2020.
16-09-2020
Implementing Tactile and Proximity Sensing for Crack DetectionPalermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I
2020 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 632-637.
31-08-2020
A bending sensor insensitive to pressure: soft proprioception based on abraded optical fibresGodaba H, Vitanov I, Aljaber F, Ataka A and Althoefer K
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 104-109.
15-07-2020
Plant Bioinspired Ecological RoboticsFrazier PA, Jamone L, Althoefer K and Calvo P
Frontiers in Robotics and AI, Frontiers Media vol. 7
14-07-2020
Criminisi Algorithm Applied to a GelSight Fingertip Sensor for Multi-modality PerceptionLi X, Li W, Zheng Y, Althoefer K and Qi P
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). vol. 00, 190-195.
09-07-2020
Instant soft robot: A simple recipe for quick and easy manufacturingFras J, Althoefer K and Glowka J
IEEE International Conference on Soft Robotics RoboSoft 2020 Online 15 May 2020 - 15 Jun 2020.
15-05-2020
Model-based Pose Control of Inflatable Eversion Robot with Variable StiffnessAtaka A, Abrar T, Putzu F, Godaba H and Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
26-02-2020
Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load ReadingsSadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K and Nanayakkara T
IEEE Robotics and Automation Letters vol. 5 (2), 2824-2831.
10-02-2020
TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order ModelsAlthoefer K
International Journal of Robotics Research, Sage Publications
06-01-2020
Virtual Reality based Telerobotics Framework with Depth CamerasOmarali B, Denoun B, Althoefer K, Jamone L, Valle M and Farkhatdinov I
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). vol. 00, 1217-1222.
04-01-2020
Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale JammingSadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T
In Intelligent Robotics and Applications, Springer Nature c1-c1.
01-01-2020
An Inhomogeneous Structured Eversion ActuatorAbrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 37-48.
01-01-2020
F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force MeasurementLi W, Alomainy A, Vitanov I, Noh Y, Qi P and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
01-01-2020
Silicone Based Capacitive E-Skin Sensor for Soft Surgical RobotsDawood AB, Godaba H and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 62-65.
01-01-2020
Shape Reconstruction of Soft-Body Manipulator: A Learning-Based ApproachVitanov I, Rizqi A and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 58-61.
01-01-2020
Instant soft robot: A simple recipe for quick and easy manufacturingFras J, Glowka J and Althoefer K
2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)., 476-482.
01-01-2020
2019
Payload capabilities and operational limits of eversion robotsGodaba H, Putzu F, Abrar T, Konstantinova J and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11650 LNAI, 383-394.
17-07-2019
Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm systemWang 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.
Towards Autonomous Robotic Systems Conference (TAROS). vol. 11650 LNAI, 27-38.
17-07-2019
Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robotDawood AB, Godaba H and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11650 LNAI, 99-110.
17-07-2019
Designing Origami-Adapted Deployable Modules for Soft Continuum ArmsZhang K and Althoefer K
20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019. vol. 11649 LNAI, 138-147.
07-07-2019
Soft particles for granular jammingPutzu F, Konstantinova J and Althoefer K
Towards Autonomus Robotics Systems (TAROS) 5 Jul 2019 - 3 Jul 2020. vol. 11650 LNAI, 65-74.
03-07-2019
Mobile robot trajectory analysis with the help of vision systemDanabek D, Otaran A, Althoefer K and Farkhatdinov I
Towards Autonomous Robotic Systems Conference (TAROS). vol. 11650 LNAI, 273-279.
03-07-2019
Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape SensingAljaber F and Althoefer K
TAROS. vol. 11649 LNAI, 126-137.
28-06-2019
Design Analysis of a Fabric Based Lightweight Robotic GripperHassan A, Godaba H and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 16-27.
28-06-2019
Dynamic Response Characteristics in Variable Stiffness Soft Inflatable LinksAli A, Althoefer K and Konstantinova J
Towards Autonomous Robotic Systems Conference. vol. 11649 LNAI, 160-170.
28-06-2019
Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic SystemsFras J and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 103-114.
28-06-2019
Kinematic Control and Obstacle Avoidance for Soft Inflatable ManipulatorAtaka A, Stilli A, Konstantinova J, Wurdemann HA and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 52-64.
28-06-2019
Virtual Reality Simulator for Medical Auscultation TrainingBálint LAP, Macías LHP and Althoefer K
Towards Autonomous Robotic Systems Conference. vol. 11649 LNAI, 386-398.
28-06-2019
Eversion-type soft overtube for endoscopic surgeryPutzu F, Konstantinova J and Althoefer K
The Hamlyn Symposium on Medical Robotics., 7-8.
23-06-2019
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum ManipulatorsSadati S, Shiva A, Elnaz Naghibi S, Rucker C, Renson L, Bergeles C, Althoefer K, Nanayakkara T, Hauser H and Walker I
Robotics: Science and Systems XV.
22-06-2019
An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism.Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and Althoefer K
Front Neurorobot vol. 13, 34-34.
29-05-2019
Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown EnvironmentsAtaka A, Lam HK and Althoefer K
2019 International Conference on Robotics and Automation (ICRA). vol. 00, 6165-6171.
24-05-2019
Real-time robot-assisted ergonomicsShafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA and Althoefer K
International Conference on Robotics and Automation (ICRA). vol. 2019-May, 1975-1981.
20-05-2019
Analysis of a customized clutch joint designed for the safety management of an ultrasound robotWang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J, Singh D and Rhode K
Applied Sciences (Switzerland) vol. 9 (9)
09-05-2019
Elastomer-based touch sensor: Visualization of tactile pressure distributionLi W, Konstantinova J, Alomainy A and Althoefer K
Towards Autonomous Robotic Systems (TAROS). vol. 11650 LNAI, 87-98.
26-04-2019
EPAM: Eversive Pneumatic Artificial MuscleAbrar T, Putzu F, Konstantinova J and Althoefer K
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 19-24.
14-04-2019
An Elastomer-based Flexible Optical Force and Tactile SensorLi W, Konstantinova J, Noh Y, Ma Z, Alomainy A and Althoefer K
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 361-366.
14-04-2019
Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation.Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K
Soft Robot vol. 6 (2), 228-249.
01-04-2019
Adaptive update of reference capacitances in conductive fabric based robotic skinMatsuno T, Wang Z, Althoefer K and Hirai S
IEEE Robotics and Automation Letters vol. 4 (2), 2212-2219.
27-02-2019
Soft biomimetic prosthetic hand:
Design, manufacturing and preliminary examinationFRAS J and ALTHOEFER K
International Conference on Intelligent Robots.
07-01-2019
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound.Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J, Althoefer K, Singh D and Rhode K
J Vis Exp (143)
07-01-2019
Magnetic-field-inspired Navigation for Soft Continuum ManipulatorAtaka A, Shiva A, Lam H-K and Althoefer K
IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 Madrid, Spain 1 Oct 2018 - 5 Oct 2018.
07-01-2019
Position and Velocity Control for Telemanipulation with Interoperability ProtocolOmarali B, Palermo F, Valle M, Poslad S, Althoefer K and Farkhatdinov I
Lecture Notes in Computer Science. vol. 11649, 316-324.
01-01-2019
2018
Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based ModelStilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K and Wurdemann HA
International Conference on Intelligent Robots and Systems (IROS)., 6959-6964.
27-12-2018
Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic HandsCOTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T
Plos One, Public Library of Science (Plos)
26-12-2018
A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator SystemObadina O, Bernth J, Althoefer K and Hasan Shaheed M
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 29-31.
12-10-2018
Silicone-based ultra-stretchable strain sensorsPutzu F, Althoefer K and Manfredi L
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 144-147.
12-10-2018
Bio-mimetic pneumatic soft prosthetic handFras J and Althoefer K
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 90-92.
12-10-2018
Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable LoadingALTHOEFER KA
Advanced Robotics, Taylor & Francis
05-10-2018
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.Ataka A, Shiva A, Lam HK and Althoefer K
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 00, 168-173.
01-10-2018
Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image ProcessingPuertolas Balint L and Althoefer K
CRAS 2018 London.
10-09-2018
Plant-Inspired Soft Pneumatic Eversion RobotPUTZU F, ABRAR T and ALTHOEFER K
BioRob 2018 Enschede, Netherlands 26 Aug 2018 - 29 Aug 2018.
29-08-2018
Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image ProcessingPuertolas Balint L and Althoefer K
CRAS.
11-08-2018
A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator SystemOBADINA OO, THAHA MA, ALTHOEFER K and SHAHEED MH
Lecture Notes in Computer Science, Springer Verlag, 28-39. Editors: Giuliani M, Assaf T and Giannaccini ME.
21-07-2018
Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisationCaenazzo A and Althoefer K
TAROS. vol. 10965 LNAI, 284-290.
21-07-2018
Camera-based force and tactile sensorLi W, Konstantinova J, Noh Y, Alomainy A and Althoefer K
TAROS. vol. 10965 LNAI, 438-450.
21-07-2018
Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D EnvironmentsALTHOEFER KA
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers
09-07-2018
iCLAP: Shape Recognition by Combining Proprioception and Touch SensingALTHOEFER KA
Autonomous Robots, Springer Verlag
23-06-2018
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.Ataka A, Lam H-K and Althoefer K
2018 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 6983-6988.
21-05-2018
Bio-inspired octopus robot based on novel soft fluidic actuatorFRAS J, Noh Y, Macias M, Wurdemann H and ALTHOEFER K
IEEE International Conference on Robotics and Automation (ICRA).
20-05-2018
AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke PatientsALTHOEFER KA
International Conference on Soft Robotics.
24-04-2018
Fluidical bending actuator designed for soft octopus robot tentacleFRAS J, Macias M, Noh Y and ALTHOEFER K
2018 IEEE International Conference on Soft Robotics (RoboSoft).
23-04-2018
Antagonistic actuation and stiffness control in soft inflatable robotsALTHOEFER KA
Nature Reviews Materials
20-04-2018
Towards Creating a Flexible Shape Senor for Soft RobotsALJaber F and Althoefer K
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 114-119.
01-04-2018
Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and ArrangementSadati SMH, Naghibi SE, Althoefer K and Nanayakkara T
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 455-460.
01-04-2018
Development of an Adaptable, Soft Robot with an Aortic Diameter Sensor to Modulate Blood Flow in an Extreme Biological EnvironmentMehta A, Velazquez-Pimentel D, Sadek S and Althoefer K
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 344-349.
01-04-2018
Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum ManipulatorsSadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T
IEEE Robotics and Automation Letters vol. 3 (3), 2283-2290.
12-02-2018
Soft Robotics. Bio-inspired Antagonistic StiffeningStilli A, Althoefer K and Wurdemann HA
In Developing Support Technologies, Springer Nature 207-214.
01-01-2018
Magnetic-field-inspired Navigation for Soft Continuum ManipulatorAtaka A, Shiva A, Lam HK and Althoefer K
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)., 8061-8066.
01-01-2018
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:Konstantinova J, Wurdemann H, Shafti A, Shiva A and Althoefer K
1-420.
01-01-2018
2017
Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgeryAbidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K and Menciassi A
International Journal of Medical Robotics and Computer Assisted Surgery, Wiley vol. 14 (1)
05-12-2017
Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic NavigationLee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK and Kwok KW
Soft Robotics vol. 4 (4), 324-337.
01-12-2017
Object Classification Using Hybrid Fiber Optical Force/Proximity SensorKonstantinova J, Cotugno G, Stilli A, Noh Y, Althoefer K and IEEE
IEEE Sensors Conference 29 Oct 2017 - 1 Nov 2017., 543-545.
01-11-2017
Object Classification Using Hybrid Fiber Optical Force/Proximity SensorKONSTANTINOVA J, Cotugno G, Stilli A, Noh Y and Althoefer K
IEEE Sensors Conference Glasgow 29 Oct 2017 - 1 Nov 2017.
29-10-2017
Fingertip Fiber Optical Tactile Array with Two-Level Spring StructureKONSTANTINOVA J, Stilli and Althoefer
Sensors, Mdpi vol. 17 (10)
13-10-2017
Anchoring like octopus: biologically inspired soft artificial suckerSareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M
Journal of The Royal Society Interface, The Royal Society vol. 14 (135)
01-10-2017
Soft fluidic rotary actuator with improved actuation propertiesALTHOEFER KA, fras J, noh Y and Wurdemann H
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems.
24-09-2017
Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin MethodsSadati SMH, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T
IEEE Robotics and Automation Letters vol. 3 (1), 328-335.
22-08-2017
Variable Stiffness Link (VSL): Toward inherently safe robotic manipulatorsStilli A, Grattarola L, Feldmann H, Wurdemann HA and Althoefer K
IEEE International Conference on Robotics and Automation., 4971-4976.
21-07-2017
Autonomous Object Handover using Wrist Tactile InformationKONSTANTINOVA J, Krivic S, Stilli A, Piater J and Althoefer K
18th Towards Autonomous Robotic Systems (TAROS) Conference Surrey, United Kingdom 19 Jul 2017 - 21 Jul 2017.
19-07-2017
A geometry deformation model for braided continuum manipulatorsSadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K and Nanayakkara T
Frontiers Robotics AI vol. 4 (JUN)
30-06-2017
Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer ScreeningGarbin N, Stilli A, Shiva A, Fras J, Slawinski PR, Obstein KL, Althoefer K, Wurdemann HA and Valdastri P
10th Hamlyn Symposium on Medical Robotics 2017., 53-54.
25-06-2017
Canceling strong and complex interference in NQR-based landmine detectionShao W, Kosmas P, Althoefer K and Barras J
International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016.
12-06-2017
Wearable haptic based pattern feedback sleeve systemRanasinghe A, Althoefer K, Dasgupta P, Nagar A and Nanayakkara T
Advances in Intelligent Systems and Computing vol. 547, 302-312.
13-04-2017
Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robotWang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K and Housden RJ
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
Detecting NQR signals severely polluted by interferenceShao W, Barras J, Althoefer K and Kosmas P
Signal Processing vol. 138, 256-264.
31-03-2017
Knock-Knock: Acoustic object recognition by using stacked denoising autoencodersLuo S, Zhu L, Althoefer K and Liu H
Neurocomputing
11-03-2017
A Novel Concept for Safe, Stiffness-Controllable Robot LinksStilli A, Wurdemann HA and Althoefer K
Soft Robotics vol. 4 (1), 16-22.
01-03-2017
Evaluation of stiffness feedback for hard nodule identification on a phantom silicone modelLi M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and Althoefer K
Plos One, Public Library of Science (Plos)
01-03-2017
Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery.Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD, Althoefer K and Dasgupta P
Med Eng Phys
21-02-2017
Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue OrgansKONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T
Plos One, Public Library of Science (Plos)
15-02-2017
Mechanics of continuum manipulators, a comparative study of five methods with experimentsSadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K and Nanayakkara T
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
Low Cost Soft Endoscope Robotic ProbeStopforth R, Davrajh S and Althoefer K
2017 IEEE AFRICON., 1414-1419.
01-01-2017
2016
Embroidered Electromyography: A Systematic Design GuideALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ
IEEE Transactions on Neural Systems and Rehabilitation Engineering
01-12-2016
Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic EnvironmentsALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H and Liu H
IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-12-2016
Fingertip proximity sensor with realtime visual-based calibrationKonstantinova J, Stilli A, Faragasso A and Althoefer K
IROS 2016. vol. 2016-November, 170-175.
28-11-2016
Iterative Closest Labeled Point for tactile object shape recognitionLuo S, Mou W, Althoefer K and Liu H
IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 3137-3142.
28-11-2016
A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beamNoh Y, Bimbo J, Stilli A, Wurdemann H, Liu H, Housden J, Rhode K and Althoefer K
International Conference on Intelligent Robots and Systems. vol. 2016-November, 202-207.
28-11-2016
Stiffness-based modelling of a hydraulically-actuated soft robotics manipulatorLindenroth L, Back J, Schoisengeier A, Noh Y, Würdemann H, Althoefer K and Liu H
IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 2458-2463.
28-11-2016
New kinematic multi-section model for catheter contact force estimation and steeringBack J, Lindenroth L, Karim R, Althoefer K, Rhode K and Liu H
IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 2122-2127.
28-11-2016
Multi-axis force/torque sensor based on simply supported beam and optoelectronicsALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H, Housden J and Rhode K
Journal of Sensors Mdpi
17-11-2016
Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal EchocardiographyALTHOEFER KA
Ieeerobotics&Automationmagazine
07-11-2016
FourByThree: Imagine humans and robots working hand in handMaurtua I, Pedrocchi N, Orlandini A, Fernandez JDG, Vogel C, Geenen A, Althoefer K and Shafti A
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. vol. 2016-November
03-11-2016
Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism.Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T and Althoefer K
IEEE Trans Biomed Eng vol. 63 (11), 2425-2435.
01-11-2016
Low Cost Robotic Endoscope Design ConsiderationsStopforth R, Davrajh S and Althoefer K
2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)., 1-6.
01-11-2016
Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac CatheterizationNoh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and Althoefer K
IEEE Sensors Journal vol. 16 (22), 7924-7932.
16-08-2016
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.Shafti A, Lazpita BU, Elhage O, Wurdemann HA and Althoefer K
2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2016, 1894-1897.
01-08-2016
Wearable Embroidered Muscle Activity Sensing Device for the Human Upper LegManerol RBR, Shafti A, Michael B, Grewal J, Fernández JLR, Althoefer K and Howard MJ
2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2016, 6062-6065.
01-08-2016
A compact continuum manipulator system with enhanced steering abilities for robot-Assisted surgeryQi P, Zhang C, Li J, Li Z, Dai JS and Althoefer K
BioRob 2016. vol. 2016-July, 49-54.
26-07-2016
Design of a flexible force-sensing platform for medical ultrasound probesSchoisengeier A, Lindenroth L, Back J, Qiu C, Noh Y, Althoefer K, Dai JS, Rhode K and Liu H
BioRob 2016. vol. 2016-July, 278-283.
26-07-2016
Autonomous robotic palpation of soft tissue using the modulation of applied forceKonstantinova J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T
BioRob2016. vol. 2016-July, 323-328.
26-07-2016
Towards safer obstacle avoidance for continuum-style manipulator in dynamic environmentsAtaka A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P and Althoefer K
BioRob 2016. vol. 2016-July, 600-605.
26-07-2016
Tendon-Based Stiffening for a Pneumatically Actuated Soft ManipulatorShiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A, Althoefer K and Wurdemann HA
IEEE Robotics and Automation Letters vol. 1 (2), 632-637.
01-07-2016
Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual EnvironmentsLi M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H and Althoefer K
Plos One, Public Library of Science vol. 11 (6), e0157681-e0157681. Editors: Zhang D.
28-06-2016
Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver modelsArezzo 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
Surgical Endoscopy: Surgical and Interventional Techniques, Springer Verlag (Germany)
23-06-2016
Real-time planner for multi-segment continuum manipulator in dynamic environmentsAtaka A, Qi P, Liu H and Althoefer K
IEEE International Conference on Robotics and Automation. vol. 2016-June, 4080-4085.
08-06-2016
Designing embroidered electrodes for wearable surface electromyographyShafti A, Manero RBR, Borg AM, Althoefer K and Howard MJ
IEEE International Conference on Robotics and Automation. vol. 2016-June, 172-177.
08-06-2016
A geometry deformation model for compound continuum manipulators with external loadingSadati SMH, Shiva A, Ataka A, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T
IEEE International Conference on Robotics and Automation. vol. 2016-June, 4957-4962.
08-06-2016
A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar SpringsQi P, Qiu C, Liu H, Dai JS, Seneviratne LD and Althoefer K
IEEE/Asme Transactions on Mechatronics vol. 21 (3), 1281-1292.
01-06-2016
Stable Grip Control on Soft Objects With Time-Varying StiffnessNanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K and Bimbo J
IEEE Transactions on Robotics vol. 32 (3), 626-637.
01-06-2016
Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy.Chen C, Zhang F, Barras J, Althoefer K, Bhunia S and Mandal S
IEEE/Acm Trans Comput Biol Bioinform vol. 13 (3), 417-430.
01-05-2016
Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based ApproachQi P, Liu C, Ataka A, Lam HK and Althoefer K
IEEE Transactions on Industrial Electronics vol. 63 (8), 5022-5035.
14-04-2016
The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic HandsCotugno G, Althoefer K and Nanayakkara T
IEEE Transactions on Systems, Man, and Cybernetics: Systems vol. 47 (7), 1061-1070.
05-04-2016
Six-Dimensional Compliance Analysis and Validation of Orthoplanar SpringsQiu C, Qi P, Liu H, Althoefer K and Dai JS
Journal of Mechanical Design, Transactions of The Asme vol. 138 (4)
01-04-2016
Robot Competitions: What Did We Learn? [Competitions]Dias J, Althoefer K and Lima PU
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (1), 16-18.
04-03-2016
Three-Axis Fiber-Optic Body Force Sensor for Flexible ManipulatorsNoh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (6), 1641-1651.
08-02-2016
Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard ReinsRanasinghe A, Sornkarn N, Dasgupta P, Althoefer K, Penders J and Nanayakkara T
IEEE Transactions on Cybernetics, Institute of Electrical and Electronics Engineers (IEEE) vol. 46 (2), 568-579.
13-01-2016
In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry MatchingBimbo J, Luo S, Althoefer K and Liu H
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 1 (1), 570-577.
01-01-2016
Reactive motion planning for mobile continuum arm in dynamic industrial environmentAtaka A, Shiva A, Shafti A, Wurdemann H and Althoefer K
Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016., 178-185.
01-01-2016
2015
Soft and stretchable sensor using biocompatible electrodes and liquid for medical applicationsRusso S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A
Soft Robotics vol. 2 (4), 146-154.
01-12-2015
Lagrangian Dynamics and Nonlinear Control of a Continuum ManipulatorYu Y, Qi P, Althoefer K and Lam HK
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)., 1912-1917.
01-12-2015
Macrobend optical sensing for pose measurement in soft robot armsSareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K
Smart Materials and Structures, Iop Publishing vol. 24 (12)
06-11-2015
Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; a study for monoclinic TNTSmith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 41-54.
01-10-2015
A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine HubsSecco EL, Nagar A, Deters C, Wurdemann H, Lam H-K and Althoefer K
2015 IEEE International Conference on Computer and Information Technology; Ubiquitous Computing and Communications; Dependable, Autonomic and Secure Computing; Pervasive Intelligence and Computing., 288-296.
01-10-2015
14N NQR, relaxation and molecular dynamics of the explosive TNTSmith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 61-66.
28-09-2015
Multi-Axis Stiffness Sensing Device for Medical PalpationFaragasso A, Stilli A, Bimbo J, Wurdemann HA and Althoefer K
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2711-2716.
01-09-2015
Design, Kinematics and Prototype of a Flexible Robot Arm With Planar SpringsQi P, Liu H, Seneviratne L and Althoefer K
Volume 5A: 39th Mechanisms and Robotics Conference., v05at08a033-v05at08a033.
02-08-2015
Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential ApplicationBai G, Qi P, Althoefer K, Li D, Kong X and Dai JS
Volume 5B: 39th Mechanisms and Robotics Conference., v05bt08a011-v05bt08a011.
02-08-2015
Embedded electro-conductive yarn for shape sensing of soft robotic manipulatorsWurdemann HA, Sareh S, Shafti A, Noh Y, Faragasso A, Chathuranga DS, Liu H, Hirai S and Althoefer K
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2015, 8026-8029.
01-08-2015
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.Shafti A, Andorno F, Marchese N, Arolfo S, Aydin A, Elhage O, Noh Y, Wurdemann HA, Arezzo A, Dasgupta P and Althoefer K
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2015, 4861-4864.
01-08-2015
An ergonomic handheld ultrasound probe providing contact forces and pose informationNoh Y, Housden RJ, Gomez A, Knight C, Garcia F, Liu H, Razavi R, Rhode K and Althoefer K
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2015, 5773-5776.
01-08-2015
Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound.Wang S, Housden J, Singh D, Althoefer K and Rhode K
International Journal of Medical Robotics and Computer Assisted Surgery, Wiley: 12 Months vol. 12 (3), 342-354.
31-07-2015
Identification of Haptic Based Guiding Using Hard ReinsRanasinghe A, Dasgupta P, Althoefer K and Nanayakkara T
Plos One, Public Library of Science (Plos) vol. 10 (7)
22-07-2015
Novel Tactile-SIFT Descriptor for Object Shape RecognitionLuo S, Mou W, Althoefer K and Liu H
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (9), 5001-5009.
13-07-2015
Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissueLi M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann HA
Medical & Biological Engineering & Computing, Springer Nature vol. 53 (11), 1177-1186.
28-05-2015
Localizing the Object Contact through Matching Tactile Features with Visual MapLuo S, Mou W, Althoefer K and Liu H
2015 IEEE International Conference on Robotics and Automation (ICRA)., 3903-3908.
01-05-2015
Tendon and Pressure Actuation for a Bio-Inspired Manipulator Based on an Antagonistic PrincipleMaghooa F, Stilli A, Noh Y, Althoefer K and Wurdemann HA
2015 IEEE International Conference on Robotics and Automation (ICRA)., 2556-2561.
01-05-2015
A Fiber-Optics-Based Body Contact Sensor for a Flexible ManipulatorXie H, Liu H, Noh Y, Li J, Wang S and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (6), 3543-3550.
01-05-2015
Batch-Specific Discrimination Using Nuclear Quadrupole Resonance SpectroscopyKyriakidou G, Jakobsson A, Althoefer K and Barras J
Analytical Chemistry, American Chemical Society (Acs) vol. 87 (7), 3806-3811.
12-03-2015
Global estimation of an object’s pose using tactile sensingBimbo J, Kormushev P, Althoefer K and Liu H
Advanced Robotics, Taylor & Francis vol. 29 (5), 363-374.
04-03-2015
Finger contact sensing and the application in dexterous hand manipulationLiu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and Althoefer K
Autonomous Robots, Springer Nature vol. 39 (1), 25-41.
21-01-2015
A 7.5mm Steiner Chain Fibre-Optic System for Multi-Segment Flex SensingSareh S, Noh Y, Ranzani T, Wurdemann H, Liu H and Althoefer K
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2336-2341.
01-01-2015
Catheter Contact Force Estimation from Shape Detection Using a Real-Time Cosserat Rod ModelBack J, Manwell T, Karim R, Rhode K, Althoefer K and Liu H
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2037-2042.
01-01-2015
Feasibility Study-Novel Optical Soft Tactile Array Sensing for Minimally Invasive SurgeryBack J, Dasgupta P, Seneviratne L, Althoefer K and Liu H
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 1528-1533.
01-01-2015
Force and Proximity Fingertip Sensor to Enhance Grasping PerceptionKonstantinova J, Stilli A and Althoefer K
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2118-2123.
01-01-2015
Novel Method to form Adaptive Internal Impedance Profiles in WalkersMorland MFE, Althoefer K and Nanayakkara T
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2015, 7764-7767.
01-01-2015
Tension Sensing for a Linear Actuated Catheter RobotBack J, Karim R, Noh Y, Rhode K, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9245, 472-482.
01-01-2015
Tactile Object Recognition with Semi-Supervised LearningLuo S, Liu X, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9245, 15-26.
01-01-2015
Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamicsAlthoefer K, Wurdemann H and Stilli A
BJU INTERNATIONAL. vol. 116, 48-49.
01-01-2015
Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position ControlWurdemann HA, Stilli A and Althoefer K
Lecture Notes in Computer Science. vol. 9246, 164-174.
01-01-2015
Surface Classification for Crawling Peristaltic Worm RobotManwell T, Jupp A, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9246, 175-184.
01-01-2015
Kinematic analysis of a mechanism with dual remote centre of motion and its potential applicationBai G, Qi P, Althoefer K, Li D, Kong X and Dai JS
Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015
01-01-2015
Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale JammingSadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T
Lecture Notes in Computer Science. vol. 9246, 141-151.
01-01-2015
2014
Accurate Bolt Tightening Using Model-Free Fuzzy Control for Wind Turbine Hub Bearing AssemblyDeters C, Lam H-K, Secco EL, Wurdemann HA, Seneviratne LD and Althoefer K
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (1), 1-12.
15-12-2014
Rotation and translation invariant object recognition with a tactile sensorLuo S, Mou W, Li M, Althoefer K and Liu H
IEEE SENSORS 2014 Proceedings., 1030-1033.
12-12-2014
Fuzzy Logic Control of a Continuum Manipulator for Surgical ApplicationsQi P, Liu C, Zhang L, Wang S, Lam H-K and Althoefer K
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)., 413-418.
01-12-2014
Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environmentsLi M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and Althoefer K
Mechatronics, Elsevier vol. 24 (8), 1092-1100.
01-12-2014
Improved modeling and bounds for NQR spectroscopy signalsKyriakidou G, Jakobsson A, Gudmundson E, Gregorovič A, Barras J and Althoefer K
European Signal Processing Conference., 2325-2329.
10-11-2014
Multi-fingered haptic palpation using pneumatic feedback actuatorsLi M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K
Sensors and Actuators a Physical, Elsevier vol. 218, 132-141.
01-10-2014
Robotic Granular Jamming: Does the Membrane Matter?Jiang A, Ranzani T, Gerboni G, Lekstutyte L, Althoefer K, Dasgupta P and Nanayakkara T
Soft Robotics, Mary Ann Liebert vol. 1 (3), 192-201.
01-09-2014
Modeling and Optimizing Output Characteristics of Intensity Modulated Optical Fiber-Based Displacement SensorsWanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (IEEE) vol. 64 (3), 758-767.
28-08-2014
Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum ManipulatorQiu C, Qi P, Liu HB, Althoefer K and Dai JS
Volume 5A: 38th Mechanisms and Robotics Conference., v05at08a036-v05at08a036.
17-08-2014
An Optical Tactile Array Probe Head for Tissue Palpation During Minimally Invasive SurgeryXie H, Liu H, Seneviratne LD and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (9), 3283-3291.
28-07-2014
Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuatorsLi M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and Althoefer K
Smart Materials and Structures, Iop Publishing vol. 23 (9)
17-07-2014
Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A ReviewKonstantinova J, Jiang A, Althoefer K, Dasgupta P and Nanayakkara T
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (8), 2490-2501.
26-06-2014
MRI‐safe robots. Why are they not yet routinely used?Althoefer K
Bju International, Wiley vol. 113 (6), 975-976.
01-06-2014
The granular jamming integrated actuatorJiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T and Dasgupta P
2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS)., 12-17.
01-06-2014
Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP ApproachCianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A
Soft Robotics, Mary Ann Liebert vol. 1 (2), 122-131.
01-06-2014
Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearingsMüller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K and Würdemann H
Production Engineering, Springer Nature vol. 8 (6), 755-764.
30-05-2014
Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft TissuesKonstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K and Nanayakkara T
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (6), 1651-1659.
15-05-2014
Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A reviewLi M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann H
Proceedings of The Institution of Mechanical Engineers Part H Journal of Engineering in Medicine, Sage Publications vol. 228 (5), 509-522.
01-05-2014
Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness ProbeWanninayake IB, Seneviratne LD and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 1426-1431.
01-05-2014
Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned SynergiesCotugno G, Mohan V, Althoefer K and Nanayakkara T
2014 IEEE International Conference on Robotics and Automation (ICRA)., 5345-5351.
01-05-2014
Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive SurgeryFaragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H, Nanayakkara T, Wurdemann HA and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 1405-1410.
01-05-2014
A Novel Tumor Localization Method using Haptic Palpation based on Soft Tissue Probing DataLi M, Faragasso A, Konstantinova J, Aminzadeh V, Seneviratne LD, Dasgupta P and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 4188-4193.
01-05-2014
Bio-Inspired Tactile Sensor Sleeve for Surgical Soft ManipulatorsSareh S, Jiang A, Faragasso A, Noh Y, Nanayakkara T, Dasgupta P, Seneviratne LD, Wurdemann RA and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 1454-1459.
01-05-2014
Control a Contact Sensing Finger for Surface Haptic ExplorationBack J, Bimbo J, Noh Y, Seneviratne L, Althoefer K and Liu H
2014 IEEE International Conference on Robotics and Automation (ICRA)., 2736-2741.
01-05-2014
A Three-Axial Body Force Sensor for Flexible ManipulatorsNoh Y, Sareh S, Back J, Würdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 6388-6393.
01-05-2014
Surface flattening of the human left atrium and proof-of-concept clinical applicationsKarim 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
Computerized Medical Imaging and Graphics, Elsevier vol. 38 (4), 251-266.
02-02-2014
Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision SensorXie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 14 (3), 829-838.
17-01-2014
Endoscopic Add-on Stiffness Probe for Real-time Soft Surface Characterisation in MISFaragasso A, Stilli A, Bimbo J, Noh Y, Liu H, Nanayakkara T, Dasgupta P, Wurdemann HA and Althoefer K
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. vol. 2014, 6517-6520.
01-01-2014
Towards Kinematic Modeling of a Multi-DOF Tendon Driven Robotic CatheterQi P, Liu H, Seneviratne L and Althoefer K
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. vol. 2014, 3009-3012.
01-01-2014
A Continuum Body Force Sensor Designed for Flexible Surgical Robotics DevicesNoh Y, Secco EL, Sareh S, Würdemann H, Farazasso A, Back J, Liu H, Sklar E and Althoefer K
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. vol. 2014, 3711-3714.
01-01-2014
Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principleStilli A, Wurdemann HA and Althoefer K
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2476-2481.
01-01-2014
Elastic Mesh Braided Worm Robot for Locomotive EndoscopyManwell T, Vitek T, Ranzani T, Menciassi A, Althoefer K and Liu H
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. vol. 2014, 848-851.
01-01-2014
A Novel Continuum-Style Robot with Multilayer Compliant ModulesQi P, Qiu C, Liu H, Dai JS, Seneviratne L and Althoefer K
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems., 3175-3180.
01-01-2014
Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositionsRowe MD, Smith JAS, Barras J and Althoefer K
Nato Science For Peace and Security Series B: Physics and Biophysics, 35-43.
01-01-2014
2013
Combining Touch and Vision for the Estimation of an Object's Pose During ManipulationBimbo J, Seneviratne LD, Althoefer K and Liu H
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 4021-4026.
01-11-2013
A Two Party Haptic Guidance Controller Via a Hard ReinRanasinghe A, Penders J, Dasgupra P, Althoefcr K and Nanayakkara T
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 116-122.
01-11-2013
Fiber Optics Tactile Array Probe for Tissue Palpation during Minimally Invasive SurgeryXie H, Liu* H, Luo S, Seneviratne LD and Althoefer K
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2539-2544.
01-11-2013
Force-Velocity Modulation Strategies for Soft Tissue ExaminationKonstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K and Nanayakkara T
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 1998-2003.
01-11-2013
An Optimal State Dependent Haptic Guidance Controller Via a Hard ReinRanasinghe A, Althoefer K, Nanayakkara T, Penders J and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 2322-2327.
01-10-2013
Haptics for Multi-Fingered PalpationLi M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 4184-4189.
01-10-2013
Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue ExaminationKonstantinova J, Li M, Aminzadeh V, Althoefer K, Nanayakkara T and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 4190-4195.
01-10-2013
Inverse finite-element modeling for tissue parameter identification using a rolling indentation probeLiu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD
Medical & Biological Engineering & Computing, Springer Nature vol. 52 (1), 17-28.
15-09-2013
Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface ExplorationSong X, Liu H, Althoefer K, Nanayakkara T and Seneviratne LD
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 30 (1), 203-219.
11-09-2013
Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different CompositionsRowe MD, Smith JAS, Barras J and Althoefer K
In Magnetic Resonance Detection of Explosives and Illicit Materials, Springer Nature 35-43.
10-08-2013
Granular Jamming With Hydraulic ControlJiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T
Volume 6A: 37th Mechanisms and Robotics Conference., v06at07a021-v06at07a021.
04-08-2013
Granular jamming transitions for a robotic mechanismJiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T
AIP Conference Proceedings. vol. 1542 (1), 385-388.
18-06-2013
Air-float Palpation Probe for Tissue Abnormality Identification During Minimally Invasive SurgeryWanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 60 (10), 2735-2744.
20-05-2013
Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine HubsDeters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD and Althoefer K
2013 IEEE International Conference on Robotics and Automation., 270-276.
01-05-2013
An Optical Curvature Sensor for Flexible ManipulatorsSearle TC, Althoefer K, Seneviratne L and Liu H
2013 IEEE International Conference on Robotics and Automation., 4415-4420.
01-05-2013
Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise MatchingLam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K
IEEE Transactions on Industrial Electronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (2), 956-968.
15-03-2013
Observational Learning: Basis, Experimental Results and Models, and Implications for RoboticsTaylor JG, Cutsuridis V, Hartley M, Althoefer K and Nanayakkara T
Cognitive Computation, Springer Nature vol. 5 (3), 340-354.
26-02-2013
Nitrogen-14 Nuclear Quadrupole Resonance Spectroscopy: A Promising Analytical Methodology for Medicines Authentication and Counterfeit Antimalarial AnalysisBarras J, Murnane D, Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G and Smith JAS
Analytical Chemistry, American Chemical Society (Acs) vol. 85 (5), 2746-2753.
20-02-2013
Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicinesBarras J, Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D and Assi S
Tropical Medicine & International Health vol. 18, 21-21.
01-01-2013
2012
A stiffness probe for soft tissue abnormality identification during laparoscopic surgeryLi J, Liu H, Althoefer K and Seneviratne LD
World Automation Congress Proceedings.
14-12-2012
Object surface classificaiton based on friction properties for intelligent robotic handsSong X, Liu H, Bimbo J, Althoefer K and Seneviratne LD
World Automation Congress Proceedings.
14-12-2012
Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring StructureAtaollahi A, Fallah AS, Seneviratne LD, Dasgupta P and Althoefer K
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 19 (1), 121-130.
15-11-2012
Variable-Pitch Rectangular Cross-section Radiofrequency Coils for the Nitrogen-14 Nuclear Quadrupole Resonance Investigation of Sealed Medicines PacketsBarras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA and Smith JAS
Analytical Chemistry, American Chemical Society (Acs) vol. 84 (21), 8970-8972.
26-10-2012
Developing a Magnetic Resonance-Compatible Catheter for Cardiac CatheterizationYao W, Schaeffter T, Seneviratne L and Althoefer K
Journal of Medical Devices, Asme International vol. 6 (4)
11-10-2012
Pixel-based Optical Fiber Tactile Force Sensor for Robot ManipulationXie H, Jiang A, Seneviratne L and Althoefer K
2012 IEEE Sensors., 1-4.
01-10-2012
Adaptive grip control on an uncertain objectJiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K and Nanayakkara T
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems., 1161-1166.
01-10-2012
Surface Material Recognition through Haptic Exploration using an Intelligent Contact Sensing FingerLiu H, Song X, Bimbo J, Seneviratne L and Althoefer K
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems., 52-57.
01-10-2012
A Novel Dynamic Slip Prediction and Compensation Approach Based on Haptic Surface ExplorationSong X, Liu H, Bimbo J, Althoefer K and Seneviratne LD
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 1, 4511-4516.
01-10-2012
Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane CouplingJiang A, Xynogalas G, Dasgupta P, Althoefer K and Nanayakkara T
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2922-2927.
01-10-2012
A 2-Axis Optical Force–Torque Fingertip Sensor for Dexterous Grasping Using Linear PolarizersSargeant R, Seneviratne LD and Althoefer K
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (IEEE) vol. 61 (12), 3363-3377.
17-09-2012
An Optical Multi-axial Force/Torque Sensor for Dexterous Grasping and ManipulationSargeant R, Liu H, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)., 144-149.
01-09-2012
Tactile Image based Contact Shape Recognition using Neural NetworkLiu H, Greco J, Song X, Bimbo J, Seneviratne L and Althoefer K
2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)., 138-143.
01-09-2012
Object Pose Estimation and Tracking by Fusing Visual and Tactile InformationBimbo J, Rodríguez-Jiménez S, Liu H, Song X, Burrus N, Senerivatne LD, Abderrahim M and Althoefer K
2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)., 65-70.
01-09-2012
A Variable Stiffness Joint by Granular JammingJiang A, Ataollahi A, Althoefer K, Dasgupta P and Nanayakkara T
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B., 267-275.
12-08-2012
Automated Screw Insertion Monitoring Using Neural Networks: A Computational Intelligence Approach to Assembly in ManufacturingLara B, Seneviratne LD and Althoefer K
In Computational Intelligence and Its Applications, World Scientific Publishing 183-209.
04-07-2012
Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical PalpationPuangmali P, Liu H, Seneviratne LD, Dasgupta P and Althoefer K
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 17 (4), 646-656.
04-05-2012
An Investigation of the Use of Linear Polarizers to Measure Force and Torque in Optical 6-DOF Force/Torque Sensors for Dexterous ManipulatorsSargeant R, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation., 1422-1427.
01-05-2012
A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array SensorLiu H, Song X, Nanayakkarr T, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation., 1410-1415.
01-05-2012
Novel Indentation Depth Measuring System for Stiffness Characterization in Soft Tissue PalpationWanninayake IB, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation. vol. 1, 4648-4653.
01-05-2012
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.Li M, Liu H, Li J, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation. vol. 1, 5359-5364.
01-05-2012
The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance SpectroscopyBarras J, Althoefer K, Rowe MD, Poplett IJ and Smith JAS
Applied Magnetic Resonance, Springer Nature vol. 43 (4), 511-529.
22-03-2012
Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac ProceduresPolygerinos P, Seneviratne LD, Razavi R, Schaeffter T and Althoefer K
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 18 (1), 386-396.
17-01-2012
A stiffness probe based on force and vision sensing for soft tissue diagnosisLi J, Liu H, Althoefer K and Seneviratne LD
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
Novel Air-float Tactile Array for Stiffness Characterization in Soft Tissue PalpationWanninayake IB, Althoefer K and Seneviratne LD
Procedia Engineering. vol. 41, 281-288.
01-01-2012
PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENTZirjakova J, Althoefer K, Dasgupta P and Nanayakkara T
Journal of Endourology vol. 26, A20-A21.
01-01-2012
SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERYLi M, Dasgupta P, Seneviratne LD and Althoefer K
Journal of Endourology vol. 26, A48-A48.
01-01-2012
GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIESJiang A, Althoefer K, Dasgupta P and Nanayakkara T
Journal of Endourology vol. 26, A403-A404.
01-01-2012
Intelligent Fingertip Sensing for Contact Information IdentificationLiu H, Song X, Bimbo J, Althoefer K and Senerivatne L
01-01-2012
A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft TissueLi J, Zirjakova J, Yao W, Althoefer K, Dasgupta P and Seneviratne LD
01-01-2012
Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility studyLi J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and Althoefer K
BRITISH JOURNAL OF SURGERY. vol. 99, 53-53.
01-01-2012
Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent AgentsDeters C, Wurdemann HA, Dai JS, Seneviratne LD and Althoefer K
01-01-2012
2011
14N quadrupole resonance and 1H T1 dispersion in the explosive RDXSmith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and Althoefer K
Journal of Magnetic Resonance, Elsevier vol. 213 (1), 98-106.
10-09-2011
POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation ProbeKumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L, Althoefer K and Dasgupta P
Urology, Elsevier vol. 78 (3), s20-s21.
01-09-2011
Slip parameter estimation for tele-operated ground vehicles in slippery terrainSong X, Seneviratne LD and Althoefer K
Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering. vol. 225 (6), 814-830.
14-07-2011
Tactile sensing for dexterous in-hand manipulation in robotics—A reviewYousef H, Boukallel M and Althoefer K
Sensors and Actuators a Physical, Elsevier vol. 167 (2), 171-187.
01-06-2011
An Approach for Stability Analysis of Polynomial Fuzzy Model-Based Control SystemsNarimani M, Lam HK, Althoefer K, Dilmaghan R, Wolfe C and Deters C
2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)., 2232-2237.
01-06-2011
Rolling Indentation Probe for Tissue Abnormality Identification during Minimally Invasive SurgeryLiu H, Li J, Song X, Seneviratne LD and Althoefer K
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 27 (3), 450-460.
07-04-2011
Finite-Element Modeling of Soft Tissue Rolling IndentationSangpradit K, Liu H, Dasgupta P, Althoefer K and Seneviratne LD
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (12), 3319-3327.
20-01-2011
Resuts of kidney lesion experiments with haptic probeLi J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and Althoefer K
BRITISH JOURNAL OF SURGERY. vol. 98, 51-51.
01-01-2011
2010
Tissue parameter estimation for a mechatronic probe using inverse finite element analysisSangpradit K, Althoefer K and Seneviratne L
16th Annual Conference on Mechatronics and Machine Vision in Practice 2010, M2VIP 2010., 96-110.
01-12-2010
Finite Element Modelling of Rolling Indentation for Tissue Adomanlity IdentificationSangpradit K, Althoefer K and Seneviratne LD
2010 11th International Conference on Control Automation Robotics & Vision., 163-168.
01-12-2010
A Robust Downward-Looking Camera Based Velocity Estimation with Height Compensation for Mobile RobotsSong X, Althoefer K and Seneviratne L
2010 11th International Conference on Control Automation Robotics & Vision., 378-383.
01-12-2010
MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization ProceduresPolygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (3), 721-726.
29-11-2010
Modeling of Light Intensity-Modulated Fiber-Optic Displacement SensorsPolygerinos P, Seneviratne LD and Althoefer K
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (IEEE) vol. 60 (4), 1408-1415.
01-11-2010
MRI-Compatible Fiber-Optic Force Sensors for Catheterization ProceduresPolygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 10 (10), 1598-1608.
01-10-2010
Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic HandsAtaollahi A, Polygerinos P, Puangmali P, Seneviratne LD and Althoefer K
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems., 910-915.
01-10-2010
A Comparative Study Between an Improved Novel Air-Cushion Sensor and a Wheeled Probe for Minimally Invasive SurgeryZbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P and Murphy D
Journal of Endourology, Mary Ann Liebert vol. 24 (7), 1155-1159.
01-07-2010
Track–terrain modelling and traversability prediction for tracked vehicles on soft terrainAl-Milli S, Seneviratne LD and Althoefer K
Journal of Terramechanics, Elsevier vol. 47 (3), 151-160.
01-06-2010
Novel Miniature MRI-Compatible Fiber-Optic Force Sensor for Cardiac Catheterization ProceduresPolygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 2598-2603.
01-05-2010
Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification during Laparoscopic SurgeryLiu H, Li J, Poon Q-I, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 3654-3659.
01-05-2010
Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive SurgeryPuangmali P, Dasgupta P, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 2592-2597.
01-05-2010
A Kalman Filter-Integrated Optical Flow Method for Velocity Sensing of Mobile RobotsSong X, Seneviratne LD and Althoefer K
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (3), 551-563.
22-04-2010
An indentation depth—force sensing wheeled probe for abnormality identification during minimally invasive surgeryLiu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L and Althoefer K
Proceedings of The Institution of Mechanical Engineers Part H Journal of Engineering in Medicine, Sage Publications vol. 224 (6), 751-763.
22-04-2010
Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN)Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD and Althoefer K
Journal of Magnetic Resonance, Elsevier vol. 204 (1), 139-144.
21-02-2010
Force Sensing in Medical RoboticsAlthoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD
In Mechatronics in Action, Springer Nature 157-172.
01-01-2010
Critical Resource Infrastructure Supervision and Intervention SystemArghir S, Dobrescu R, Popescu D and Humaila H
IFAC-PapersOnLine. vol. 43 (23), 70-76.
01-01-2010
2009
A haptic probe for soft tissue abnormality identification during minimally invasive surgeryLiu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and Althoefer K
Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009., 417-422.
12-11-2009
Measuring Tip and Side Forces of a Novel Catheter Prototype: A Feasibility StudyPolygerinos P, Schaeffter T, Seneviratne L and Althoefer K
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems., 966-971.
01-10-2009
A Novel MRI Compatible Air-Cushion Tactile Sensor for Minimally Invasive SurgeryZbyszewski D, Polygerinos P, Seneviratne LD and Althoefer K
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2647-2652.
01-10-2009
Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive SurgeryLiu H, Noonan DP, Challacombe BJ, Dasgupta P, Seneviratne LD and Althoefer K
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 57 (2), 404-414.
29-09-2009
Air-Cushion Force-Sensitive Probe for Soft Tissue Investigation During Minimally Invasive SurgeryZbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D and Althoefer K
Journal of Endourology, Mary Ann Liebert vol. 23 (9), 1421-1424.
01-09-2009
Mathematical Modeling of Intensity-Modulated Bent-Tip Optical Fiber Displacement SensorsPuangmali P, Althoefer K and Seneviratne LD
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (IEEE) vol. 59 (2), 283-291.
01-09-2009
THE SCIENCE BEHIND HAPTICS IN ROBOTIC UROLOGICAL SURGERYVivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L and Dasgupta P
Bju International, Wiley vol. 104 (4), 433-434.
21-07-2009
Quantitative 35Cl Nuclear Quadrupole Resonance in Tablets of the Antidiabetic Medicine DiabineseTate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES and Wren SAC
Analytical Chemistry, American Chemical Society (Acs) vol. 81 (13), 5574-5576.
03-06-2009
Hybrid Soil Parameter Measurement and Estimation Scheme for Excavation AutomationAlthoefer K, Tan CP, Zweiri YH and Seneviratne LD
IEEE Transactions on Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (IEEE) vol. 58 (10), 3633-3641.
26-05-2009
Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance EnvironmentsPuangmali P, Althoefer K and Seneviratne LD
2009 IEEE International Conference on Robotics and Automation., 3682-3687.
01-05-2009
Tissue Identification using Inverse Finite Element Analysis of Rolling IndentationSangpradit K, Liu H, Seneviratne LD and Althoefer K
2009 IEEE International Conference on Robotics and Automation., 1250-1255.
01-05-2009
A Fibre-Optic Catheter-Tip Force Sensor with MRI Compatibility: A Feasibility StudyPolygerinos P, Schaeffter T, Seneviratne L and Althoefer K
2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society. vol. 2009, 1501-1504.
01-01-2009
A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive SurgeryLiu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and Althoefer K
RECONFIGURABLE MECHANISMS AND ROBOTS., 436-+.
01-01-2009
The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrainSeneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Milli SA and Althoefer K
International Journal of Modelling Identification and Control, Inderscience Publishers vol. 6 (1)
01-01-2009
Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance EnvironmentsPuangmali P, Althoefer K and Seneviratne LD
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7., 2671-2676.
01-01-2009
Tissue Identification using Inverse Finite Element Analysis of Rolling IndentationSangpradit K, Liu H, Seneviratne LD and Althoefer K
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7., 2933-+.
01-01-2009
A fibre-optic catheter-tip force sensor with MRI compatibility: a feasibility study.Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K
Annu Int Conf IEEE Eng Med Biol Soc vol. 2009, 1501-1054.
01-01-2009
A Vision Based Wheel Slip Estimation Technique for Mining VehiclesSong X, Seneviratne L and Althoefer K
Ifac-Papersonline, Elsevier vol. 42 (23), 179-184.
01-01-2009
2008
A robust slip estimation method for skid-steered mobile robotsSong X, Seneviratne LD, Althoefer K and Song Z
2008 10th International Conference on Control, Automation, Robotics and Vision., 279-284.
01-12-2008
A vision-based technique for vehicle slip and velocity estimationSong X, Seneviratne LD, Althoefer K, Song Z and Mohseni-Vahed S
IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17 (1 PART 1)
01-12-2008
Soil estimation based on dissipation energy during autonomous excavationMohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS and Lam HK
IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17 (1 PART 1)
01-12-2008
Slip parameter estimation of a single wheel using a non-linear observerSong ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH
Robotica, Cambridge University Press (Cup) vol. 27 (6), 801-811.
09-10-2008
Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgeryAlthoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupta P and Murphy D
2008 IEEE Sensors., 827-830.
01-10-2008
Robust Detection of Stochastic Nuclear Quadrupole Resonance SignalsSomasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K
IEEE Transactions on Signal Processing, Institute of Electrical and Electronics Engineers (IEEE) vol. 56 (9), 4221-4229.
01-09-2008
Maneuverability Performance of Tracked Vehicles on Soft TerrainsAl-Milli S, Althoefer K and Seneviratne LD
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 107-112.
01-09-2008
Tactile Sensing using a Novel Air Cushion Sensor: A Feasibility StudyZbyszewski D, Bhaumik A, Althoefer K and Seneviratne LD
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 41-46.
01-09-2008
Optical Flow-Based Slip and Velocity Estimation Technique for Unmanned Skid-Steered VehiclesSong X, Song Z, Seneviratne LD and Althoefer K
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 101-106.
01-09-2008
EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIGAL-MILLI S, CHHANIYARA S, GEORGIOU E, ALTHOEFER K, DAI JS and SENEVIRATNE L
Advances in Mobile Robotics., 1106-1113.
01-08-2008
VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATIONCHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD
Advances in Mobile Robotics., 1069-1076.
01-08-2008
Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networksAlthoefer K, Lara B, Zweiri YH and Seneviratne LD
Proceedings of The Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, Sage Publications vol. 222 (6), 1081-1095.
01-06-2008
A new soft-tissue indentation model for estimating circular indenter ‘force—displacement’ characteristicsAl-ja'afreh T, Zweiri Y, Seneviratne L and Althoefer K
Proceedings of The Institution of Mechanical Engineers Part H Journal of Engineering in Medicine, Sage Publications vol. 222 (5), 805-815.
01-05-2008
Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive SurgeryPuangmali P, Liu H, Althoefer K and Seneviratne LD
2008 IEEE International Conference on Robotics and Automation., 2934-2939.
01-05-2008
Rolling Mechanical Imaging: A novel Approach for Soft Tissue Modelling and Identification during Minimally Invasive SurgeryLiu H, Noonan DP, Althoefer K and Seneviratne LD
2008 IEEE International Conference on Robotics and Automation., 845-850.
01-05-2008
State-of-the-Art in Force and Tactile Sensing for Minimally Invasive SurgeryPuangmali P, Althoefer K, Seneviratne LD, Murphy D and Dasgupta P
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (4), 371-381.
01-04-2008
Non-linear observer for slip estimation of tracked vehiclesSong Z-B, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings of The Institution of Mechanical Engineers Part D Journal of Automobile Engineering, Sage Publications vol. 222 (4), 515-533.
01-04-2008
Detecting Stochastic Nuclear Quadrupole Resonance Signals in the Presence of Strong Radio Frequency InterferenceSomasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K
2008 IEEE International Conference on Acoustics, Speech and Signal Processing., 3645-3648.
01-03-2008
Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain InteractionHutangkabodee S, Zweiri Y, Seneviratne L and Althoefer K
International Journal of Advanced Robotic Systems vol. 5 (4), 425-432.
01-01-2008
Wheel/Tissue Force Interaction: A New Concept for Soft Tissue Diagnosis during MISZbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P
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
Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MISZbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P
Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"., 5556-5559.
01-01-2008
Modelling soft tissue-mechatronic tool interactions during indentationja'afreh TMA, Zweiri YH, Seneviratne LD and Althoefer K
International Journal of Modelling Identification and Control, Inderscience Publishers vol. 4 (4)
01-01-2008
Non-linear observer for slip estimation of tracked vehiclesSong ZB, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings of The Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering vol. 222 (4), 515-533.
01-01-2008
Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility StudyChhaniyara S, Bunnun P, Seneviratne LD and Althoefer K
International Journal on Smart Sensing and Intelligent Systems, De Gruyter vol. 1 (1), 245-267.
01-01-2008
Soil Estimation Based on Dissipation Energy during Autonomous ExcavationVahed SM, Song X, Dai JS, Lam HK, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 41 (2), 13821-13826.
01-01-2008
2007
VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLESSONG X, SENEVIRATNE LD, ALTHOEFER K and SONG Z
International Journal of Information Acquisition, World Scientific Publishing vol. 4 (04), 303-315.
01-12-2007
On-line Energy-based Method for Soil Estimation and Classification in Autonomous ExcavationVahed SM, Delaimi HA, Althoefer K and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 554-559.
01-10-2007
The Development of nonlinear Viscoelastic Model for the Application of Soft Tissue IdentificationLiu H, Noonan DP, Zweiri YH, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 208-213.
01-10-2007
Validation of Soil Parameter Identification for Track-Terrain Interaction DynamicsHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 3174-3179.
01-10-2007
Experimental Study of Soft Tissue Recovery using Optical Fiber ProbeLiu H, Puangmali P, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 516-521.
01-10-2007
Visual Odometry for Velocity Estimation of UGVsSong X, Seneviratne LD, Althoefer K, Song Z and Zweiri YH
2007 International Conference on Mechatronics and Automation., 1611-1616.
01-08-2007
Non-Linear Observer for Slip Parameter Estimation of Unmanned Wheeled VehiclesSong Z, Song X, Altheoer K, Zweiri Y and Seneviratne L
2007 International Conference on Mechatronics and Automation., 1213-1218.
01-08-2007
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITIONCHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD
Advances in Climbing and Walking Robots., 690-697.
01-07-2007
Detection of Stochastic Nuclear Quadrupole Resonance SignalsSomasundaram SD, Jakobsson A, Butt NR, Rowe MD, Smith JAS and Althoefer K
2007 15th International Conference on Digital Signal Processing., 367-370.
01-07-2007
An Ultrasonic Profiling Method for the Inspection of Tubular StructuresGomez F, Althoefer K and Seneviratne LD
Computer-Aided Civil and Infrastructure Engineering, Wiley vol. 22 (6), 400-418.
06-06-2007
Equipamiento y tecnologa en robticaMurphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L and Dasgupta P
Archivos EspañOles De UrologíA, Archivos Espanoles De Urologia vol. 60 (4), 349-355.
01-05-2007
Exploiting Spin Echo Decay in the Detection of Nuclear Quadrupole Resonance SignalsSomasundaram SD, Jakobsson A, Smith JAS and Althoefer K
IEEE Transactions on Geoscience and Remote Sensing, Institute of Electrical and Electronics Engineers (IEEE) vol. 45 (4), 925-933.
01-04-2007
A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive SurgeryNoonan DP, Liu H, Zweiri YH, Althoefer KA and Seneviratne LD
Proceedings 2007 IEEE International Conference on Robotics and Automation., 2629-2634.
01-04-2007
A novel approach for Self-Localization based on Computer Vision and Artificial Marker DepositionChhaniyara S, Zweiri YH, Seneviratne LD and Althoefer K
2007 IEEE International Conference on Networking, Sensing and Control., 139-144.
01-04-2007
Automated Pipe Defect Detection and Categorization Using Camera/Laser-Based Profiler and Artificial Neural NetworkDuran O, Althoefer K and Seneviratne LD
IEEE Transactions on Automation Science and Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 4 (1), 118-126.
01-01-2007
Vehicle-terrain interaction modeling and identification in rough terrainSeneviratne L, Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X and Chhaniyara S
ICIIS 2007: SECOND INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS 2007, CONFERENCE PROCEEDINGS., 11-15.
01-01-2007
DYNAMIC ANALYSIS AND TRAVERSABILITY PREDICTION OF TRACKED VEHICLES ON SOFT TERRAINAl-Milli S, Althoefer K and D.Seneviratne L
2007 IEEE International Conference on Networking, Sensing and Control., 279-284.
01-01-2007
Experimental study of soft tissue recovery using optical fiber probeLiu H, Puangmali P, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9., 522-527.
01-01-2007
Validation of soil parameter identification for track-terrain interaction dynamicsHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9., 3180-+.
01-01-2007
On-line energy-based method for soil estimation and classification in autonomous excavationVahed SM, Delaimi HA, Althoefer K and Seneviratne LD
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9., 560-565.
01-01-2007
The development of nonlinear viscoelastic model for the application of soft tissue identificationLiu H, Noonan DP, Zweiri YH, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9., 214-+.
01-01-2007
MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICSHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 40 (20), 578-583.
01-01-2007
NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLESSong Z, Zweiri Y, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 40 (20), 458-463.
01-01-2007
2006
Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identificationHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Springer Tracts in Advanced Robotics vol. 25, 517-528.
27-09-2006
Modelling of closed-chain manipulators on an excavator vehicleZweiri YH, Seneviratne LD and Althoefer K
Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis vol. 12 (4), 329-345.
01-08-2006
Soil parameter identification for wheel-terrain interaction dynamics and traversability predictionHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Machine Intelligence Research, Springer Nature vol. 3 (3), 244-251.
01-07-2006
Simulation of ultrasound imaging inside fully charged pipesGomez F, Althoefer K and Seneviratne LD
Automation in Construction, Elsevier vol. 15 (3), 355-364.
01-05-2006
Frequency selective detection of nuclear quadrupole resonance (NQR) spin echoesSomasundaram SD, Jakobsson A, Smith JAS and Althoefer KA
Detection and Remediation Technologies for Mines and Minelike Targets XI. vol. 6217
01-05-2006
Non-linear observer for slip estimation of tracked vehiclesSong ZB, Zweiri YH, Althoefer K and Seneviratne LD
13th Annual International Conference on Mechatronics and Machine Vision in Practice 2006., 13-23.
01-01-2006
Detection of landmines using Nuclear Quadrupole Resonance (NQR): Signal processing to aid classificationSomasundaram SD, Althoefer K, Smith JAS and Seneviratne LD
Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005., 833-840.
01-01-2006
Non-linear Observer for Slip Estimation of Skid-steering VehiclesSong Z, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.., 1499-1504.
01-01-2006
Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil ParametersHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.., 3356-3361.
01-01-2006
Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS ApplicationsRao A, Noonan D, Althoefer K and Seneviratne L
ASME 2006 Frontiers in Biomedical Devices Conference., 37-38.
01-01-2006
Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid ClassificationSomasundaram SD, Althoefer K, Smith JAS and Seneviratne LD
01-01-2006
Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter IdentificationHutangkabodee S, Zweiri YH, Seneviratne LD and Altho K
Springer Tracts in Advanced Robotics. vol. 25, 517-528.
01-01-2006
2005
Non-linear observer for estimating slips of wheeled vehiclesSong ZB, Zweiri YH, Althoefer K and Seneviratne LD
12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005., 71-77.
01-12-2005
Stability analysis of a three-term backpropagation algorithmZweiri YH, Seneviratne LD and Althoefer K
Neural Networks, Elsevier vol. 18 (10), 1341-1347.
30-08-2005
Wheel-Tooling Gap Measurement System for Conform™ Extrusion Machinery Based on a Capacitive SensorKhawaja K, Seneviratne L and Althoefer K
Journal of Manufacturing Science and Engineering, Asme International vol. 127 (2), 394-401.
25-04-2005
Online Soil Parameter Estimation Scheme Based on Newton–Raphson Method for Autonomous ExcavationTan CP, Zweiri YH, Althoefer K and Seneviratne LD
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 10 (2), 221-229.
01-04-2005
Monitoring of Self-Tapping Screw Fastenings Using Artificial Neural NetworksAlthoefer K, Lara B and Seneviratne LD
Journal of Manufacturing Science and Engineering, Asme International vol. 127 (1), 236-243.
01-02-2005
Online Soil-bucket Interaction Identification for Autonomous ExcavationTan C, Zweiri YH, Althoefer K and Seneviratne LD
Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 3576-3581.
01-01-2005
TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERSHutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 38 (1), 25-30.
01-01-2005
DRIVER SUPPORT SYSTEM BASED ON A NON-LINEAR SLIP OBSERVER FOR OFF ROAD VEHICLESSong ZB, Zweiri YH, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 38 (1), 83-88.
01-01-2005
2004
Identification methods for excavator arm parametersZweiri YH, Seneviratne LD and Althoefer K
Proceedings of the SICE Annual Conference., 1645-1650.
01-12-2004
Laser profiler model for robot-based pipe inspectionDuran O, Althoefer K and Seneviratna LD
Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC., 353-358.
01-12-2004
Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamicsSong Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings of the SICE Annual Conference., 1651-1656.
01-12-2004
Parameter Estimation for Excavator Arm Using Generalized Newton MethodZweiri YH, Seneviratne LD and Althoefer K
IEEE Transactions on Robotics. vol. 20 (4), 762-767.
01-08-2004
Model Based Monitoring Strategies for Threaded Assembly SystemKlingajay M, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 37 (4), 533-538.
01-04-2004
An ultrasonic profiling method for sewer inspectionGomez F, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 4858-4863.
01-01-2004
Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulatorsZweiri YH, Seneviratne LD and Althoefer K
ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS., 2248-2252.
01-01-2004
Hybrid Model in a Real-Time Soil Parameter Identification Scheme for Autonomous ExcavationTan C, Zweiri YH, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 5268-5273.
01-01-2004
Gap Sensing Benefits in Conform™ Extrusion MachineryKhawaja K, Althoefer K, Clode MP and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 1, 529-534.
01-01-2004
Automated Pipe Inspection Using ANN and Laser Data FusionDuran O, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 4875-4880.
01-01-2004
Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamicsSong Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3., 2255-2260.
01-01-2004
Identification methods for excavator arm parametersZweiri YH, Seneviratne LD and Althoefer K
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3., 1061-1066.
01-01-2004
Non-Invasive Laser Based Measurement of the Helicoidal Motion of a Vibratory Platform With Three Leaf-Spring LegsSilversides RW, Dai JS, Althoefer KA and Seneviratne L
Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B., 1231-1239.
01-01-2004
2003
Soil parameters estimation for automated excavationTan C, Zweiri YH, Althoefer K and Seneviratne LD
International Conference on Mechatronics, ICOM 2003., 557-562.
01-12-2003
Modelling of rotating ultrasonic sensors for pipe inspectionGomez F, Althoefer K and Seneviratne LD
International Conference on Mechatronics, ICOM 2003., 279-284.
01-12-2003
Pipe Inspection Using a Laser-Based Transducer and Automated Analysis TechniquesDuran O, Althoefer K and Seneviratne LD
IEEE/Asme Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (3)
01-09-2003
Modelling and control of an unmanned excavator vehicleZweiri YH, Seneviratne LD and Althoefer K
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
Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe InspectionDuran O, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 2, 2561-2566.
01-01-2003
A Sensor for Pipe Inspection: Model, Analysis and Image ExtractionDuran O, Althoefer K and Seneviratne LD
Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429). vol. 3
01-01-2003
Identification of threaded fastening parameters using the Newton Raphson MethodKlingajay M, Seneviratne LD and Althoefer K
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453). vol. 2, 2055-2060.
01-01-2003
A Generalized Newton Method for Identification of Closed-chain Excavator Arm ParametersZweiri YH, Seneviratne LD and Althoefer K
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 1, 103-108.
01-01-2003
Modeling of Ultrasound Sensor for Pipe InspectionGomez F, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 2, 2555-2560.
01-01-2003
On-line Soil Property Estimation for Autonomous Excavator VehiclesTan C, Zweiri YH, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 1, 121-126.
01-01-2003
2002
A Comparison of Dynamic Models of Various Complexity for Diesel EnginesZweiri YH, Whidborne JF, Seneviratne LD and Althoefer K
Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis vol. 8 (3), 273-289.
01-09-2002
State of the art in sensor technologies for sewer inspectionDuran O, Althoefer K and Seneviratne LD
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 2 (2), 73-81.
01-04-2002
Parameter estimation during automated screw insertionsKlingajay M, Seneviratne LD and Althoefer K
2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.. vol. 2, 1019-1024.
01-01-2002
Automated Sewer Pipe Inspection through Image ProcessingDuran O, Althoefer K and Seneviratne DL
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). vol. 3, 2551-2556.
01-01-2002
A New Three-Term Backpropagation Algorithm with Convergence AnalysisZweiri YH, Whidborne JF, Althoefer K and Seneviratne LD
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). vol. 4, 3882-3887.
01-01-2002
Automated Sewer Inspection using Image Processing and a Neural ClassifierDuran O, Althoefer K and Seneviratne LD
Proceedings of the 2002 International Joint Conference on Neural Networks. IJCNN'02 (Cat. No.02CH37290). vol. 2, 1126-1131.
01-01-2002
Pipe Inspection using Intelligent Analysis Techniques with High Noise-ToleranceDuran O, Althoefer K and Seneviratne LD
IEEE/RSJ International Conference on Intelligent Robots and System. vol. 2, 1886-1891.
01-01-2002
Model-Based Automation for Heavy Duty Mobile ExcavatorZweiri YH, Seneviratne LD and Althoefer K
IEEE/RSJ International Conference on Intelligent Robots and System. vol. 3, 2967-2972.
01-01-2002
Monitoring of threaded fastenings in automated assembly using artificial neural networksSeneviratne LD, Visuwan P and Althoefer K
INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001., 61-65.
01-01-2002
Automated laser-based profiler for sewer inspectionDuran O, Althoefer K and Seneviratne LD
INTELLIGENT AUTONOMOUS SYSTEMS 7., 84-91.
01-01-2002
Error classification of self-tapping screw fastenings in automated assemblyLara B, Seneviratne L and Althoefer K
INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001., 31-36.
01-01-2002
Dynamic modelling of diesel engines for design applicationsZweiri YH, Whidborne JF, Seneviratne LD and Althoefer K
COMPUTER-BASED DESIGN., 701-709.
01-01-2002
2001
Reinforcement learning in a rule-based navigator for robotic manipulatorsAlthoefer K, Krekelberg B, Husmeier D and Seneviratne L
Neurocomputing, Elsevier vol. 37 (1-4), 51-70.
01-04-2001
Theoretical modelling of the self-tapping screw fastening processSeneviratne LD, Ngemoh FA, Earles SWE and Althoefer KA
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
Mechatronic strategies for torque control of electric powered screwdriversAlthoefer K, Seneviratne LD and Shields R
Proceedings of The Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, Sage Publications vol. 214 (12), 1485-1501.
01-12-2000
Radial basis artificial neural networks for screw insertions classificationLara B, Seneviratne LD and Althoefer K
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). vol. 2
01-01-2000
1999
Use of artificial neural networks for the monitoring of screw insertionsLara B, Althoefer K and Seneviratne D
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). vol. 1
01-01-1999
Weightless neural network based monitoring of screw fasteningsSeneviratne LD, Visuwan P and Althoefer K
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). vol. 1
01-01-1999
Learning in a neuro-fuzzy navigator for robotic manipulatorsAlthoefer K, Seneviratne L and Krekelberg B
ICONIP'99. ANZIIS'99 & ANNES'99 & ACNN'99. 6th International Conference on Neural Information Processing. Proceedings (Cat. No.99EX378). vol. 1
01-01-1999
1998
Modelling conditional probabilities with network committees: how overfitting can be usefulHusmeier D and Althoefer K
Neural Network World vol. 8 (4), 417-439.
01-12-1998
Fuzzy Navigation for Robotic ManipulatorsAlthoefer K, Seneviratne LD, Zavlangas P and Krekelberg B
International Journal of Uncertainty Fuzziness and Knowledge-Based Systems, World Scientific Publishing vol. 6 (02), 179-188.
01-04-1998
Automated robot-based screw insertion systemLara B, Althoefer K and Seneviratne LD
IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200). vol. 4
01-01-1998
Fuzzy PID tuning for robot manipulatorsBekit BW, Seneviratne LD, Whidborne JF and Althoefer K
IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200). vol. 4
01-01-1998
1997
1995
Rapid path planning for robotic manipulators usinganemulated resistive gridAlthöfer K, Fraser DA and Bugmann G
Electronics Letters, Institution of Engineering and Technology (Iet) vol. 31 (22), 1960-1961.
26-10-1995
The configuration space transformation for articulated manipulators: a novel approach based on RBF-networksAlthofer K
4th International Conference on Artificial Neural Networks. vol. 1995, 245-249.
01-01-1995
1993
On-line adaptation in robot controlFraser DA, Azhar F and Althoefer K
IEE Conference Publication. (372), 205-209.
01-01-1993
Grants
Grants of specific relevance to the Centre for Intelligent TransportOcado (S&E Flexible Match-funded PhD Studentship)Kaspar Althoefer
£75,000 Ocado Innovation Ltd
01-10-2024 - 30-09-2027
Multi-sensor Eversion Robot Towards Intelligent Endoscopic Microsurgery - ERC SyG 2023 AlthoeferKaspar Althoefer, Ketao Zhang and Mohamed Thaha
£1,791,893 EU Commission - Horizon Europe
01-07-2024 - 30-06-2030
Digital 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
£122,759 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
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 - 31-03-2026
Reinforcing piping structures using eversion robotics - Mohammed Al-DubooniKaspar Althoefer
£5,000 UKAEA UK Atomic Energy Authority
01-10-2024 - 31-03-2025
Active locomotion for a capsule endoscope – CE MoveMohamed Thaha, Hasan Shaheed and Kaspar Althoefer
£13,893 NIHR National Institute for Health Research
01-06-2023 - 31-12-2023
ATHEMA - Accelerated thermal mapping for on-engine measurementsKaspar Althoefer
£89,936 Innovate UK
01-06-2023 - 30-11-2024
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
Dounreay Site Restoration Limited Consumables /Equipment fundingKaspar Althoefer
£49,975 Dounreay Site Restoration Ltd
22-03-2022 - 30-06-2024
STREAM - Snake robotics for on-engine advanced thermal mappingKaspar Althoefer
£89,835 Innovate UK
01-05-2021 - 31-10-2022
GrowBot - Eversion robot for the construction sectorKaspar Althoefer
£149,549 Innovate UK
01-04-2021 - 31-03-2022
RAS Humanitarian Project “Pan-African Competition – in Low cost instruments and entrepreneurshipKaspar Althoefer and Stoyan Smoukov
£2,671 IEEE Institute of Electrical and Electronics Engineers Operations Center
21-02-2021 - 20-02-2022
Learning collaboration affordances for intuitive human-robot interactionKaspar Althoefer, Ildar Farkhatdinov, Lorenzo Jamone, Pat Healey and Julian Hough
£157,196 Alan Turing Institute, The
01-07-2019 - 30-06-2021
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
Assessing and improving mobility of wheelchair usersIldar Farkhatdinov, Kaspar Althoefer and Dylan Morrissey
£39,925 EPSRC Engineering and Physical Sciences Research Council
01-09-2018 - 31-03-2019
NCNR - National Centre for Nuclear RoboticsKaspar Althoefer
£1,128,957 EPSRC Engineering and Physical Sciences Research Council
02-10-2017 - 31-03-2022
Research Group
Research Staff
PhD Students
- Mohammed Al-Dubooni
Soft Eversion Robotic Mechanism For The Inspection of Inaccessible Spaces in The Nuclear Sector - Jue Chen
Pet-Bot: Multisensory-Integrated Robot-Animal Interactions. - Danyaal Kaleel
Using Control and Machine Learning Techniques to Optimise The Motion Performance of a Soft Eversion Robots For Underwater Applications - Thomas Mack
Sensing and Navigation For Eversion Robots Operating Pipe Networks on Nuclear Sites - Arnab Majumder
Deep Learning to Model Soft Robot Arms and Hands - Hassan Mirza
Inflatable Legs For Walking Robots - Saitarun Nadipineni
Novel Multimodal Sensing Technologies For Remote Diagnosis, to Investigate New Human-in-Loop Communication Frameworks Between Local and Remote Sites, and Introduces Novel Multimodal Feedback Methods That Use Data-Driven/AI Approaches