Prof Kaspar Althoefer

Professor of Robotics Engineering
Head of The Centre for Advanced Robotics

School of Engineering and Materials Science
Queen Mary University of London

k.althoefer@qmul.ac.uk

www.sems.qmul.ac.uk/staff/k.althoefer/

Centre for Intelligent Transport
Centre for Advanced Robotics

Research
Publications
Grants

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 Advanced Robotics

2024

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
Zhao 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. PP (99), 1-20.

DOI 10.1109/tro.2024.3508134

QMRO

28-11-2024

Editorial: Advanced motion control and navigation of robots in extreme environments
Montazeri A, Sadeghzadeh-Nokhodberiz N, Shojaei K and Althoefer K
Frontiers in Robotics and Ai, Frontiers vol. 11

DOI 10.3389/frobt.2024.1510013

15-11-2024

Abraded optical fibre-based dynamic range force sensor for tissue palpation
Dawood AB, Chavali VK, Mack T, Zhang Z, Godaba H, Angelmahr M and Althoefer K
Frontiers in Robotics and Ai, Frontiers vol. 11

DOI 10.3389/frobt.2024.1489884

QMRO

11-11-2024

A structured framework to evaluate capsule endoscope locomotion systems
Dinkar DK, Shaheed MH, Herrington E, Althoefer K and Thaha MA
Progress in Biomedical Engineering, Iop Publishing vol. 6 (4), 042003-042003.

DOI 10.1088/2516-1091/ad819d

QMRO

01-10-2024

Let Me Give You a Hand: Enhancing Human Grasp Force With a Soft Robotic Assistive Glove
Suulker 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.

DOI 10.1109/lra.2024.3433202

QMRO

24-07-2024

Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre Scale
Shi J, Abad S-A, Menciassi A, Althoefer K and Wurdemann HA
2024 IEEE 7th International Conference on Soft Robotics (RoboSoft). vol. 00, 157-164.

DOI 10.1109/robosoft60065.2024.10522046

QMRO

17-04-2024

Hydraulic Volumetric Soft Everting Vine Robot Steering Mechanism for Underwater Exploration
Kaleel D, Clement B and Althoefer K
IFAC-PapersOnLine. vol. 58 (20), 59-64.

DOI 10.1016/j.ifacol.2024.10.033

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.

DOI 10.1109/mra.2023.3322892

QMRO

01-12-2023

QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human Manipulation
Murtaza Z, Bonzini AA, Althoefer K and Jamone L
2023 IEEE International Conference on Development and Learning (ICDL). vol. 00, 37-42.

DOI 10.1109/icdl55364.2023.10364422

11-11-2023

A Framework to Design and Build a Height Controllable Eversion Robot
Kaleel D, Clement B and Althoefer K
2023 11th International Conference on Control, Mechatronics and Automation (ICCMA). vol. 00, 239-244.

DOI 10.1109/iccma59762.2023.10374973

03-11-2023

Soft Cap for Vine Robots
Suulker 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.

DOI 10.1109/iros55552.2023.10341377

QMRO

05-10-2023

Eversion-Capable Fabric Robot Gripper with Novel Retraction Mechanism
Hassan 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.

DOI 10.1109/iros55552.2023.10342364

QMRO

05-10-2023

Intelligent Shape Decoding of a Soft Optical Waveguide Sensor
Mak 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)

DOI 10.1002/aisy.202300082

QMRO

20-07-2023

Artificial intelligence meets medical robotics
Yip 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.

DOI 10.1126/science.adj3312

QMRO

13-07-2023

L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing
Li 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.

DOI 10.1109/lra.2023.3292575

QMRO

05-07-2023

Welcome Page

, Institute of Electrical and Electronics Engineers (Ieee), 1-1.

DOI 10.1109/icra48891.2023.10160735

QMRO

04-07-2023

A Miniaturised Camera-based Multi-Modal Tactile Sensor
Althoefer 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.

DOI 10.1109/icra48891.2023.10160634

QMRO

02-06-2023

Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin
Dawood AB, Coppola C and Althoefer K
2023 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 614-619.

DOI 10.1109/icra48891.2023.10160961

QMRO

02-06-2023

A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissue
Fras J and Althoefer K
2023 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 662-668.

DOI 10.1109/icra48891.2023.10160689

QMRO

02-06-2023

Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications
Aljaber F, Hassan A, Abrar T, Vitanov I and Althoefer K
2023 IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 1-6.

DOI 10.1109/robosoft55895.2023.10121998

QMRO

07-04-2023

Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot
Giudici G, Omarali B, Bonzini AA, Althoefer K, Farkhatdinov I and Jamone L
In Towards Autonomous Robotic Systems, Springer Nature 443-454.

DOI 10.1007/978-3-031-43360-3_36

01-01-2023

2022

Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons
Suulker C, Skach S and Althoefer K
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee) vol. 7 (4), 10621-10627.

DOI 10.1109/lra.2022.3194883

QMRO

29-07-2022

Learning to sense three-dimensional shape deformation of a single multimode fiber
Wang X, Wang Y, Zhang K, Althoefer K and Su L
Scientific Reports, Nature Research

DOI 10.1038/s41598-022-15781-8

QMRO

25-07-2022

Performance Evaluation and Optimisation of Multi-point Waveguide based optical Sensor for Soft Robots
Hassan A, Aljaber F, Vitanov I and Althoefer K
2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)., 1-4.

DOI 10.1109/fleps53764.2022.9781539

QMRO

10-07-2022

Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation
Omarali B, Palermo F, Althoefer K, Valle M and Farkhatdinov I
2022 International Conference on Robotics and Automation (ICRA). vol. 00, 9288-9294.

DOI 10.1109/icra46639.2022.9811825

QMRO

27-05-2022

Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook
Kwok 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.

DOI 10.1109/jproc.2022.3167931

QMRO

02-05-2022

Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors
Dawood AB, Denoun B and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)., 831-836.

DOI 10.1109/RoboSoft54090.2022.9762066

QMRO

28-04-2022

A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons
Suulker C, Hassan A, Skach S and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 735-740.

DOI 10.1109/robosoft54090.2022.9762074

08-04-2022

An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes
Liu C, Edwards O, Althoefer K, Zhang K and Godaba H
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 715-721.

DOI 10.1109/robosoft54090.2022.9762154

08-04-2022

The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray
Sun Y, Wu L, Wang H, Althoefer K and Qi P
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 673-680.

DOI 10.1109/robosoft54090.2022.9762113

08-04-2022

Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator
Aljaber F, Hassan A, Vitanov I and Althoefer K
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). vol. 00, 859-864.

DOI 10.1109/robosoft54090.2022.9762125

08-04-2022

Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor
Matsuno 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.

DOI 10.1109/robosoft54090.2022.9762078

08-04-2022

Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments
Ataka A, Lam HK and Althoefer K
Frontiers in Robotics and Ai, Frontiers Media vol. 9

DOI 10.3389/frobt.2022.834177

QMRO

18-02-2022

Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types
Jia G, Lam H-K and Althoefer K
Pattern Recognition, Elsevier vol. 121

DOI 10.1016/j.patcog.2021.108226

QMRO

01-01-2022

2021

Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation
Omarali B, Althoefer K, Mastrogiovanni F, Valle M and Farkhatdinov I
2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC). vol. 00, 607-612.

DOI 10.1109/smc52423.2021.9658796

QMRO

20-10-2021

A Suite of Robotic Solutions for Nuclear Waste Decommissioning
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K
Robotics vol. 10 (4), 112-112.

DOI 10.3390/robotics10040112

QMRO

07-10-2021

Multi-modal robotic visual-tactile localisation and detection of surface cracks
Palermo 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.

DOI 10.1109/CASE49439.2021.9551553

QMRO

05-10-2021

Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics
Wang 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)

DOI 10.1002/aisy.202100089

QMRO

30-08-2021

Using RoboChick to Identify the Behavioral Features Promoting Social Interactions
Slonina 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).

DOI 10.1109/ICDL49984.2021.9515641

QMRO

23-08-2021

Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop
Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and Althoefer K
Applied Sciences, Mdpi vol. 11 (14)

DOI 10.3390/app11146586

QMRO

17-07-2021

Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure
Abrar T, Putzu F, Ataka A, Godaba H and Althoefer K
2021 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 12089-12096.

DOI 10.1109/icra48506.2021.9561873

QMRO

05-06-2021

Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm
Obadina OO, Thaha MA, Althoefer K and Shaheed MH
Journal of Vibration and Control, Sage Publications, 107754632110034-107754632110034.

DOI 10.1177/10775463211003402

QMRO

27-03-2021

Robotics Responds to the COVID-19 Outbreak
Marques 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.

DOI 10.1109/mra.2020.3048866

QMRO

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.

DOI 10.1109/iros45743.2020.9341785

QMRO

24-01-2021

Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry
Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C and Shahdad S
The Surgeon, Elsevier vol. 19 (5), e281-e288.

DOI 10.1016/j.surge.2020.12.008

QMRO

22-01-2021

Attribution of autonomy and its role in robotic language acquisition
Förster F and Althoefer K
Ai & Society, Springer Nature vol. 37 (2), 605-617.

DOI 10.1007/s00146-020-01114-8

QMRO

16-01-2021

Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor
Ishihara M, Matsuno T, Althoefer K and Hirai S
2021 IEEE/SICE International Symposium on System Integration (SII). vol. 00, 87-92.

DOI 10.1109/ieeeconf49454.2021.9382706

14-01-2021

Virtual Reality Percussion Simulator for Medical Student Training
Bálint LAP, Althoefer K and Macías LHP
2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI). vol. 00, 295-299.

DOI 10.1109/rtsi50628.2021.9597234

QMRO

09-01-2021

Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers
Hassan 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.

DOI 10.1109/rtsi50628.2021.9597247

QMRO

09-01-2021

Chapter 27 Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability
Fras J, Arezzo A, Shiva A and Althoefer K
In Soft Matter For Biomedical Applications, Royal Society of Chemistry (Rsc) 684-719.

DOI 10.1039/9781839161124-00684

01-01-2021

2020

Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing
Palermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I
Frontiers in Robotics and Ai, Frontiers Media

DOI 10.3389/frobt.2020.513004

QMRO

02-12-2020

F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation
Li W, Noh Y, Alomainy A, Vitanov I, Zheng Y, Qi P and Althoefer K
2020 IEEE SENSORS. vol. 00, 1-4.

DOI 10.1109/sensors47125.2020.9278600

QMRO

28-10-2020

Silicone-based Capacitive E-skin for Exteroception and Proprioception
Dawood 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.

DOI 10.1109/IROS45743.2020.9340945

QMRO

25-10-2020

A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing
Godaba H, Sajad A, Patel N, Althoefer K and Zhang K
2020 IEEE International Conference on Intelligent Robots and Systems., 8716-8721.

DOI 10.1109/IROS45743.2020.9341554

QMRO

24-10-2020

Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation
Li 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.

DOI 10.1109/tmrb.2020.3031006

QMRO

14-10-2020

An In-Homogeneous Structured Eversion Actuator
Putzu 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 Detection
Palermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I
2020 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 632-637.

DOI 10.1109/icra40945.2020.9196936

QMRO

31-08-2020

A bending sensor insensitive to pressure: soft proprioception based on abraded optical fibres
Godaba H, Vitanov I, Aljaber F, Ataka A and Althoefer K
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 104-109.

DOI 10.1109/robosoft48309.2020.9115984

15-07-2020

Plant Bioinspired Ecological Robotics
Frazier PA, Jamone L, Althoefer K and Calvo P
Frontiers in Robotics and Ai, Frontiers Media vol. 7

DOI 10.3389/frobt.2020.00079

QMRO

14-07-2020

Criminisi Algorithm Applied to a GelSight Fingertip Sensor for Multi-modality Perception
Li X, Li W, Zheng Y, Althoefer K and Qi P
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). vol. 00, 190-195.

DOI 10.1109/aim43001.2020.9158799

09-07-2020

Instant soft robot: A simple recipe for quick and easy manufacturing
Fras J, Althoefer K and Glowka J
IEEE International Conference on Soft Robotics RoboSoft 2020 Online 15 May 2020 - 15 Jun 2020.

DOI 10.1109/RoboSoft48309.2020.9115973

QMRO

15-05-2020

Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness
Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee), 1-1.

DOI 10.1109/lra.2020.2976326

QMRO

26-02-2020

Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings
Sadati 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.

DOI 10.1109/LRA.2020.2972790

QMRO

10-02-2020

TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models
Althoefer K
International Journal of Robotics Research, Sage Publications

DOI 10.1177/0278364919881685

QMRO

06-01-2020

Virtual Reality based Telerobotics Framework with Depth Cameras
Omarali 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.

DOI 10.1109/ro-man47096.2020.9223445

QMRO

04-01-2020

Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming
Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T
In Intelligent Robotics and Applications, Springer Nature c1-c1.

DOI 10.1007/978-3-319-22873-0_52

01-01-2020

F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement
Li W, Alomainy A, Vitanov I, Noh Y, Qi P and Althoefer K
Ieee Sensors Journal, Institute of Electrical and Electronics Engineers (Ieee), 1-1.

DOI 10.1109/jsen.2020.3030631

QMRO

01-01-2020

An Inhomogeneous Structured Eversion Actuator
Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 37-48.

DOI 10.1007/978-3-030-63486-5_4

QMRO

01-01-2020

Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots
Dawood AB, Godaba H and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 62-65.

DOI 10.1007/978-3-030-63486-5_8

QMRO

01-01-2020

Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach
Vitanov I, Rizqi A and Althoefer K
In Towards Autonomous Robotic Systems, Springer Nature 58-61.

DOI 10.1007/978-3-030-63486-5_7

01-01-2020

Instant soft robot: A simple recipe for quick and easy manufacturing
Fras J, Glowka J and Althoefer K
2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)., 476-482.

DOI 10.1109/robosoft48309.2020.9115973

01-01-2020

2019

Payload capabilities and operational limits of eversion robots
Godaba H, Putzu F, Abrar T, Konstantinova J and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11650 LNAI, 383-394.

DOI 10.1007/978-3-030-25332-5_33

QMRO

17-07-2019

Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system
Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C, Back J, Lindenroth L, Gomez A, Toussaint N, Zimmer V, Knight C, Fletcher T, Lloyd D, Simpson J, Pasupathy D, Liu H, Althoefer K, et al.
Towards Autonomous Robotic Systems Conference (TAROS). vol. 11650 LNAI, 27-38.

DOI 10.1007/978-3-030-25332-5_3

QMRO

17-07-2019

Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot
Dawood AB, Godaba H and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11650 LNAI, 99-110.

DOI 10.1007/978-3-030-25332-5_9

QMRO

17-07-2019

Designing Origami-Adapted Deployable Modules for Soft Continuum Arms
Zhang K and Althoefer K
20th Towards Autonomous Robotic Systems (TAROS 2019) London 3 Jul 2019 - 5 Jul 2019. vol. 11649 LNAI, 138-147.

DOI 10.1007/978-3-030-23807-0_12

QMRO

07-07-2019

Soft particles for granular jamming
Putzu F, Konstantinova J and Althoefer K
Towards Autonomus Robotics Systems (TAROS) 5 Jul 2019 - 3 Jul 2020. vol. 11650 LNAI, 65-74.

DOI 10.1007/978-3-030-25332-5_6

QMRO

03-07-2019

Mobile robot trajectory analysis with the help of vision system
Danabek D, Otaran A, Althoefer K and Farkhatdinov I
Towards Autonomous Robotic Systems Conference (TAROS). vol. 11650 LNAI, 273-279.

DOI 10.1007/978-3-030-25332-5_24

QMRO

03-07-2019

Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing
Aljaber F and Althoefer K
TAROS. vol. 11649 LNAI, 126-137.

DOI 10.1007/978-3-030-23807-0_11

QMRO

28-06-2019

Design Analysis of a Fabric Based Lightweight Robotic Gripper
Hassan A, Godaba H and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 16-27.

DOI 10.1007/978-3-030-23807-0_2

QMRO

28-06-2019

Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links
Ali A, Althoefer K and Konstantinova J
Towards Autonomous Robotic Systems Conference. vol. 11649 LNAI, 160-170.

DOI 10.1007/978-3-030-23807-0_14

QMRO

28-06-2019

Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems
Fras J and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 103-114.

DOI 10.1007/978-3-030-23807-0_9

QMRO

28-06-2019

Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator
Ataka A, Stilli A, Konstantinova J, Wurdemann HA and Althoefer K
Annual Conference Towards Autonomous Robotic Systems. vol. 11649 LNAI, 52-64.

DOI 10.1007/978-3-030-23807-0_5

QMRO

28-06-2019

Virtual Reality Simulator for Medical Auscultation Training
Bálint LAP, Macías LHP and Althoefer K
Towards Autonomous Robotic Systems Conference. vol. 11649 LNAI, 386-398.

DOI 10.1007/978-3-030-23807-0_32

QMRO

28-06-2019

Eversion-type soft overtube for endoscopic surgery
Putzu F, Konstantinova J and Althoefer K
The Hamlyn Symposium on Medical Robotics., 7-8.

DOI 10.31256/hsmr2019.4

23-06-2019

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators
Sadati 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.

DOI 10.15607/rss.2019.xv.076

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.

DOI 10.3389/fnbot.2019.00034

QMRO

29-05-2019

Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments
Ataka A, Lam HK and Althoefer K
2019 International Conference on Robotics and Automation (ICRA). vol. 00, 6165-6171.

DOI 10.1109/icra.2019.8793682

QMRO

24-05-2019

Real-time robot-assisted ergonomics
Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA and Althoefer K
International Conference on Robotics and Automation (ICRA). vol. 2019-May, 1975-1981.

DOI 10.1109/ICRA.2019.8793739

QMRO

20-05-2019

Analysis of a customized clutch joint designed for the safety management of an ultrasound robot
Wang 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)

DOI 10.3390/app9091900

QMRO

09-05-2019

Elastomer-based touch sensor: Visualization of tactile pressure distribution
Li W, Konstantinova J, Alomainy A and Althoefer K
Towards Autonomous Robotic Systems (TAROS). vol. 11650 LNAI, 87-98.

DOI 10.1007/978-3-030-25332-5_8

QMRO

26-04-2019

EPAM: Eversive Pneumatic Artificial Muscle
Abrar T, Putzu F, Konstantinova J and Althoefer K
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 19-24.

DOI 10.1109/robosoft.2019.8722787

QMRO

14-04-2019

An Elastomer-based Flexible Optical Force and Tactile Sensor
Li 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.

DOI 10.1109/robosoft.2019.8722793

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.

DOI 10.1089/soro.2018.0060

QMRO

01-04-2019

Adaptive update of reference capacitances in conductive fabric based robotic skin
Matsuno T, Wang Z, Althoefer K and Hirai S
Ieee Robotics and Automation Letters vol. 4 (2), 2212-2219.

DOI 10.1109/LRA.2019.2901991

QMRO

27-02-2019

Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination
FRAS J and ALTHOEFER K
International Conference on Intelligent Robots.

DOI 10.1109/IROS.2018.8593666

QMRO

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)

DOI 10.3791/58811

QMRO

07-01-2019

Magnetic-field-inspired Navigation for Soft Continuum Manipulator
Ataka 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.

DOI 10.1109/IROS.2018.8593592

QMRO

07-01-2019

Position and Velocity Control for Telemanipulation with Interoperability Protocol
Omarali B, Palermo F, Valle M, Poslad S, Althoefer K and Farkhatdinov I
Lecture Notes in Computer Science. vol. 11649, 316-324.

DOI 10.1007/978-3-030-23807-0_26

QMRO

01-01-2019

Preface
Althoefer K, Konstantinova J and Zhang K

01-01-2019

2018

Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model
Stilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K and Wurdemann HA
International Conference on Intelligent Robots and Systems (IROS)., 6959-6964.

DOI 10.1109/IROS.2018.8593674

QMRO

27-12-2018

Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands
COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T
Plos One, Public Library of Science (Plos)

DOI 10.1371/journal.pone.0208228

QMRO

26-12-2018

A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System
Obadina O, Bernth J, Althoefer K and Hasan Shaheed M
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 29-31.

DOI 10.31256/ukras17.10

12-10-2018

Silicone-based ultra-stretchable strain sensors
Putzu F, Althoefer K and Manfredi L
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 144-147.

DOI 10.31256/ukras17.46

12-10-2018

Bio-mimetic pneumatic soft prosthetic hand
Fras J and Althoefer K
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 90-92.

DOI 10.31256/ukras17.29

12-10-2018

Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading
ALTHOEFER KA
Advanced Robotics, Taylor & Francis

DOI 10.1080/01691864.2018.1528178

QMRO

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.

DOI 10.1109/iros.2018.8593592

QMRO

01-10-2018

Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing
Puertolas Balint L and Althoefer K
CRAS 2018 London.
10-09-2018

Plant-Inspired Soft Pneumatic Eversion Robot
PUTZU F, ABRAR T and ALTHOEFER K
BioRob 2018 Enschede, Netherlands 26 Aug 2018 - 29 Aug 2018.

DOI 10.1109/BIOROB.2018.8487848

QMRO

29-08-2018

Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing
Puertolas Balint L and Althoefer K
CRAS.

QMRO

11-08-2018

Soft Pneumatic Prosthetic Hand
FRAS J and ALTHOEFER K
TAROS.

DOI 10.1007/978-3-319-96728-8_10

QMRO

21-07-2018

A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System
OBADINA 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.

DOI 10.1007/978-3-319-96728-8_3

QMRO

21-07-2018

Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation
Caenazzo A and Althoefer K
TAROS. vol. 10965 LNAI, 284-290.

DOI 10.1007/978-3-319-96728-8_24

QMRO

21-07-2018

Camera-based force and tactile sensor
Li W, Konstantinova J, Noh Y, Alomainy A and Althoefer K
TAROS. vol. 10965 LNAI, 438-450.

DOI 10.1007/978-3-319-96728-8_37

QMRO

21-07-2018

Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments
ALTHOEFER KA
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers

DOI 10.1109/LRA.2018.2853801

QMRO

09-07-2018

iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing
ALTHOEFER KA
Autonomous Robots, Springer Verlag

DOI 10.1007/s10514-018-9777-7

QMRO

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.

DOI 10.1109/icra.2018.8463203

QMRO

21-05-2018

Bio-inspired octopus robot based on novel soft fluidic actuator
FRAS J, Noh Y, Macias M, Wurdemann H and ALTHOEFER K
IEEE International Conference on Robotics and Automation (ICRA).

DOI 10.1109/ICRA.2018.8460629

QMRO

20-05-2018

Real-Time Vision-Based Stiffness Mapping
ALTHOEFER KA
Sensors, Mdpi Ag

DOI 10.3390/s18051347

QMRO

26-04-2018

AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients
ALTHOEFER KA
International Conference on Soft Robotics.

DOI 10.1109/ROBOSOFT.2018.8405388

QMRO

24-04-2018

Fluidical bending actuator designed for soft octopus robot tentacle
FRAS J, Macias M, Noh Y and ALTHOEFER K
2018 IEEE International Conference on Soft Robotics (RoboSoft).

DOI 10.1109/ROBOSOFT.2018.8404928

QMRO

23-04-2018

Antagonistic actuation and stiffness control in soft inflatable robots
ALTHOEFER KA
Nature Reviews Materials

DOI 10.1038/s41578-018-0004-0

QMRO

20-04-2018

Towards Creating a Flexible Shape Senor for Soft Robots
ALJaber F and Althoefer K
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 114-119.

DOI 10.1109/robosoft.2018.8404906

01-04-2018

Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement
Sadati SMH, Naghibi SE, Althoefer K and Nanayakkara T
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 455-460.

DOI 10.1109/robosoft.2018.8405368

01-04-2018

Development of an Adaptable, Soft Robot with an Aortic Diameter Sensor to Modulate Blood Flow in an Extreme Biological Environment
Mehta A, Velazquez-Pimentel D, Sadek S and Althoefer K
2018 IEEE International Conference on Soft Robotics (RoboSoft)., 344-349.

DOI 10.1109/robosoft.2018.8404943

01-04-2018

Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators
Sadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T
Ieee Robotics and Automation Letters vol. 3 (3), 2283-2290.

DOI 10.1109/LRA.2018.2805163

QMRO

12-02-2018

Soft Robotics. Bio-inspired Antagonistic Stiffening
Stilli A, Althoefer K and Wurdemann HA
In Developing Support Technologies, Springer Nature 207-214.

DOI 10.1007/978-3-030-01836-8_20

01-01-2018

Magnetic-field-inspired Navigation for Soft Continuum Manipulator
Ataka 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.

DOI 10.13052/rp-9788793519718

01-01-2018

2017

Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery
Abidi 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)

DOI 10.1002/rcs.1875

QMRO

05-12-2017

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation
Lee 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.

DOI 10.1089/soro.2016.0065

QMRO

01-12-2017

Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor
Konstantinova J, Cotugno G, Stilli A, Noh Y, Althoefer K and IEEE
IEEE Sensors Conference 29 Oct 2017 - 1 Nov 2017., 543-545.

DOI 10.1109/ICSENS.2017.8234057

QMRO

01-11-2017

Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor
KONSTANTINOVA J, Cotugno G, Stilli A, Noh Y and Althoefer K
IEEE Sensors Conference Glasgow 29 Oct 2017 - 1 Nov 2017.

DOI 10.1109/ICSENS.2017.8234057

29-10-2017

Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure
KONSTANTINOVA J, Stilli and Althoefer
Sensors, Mdpi vol. 17 (10)

DOI 10.3390/s17102337

QMRO

13-10-2017

Anchoring like octopus: biologically inspired soft artificial sucker
Sareh 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)

DOI 10.1098/rsif.2017.0395

QMRO

01-10-2017

Soft fluidic rotary actuator with improved actuation properties
ALTHOEFER KA, fras J, noh Y and Wurdemann H
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems.

DOI 10.1109/IROS.2017.8206448

QMRO

24-09-2017

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods
Sadati SMH, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T
Ieee Robotics and Automation Letters vol. 3 (1), 328-335.

DOI 10.1109/LRA.2017.2743100

QMRO

22-08-2017

Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators
Stilli A, Grattarola L, Feldmann H, Wurdemann HA and Althoefer K
IEEE International Conference on Robotics and Automation., 4971-4976.

DOI 10.1109/ICRA.2017.7989578

QMRO

21-07-2017

Autonomous Object Handover using Wrist Tactile Information
KONSTANTINOVA 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.

DOI 10.1007/978-3-319-64107-2_35

QMRO

19-07-2017

A geometry deformation model for braided continuum manipulators
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K and Nanayakkara T
Frontiers Robotics Ai vol. 4 (JUN)

DOI 10.3389/frobt.2017.00022

QMRO

30-06-2017

Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer Screening
Garbin 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.

DOI 10.31256/hsmr2017.27

25-06-2017

Canceling strong and complex interference in NQR-based landmine detection
Shao 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.

DOI 10.1109/ICIAFS.2016.7946536

QMRO

12-06-2017

Wearable haptic based pattern feedback sleeve system
Ranasinghe A, Althoefer K, Dasgupta P, Nagar A and Nanayakkara T
Advances in Intelligent Systems and Computing vol. 547, 302-312.

DOI 10.1007/978-981-10-3325-4_30

QMRO

13-04-2017

Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot
Wang 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.

DOI 10.1007/978-3-319-54057-3_2

QMRO

13-04-2017

Detecting NQR signals severely polluted by interference
Shao W, Barras J, Althoefer K and Kosmas P
Signal Processing vol. 138, 256-264.

DOI 10.1016/j.sigpro.2017.03.032

QMRO

31-03-2017

Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders
Luo S, Zhu L, Althoefer K and Liu H
Neurocomputing

DOI 10.1016/j.neucom.2017.03.014

QMRO

11-03-2017

A Novel Concept for Safe, Stiffness-Controllable Robot Links
Stilli A, Wurdemann HA and Althoefer K
Soft Robotics vol. 4 (1), 16-22.

DOI 10.1089/soro.2016.0015

QMRO

01-03-2017

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model
Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and Althoefer K
Plos One, Public Library of Science (Plos)

DOI 10.1371/journal.pone.0172703

QMRO

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

DOI 10.1016/j.medengphy.2017.01.021

QMRO

21-02-2017

Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs
KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T
Plos One, Public Library of Science (Plos)

DOI 10.1371/journal.pone.0171706

QMRO

15-02-2017

Mechanics of continuum manipulators, a comparative study of five methods with experiments
Sadati 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.

DOI 10.1007/978-3-319-64107-2_56

QMRO

01-01-2017

Low Cost Soft Endoscope Robotic Probe
Stopforth R, Davrajh S and Althoefer K
2017 IEEE AFRICON., 1414-1419.

DOI 10.1109/afrcon.2017.8095689

01-01-2017

2016

Embroidered Electromyography: A Systematic Design Guide
ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ
Ieee Transactions On Neural Systems and Rehabilitation Engineering

DOI 10.1109/TNSRE.2016.2633506

QMRO

01-12-2016

Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic Environments
ALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H and Liu H
IEEE/RSJ International Conference on Intelligent Robots and Systems.

DOI 10.1109/IROS.2016.7759438

QMRO

01-12-2016

Fingertip proximity sensor with realtime visual-based calibration
Konstantinova J, Stilli A, Faragasso A and Althoefer K
IROS 2016. vol. 2016-November, 170-175.

DOI 10.1109/IROS.2016.7759051

QMRO

28-11-2016

Iterative Closest Labeled Point for tactile object shape recognition
Luo S, Mou W, Althoefer K and Liu H
IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 3137-3142.

DOI 10.1109/IROS.2016.7759485

QMRO

28-11-2016

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam
Noh 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.

DOI 10.1109/IROS.2016.7759056

QMRO

28-11-2016

Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator
Lindenroth 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.

DOI 10.1109/IROS.2016.7759383

QMRO

28-11-2016

New kinematic multi-section model for catheter contact force estimation and steering
Back 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.

DOI 10.1109/IROS.2016.7759333

QMRO

28-11-2016

Multi-axis force/torque sensor based on simply supported beam and optoelectronics
ALTHOEFER 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

DOI 10.3390/s16111936

QMRO

17-11-2016

Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography
ALTHOEFER KA
Ieeerobotics&Automationmagazine

DOI 10.1109/MRA.2016.2580478

QMRO

07-11-2016

FourByThree: Imagine humans and robots working hand in hand
Maurtua 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

DOI 10.1109/ETFA.2016.7733583

QMRO

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.

DOI 10.1109/TBME.2013.2276739

QMRO

01-11-2016

Low Cost Robotic Endoscope Design Considerations
Stopforth R, Davrajh S and Althoefer K
2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)., 1-6.

DOI 10.1109/robomech.2016.7813170

01-11-2016

Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization
Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and Althoefer K
Ieee Sensors Journal vol. 16 (22), 7924-7932.

DOI 10.1109/JSEN.2016.2600671

QMRO

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.

DOI 10.1109/embc.2016.7591091

QMRO

01-08-2016

Wearable Embroidered Muscle Activity Sensing Device for the Human Upper Leg
Manerol 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.

DOI 10.1109/embc.2016.7592111

QMRO

01-08-2016

A compact continuum manipulator system with enhanced steering abilities for robot-Assisted surgery
Qi P, Zhang C, Li J, Li Z, Dai JS and Althoefer K
BioRob 2016. vol. 2016-July, 49-54.

DOI 10.1109/BIOROB.2016.7523597

QMRO

26-07-2016

Design of a flexible force-sensing platform for medical ultrasound probes
Schoisengeier 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.

DOI 10.1109/BIOROB.2016.7523638

QMRO

26-07-2016

Autonomous robotic palpation of soft tissue using the modulation of applied force
Konstantinova J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T
BioRob2016. vol. 2016-July, 323-328.

DOI 10.1109/BIOROB.2016.7523646

QMRO

26-07-2016

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments
Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P and Althoefer K
BioRob 2016. vol. 2016-July, 600-605.

DOI 10.1109/BIOROB.2016.7523691

QMRO

26-07-2016

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator
Shiva 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.

DOI 10.1109/LRA.2016.2523120

QMRO

01-07-2016

Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments
Li 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.

DOI 10.1371/journal.pone.0157681

QMRO

28-06-2016

Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models
Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M, Menciassi A, Wurdemann H, Noh Y, Althoefer K, Fras J, Glowka J, Nawrat Z, Cassidy G, Walker R and Morino M
Surgical Endoscopy: Surgical and Interventional Techniques, Springer Verlag (Germany)

DOI 10.1007/s00464-016-4967-x

QMRO

23-06-2016

Real-time planner for multi-segment continuum manipulator in dynamic environments
Ataka A, Qi P, Liu H and Althoefer K
IEEE International Conference on Robotics and Automation. vol. 2016-June, 4080-4085.

DOI 10.1109/ICRA.2016.7487598

QMRO

08-06-2016

Designing embroidered electrodes for wearable surface electromyography
Shafti A, Manero RBR, Borg AM, Althoefer K and Howard MJ
IEEE International Conference on Robotics and Automation. vol. 2016-June, 172-177.

DOI 10.1109/ICRA.2016.7487131

QMRO

08-06-2016

A geometry deformation model for compound continuum manipulators with external loading
Sadati 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.

DOI 10.1109/ICRA.2016.7487702

QMRO

08-06-2016

A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs
Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD and Althoefer K
Ieee/Asme Transactions On Mechatronics vol. 21 (3), 1281-1292.

DOI 10.1109/TMECH.2015.2498738

QMRO

01-06-2016

Stable Grip Control on Soft Objects With Time-Varying Stiffness
Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K and Bimbo J
Ieee Transactions On Robotics vol. 32 (3), 626-637.

DOI 10.1109/TRO.2016.2549545

QMRO

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.

DOI 10.1109/TCBB.2015.2511763

QMRO

01-05-2016

Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach
Qi P, Liu C, Ataka A, Lam HK and Althoefer K
Ieee Transactions On Industrial Electronics vol. 63 (8), 5022-5035.

DOI 10.1109/TIE.2016.2554078

QMRO

14-04-2016

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands
Cotugno G, Althoefer K and Nanayakkara T
Ieee Transactions On Systems, Man, and Cybernetics: Systems vol. 47 (7), 1061-1070.

DOI 10.1109/TSMC.2016.2531679

QMRO

05-04-2016

Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs
Qiu C, Qi P, Liu H, Althoefer K and Dai JS
Journal of Mechanical Design, Transactions of The Asme vol. 138 (4)

DOI 10.1115/1.4032580

QMRO

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.

DOI 10.1109/mra.2015.2511678

04-03-2016

Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators
Noh 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.

DOI 10.1109/jsen.2015.2488099

08-02-2016

Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins
Ranasinghe 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.

DOI 10.1109/tcyb.2015.2409772

QMRO

13-01-2016

In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching
Bimbo 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.

DOI 10.1109/lra.2016.2517244

01-01-2016

Reactive motion planning for mobile continuum arm in dynamic industrial environment
Ataka 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.

DOI 10.1142/9789813149137_0023

01-01-2016

2015

Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications
Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A
Soft Robotics vol. 2 (4), 146-154.

DOI 10.1089/soro.2015.0011

QMRO

01-12-2015

Lagrangian Dynamics and Nonlinear Control of a Continuum Manipulator
Yu Y, Qi P, Althoefer K and Lam HK
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)., 1912-1917.

DOI 10.1109/robio.2015.7419052

01-12-2015

Macrobend optical sensing for pose measurement in soft robot arms
Sareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K
Smart Materials and Structures, Iop Publishing vol. 24 (12)

DOI 10.1088/0964-1726/24/12/125024

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 TNT
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 41-54.

DOI 10.1016/j.ssnmr.2015.10.004

01-10-2015

A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs
Secco 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.

DOI 10.1109/cit/iucc/dasc/picom.2015.42

01-10-2015

14N NQR, relaxation and molecular dynamics of the explosive TNT
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 61-66.

DOI 10.1016/j.ssnmr.2015.09.009

28-09-2015

Multi-Axis Stiffness Sensing Device for Medical Palpation
Faragasso A, Stilli A, Bimbo J, Wurdemann HA and Althoefer K
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2711-2716.

DOI 10.1109/iros.2015.7353748

QMRO

01-09-2015

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs
Qi P, Liu H, Seneviratne L and Althoefer K
Volume 5A: 39th Mechanisms and Robotics Conference., v05at08a033-v05at08a033.

DOI 10.1115/detc2015-46503

02-08-2015

Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application
Bai G, Qi P, Althoefer K, Li D, Kong X and Dai JS
Volume 5B: 39th Mechanisms and Robotics Conference., v05bt08a011-v05bt08a011.

DOI 10.1115/detc2015-47118

02-08-2015

Embedded electro-conductive yarn for shape sensing of soft robotic manipulators
Wurdemann 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.

DOI 10.1109/embc.2015.7320255

QMRO

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.

DOI 10.1109/embc.2015.7319482

01-08-2015

An ergonomic handheld ultrasound probe providing contact forces and pose information
Noh 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.

DOI 10.1109/embc.2015.7319704

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.

DOI 10.1002/rcs.1691

QMRO

31-07-2015

Identification of Haptic Based Guiding Using Hard Reins
Ranasinghe A, Dasgupta P, Althoefer K and Nanayakkara T
Plos One, Public Library of Science (Plos) vol. 10 (7)

DOI 10.1371/journal.pone.0132020

QMRO

22-07-2015

Novel Tactile-SIFT Descriptor for Object Shape Recognition
Luo S, Mou W, Althoefer K and Liu H
Ieee Sensors Journal, Institute of Electrical and Electronics Engineers (Ieee) vol. 15 (9), 5001-5009.

DOI 10.1109/jsen.2015.2432127

13-07-2015

Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue
Li 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.

DOI 10.1007/s11517-015-1309-4

QMRO

28-05-2015

Localizing the Object Contact through Matching Tactile Features with Visual Map
Luo S, Mou W, Althoefer K and Liu H
2015 IEEE International Conference on Robotics and Automation (ICRA)., 3903-3908.

DOI 10.1109/icra.2015.7139743

QMRO

01-05-2015

Tendon and Pressure Actuation for a Bio-Inspired Manipulator Based on an Antagonistic Principle
Maghooa F, Stilli A, Noh Y, Althoefer K and Wurdemann HA
2015 IEEE International Conference on Robotics and Automation (ICRA)., 2556-2561.

DOI 10.1109/icra.2015.7139542

01-05-2015

A Fiber-Optics-Based Body Contact Sensor for a Flexible Manipulator
Xie 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.

DOI 10.1109/jsen.2015.2392384

01-05-2015

Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy
Kyriakidou G, Jakobsson A, Althoefer K and Barras J
Analytical Chemistry, American Chemical Society (Acs) vol. 87 (7), 3806-3811.

DOI 10.1021/ac5044658

12-03-2015

Global estimation of an object’s pose using tactile sensing
Bimbo J, Kormushev P, Althoefer K and Liu H
Advanced Robotics, Taylor & Francis vol. 29 (5), 363-374.

DOI 10.1080/01691864.2014.1002531

QMRO

04-03-2015

Finger contact sensing and the application in dexterous hand manipulation
Liu 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.

DOI 10.1007/s10514-015-9425-4

21-01-2015

A 7.5mm Steiner Chain Fibre-Optic System for Multi-Segment Flex Sensing
Sareh 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.

DOI 10.1109/iros.2015.7353692

01-01-2015

Catheter Contact Force Estimation from Shape Detection Using a Real-Time Cosserat Rod Model
Back 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.

DOI 10.1109/iros.2015.7353647

QMRO

01-01-2015

Feasibility Study-Novel Optical Soft Tactile Array Sensing for Minimally Invasive Surgery
Back J, Dasgupta P, Seneviratne L, Althoefer K and Liu H
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 1528-1533.

DOI 10.1109/iros.2015.7353570

QMRO

01-01-2015

Force and Proximity Fingertip Sensor to Enhance Grasping Perception
Konstantinova J, Stilli A and Althoefer K
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 2118-2123.

DOI 10.1109/iros.2015.7353659

01-01-2015

Novel Method to form Adaptive Internal Impedance Profiles in Walkers
Morland 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.

DOI 10.1109/embc.2015.7320192

01-01-2015

Tension Sensing for a Linear Actuated Catheter Robot
Back J, Karim R, Noh Y, Rhode K, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9245, 472-482.

DOI 10.1007/978-3-319-22876-1_40

01-01-2015

Tactile Object Recognition with Semi-Supervised Learning
Luo S, Liu X, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9245, 15-26.

DOI 10.1007/978-3-319-22876-1_2

01-01-2015

Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamics
Althoefer 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 Control
Wurdemann HA, Stilli A and Althoefer K
Lecture Notes in Computer Science. vol. 9246, 164-174.

DOI 10.1007/978-3-319-22873-0_15

01-01-2015

Surface Classification for Crawling Peristaltic Worm Robot
Manwell T, Jupp A, Althoefer K and Liu H
Lecture Notes in Computer Science. vol. 9246, 175-184.

DOI 10.1007/978-3-319-22873-0_16

01-01-2015

Kinematic analysis of a mechanism with dual remote centre of motion and its potential application
Bai G, Qi P, Althoefer K, Li D, Kong X and Dai JS
Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015

DOI 10.1115/DETC201547118

01-01-2015

Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming
Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T
Lecture Notes in Computer Science. vol. 9246, 141-151.

DOI 10.1007/978-3-319-22873-0_13

QMRO

01-01-2015

2014

Accurate Bolt Tightening Using Model-Free Fuzzy Control for Wind Turbine Hub Bearing Assembly
Deters 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.

DOI 10.1109/tcst.2014.2309854

QMRO

15-12-2014

Rotation and translation invariant object recognition with a tactile sensor
Luo S, Mou W, Li M, Althoefer K and Liu H
IEEE SENSORS 2014 Proceedings., 1030-1033.

DOI 10.1109/icsens.2014.6985179

12-12-2014

Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications
Qi 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.

DOI 10.1109/robio.2014.7090366

01-12-2014

Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments
Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and Althoefer K
Mechatronics, Elsevier vol. 24 (8), 1092-1100.

DOI 10.1016/j.mechatronics.2014.07.004

01-12-2014

Improved modeling and bounds for NQR spectroscopy signals
Kyriakidou 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 actuators
Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K
Sensors and Actuators a Physical, Elsevier vol. 218, 132-141.

DOI 10.1016/j.sna.2014.08.003

QMRO

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.

DOI 10.1089/soro.2014.0002

QMRO

01-09-2014

Modeling and Optimizing Output Characteristics of Intensity Modulated Optical Fiber-Based Displacement Sensors
Wanninayake 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.

DOI 10.1109/tim.2014.2347694

28-08-2014

Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator
Qiu C, Qi P, Liu HB, Althoefer K and Dai JS
Volume 5A: 38th Mechanisms and Robotics Conference., v05at08a036-v05at08a036.

DOI 10.1115/detc2014-34607

17-08-2014

An Optical Tactile Array Probe Head for Tissue Palpation During Minimally Invasive Surgery
Xie H, Liu H, Seneviratne LD and Althoefer K
Ieee Sensors Journal, Institute of Electrical and Electronics Engineers (Ieee) vol. 14 (9), 3283-3291.

DOI 10.1109/jsen.2014.2328182

QMRO

28-07-2014

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and Althoefer K
Smart Materials and Structures, Iop Publishing vol. 23 (9)

DOI 10.1088/0964-1726/23/9/095007

17-07-2014

Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review
Konstantinova 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.

DOI 10.1109/jsen.2014.2325794

QMRO

26-06-2014

MRI‐safe robots. Why are they not yet routinely used?
Althoefer K
Bju International, Wiley vol. 113 (6), 975-976.

DOI 10.1111/bju.12706

01-06-2014

The granular jamming integrated actuator
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T and Dasgupta P
2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS)., 12-17.

DOI 10.1109/aris.2014.6871512

01-06-2014

Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach
Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A
Soft Robotics, Mary Ann Liebert vol. 1 (2), 122-131.

DOI 10.1089/soro.2014.0001

01-06-2014

Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings
Müller 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.

DOI 10.1007/s11740-014-0557-8

30-05-2014

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues
Konstantinova 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.

DOI 10.1109/tbme.2013.2296877

QMRO

15-05-2014

Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review
Li 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.

DOI 10.1177/0954411914533679

01-05-2014

Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe
Wanninayake IB, Seneviratne LD and Althoefer K
2014 IEEE International Conference on Robotics and Automation (ICRA)., 1426-1431.

DOI 10.1109/icra.2014.6907039

01-05-2014

Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned Synergies
Cotugno G, Mohan V, Althoefer K and Nanayakkara T
2014 IEEE International Conference on Robotics and Automation (ICRA)., 5345-5351.

DOI 10.1109/icra.2014.6907645

01-05-2014

Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery
Faragasso 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.

DOI 10.1109/icra.2014.6907036

QMRO

01-05-2014

A Novel Tumor Localization Method using Haptic Palpation based on Soft Tissue Probing Data
Li 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.

DOI 10.1109/icra.2014.6907468

01-05-2014

Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators
Sareh 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.

DOI 10.1109/icra.2014.6907043

01-05-2014

Control a Contact Sensing Finger for Surface Haptic Exploration
Back J, Bimbo J, Noh Y, Seneviratne L, Althoefer K and Liu H
2014 IEEE International Conference on Robotics and Automation (ICRA)., 2736-2741.

DOI 10.1109/icra.2014.6907251

01-05-2014

A Three-Axial Body Force Sensor for Flexible Manipulators
Noh 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.

DOI 10.1109/icra.2014.6907802

01-05-2014

Surface flattening of the human left atrium and proof-of-concept clinical applications
Karim R, Ma Y, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K, Rinaldi CA, Razavi R, O’Neill MD, Schaeftter T and Rhode KS
Computerized Medical Imaging and Graphics, Elsevier vol. 38 (4), 251-266.

DOI 10.1016/j.compmedimag.2014.01.004

02-02-2014

Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor
Xie 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.

DOI 10.1109/jsen.2013.2281591

17-01-2014

Endoscopic Add-on Stiffness Probe for Real-time Soft Surface Characterisation in MIS
Faragasso 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.

DOI 10.1109/embc.2014.6945121

01-01-2014

Towards Kinematic Modeling of a Multi-DOF Tendon Driven Robotic Catheter
Qi 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.

DOI 10.1109/embc.2014.6944256

01-01-2014

A Continuum Body Force Sensor Designed for Flexible Surgical Robotics Devices
Noh 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.

DOI 10.1109/embc.2014.6944429

QMRO

01-01-2014

Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle
Stilli A, Wurdemann HA and Althoefer K
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2476-2481.

DOI 10.1109/iros.2014.6942899

01-01-2014

Elastic Mesh Braided Worm Robot for Locomotive Endoscopy
Manwell 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.

DOI 10.1109/embc.2014.6943724

01-01-2014

A Novel Continuum-Style Robot with Multilayer Compliant Modules
Qi P, Qiu C, Liu H, Dai JS, Seneviratne L and Althoefer K
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems., 3175-3180.

DOI 10.1109/iros.2014.6943002

QMRO

01-01-2014

Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions
Rowe MD, Smith JAS, Barras J and Althoefer K
Nato Science For Peace and Security Series B: Physics and Biophysics, 35-43.

DOI 10.1007/978-94-007-7265-6_3

01-01-2014

2013

Combining Touch and Vision for the Estimation of an Object's Pose During Manipulation
Bimbo J, Seneviratne LD, Althoefer K and Liu H
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 4021-4026.

DOI 10.1109/iros.2013.6696931

01-11-2013

A Two Party Haptic Guidance Controller Via a Hard Rein
Ranasinghe A, Penders J, Dasgupra P, Althoefcr K and Nanayakkara T
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 116-122.

DOI 10.1109/iros.2013.6696341

01-11-2013

Fiber Optics Tactile Array Probe for Tissue Palpation during Minimally Invasive Surgery
Xie H, Liu* H, Luo S, Seneviratne LD and Althoefer K
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2539-2544.

DOI 10.1109/iros.2013.6696714

01-11-2013

Force-Velocity Modulation Strategies for Soft Tissue Examination
Konstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K and Nanayakkara T
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 1998-2003.

DOI 10.1109/iros.2013.6696622

QMRO

01-11-2013

An Optimal State Dependent Haptic Guidance Controller Via a Hard Rein
Ranasinghe A, Althoefer K, Nanayakkara T, Penders J and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 2322-2327.

DOI 10.1109/smc.2013.397

01-10-2013

Haptics for Multi-Fingered Palpation
Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 4184-4189.

DOI 10.1109/smc.2013.713

01-10-2013

Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination
Konstantinova J, Li M, Aminzadeh V, Althoefer K, Nanayakkara T and Dasgupta P
2013 IEEE International Conference on Systems, Man, and Cybernetics., 4190-4195.

DOI 10.1109/smc.2013.714

01-10-2013

Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD
Medical & Biological Engineering & Computing, Springer Nature vol. 52 (1), 17-28.

DOI 10.1007/s11517-013-1118-6

15-09-2013

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration
Song 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.

DOI 10.1109/tro.2013.2279630

QMRO

11-09-2013

Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions
Rowe MD, Smith JAS, Barras J and Althoefer K
In Magnetic Resonance Detection of Explosives and Illicit Materials, Springer Nature 35-43.

DOI 10.1007/978-94-007-7265-6_3

10-08-2013

Granular Jamming With Hydraulic Control
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T
Volume 6A: 37th Mechanisms and Robotics Conference., v06at07a021-v06at07a021.

DOI 10.1115/detc2013-12213

04-08-2013

Granular jamming transitions for a robotic mechanism
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T
AIP Conference Proceedings. vol. 1542 (1), 385-388.

DOI 10.1063/1.4811948

18-06-2013

Air-float Palpation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery
Wanninayake 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.

DOI 10.1109/tbme.2013.2264287

20-05-2013

Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine Hubs
Deters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD and Althoefer K
2013 IEEE International Conference on Robotics and Automation., 270-276.

DOI 10.1109/icra.2013.6630587

01-05-2013

An Optical Curvature Sensor for Flexible Manipulators
Searle TC, Althoefer K, Seneviratne L and Liu H
2013 IEEE International Conference on Robotics and Automation., 4415-4420.

DOI 10.1109/icra.2013.6631203

01-05-2013

Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching
Lam 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.

DOI 10.1109/tie.2013.2253064

15-03-2013

Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics
Taylor JG, Cutsuridis V, Hartley M, Althoefer K and Nanayakkara T
Cognitive Computation, Springer Nature vol. 5 (3), 340-354.

DOI 10.1007/s12559-013-9208-1

26-02-2013

Nitrogen-14 Nuclear Quadrupole Resonance Spectroscopy: A Promising Analytical Methodology for Medicines Authentication and Counterfeit Antimalarial Analysis
Barras 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.

DOI 10.1021/ac303267v

20-02-2013

Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines
Barras 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 surgery
Li 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 hands
Song 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 Structure
Ataollahi 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.

DOI 10.1109/tmech.2012.2222906

15-11-2012

Variable-Pitch Rectangular Cross-section Radiofrequency Coils for the Nitrogen-14 Nuclear Quadrupole Resonance Investigation of Sealed Medicines Packets
Barras 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.

DOI 10.1021/ac3015643

QMRO

26-10-2012

Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization
Yao W, Schaeffter T, Seneviratne L and Althoefer K
Journal of Medical Devices, Asme International vol. 6 (4)

DOI 10.1115/1.4007281

11-10-2012

Pixel-based Optical Fiber Tactile Force Sensor for Robot Manipulation
Xie H, Jiang A, Seneviratne L and Althoefer K
2012 IEEE Sensors., 1-4.

DOI 10.1109/icsens.2012.6411462

01-10-2012

Adaptive grip control on an uncertain object
Jiang 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.

DOI 10.1109/iros.2012.6385922

01-10-2012

Surface Material Recognition through Haptic Exploration using an Intelligent Contact Sensing Finger
Liu H, Song X, Bimbo J, Seneviratne L and Althoefer K
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems., 52-57.

DOI 10.1109/iros.2012.6385815

01-10-2012

A Novel Dynamic Slip Prediction and Compensation Approach Based on Haptic Surface Exploration
Song X, Liu H, Bimbo J, Althoefer K and Seneviratne LD
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 1, 4511-4516.

DOI 10.1109/iros.2012.6385897

01-10-2012

Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling
Jiang A, Xynogalas G, Dasgupta P, Althoefer K and Nanayakkara T
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2922-2927.

DOI 10.1109/iros.2012.6385696

01-10-2012

A 2-Axis Optical Force–Torque Fingertip Sensor for Dexterous Grasping Using Linear Polarizers
Sargeant R, Seneviratne LD and Althoefer K
Ieee Transactions On Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (Ieee) vol. 61 (12), 3363-3377.

DOI 10.1109/tim.2012.2210456

17-09-2012

An Optical Multi-axial Force/Torque Sensor for Dexterous Grasping and Manipulation
Sargeant R, Liu H, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)., 144-149.

DOI 10.1109/mfi.2012.6343043

01-09-2012

Tactile Image based Contact Shape Recognition using Neural Network
Liu 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.

DOI 10.1109/mfi.2012.6343036

01-09-2012

Object Pose Estimation and Tracking by Fusing Visual and Tactile Information
Bimbo 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.

DOI 10.1109/mfi.2012.6343019

01-09-2012

A Variable Stiffness Joint by Granular Jamming
Jiang A, Ataollahi A, Althoefer K, Dasgupta P and Nanayakkara T
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B., 267-275.

DOI 10.1115/detc2012-70670

QMRO

12-08-2012

Automated Screw Insertion Monitoring Using Neural Networks: A Computational Intelligence Approach to Assembly in Manufacturing
Lara B, Seneviratne LD and Althoefer K
In Computational Intelligence and Its Applications, World Scientific Publishing 183-209.

DOI 10.1142/9781848166929_0008

04-07-2012

Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation
Puangmali 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.

DOI 10.1109/tmech.2011.2116033

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 Manipulators
Sargeant R, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation., 1422-1427.

DOI 10.1109/icra.2012.6225067

01-05-2012

A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor
Liu H, Song X, Nanayakkarr T, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation., 1410-1415.

DOI 10.1109/icra.2012.6224872

01-05-2012

Novel Indentation Depth Measuring System for Stiffness Characterization in Soft Tissue Palpation
Wanninayake IB, Seneviratne LD and Althoefer K
2012 IEEE International Conference on Robotics and Automation. vol. 1, 4648-4653.

DOI 10.1109/icra.2012.6225127

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.

DOI 10.1109/icra.2012.6225143

01-05-2012

The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy
Barras J, Althoefer K, Rowe MD, Poplett IJ and Smith JAS
Applied Magnetic Resonance, Springer Nature vol. 43 (4), 511-529.

DOI 10.1007/s00723-012-0320-2

22-03-2012

Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures
Polygerinos 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.

DOI 10.1109/tmech.2011.2181405

17-01-2012

A stiffness probe based on force and vision sensing for soft tissue diagnosis
Li 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.

DOI 10.1109/embc.2012.6346088

01-01-2012

Novel Air-float Tactile Array for Stiffness Characterization in Soft Tissue Palpation
Wanninayake IB, Althoefer K and Seneviratne LD
Procedia Engineering. vol. 41, 281-288.

DOI 10.1016/j.proeng.2012.07.174

01-01-2012

PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT
Zirjakova J, Althoefer K, Dasgupta P and Nanayakkara T
Journal of Endourology vol. 26, A20-A21.
01-01-2012

SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY
Li M, Dasgupta P, Seneviratne LD and Althoefer K
Journal of Endourology vol. 26, A48-A48.
01-01-2012

GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES
Jiang A, Althoefer K, Dasgupta P and Nanayakkara T
Journal of Endourology vol. 26, A403-A404.
01-01-2012

Intelligent Fingertip Sensing for Contact Information Identification
Liu H, Song X, Bimbo J, Althoefer K and Senerivatne L

DOI 10.1007/978-1-4471-4141-9_54

01-01-2012

A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue
Li J, Zirjakova J, Yao W, Althoefer K, Dasgupta P and Seneviratne LD

DOI 10.1007/978-1-4471-4141-9_43

01-01-2012

Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study
Li 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 Agents
Deters C, Wurdemann HA, Dai JS, Seneviratne LD and Althoefer K

DOI 10.1007/978-1-4471-4141-9_10

01-01-2012

2011

14N quadrupole resonance and 1H T1 dispersion in the explosive RDX
Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and Althoefer K
Journal of Magnetic Resonance, Elsevier vol. 213 (1), 98-106.

DOI 10.1016/j.jmr.2011.09.011

10-09-2011

POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe
Kumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L, Althoefer K and Dasgupta P
Urology, Elsevier vol. 78 (3), s20-s21.

DOI 10.1016/j.urology.2011.07.444

01-09-2011

Slip parameter estimation for tele-operated ground vehicles in slippery terrain
Song 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.

DOI 10.1177/0959651811401955

14-07-2011

Tactile sensing for dexterous in-hand manipulation in robotics—A review
Yousef H, Boukallel M and Althoefer K
Sensors and Actuators a Physical, Elsevier vol. 167 (2), 171-187.

DOI 10.1016/j.sna.2011.02.038

01-06-2011

An Approach for Stability Analysis of Polynomial Fuzzy Model-Based Control Systems
Narimani M, Lam HK, Althoefer K, Dilmaghan R, Wolfe C and Deters C
2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)., 2232-2237.

DOI 10.1109/fuzzy.2011.6007497

01-06-2011

Rolling Indentation Probe for Tissue Abnormality Identification during Minimally Invasive Surgery
Liu 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.

DOI 10.1109/tro.2011.2127210

07-04-2011

Finite-Element Modeling of Soft Tissue Rolling Indentation
Sangpradit 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.

DOI 10.1109/tbme.2011.2106783

20-01-2011

Resuts of kidney lesion experiments with haptic probe
Li 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 analysis
Sangpradit 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 Identification
Sangpradit K, Althoefer K and Seneviratne LD
2010 11th International Conference on Control Automation Robotics & Vision., 163-168.

DOI 10.1109/icarcv.2010.5707909

01-12-2010

A Robust Downward-Looking Camera Based Velocity Estimation with Height Compensation for Mobile Robots
Song X, Althoefer K and Seneviratne L
2010 11th International Conference on Control Automation Robotics & Vision., 378-383.

DOI 10.1109/icarcv.2010.5707269

01-12-2010

MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures
Polygerinos 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.

DOI 10.1109/tbme.2010.2095853

29-11-2010

Modeling of Light Intensity-Modulated Fiber-Optic Displacement Sensors
Polygerinos P, Seneviratne LD and Althoefer K
Ieee Transactions On Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (Ieee) vol. 60 (4), 1408-1415.

DOI 10.1109/tim.2010.2085270

01-11-2010

MRI-Compatible Fiber-Optic Force Sensors for Catheterization Procedures
Polygerinos 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.

DOI 10.1109/jsen.2010.2043732

01-10-2010

Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD and Althoefer K
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems., 910-915.

DOI 10.1109/iros.2010.5649109

01-10-2010

A Comparative Study Between an Improved Novel Air-Cushion Sensor and a Wheeled Probe for Minimally Invasive Surgery
Zbyszewski 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.

DOI 10.1089/end.2010.0131

01-07-2010

Track–terrain modelling and traversability prediction for tracked vehicles on soft terrain
Al-Milli S, Seneviratne LD and Althoefer K
Journal of Terramechanics, Elsevier vol. 47 (3), 151-160.

DOI 10.1016/j.jterra.2010.02.001

01-06-2010

Novel Miniature MRI-Compatible Fiber-Optic Force Sensor for Cardiac Catheterization Procedures
Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 2598-2603.

DOI 10.1109/robot.2010.5509416

01-05-2010

Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification during Laparoscopic Surgery
Liu H, Li J, Poon Q-I, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 3654-3659.

DOI 10.1109/robot.2010.5509440

01-05-2010

Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery
Puangmali P, Dasgupta P, Seneviratne LD and Althoefer K
2010 IEEE International Conference on Robotics and Automation., 2592-2597.

DOI 10.1109/robot.2010.5509807

01-05-2010

A Kalman Filter-Integrated Optical Flow Method for Velocity Sensing of Mobile Robots
Song X, Seneviratne LD and Althoefer K
Ieee/Asme Transactions On Mechatronics, Institute of Electrical and Electronics Engineers (Ieee) vol. 16 (3), 551-563.

DOI 10.1109/tmech.2010.2046421

22-04-2010

An indentation depth—force sensing wheeled probe for abnormality identification during minimally invasive surgery
Liu 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.

DOI 10.1243/09544119jeim682

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.

DOI 10.1016/j.jmr.2010.02.019

21-02-2010

Force Sensing in Medical Robotics
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD
In Mechatronics in Action, Springer Nature 157-172.

DOI 10.1007/978-1-84996-080-9_10

01-01-2010

Critical Resource Infrastructure Supervision and Intervention System
Arghir S, Dobrescu R, Popescu D and Humaila H
IFAC-PapersOnLine. vol. 43 (23), 70-76.

DOI 10.3182/20101005-4-ro-2018.00027

01-01-2010

2009

A haptic probe for soft tissue abnormality identification during minimally invasive surgery
Liu 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 Study
Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems., 966-971.

DOI 10.1109/iros.2009.5354556

01-10-2009

A Novel MRI Compatible Air-Cushion Tactile Sensor for Minimally Invasive Surgery
Zbyszewski D, Polygerinos P, Seneviratne LD and Althoefer K
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems., 2647-2652.

DOI 10.1109/iros.2009.5354140

01-10-2009

Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery
Liu 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.

DOI 10.1109/tbme.2009.2032164

29-09-2009

Air-Cushion Force-Sensitive Probe for Soft Tissue Investigation During Minimally Invasive Surgery
Zbyszewski 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.

DOI 10.1089/end.2009.0382

01-09-2009

Mathematical Modeling of Intensity-Modulated Bent-Tip Optical Fiber Displacement Sensors
Puangmali P, Althoefer K and Seneviratne LD
Ieee Transactions On Instrumentation and Measurement, Institute of Electrical and Electronics Engineers (Ieee) vol. 59 (2), 283-291.

DOI 10.1109/tim.2009.2023147

01-09-2009

THE SCIENCE BEHIND HAPTICS IN ROBOTIC UROLOGICAL SURGERY
Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L and Dasgupta P
Bju International, Wiley vol. 104 (4), 433-434.

DOI 10.1111/j.1464-410x.2009.08521.x

21-07-2009

Quantitative 35Cl Nuclear Quadrupole Resonance in Tablets of the Antidiabetic Medicine Diabinese
Tate 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.

DOI 10.1021/ac900656e

03-06-2009

Hybrid Soil Parameter Measurement and Estimation Scheme for Excavation Automation
Althoefer 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.

DOI 10.1109/tim.2009.2018699

26-05-2009

Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments
Puangmali P, Althoefer K and Seneviratne LD
2009 IEEE International Conference on Robotics and Automation., 3682-3687.

DOI 10.1109/robot.2009.5152603

01-05-2009

Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation
Sangpradit K, Liu H, Seneviratne LD and Althoefer K
2009 IEEE International Conference on Robotics and Automation., 1250-1255.

DOI 10.1109/robot.2009.5152644

QMRO

01-05-2009

A Fibre-Optic Catheter-Tip Force Sensor with MRI Compatibility: A Feasibility Study
Polygerinos 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.

DOI 10.1109/iembs.2009.5334163

01-01-2009

A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery
Liu 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 terrain
Seneviratne 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)

DOI 10.1504/ijmic.2009.023529

01-01-2009

Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments
Puangmali 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 Indentation
Sangpradit K, Liu H, Seneviratne LD and Althoefer K
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7., 2933-+.

QMRO

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.

DOI 10.1109/IEMBS.2009.5334163

01-01-2009

A Vision Based Wheel Slip Estimation Technique for Mining Vehicles
Song X, Seneviratne L and Althoefer K
Ifac-Papersonline, Elsevier vol. 42 (23), 179-184.

DOI 10.3182/20091014-3-cl-4011.00033

01-01-2009

2008

A robust slip estimation method for skid-steered mobile robots
Song X, Seneviratne LD, Althoefer K and Song Z
2008 10th International Conference on Control, Automation, Robotics and Vision., 279-284.

DOI 10.1109/icarcv.2008.4795532

01-12-2008

A vision-based technique for vehicle slip and velocity estimation
Song X, Seneviratne LD, Althoefer K, Song Z and Mohseni-Vahed S
IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17 (1 PART 1)

DOI 10.3182/20080706-5-KR-1001.2698

01-12-2008

Soil estimation based on dissipation energy during autonomous excavation
Mohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS and Lam HK
IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17 (1 PART 1)

DOI 10.3182/20080706-5-KR-1001.3883

01-12-2008

Slip parameter estimation of a single wheel using a non-linear observer
Song ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH
Robotica, Cambridge University Press (Cup) vol. 27 (6), 801-811.

DOI 10.1017/s0263574708005146

09-10-2008

Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupta P and Murphy D
2008 IEEE Sensors., 827-830.

DOI 10.1109/icsens.2008.4716568

01-10-2008

Robust Detection of Stochastic Nuclear Quadrupole Resonance Signals
Somasundaram 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.

DOI 10.1109/tsp.2008.923809

01-09-2008

Maneuverability Performance of Tracked Vehicles on Soft Terrains
Al-Milli S, Althoefer K and Seneviratne LD
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 107-112.

DOI 10.1109/iros.2008.4651043

01-09-2008

Tactile Sensing using a Novel Air Cushion Sensor: A Feasibility Study
Zbyszewski D, Bhaumik A, Althoefer K and Seneviratne LD
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 41-46.

DOI 10.1109/iros.2008.4651070

01-09-2008

Optical Flow-Based Slip and Velocity Estimation Technique for Unmanned Skid-Steered Vehicles
Song X, Song Z, Seneviratne LD and Althoefer K
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems., 101-106.

DOI 10.1109/iros.2008.4651025

01-09-2008

EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIG
AL-MILLI S, CHHANIYARA S, GEORGIOU E, ALTHOEFER K, DAI JS and SENEVIRATNE L
Advances in Mobile Robotics., 1106-1113.

DOI 10.1142/9789812835772_0132

01-08-2008

VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION
CHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD
Advances in Mobile Robotics., 1069-1076.

DOI 10.1142/9789812835772_0128

01-08-2008

Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks
Althoefer 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.

DOI 10.1243/09544062jmes546

01-06-2008

A new soft-tissue indentation model for estimating circular indenter ‘force—displacement’ characteristics
Al-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.

DOI 10.1243/09544119jeim319

01-05-2008

Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive Surgery
Puangmali P, Liu H, Althoefer K and Seneviratne LD
2008 IEEE International Conference on Robotics and Automation., 2934-2939.

DOI 10.1109/robot.2008.4543655

01-05-2008

Rolling Mechanical Imaging: A novel Approach for Soft Tissue Modelling and Identification during Minimally Invasive Surgery
Liu H, Noonan DP, Althoefer K and Seneviratne LD
2008 IEEE International Conference on Robotics and Automation., 845-850.

DOI 10.1109/robot.2008.4543310

01-05-2008

State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery
Puangmali 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.

DOI 10.1109/jsen.2008.917481

01-04-2008

Non-linear observer for slip estimation of tracked vehicles
Song 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.

DOI 10.1243/09544070jauto452

01-04-2008

Detecting Stochastic Nuclear Quadrupole Resonance Signals in the Presence of Strong Radio Frequency Interference
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K
2008 IEEE International Conference on Acoustics, Speech and Signal Processing., 3645-3648.

DOI 10.1109/icassp.2008.4518442

01-03-2008

Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction
Hutangkabodee 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 MIS
Zbyszewski 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.

DOI 10.1109/iembs.2008.4650473

01-01-2008

Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MIS
Zbyszewski 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.

DOI 10.1109/iembs.2008.4650473

01-01-2008

Modelling soft tissue-mechatronic tool interactions during indentation
ja'afreh TMA, Zweiri YH, Seneviratne LD and Althoefer K
International Journal of Modelling Identification and Control, Inderscience Publishers vol. 4 (4)

DOI 10.1504/ijmic.2008.021474

01-01-2008

Non-linear observer for slip estimation of tracked vehicles
Song 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.

DOI 10.1243/09544070JAUTO452

01-01-2008

Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility Study
Chhaniyara S, Bunnun P, Seneviratne LD and Althoefer K
International Journal On Smart Sensing and Intelligent Systems, De Gruyter vol. 1 (1), 245-267.

DOI 10.21307/ijssis-2017-289

01-01-2008

Soil Estimation Based on Dissipation Energy during Autonomous Excavation
Vahed SM, Song X, Dai JS, Lam HK, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 41 (2), 13821-13826.

DOI 10.3182/20080706-5-kr-1001.02340

01-01-2008

2007

VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES
SONG X, SENEVIRATNE LD, ALTHOEFER K and SONG Z
International Journal of Information Acquisition, World Scientific Publishing vol. 4 (04), 303-315.

DOI 10.1142/s021987890700137x

01-12-2007

On-line Energy-based Method for Soil Estimation and Classification in Autonomous Excavation
Vahed SM, Delaimi HA, Althoefer K and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 554-559.

DOI 10.1109/iros.2007.4399196

01-10-2007

The Development of nonlinear Viscoelastic Model for the Application of Soft Tissue Identification
Liu H, Noonan DP, Zweiri YH, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 208-213.

DOI 10.1109/iros.2007.4399336

01-10-2007

Validation of Soil Parameter Identification for Track-Terrain Interaction Dynamics
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 3174-3179.

DOI 10.1109/iros.2007.4399018

01-10-2007

Experimental Study of Soft Tissue Recovery using Optical Fiber Probe
Liu H, Puangmali P, Althoefer KA and Seneviratne LD
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 516-521.

DOI 10.1109/iros.2007.4399376

01-10-2007

Visual Odometry for Velocity Estimation of UGVs
Song X, Seneviratne LD, Althoefer K, Song Z and Zweiri YH
2007 International Conference on Mechatronics and Automation., 1611-1616.

DOI 10.1109/icma.2007.4303790

01-08-2007

Non-Linear Observer for Slip Parameter Estimation of Unmanned Wheeled Vehicles
Song Z, Song X, Altheoer K, Zweiri Y and Seneviratne L
2007 International Conference on Mechatronics and Automation., 1213-1218.

DOI 10.1109/icma.2007.4303721

01-08-2007

MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION
CHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD
Advances in Climbing and Walking Robots., 690-697.

DOI 10.1142/9789812770189_0079

01-07-2007

Detection of Stochastic Nuclear Quadrupole Resonance Signals
Somasundaram SD, Jakobsson A, Butt NR, Rowe MD, Smith JAS and Althoefer K
2007 15th International Conference on Digital Signal Processing., 367-370.

DOI 10.1109/icdsp.2007.4288595

01-07-2007

An Ultrasonic Profiling Method for the Inspection of Tubular Structures
Gomez F, Althoefer K and Seneviratne LD
Computer-Aided Civil and Infrastructure Engineering, Wiley vol. 22 (6), 400-418.

DOI 10.1111/j.1467-8667.2007.00496.x

06-06-2007

Equipamiento y tecnologa en robtica
Murphy 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.

DOI 10.4321/s0004-06142007000400004

01-05-2007

Exploiting Spin Echo Decay in the Detection of Nuclear Quadrupole Resonance Signals
Somasundaram 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.

DOI 10.1109/tgrs.2006.890413

01-04-2007

A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery
Noonan DP, Liu H, Zweiri YH, Althoefer KA and Seneviratne LD
Proceedings 2007 IEEE International Conference on Robotics and Automation., 2629-2634.

DOI 10.1109/robot.2007.363862

QMRO

01-04-2007

A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition
Chhaniyara S, Zweiri YH, Seneviratne LD and Althoefer K
2007 IEEE International Conference on Networking, Sensing and Control., 139-144.

DOI 10.1109/icnsc.2007.372766

01-04-2007

Automated Pipe Defect Detection and Categorization Using Camera/Laser-Based Profiler and Artificial Neural Network
Duran 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.

DOI 10.1109/tase.2006.873225

01-01-2007

Vehicle-terrain interaction modeling and identification in rough terrain
Seneviratne 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 TERRAIN
Al-Milli S, Althoefer K and D.Seneviratne L
2007 IEEE International Conference on Networking, Sensing and Control., 279-284.

DOI 10.1109/icnsc.2007.372791

01-01-2007

Experimental study of soft tissue recovery using optical fiber probe
Liu 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 dynamics
Hutangkabodee 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 excavation
Vahed 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 identification
Liu 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 DYNAMICS
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 40 (20), 578-583.

DOI 10.3182/20071017-3-br-2923.00093

01-01-2007

NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLES
Song Z, Zweiri Y, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 40 (20), 458-463.

DOI 10.3182/20071017-3-br-2923.00073

01-01-2007

2006

Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Springer Tracts in Advanced Robotics vol. 25, 517-528.

DOI 10.1007/11736592_43

27-09-2006

Modelling of closed-chain manipulators on an excavator vehicle
Zweiri YH, Seneviratne LD and Althoefer K
Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis vol. 12 (4), 329-345.

DOI 10.1080/13873950500067007

01-08-2006

Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Machine Intelligence Research, Springer Nature vol. 3 (3), 244-251.

DOI 10.1007/s11633-006-0244-0

01-07-2006

Simulation of ultrasound imaging inside fully charged pipes
Gomez F, Althoefer K and Seneviratne LD
Automation in Construction, Elsevier vol. 15 (3), 355-364.

DOI 10.1016/j.autcon.2005.07.001

01-05-2006

Frequency selective detection of nuclear quadrupole resonance (NQR) spin echoes
Somasundaram SD, Jakobsson A, Smith JAS and Althoefer KA
Detection and Remediation Technologies for Mines and Minelike Targets XI. vol. 6217

DOI 10.1117/12.665444

01-05-2006

Non-linear observer for slip estimation of tracked vehicles
Song 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 classification
Somasundaram 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.

DOI 10.1007/3-540-26415-9_100

01-01-2006

Non-linear Observer for Slip Estimation of Skid-steering Vehicles
Song Z, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.., 1499-1504.

DOI 10.1109/robot.2006.1641920

01-01-2006

Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil Parameters
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.., 3356-3361.

DOI 10.1109/robot.2006.1642214

01-01-2006

Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS Applications
Rao A, Noonan D, Althoefer K and Seneviratne L
ASME 2006 Frontiers in Biomedical Devices Conference., 37-38.

DOI 10.1115/nanobio2006-18021

01-01-2006

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification
Somasundaram SD, Althoefer K, Smith JAS and Seneviratne LD

DOI 10.1007/3-540-26415-9_100

01-01-2006

Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification
Hutangkabodee S, Zweiri YH, Seneviratne LD and Altho K
Springer Tracts in Advanced Robotics. vol. 25, 517-528.

DOI 10.1007/978-3-540-33453-8_43

01-01-2006

2005

Non-linear observer for estimating slips of wheeled vehicles
Song 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 algorithm
Zweiri YH, Seneviratne LD and Althoefer K
Neural Networks, Elsevier vol. 18 (10), 1341-1347.

DOI 10.1016/j.neunet.2005.04.007

30-08-2005

Wheel-Tooling Gap Measurement System for Conform™ Extrusion Machinery Based on a Capacitive Sensor
Khawaja K, Seneviratne L and Althoefer K
Journal of Manufacturing Science and Engineering, Asme International vol. 127 (2), 394-401.

DOI 10.1115/1.1870004

25-04-2005

Online Soil Parameter Estimation Scheme Based on Newton–Raphson Method for Autonomous Excavation
Tan 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.

DOI 10.1109/tmech.2005.844706

01-04-2005

Monitoring of Self-Tapping Screw Fastenings Using Artificial Neural Networks
Althoefer K, Lara B and Seneviratne LD
Journal of Manufacturing Science and Engineering, Asme International vol. 127 (1), 236-243.

DOI 10.1115/1.1831286

01-02-2005

Online Soil-bucket Interaction Identification for Autonomous Excavation
Tan C, Zweiri YH, Althoefer K and Seneviratne LD
Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 3576-3581.

DOI 10.1109/robot.2005.1570664

01-01-2005

TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERS
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 38 (1), 25-30.

DOI 10.3182/20050703-6-cz-1902.02056

01-01-2005

DRIVER SUPPORT SYSTEM BASED ON A NON-LINEAR SLIP OBSERVER FOR OFF ROAD VEHICLES
Song ZB, Zweiri YH, Seneviratne LD and Althoefer K
IFAC-PapersOnLine. vol. 38 (1), 83-88.

DOI 10.3182/20050703-6-cz-1902.01169

01-01-2005

2004

Identification methods for excavator arm parameters
Zweiri YH, Seneviratne LD and Althoefer K
Proceedings of the SICE Annual Conference., 1645-1650.
01-12-2004

Laser profiler model for robot-based pipe inspection
Duran 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 dynamics
Song 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 Method
Zweiri YH, Seneviratne LD and Althoefer K
IEEE Transactions on Robotics. vol. 20 (4), 762-767.

DOI 10.1109/tro.2004.829476

01-08-2004

Model Based Monitoring Strategies for Threaded Assembly System
Klingajay M, Seneviratne LD and Althoefer K
Ifac-Papersonline, Elsevier vol. 37 (4), 533-538.

DOI 10.1016/s1474-6670(17)36169-4

01-04-2004

An ultrasonic profiling method for sewer inspection
Gomez F, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 4858-4863.

DOI 10.1109/robot.2004.1302487

01-01-2004

Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators
Zweiri 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 Excavation
Tan C, Zweiri YH, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 5268-5273.

DOI 10.1109/robot.2004.1302554

01-01-2004

Gap Sensing Benefits in Conform™ Extrusion Machinery
Khawaja K, Althoefer K, Clode MP and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 1, 529-534.

DOI 10.1109/robot.2004.1307203

01-01-2004

Automated Pipe Inspection Using ANN and Laser Data Fusion
Duran O, Althoefer K and Seneviratne LD
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. vol. 5, 4875-4880.

DOI 10.1109/robot.2004.1302490

01-01-2004

Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics
Song 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 parameters
Zweiri 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 Legs
Silversides RW, Dai JS, Althoefer KA and Seneviratne L
Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B., 1231-1239.

DOI 10.1115/detc2004-57466

01-01-2004

2003

Soil parameters estimation for automated excavation
Tan 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 inspection
Gomez 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 Techniques
Duran O, Althoefer K and Seneviratne LD
Ieee/Asme Transactions On Mechatronics, Institute of Electrical and Electronics Engineers (Ieee) vol. 8 (3)

DOI 10.1109/tmech.2003.816809

01-09-2003

Modelling and control of an unmanned excavator vehicle
Zweiri 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.

DOI 10.1177/095965180321700402

01-06-2003

Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection
Duran O, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 2, 2561-2566.

DOI 10.1109/robot.2003.1241978

01-01-2003

A Sensor for Pipe Inspection: Model, Analysis and Image Extraction
Duran O, Althoefer K and Seneviratne LD
Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429). vol. 3

DOI 10.1109/icip.2003.1247315

01-01-2003

Identification of threaded fastening parameters using the Newton Raphson Method
Klingajay 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.

DOI 10.1109/iros.2003.1248970

01-01-2003

A Generalized Newton Method for Identification of Closed-chain Excavator Arm Parameters
Zweiri YH, Seneviratne LD and Althoefer K
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 1, 103-108.

DOI 10.1109/robot.2003.1241580

01-01-2003

Modeling of Ultrasound Sensor for Pipe Inspection
Gomez F, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 2, 2555-2560.

DOI 10.1109/robot.2003.1241977

01-01-2003

On-line Soil Property Estimation for Autonomous Excavator Vehicles
Tan C, Zweiri YH, Althoefer K and Seneviratne LD
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 1, 121-126.

DOI 10.1109/robot.2003.1241583

01-01-2003

2002

A Comparison of Dynamic Models of Various Complexity for Diesel Engines
Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K
Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis vol. 8 (3), 273-289.

DOI 10.1076/mcmd.8.3.273.14100

01-09-2002

State of the art in sensor technologies for sewer inspection
Duran O, Althoefer K and Seneviratne LD
Ieee Sensors Journal, Institute of Electrical and Electronics Engineers (Ieee) vol. 2 (2), 73-81.

DOI 10.1109/jsen.2002.1000245

01-04-2002

Parameter estimation during automated screw insertions
Klingajay M, Seneviratne LD and Althoefer K
2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.. vol. 2, 1019-1024.

DOI 10.1109/icit.2002.1189311

01-01-2002

Automated Sewer Pipe Inspection through Image Processing
Duran O, Althoefer K and Seneviratne DL
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). vol. 3, 2551-2556.

DOI 10.1109/robot.2002.1013615

01-01-2002

A New Three-Term Backpropagation Algorithm with Convergence Analysis
Zweiri YH, Whidborne JF, Althoefer K and Seneviratne LD
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). vol. 4, 3882-3887.

DOI 10.1109/robot.2002.1014327

01-01-2002

Automated Sewer Inspection using Image Processing and a Neural Classifier
Duran 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.

DOI 10.1109/ijcnn.2002.1007652

01-01-2002

Pipe Inspection using Intelligent Analysis Techniques with High Noise-Tolerance
Duran O, Althoefer K and Seneviratne LD
IEEE/RSJ International Conference on Intelligent Robots and System. vol. 2, 1886-1891.

DOI 10.1109/irds.2002.1044031

01-01-2002

Model-Based Automation for Heavy Duty Mobile Excavator
Zweiri YH, Seneviratne LD and Althoefer K
IEEE/RSJ International Conference on Intelligent Robots and System. vol. 3, 2967-2972.

DOI 10.1109/irds.2002.1041723

01-01-2002

Monitoring of threaded fastenings in automated assembly using artificial neural networks
Seneviratne LD, Visuwan P and Althoefer K
INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001., 61-65.
01-01-2002

Automated laser-based profiler for sewer inspection
Duran O, Althoefer K and Seneviratne LD
INTELLIGENT AUTONOMOUS SYSTEMS 7., 84-91.
01-01-2002

Error classification of self-tapping screw fastenings in automated assembly
Lara B, Seneviratne L and Althoefer K
INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001., 31-36.
01-01-2002

Dynamic modelling of diesel engines for design applications
Zweiri 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 manipulators
Althoefer K, Krekelberg B, Husmeier D and Seneviratne L
Neurocomputing, Elsevier vol. 37 (1-4), 51-70.

DOI 10.1016/s0925-2312(00)00307-6

01-04-2001

Theoretical modelling of the self-tapping screw fastening process
Seneviratne 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.

DOI 10.1243/0954406011520562

01-02-2001

2000

Mechatronic strategies for torque control of electric powered screwdrivers
Althoefer 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.

DOI 10.1243/0954406001523434

01-12-2000

Radial basis artificial neural networks for screw insertions classification
Lara 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

DOI 10.1109/robot.2000.844874

01-01-2000

1999

Use of artificial neural networks for the monitoring of screw insertions
Lara 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

DOI 10.1109/iros.1999.813066

01-01-1999

Weightless neural network based monitoring of screw fastenings
Seneviratne 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

DOI 10.1109/iros.1999.813063

01-01-1999

Learning in a neuro-fuzzy navigator for robotic manipulators
Althoefer 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

DOI 10.1109/iconip.1999.844012

01-01-1999

1998

Modelling conditional probabilities with network committees: how overfitting can be useful
Husmeier D and Althoefer K
Neural Network World vol. 8 (4), 417-439.
01-12-1998

Fuzzy Navigation for Robotic Manipulators
Althoefer 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.

DOI 10.1142/s0218488598000161

QMRO

01-04-1998

Automated robot-based screw insertion system
Lara 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

DOI 10.1109/iecon.1998.724109

01-01-1998

Fuzzy PID tuning for robot manipulators
Bekit 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

DOI 10.1109/iecon.1998.724111

01-01-1998

1997

Neuro-Fuzzy Motion Planning for Robotic Manipulators
Althoefer K

QMRO

01-02-1997

1995

Rapid path planning for robotic manipulators usinganemulated resistive grid
Althöfer K, Fraser DA and Bugmann G
Electronics Letters, Institution of Engineering and Technology (Iet) vol. 31 (22), 1960-1961.

DOI 10.1049/el:19951313

26-10-1995

The configuration space transformation for articulated manipulators: a novel approach based on RBF-networks
Althofer K
4th International Conference on Artificial Neural Networks. vol. 1995, 245-249.

DOI 10.1049/cp:19950562

01-01-1995

1993

On-line adaptation in robot control
Fraser DA, Azhar F and Althoefer K
IEE Conference Publication. (372), 205-209.
01-01-1993

Grants

Grants of specific relevance to the Centre for Advanced Robotics

Ocado (S&E Flexible Match-funded PhD Studentship)
Kaspar Althoefer
£75,000 Ocado Innovation Ltd
01-10-2024 - 30-09-2027

Reinforcing piping structures using eversion robotics - Mohammed Al-Dubooni
Kaspar Althoefer
£5,000 UKAEA UK Atomic Energy Authority
01-10-2024 - 31-03-2025

Multi-sensor Eversion Robot Towards Intelligent Endoscopic Microsurgery - ERC SyG 2023 Althoefer
Kaspar Althoefer 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 Surgery
Kaspar Althoefer
£566,718 EPSRC - EU Scheme
01-01-2023 - 31-12-2026

Eversion and Growing Robots: Pipe Navigation, Inspection and Characterisation
Kaspar 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 decommissioning
Kaspar 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 environment
Kaspar Althoefer
£99,076 Defence Science and Technology Lab.-GOV UK
04-10-2021 - 31-03-2026

Active locomotion for a capsule endoscope – CE Move
Mohamed 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 measurements
Kaspar 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 funding
Kaspar Althoefer
£49,975 Dounreay Site Restoration Ltd
22-03-2022 - 30-06-2024

STREAM - Snake robotics for on-engine advanced thermal mapping
Kaspar Althoefer
£89,835 Innovate UK
01-05-2021 - 31-10-2022

GrowBot - Eversion robot for the construction sector
Kaspar Althoefer
£149,549 Innovate UK
01-04-2021 - 31-03-2022

LianaBot
Kaspar Althoefer
£74,313 Innovate UK
01-04-2021 - 31-03-2022

RAS Humanitarian Project “Pan-African Competition – in Low cost instruments and entrepreneurship
Kaspar 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 interaction
Kaspar 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 learning
Andrea 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 users
Ildar Farkhatdinov, Kaspar Althoefer and Dylan Morrissey
£39,925 EPSRC Engineering and Physical Sciences Research Council
01-09-2018 - 31-03-2019

WormBot
Kaspar Althoefer
£149,984 Innovate UK
01-01-2018 - 31-03-2020

NCNR - National Centre for Nuclear Robotics
Kaspar Althoefer
£1,128,957 EPSRC Engineering and Physical Sciences Research Council
02-10-2017 - 31-03-2022

iGrasp
Kaspar Althoefer
£97,279 Innovate UK
01-10-2017 - 31-03-2019