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School of Electronic Engineering and Computer Science

Professor Kaspar Althoefer

Kaspar

Professor of Robotics Engineering

Email: k.althoefer@qmul.ac.uk
Telephone: +44 20 7882 3419
Room Number: Engineering, eng-non-eecs
Website: https://www.sems.qmul.ac.uk/staff/?k.althoefer

Teaching

Aspects of Robotics (Robotics I) (Undergraduate)

The module introduces the basics of Robotics Engineering and its application in various domains and fields. It will explore the evolution of robotics from conventional engineering perspective and also investigate the role of artificial intelligence and machine learning in producing future robots. The module will include both theoretical and practical aspects with emphasis on experimental exploration of the mechanical and cognitive concepts related to Robotics. A brief introduction to ethical and regulatory issues will be covered within the module to highlight the importance of societal impacts now and in the future.

Electronic Sensing (Postgraduate/Undergraduate)

The new module focuses on electronic engineering aspects of sensing and instrumentation systems. It integrates the themes of signal theory, metrology, sensing & transduction, signal acquisition and conditioning for further processing, analysis, characterisation and design of sensing electronic systems, system-level considerations and sensor data analysis techniques. The knowledge and skills developed through this module are essential for any student engaging in the design of systems which extract signals from, or interact with the real world, and are highly relevant to electronic engineers designing, testing and using sensing systems and applications.

Research

Research Interests:

My research focuses on  

  • Manipulation and Grasping
  • Haptics
  • Intelligent Techniques for the Interpretation of Quadrupole Resonance Signals

 

I am particularly interested in applying the outcomes of my research to:

 

Biography

Professor Kaspar Althoefer is an electronics engineer, leading research on Robotics at Queen Mary University of London. After graduating with a degree in Electronic Engineering from the University of Technology Aachen, Germany, and obtaining a PhD in Robot Motion Planning from Kings College London, he joined the Kings Robotics Group in 1996 as a Lecturer. Made a Senior Lecturer in 2006, he was promoted to Reader and Professor in 2009 and 2011, respectively. In April 2016, he joined Queen Mary as full Professor of Robotics Engineering. 

In the run-up to the 2014 REF, Professor Althoefer was the head of the task force preparing the response for Kings Informatics; the Department moved up considerably from a mid-table position in the 2008 Research Assessment Exercise to 12th position in the country according to the 2014 REF GPA.

His current research interests are in the areas of robot autonomy, soft robotics, modelling of tool-environment interaction dynamics, sensing and neuro-fuzzy-based sensor signal classification with applications in robot-assisted minimally invasive surgery, rehabilitation, assistive technologies and human-robot interactions in the manufacturing environment.

He was awarded more than £ 4.8 Million in competitive research funding from funding bodies such as the Wellcome Trust, EPSRC and the European Commission; he strongly contributed to the attainment of further grants in excess of £ 20 Million, especially through collaboration with colleagues at St Thomas Hospital London focusing on creating robotic solutions for the healthcare sector. Prof Althoefer was the coordinator of two EU projects (STIFF-FLOP and CONPHIRMER), and PI/Co-I on numerous further EU, EPSRC and industry-sponsored projects. He is currently the PI / Co-I of EU projects FourByThree and SQUIRREL and a project on landmine detection sensors funded by charity FABW (Find a Better Way), co-founded by Sir Bobby Charlton.

Prof Althoefer has authored/co-authored more than 200 peer-reviewed papers. The majority of his journal papers (over 60%) are in the top journals of the field, including top transactions and journals of the IEEE and ASME and proceedings of the leading national learned societies in the field, IMechE and IET. He is named inventor on five patent applications.

He was the principal supervisor of 20 successful PhD students. He is currently heading a team of five postdoctoral Research Assistants / Fellows and six PhD students.

Publications

    • Ataka A, Lam HK, Althoefer K (2022), Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments $nameOfConference


    • Jia G, Lam HK, Althoefer K (2022), Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types $nameOfConference


    • Vitanov I, Farkhatdinov I, Denoun B et al. (2021), A Suite of Robotic Solutions for Nuclear Waste Decommissioning $nameOfConference


    • Palermo F, Rincon-Ardila L, Oh C et al. (2021), Multi-modal robotic visual-tactile localisation and detection of surface cracks 2021 IEEE 17th International Conference on Automation Science and Engineering


    • Din AR, Althoefer K, Farkhatdinov I et al. (2021), Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry $nameOfConference


    • Wang K, Mak C, Ho JDL et al. (2021), Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics $nameOfConference


    • Slonina Z, Bonzini AA, Brown J et al. (2021), Using RoboChick to Identify the Behavioral Features Promoting Social Interactions 2021 IEEE International Conference on Development and Learning (ICDL)


    • Dawood AB, Fras J, Aljaber F et al. (2021), Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop $nameOfConference


    • Obadina OO, Thaha MA, Althoefer K et al. (2021), Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm $nameOfConference


    • Marques L, Murphy R, Althoefer K et al. (2021), Robotics Responds to the COVID-19 Outbreak [From the Guest Editors] $nameOfConference


    • Ishihara M, Matsuno T, Althoefer K et al. (2021), Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor $nameOfConference


    • Förster F, Althoefer K (2021), Attribution of autonomy and its role in robotic language acquisition $nameOfConference


    • Fras J, Arezzo A, Shiva A et al. (2021), Chapter 27: Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability $nameOfConference


    • Abrar T, Putzu F, Ataka A et al. (2021), Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure $nameOfConference


    • Hassan A, Aljaber F, Godaba H et al. (2021), Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers $nameOfConference


    • Puertolas Balint LA, Althoefer K, Perez Macias LH (2021), Virtual Reality Percussion Simulator for Medical Student Training $nameOfConference


    • Omarali B, Althoefer K, Mastrogiovanni F et al. (2021), Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation $nameOfConference


    • Palermo F, Konstantinova J, Poslad S et al. (2020), Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing $nameOfConference


    • Li M, Guo W, Xu J et al. (2020), Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation $nameOfConference


    • Li W, Noh Y, Alomainy A et al. (2020), F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation $nameOfConference


    • Dawood AB, Godaba H, Ataka A et al. (2020), Silicone-based Capacitive E-skin for Exteroception and Proprioception International Conference on Intelligent Robots and Systems (IROS)


    • Godaba H, Sajad A, Patel N et al. (2020), A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing 2020 IEEE International Conference on Intelligent Robots and Systems


    • Ataka A, Abrar T, Putzu F et al. (2020), Observer-based Control of Inflatable Robot with Variable Stiffness $nameOfConference


    • Putzu F, ABRAR T, Hassan A et al. (2020), An In-Homogeneous Structured Eversion Actuator Towards Autonomous Robotic Systems Conference (TAROS)

    • Omarali B, Denoun B, Althoefer K et al. (2020), Virtual Reality based Telerobotics Framework with Depth Cameras $nameOfConference


    • Frazier PA, Jamone L, Althoefer K et al. (2020), Plant Bioinspired Ecological Robotics $nameOfConference


    • Li X, Li W, Zheng Y et al. (2020), Criminisi algorithm applied to a gelsight fingertip sensor for multi-modality perception $nameOfConference


    • Fras J, Althoefer K, Glowka J (2020), Instant soft robot: A simple recipe for quick and easy manufacturing IEEE International Conference on Soft Robotics RoboSoft 2020


    • Godaba H, Vitanov I, Aljaber F et al. (2020), A bending sensor insensitive to pressure: Soft proprioception based on abraded optical fibres $nameOfConference


    • Palermo F, Konstantinova J, Althoefer K et al. (2020), Implementing Tactile and Proximity Sensing for Crack Detection $nameOfConference


    • Ataka A, Abrar T, Putzu F et al. (2020), Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness $nameOfConference


    • Sadati SMH, Shiva A, Herzig N et al. (2020), Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings $nameOfConference


    • Althoefer K (2020), TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models $nameOfConference


    • Abrar T, Hassan A, Putzu F et al. (2020), An Inhomogeneous Structured Eversion Actuator $nameOfConference


    • Sadati SMH, Noh Y, Elnaz Naghibi S et al. (2020), Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming $nameOfConference


    • Li W, Alomainy A, Vitanov I et al. (2020), F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement $nameOfConference


    • Fras J, Glowka J, Althoefer K et al. (2020), Instant soft robot: A simple recipe for quick and easy manufacturing $nameOfConference

    • Vitanov I, Rizqi A, Althoefer K (2020), Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach $nameOfConference


    • Dawood AB, Godaba H, Althoefer K (2020), Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots $nameOfConference


    • Dawood AB, Godaba H, Althoefer K (2019), Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot Annual Conference Towards Autonomous Robotic Systems


    • Godaba H, Putzu F, Abrar T et al. (2019), Payload capabilities and operational limits of eversion robots Annual Conference Towards Autonomous Robotic Systems


    • Wang S, Housden J, Noh Y et al. (2019), Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system Towards Autonomous Robotic Systems Conference (TAROS)


    • Zhang K, Althoefer K (2019), Designing Origami-Adapted Deployable Modules for Soft Continuum Arms 20th Towards Autonomous Robotic Systems (TAROS 2019)


    • Danabek D, Otaran A, Althoefer K et al. (2019), Mobile robot trajectory analysis with the help of vision system Towards Autonomous Robotic Systems Conference (TAROS)


    • Putzu F, Konstantinova J, Althoefer K (2019), Soft particles for granular jamming Towards Autonomus Robotics Systems (TAROS)


    • Hassan A, Godaba H, Althoefer K (2019), Design Analysis of a Fabric Based Lightweight Robotic Gripper Annual Conference Towards Autonomous Robotic Systems


    • Ali A, Althoefer K, Konstantinova J (2019), Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links Towards Autonomous Robotic Systems Conference


    • Ataka A, Stilli A, Konstantinova J et al. (2019), Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator Annual Conference Towards Autonomous Robotic Systems


    • Aljaber F, Althoefer K (2019), Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing TAROS


    • Fras J, Althoefer K (2019), Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems Annual Conference Towards Autonomous Robotic Systems


    • Bálint LAP, Macías LHP, Althoefer K (2019), Virtual Reality Simulator for Medical Auscultation Training Towards Autonomous Robotic Systems Conference


    • Putzu F, Konstantinova J, Althoefer K (2019), Eversion-type soft overtube for endoscopic surgery The Hamlyn Symposium on Medical Robotics


    • Sadati S, Shiva A, Elnaz Naghibi S et al. (2019), Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators Robotics: Science and Systems XV


    • Li M, He B, Liang Z et al. (2019), An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. $nameOfConference


    • Li W, Konstantinova J, Noh Y et al. (2019), An elastomer-based flexible optical force and tactile sensor $nameOfConference


    • Abrar T, Putzu F, Konstantinova J et al. (2019), EPAM: Eversive pneumatic artificial muscle $nameOfConference


    • Shafti A, Ataka A, Lazpita BU et al. (2019), Real-time robot-assisted ergonomics International Conference on Robotics and Automation (ICRA)


    • Wang S, Housden RJ, Noh Y et al. (2019), Analysis of a customized clutch joint designed for the safety management of an ultrasound robot $nameOfConference


    • Ataka A, Lam HK, Althoefer K (2019), Magnetic-field-inspired navigation for quadcopter robot in unknown environments $nameOfConference


    • Li W, Konstantinova J, Alomainy A et al. (2019), Elastomer-based touch sensor: Visualization of tactile pressure distribution Towards Autonomous Robotic Systems (TAROS)


    • Shiva A, Sadati SMH, Noh Y et al. (2019), Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation $nameOfConference


    • KONSTANTINOVA J, Cotugno G, Stilli A et al. (2017), Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor IEEE Sensors Conference


    • Matsuno T, Wang Z, Althoefer K et al. (2019), Adaptive update of reference capacitances in conductive fabric based robotic skin $nameOfConference


    • Wang S, Housden J, Noh Y et al. (2019), Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. $nameOfConference


    • Ataka A, Shiva A, Lam H-K et al. (2019), Magnetic-field-inspired Navigation for Soft Continuum Manipulator IEEE/RSJ International Conference on Intelligent Robots and Systems 2018


    • FRAS J, ALTHOEFER K (2019), Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination International Conference on Intelligent Robots


    • Omarali B, Palermo F, Valle M et al. (2019), Position and Velocity Control for Telemanipulation with Interoperability Protocol $nameOfConference


    • Althoefer K, Konstantinova J, Zhang K (2019), Preface $nameOfConference

    • Ataka A, Shiva A, Lam HK et al. (2018), Magnetic-field-inspired Navigation for Soft Continuum Manipulator $nameOfConference


    • Stilli A, Kolokotronis E, Fras J et al. (2018), Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model International Conference on Intelligent Robots and Systems (IROS)


    • COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA et al. (2018), Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands $nameOfConference


    • PUTZU F, ABRAR T, ALTHOEFER K (2018), Plant-Inspired Soft Pneumatic Eversion Robot BioRob 2018


    • Obadina O, Bernth J, Althoefer K et al. (2018), A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System UK-RAS Conference: Robots Working For and Among Us Proceedings


    • Fras J, Althoefer K (2018), Bio-mimetic pneumatic soft prosthetic hand UK-RAS Conference: Robots Working For and Among Us Proceedings


    • Putzu F, Althoefer K, Manfredi L (2018), Silicone-based ultra-stretchable strain sensors UK-RAS Conference: Robots Working For and Among Us Proceedings


    • ALTHOEFER KA (2018), Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading $nameOfConference


    • Puertolas Balint L, Althoefer K (2018), Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing CRAS 2018

    • Ataka A, Lam HK, Althoefer K (2018), Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments $nameOfConference


    • Puertolas Balint L, Althoefer K (2018), Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing CRAS

    • OBADINA OO, THAHA MA, ALTHOEFER K et al. (2018), A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System $nameOfConference


    • Li W, Konstantinova J, Noh Y et al. (2018), Camera-based force and tactile sensor TAROS


    • Caenazzo A, Althoefer K (2018), Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation TAROS


    • FRAS J, ALTHOEFER K (2018), Soft Pneumatic Prosthetic Hand TAROS


    • ALTHOEFER KA (2018), Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments $nameOfConference


    • Mehta A, Mehta A, Velazquez-Pimentel D et al. (2018), Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment $nameOfConference


    • Sadati SMH, Naghibi SE, Althoefer K et al. (2018), Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement $nameOfConference


    • Al Jaber F, Althoefer K (2018), Towards creating a flexible shape senor for soft robots $nameOfConference


    • ALTHOEFER KA (2018), iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing $nameOfConference


    • FRAS J, Noh Y, Macias M et al. (2018), Bio-inspired octopus robot based on novel soft fluidic actuator IEEE International Conference on Robotics and Automation (ICRA)


    • ALTHOEFER KA (2018), Real-Time Vision-Based Stiffness Mapping $nameOfConference


    • ALTHOEFER KA (2018), AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients International Conference on Soft Robotics


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


    • ALTHOEFER KA (2018), Antagonistic actuation and stiffness control in soft inflatable robots $nameOfConference


    • Sadati SMH, Sullivan L, Walker ID et al. (2018), Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators $nameOfConference


    • Abidi H, Gerboni G, Brancadoro M et al. (2018), Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery $nameOfConference


    • Ataka A, Shiva A, Lam HK et al. (2018), Magnetic-field-inspired Navigation for Soft Continuum Manipulator $nameOfConference

    • Konstantinova J, Wurdemann H, Shafti A et al. (2018), Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: $nameOfConference


    • Stilli A, Althoefer K, Wurdemann HA (2018), Soft robotics. Bio-inspired antagonistic stiffening $nameOfConference


    • Lee KH, Fu DKC, Leong MCW et al. (2017), Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation $nameOfConference


    • Stopforth R, Davrajh S, Althoefer K (2017), Low cost soft endoscope robotic probe $nameOfConference


    • Konstantinova J, Cotugno G, Stilli A et al. (2017), Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor IEEE Sensors Conference


    • ALTHOEFER KA, Sareh S, Li M et al. (2017), Anchoring like octopus: biologically inspired soft artificial sucker $nameOfConference


    • KONSTANTINOVA J, Stilli, Althoefer (2017), Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure $nameOfConference


    • Sareh S, Althoefer K, Li M et al. (2017), Anchoring like octopus: Biologically inspired soft artificial sucker $nameOfConference


    • ALTHOEFER KA, fras J, noh Y et al. (2017), Soft fluidic rotary actuator with improved actuation properties 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems


    • Sadati SMH, Naghibi SE, Walker ID et al. (2017), Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods $nameOfConference


    • Stilli A, Grattarola L, Feldmann H et al. (2017), Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators IEEE International Conference on Robotics and Automation


    • KONSTANTINOVA J, Krivic S, Stilli A et al. (2017), Autonomous Object Handover using Wrist Tactile Information 18th Towards Autonomous Robotic Systems (TAROS) Conference


    • Sadati SMH, Naghibi SE, Shiva A et al. (2017), A geometry deformation model for braided continuum manipulators $nameOfConference


    • Garbin N, Stilli A, Shiva A et al. (2017), Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer Screening 10th Hamlyn Symposium on Medical Robotics 2017


    • Shao W, Kosmas P, Althoefer K et al. (2017), Canceling strong and complex interference in NQR-based landmine detection International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016


    • Wang S, Singh D, Lau D et al. (2017), Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot $nameOfConference


    • Ranasinghe A, Althoefer K, Dasgupta P et al. (2017), Wearable haptic based pattern feedback sleeve system $nameOfConference


    • Shao W, Barras J, Althoefer K et al. (2017), Detecting NQR signals severely polluted by interference $nameOfConference


    • Luo S, Zhu L, Althoefer K et al. (2017), Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders $nameOfConference


    • Stilli A, Wurdemann HA, Althoefer K (2017), A Novel Concept for Safe, Stiffness-Controllable Robot Links $nameOfConference


    • Li M, KONSTANTINOVA J, Xu G et al. (2017), Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model $nameOfConference


    • Li J, Liu H, Brown M et al. (2017), Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery. $nameOfConference


    • KONSTANTINOVA J, Cotugno G, Dasgupta P et al. (2017), Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs $nameOfConference


    • Stopforth R, Davrajh S, Althoefer K (2017), Low cost robotic endoscope design considerations $nameOfConference


    • Sadati SM, Naghibi SE, Shiva A et al. (2017), Mechanics of continuum manipulators, a comparative study of five methods with experiments $nameOfConference


    • ALTHOEFER KA, Shafti A, Ribas Manero RB et al. (2016), Embroidered Electromyography: A Systematic Design Guide $nameOfConference


    • ALTHOEFER KA, Ataka A, Qi P et al. (2016), Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic Environments IEEE/RSJ International Conference on Intelligent Robots and Systems


    • Noh Y, Bimbo J, Stilli A et al. (2016), A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam International Conference on Intelligent Robots and Systems


    • Konstantinova J, Stilli A, Faragasso A et al. (2016), Fingertip proximity sensor with realtime visual-based calibration IROS 2016


    • Luo S, Mou W, Althoefer K et al. (2016), Iterative Closest Labeled Point for tactile object shape recognition IEEE International Conference on Intelligent Robots and Systems


    • Back J, Lindenroth L, Karim R et al. (2016), New kinematic multi-section model for catheter contact force estimation and steering IEEE International Conference on Intelligent Robots and Systems


    • Lindenroth L, Back J, Schoisengeier A et al. (2016), Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator IEEE International Conference on Intelligent Robots and Systems


    • ALTHOEFER KA, Noh Y, Bimbo J et al. (2016), Multi-axis force/torque sensor based on simply supported beam and optoelectronics $nameOfConference


    • ALTHOEFER KA (2016), Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography $nameOfConference


    • Maurtua I, Pedrocchi N, Orlandini A et al. (2016), FourByThree: Imagine humans and robots working hand in hand IEEE International Conference on Emerging Technologies and Factory Automation, ETFA


    • Ataollahi A, Karim R, Fallah AS et al. (2016), Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. $nameOfConference


    • Shafti A, Lazpita BU, Elhage O et al. (2016), Analysis of comfort and ergonomics for clinical work environments $nameOfConference


    • Manero RBR, Shafti A, Michael B et al. (2016), Wearable embroidered muscle activity sensing device for the human upper leg $nameOfConference


    • Noh Y, Liu H, Sareh S et al. (2016), Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization $nameOfConference


    • Qi P, Zhang C, Li J et al. (2016), A compact continuum manipulator system with enhanced steering abilities for robot-Assisted surgery BioRob 2016


    • Konstantinova J, Cotugno G, Dasgupta P et al. (2016), Autonomous robotic palpation of soft tissue using the modulation of applied force BioRob2016


    • Schoisengeier A, Lindenroth L, Back J et al. (2016), Design of a flexible force-sensing platform for medical ultrasound probes BioRob 2016


    • Ataka A, Qi P, Shiva A et al. (2016), Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments BioRob 2016


    • Shiva A, Stilli A, Noh Y et al. (2016), Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator $nameOfConference


    • Li M, Sareh S, Xu G et al. (2016), Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments $nameOfConference


    • Arezzo A, Mintz Y, Allaix ME et al. (2016), Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models $nameOfConference


    • Sadati SMH, Shiva A, Ataka A et al. (2016), A geometry deformation model for compound continuum manipulators with external loading IEEE International Conference on Robotics and Automation


    • Shafti A, Manero RBR, Borg AM et al. (2016), Designing embroidered electrodes for wearable surface electromyography IEEE International Conference on Robotics and Automation


    • Ataka A, Qi P, Liu H et al. (2016), Real-time planner for multi-segment continuum manipulator in dynamic environments IEEE International Conference on Robotics and Automation


    • Qi P, Qiu C, Liu H et al. (2016), A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs $nameOfConference


    • Nanayakkara T, Jiang A, Del Rocío Armas Fernández M et al. (2016), Stable Grip Control on Soft Objects With Time-Varying Stiffness $nameOfConference


    • Chen C, Zhang F, Barras J et al. (2016), Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy. $nameOfConference


    • Qi P, Liu C, Ataka A et al. (2016), Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach $nameOfConference


    • Cotugno G, Althoefer K, Nanayakkara T (2016), The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands $nameOfConference


    • Qiu C, Qi P, Liu H et al. (2016), Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs $nameOfConference


    • Noh Y, Sareh S, Wurdemann H et al. (2016), Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators $nameOfConference


    • Dias J, Althoefer K, Lima PU (2016), Robot Competitions: What Did We Learn? [Competitions] $nameOfConference


    • Ranasinghe A, Sornkarn N, Dasgupta P et al. (2016), Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins $nameOfConference


    • Bimbo J, Luo S, Althoefer K et al. (2016), In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching $nameOfConference


    • Ataka A, Shiva A, Shafti A et al. (2016), Reactive motion planning for mobile continuum arm in dynamic industrial environment $nameOfConference


    • Secco EL, Nagar A, Deters C et al. (2015), A neural network clamping force model for bolt tightening of wind turbine hubs $nameOfConference


    • Sareh S, Noh Y, Ranzani T et al. (2015), A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing $nameOfConference


    • Back J, Manwell T, Karim R et al. (2015), Catheter contact force estimation from shape detection using a real-time Cosserat rod model $nameOfConference


    • Back J, Dasgupta P, Seneviratne L et al. (2015), Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery $nameOfConference


    • Konstantinova J, Stilli A, Althoefer K (2015), Force and proximity fingertip sensor to enhance grasping perception $nameOfConference


    • Faragasso A, Stilli A, Bimbo J et al. (2015), Multi-axis stiffness sensing device for medical palpation $nameOfConference


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    • Escudero Morland MF, Althoefer K, Nanayakkara T (2015), Novel method to form adaptive internal impedance profiles in walkers $nameOfConference


    • Smith JAS, Rowe MD, Althoefer K et al. (2015), 14N NQR, relaxation and molecular dynamics of the explosive TNT $nameOfConference


    • Smith JAS, Rowe MD, Althoefer K et al. (2015), Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; A study for monoclinic TNT $nameOfConference


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    • Bai G, Qi P, Althoefer K et al. (2015), Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application Volume 5B: 39th Mechanisms and Robotics Conference


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    • Wang S, Housden J, Singh D et al. (2016), Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound. $nameOfConference


    • Ranasinghe A, Dasgupta P, Althoefer K et al. (2015), Identification of haptic based guiding using hard reins $nameOfConference


    • Luo S, Mou W, Althoefer K et al. (2015), Localizing the object contact through matching tactile features with visual map $nameOfConference


    • Maghooa F, Stilli A, Noh Y et al. (2015), Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle $nameOfConference


    • Xie H, Liu H, Noh Y et al. (2015), A fiber-optics-based body contact sensor for a flexible manipulator $nameOfConference


    • Liu H, Nguyen KC, Perdereau V et al. (2015), Finger contact sensing and the application in dexterous hand manipulation $nameOfConference


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    • Kyriakidou G, Jakobsson A, Althoefer K et al. (2015), Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy $nameOfConference


    • Bimbo J, Kormushev P, Althoefer K et al. (2015), Global estimation of an objects pose using tactile sensing $nameOfConference


    • Wanninayake IB, Dasgupta P, Seneviratne LD et al. (2015), Modeling and optimizing output characteristics of intensity modulated optical fiber-based displacement sensors $nameOfConference


    • Deters C, Lam HK, Secco EL et al. (2015), Accurate bolt tightening using model-free fuzzy control for wind turbine hub bearing assembly $nameOfConference


    • Qi P, Liu H, Seneviratne L et al. (2015), Design, kinematics and prototype of a flexible robot arm with planar springs $nameOfConference


    • Bai G, Qi P, Althoefer K et al. (2015), Kinematic analysis of a mechanism with dual remote centre of motion and its potential application $nameOfConference


    • Yu Y, Qi P, Althoefer K et al. (2015), Lagrangian dynamics and nonlinear control of a continuum manipulator $nameOfConference


    • Wurdemann HA, Stilli A, Althoefer K (2015), Lecture notes in computer science: An antagonistic actuation technique for simultaneous stiffness and position control $nameOfConference


    • Sadati SMH, Noh Y, Naghibi SE et al. (2015), Stiffness control of soft robotic manipulator for minimally invasive surgery (MIS) using scale jamming $nameOfConference


    • Manwell T, Jupp A, Althoefer K et al. (2015), Surface classification for crawling peristaltic worm robot $nameOfConference


    • Luo S, Liu X, Althoefer K et al. (2015), Tactile object recognition with semi-supervised learning $nameOfConference


    • Back J, Karim R, Noh Y et al. (2015), Tension sensing for a linear actuated catheter robot $nameOfConference


    • Luo S, Mou W, Li M et al. (2014), Rotation and translation invariant object recognition with a tactile sensor $nameOfConference


    • Li M, Ridzuan MB, Sareh S et al. (2014), Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments $nameOfConference


    • Kyriakidou G, Jakobsson A, Gudmundson E et al. (2014), Improved modeling and bounds for NQR spectroscopy signals $nameOfConference

    • Noh Y, Secco EL, Sareh S et al. (2014), A continuum body force sensor designed for flexible surgical robotics devices $nameOfConference


    • Manwell T, Vitek T, Ranzani T et al. (2014), Elastic mesh braided worm robot for locomotive endoscopy $nameOfConference


    • Qi P, Liu H, Seneviratne L et al. (2014), Towards kinematic modeling of a multi-DOF tendon driven robotic catheter $nameOfConference


    • Qi P, Qiu C, Liu H et al. (2014), A novel continuum-style robot with multilayer compliant modules $nameOfConference


    • Stilli A, Wurdemann HA, Althoefer K (2014), Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle $nameOfConference


    • Müller R, Hörauf L, Vette M et al. (2014), Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings $nameOfConference


    • Li M, Luo S, Nanayakkara T et al. (2014), Multi-fingered haptic palpation using pneumatic feedback actuators $nameOfConference


    • Li M, Faragasso A, Konstantinova J et al. (2014), A novel tumor localization method using haptic palpation based on soft tissue probing data $nameOfConference


    • Noh Y, Sareh S, Back J et al. (2014), A three-Axial body force sensor for flexible manipulators $nameOfConference


    • Sareh S, Jiang A, Faragasso A et al. (2014), Bio-inspired tactile sensor sleeve for surgical soft manipulators $nameOfConference


    • Back J, Bimbo J, Noh Y et al. (2014), Control a contact sensing finger for surface haptic exploration $nameOfConference


    • Wanninayake IB, Seneviratne LD, Althoefer K (2014), Estimation of tissue stiffness using a prototype of air-float stiffness probe $nameOfConference


    • Faragasso A, Bimbo J, Noh Y et al. (2014), Novel uniaxial force sensor based on visual information for minimally invasive surgery $nameOfConference


    • Cotugno G, Mohan V, Althoefer K et al. (2014), Simplifying grasping complexity through generalization of kinaesthetically learned synergies $nameOfConference


    • Jiang A, Ranzani T, Gerboni G et al. (2014), Robotic Granular Jamming: Does the Membrane Matter? $nameOfConference


    • Cianchetti M, Ranzani T, Gerboni G et al. (2014), Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach $nameOfConference


    • Qi P, Liu C, Zhang L et al. (2014), Fuzzy logic control of a continuum manipulator for surgical applications $nameOfConference


    • Xie H, Jiang A, Wurdemann HA et al. (2014), Magnetic resonance-compatible tactile force sensor using fiber optics and vision sensor $nameOfConference


    • Ataollahi A, Fallah AS, Seneviratne LD et al. (2014), Novel force sensing approach employing prismatic-tip optical fiber inside an orthoplanar spring structure $nameOfConference


    • Xie H, Liu H, Seneviratne LD et al. (2014), An optical tactile array probe head for tissue palpation during minimally invasive surgery $nameOfConference


    • Konstantinova J, Li M, Mehra G et al. (2014), Behavioral characteristics of manual palpation to localize hard nodules in soft tissues $nameOfConference


    • Lam HK, Li H, Deters C et al. (2014), Control design for interval type-2 fuzzy systems under imperfect premise matching $nameOfConference


    • Song X, Liu H, Althoefer K et al. (2014), Efficient break-away friction ratio and slip prediction based on haptic surface exploration $nameOfConference


    • Faragasso A, Stilli A, Bimbo J et al. (2014), Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS $nameOfConference


    • Konstantinova J, Jiang A, Althoefer K et al. (2014), Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review $nameOfConference


    • Li M, Liu H, Jiang A et al. (2014), Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review $nameOfConference


    • Liu H, Sangpradit K, Li M et al. (2014), Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe $nameOfConference


    • Althoefer K (2014), MRI-safe robots. Why are they not yet routinely used? $nameOfConference


    • Li M, Ranzani T, Sareh S et al. (2014), Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators $nameOfConference


    • Rowe MD, Smith JAS, Barras J et al. (2014), Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions $nameOfConference


    • Rowe MD, Smith JAS, Barras J et al. (2014), Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions $nameOfConference


    • Qiu C, Qi P, Liu HB et al. (2014), Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator $nameOfConference


    • Karim R, Ma YL, Jang M et al. (2014), Surface flattening of the human left atrium and proof-of-concept clinical applications $nameOfConference


    • Jiang A, Adejokun S, Faragasso A et al. (2014), The granular jamming integrated actuator $nameOfConference


    • Ranasinghe A, Penders J, Dasgupta P et al. (2013), A two party haptic guidance controller via a hard rein $nameOfConference


    • Ranasinghe A, Althoefer K, Nanayakkara T et al. (2013), An optimal state dependent haptic guidance controller via a hard rein $nameOfConference


    • Bimbo J, Seneviratne LD, Althoefer K et al. (2013), Combining touch and vision for the estimation of an object's pose during manipulation $nameOfConference


    • Konstantinova J, Li M, Aminzadeh V et al. (2013), Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination $nameOfConference


    • Xie H, Liu H, Luo S et al. (2013), Fiber optics tactile array probe for tissue palpation during minimally invasive surgery $nameOfConference


    • Konstantinova J, Li M, Aminzadeh V et al. (2013), Force-velocity modulation strategies for soft tissue examination $nameOfConference


    • Li M, Luo S, Seneviratne LD et al. (2013), Haptics for multi-fingered palpation $nameOfConference


    • Searle TC, Althoefer K, Seneviratne L et al. (2013), An optical curvature sensor for flexible manipulators $nameOfConference


    • Deters C, Secco EL, Wuerdemann HA et al. (2013), Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs $nameOfConference


    • Wanninayake IB, Dasgupta P, Seneviratne LD et al. (2013), Air-float palpation probe for tissue abnormality identification during minimally invasive surgery $nameOfConference


    • Taylor JG, Cutsuridis V, Hartley M et al. (2013), Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics $nameOfConference


    • Barras J, Althoefer K, Kyriakidou G et al. (2013), Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines $nameOfConference

    • Rowe MD, Smith JAS, Barras J et al. (2013), Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions $nameOfConference


    • Jiang A, Aste T, Dasgupta P et al. (2013), Granular jamming transitions for a robotic mechanism $nameOfConference


    • Barras J, Murnane D, Althoefer K et al. (2013), Nitrogen-14 nuclear quadrupole resonance spectroscopy: A promising analytical methodology for medicines authentication and counterfeit antimalarial analysis $nameOfConference


    • Jiang A, Aste T, Dasgupta P et al. (2013), Granular jamming with hydraulic control $nameOfConference


    • Polygerinos P, Seneviratne LD, Razavi R et al. (2013), Triaxial catheter-tip force sensor for MRI-guided cardiac procedures $nameOfConference


    • Li J, Liu H, Althoefer K et al. (2012), A stiffness probe for soft tissue abnormality identification during laparoscopic surgery $nameOfConference

    • Song X, Liu H, Bimbo J et al. (2012), Object surface classificaiton based on friction properties for intelligent robotic hands $nameOfConference

    • Sargeant R, Liu H, Seneviratne LD et al. (2012), An optical multi-axial force/torque sensor for dexterous grasping and manipulation $nameOfConference


    • Bimbo J, Rodriguez-Jimenez S, Liu H et al. (2012), Object pose estimation and tracking by fusing visual and tactile information $nameOfConference


    • Liu H, Greco J, Song X et al. (2012), Tactile image based contact shape recognition using neural network $nameOfConference


    • Song X, Liu H, Bimbo J et al. (2012), A novel dynamic slip prediction and compensation approach based on haptic surface exploration $nameOfConference


    • Li J, Zirjakova J, Yao W et al. (2012), A passive robotic platform for three-dimensional scanning of ex vivo soft tissue $nameOfConference


    • (2012), A stiffness probe based on force and vision sensing for soft tissue diagnosis. $nameOfConference


    • Jiang A, Ataollahi A, Althoefer K et al. (2012), A variable stiffness joint by granular jamming $nameOfConference


    • Jiang A, Bimbo J, Goulder S et al. (2012), Adaptive grip control on an uncertain object $nameOfConference


    • Jiang A, Xynogalas G, Dasgupta P et al. (2012), Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling $nameOfConference


    • Liu H, Song X, Bimbo J et al. (2012), Intelligent fingertip sensing for contact information identification $nameOfConference


    • Xie H, Jiang A, Seneviratne L et al. (2012), Pixel-based optical fiber tactile force sensor for robot manipulation $nameOfConference


    • Deters C, Wurdemann HA, Dai JS et al. (2012), Reconfigurable assembly approach for wind turbines using multiple intelligent agents $nameOfConference


    • Liu H, Song X, Bimbo J et al. (2012), Surface material recognition through haptic exploration using an intelligent contact sensing finger $nameOfConference


    • Barras J, Althoefer K, Rowe MD et al. (2012), The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy $nameOfConference


    • Barras J, Katsura S, Sato-Akaba H et al. (2012), Variable-pitch rectangular cross-section radiofrequency coils for the nitrogen-14 nuclear quadrupole resonance investigation of sealed medicines packets $nameOfConference


    • Yao W, Schaeffter T, Seneviratne L et al. (2012), Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization $nameOfConference


    • Jiang A, Althoefer K, Dasgupta P et al. (2012), GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES $nameOfConference

    • Zirjakova J, Althoefer K, Dasgupta P et al. (2012), PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT $nameOfConference

    • Li M, Dasgupta P, Seneviratne LD et al. (2012), SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY $nameOfConference

    • Li J, Liu H, Dasgupta P et al. (2012), Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study $nameOfConference

    • Sargeant R, Seneviratne LD, Althoefer K (2012), A 2-axis optical force-torque fingertip sensor for dexterous grasping using linear polarizers $nameOfConference


    • Liu H, Song X, Nanayakkara T et al. (2012), A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor $nameOfConference


    • Sargeant R, Seneviratne LD, Althoefer K (2012), An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators $nameOfConference


    • Lara B, Seneviratne LD, Althoefer K (2012), Automated screw insertion monitoring using neural networks: A computational intelligence approach to assembly in manufacturing $nameOfConference


    • Puangmali P, Liu H, Seneviratne LD et al. (2012), Miniature 3-axis distal force sensor for minimally invasive surgical palpation $nameOfConference


    • Wanninayake IB, Althoefer K, Seneviratne LD (2012), Novel air-float tactile array for stiffness characterization in soft tissue palpation $nameOfConference


    • Wanninayake IB, Seneviratne LD, Althoefer K (2012), Novel indentation depth measuring system for stiffness characterization in soft tissue palpation $nameOfConference


    • Li M, Liu H, Li J et al. (2012), Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback $nameOfConference


    • Smith JAS, Blanz M, Rayner TJ et al. (2011), 14N quadrupole resonance and 1H T1 dispersion in the explosive RDX $nameOfConference


    • Sangpradit K, Liu H, Dasgupta P et al. (2011), Finite-element modeling of soft tissue rolling indentation $nameOfConference


    • Narimani M, Lam HK, Althoefer K et al. (2011), An approach for stability analysis of polynomial fuzzy model-based control systems $nameOfConference


    • Kumar P, Li J, Liu H et al. (2011), POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe $nameOfConference


    • Song X, Seneviratne LD, Althoefer K (2011), Slip parameter estimation for tele-operated ground vehicles in slippery terrain $nameOfConference


    • Liu H, Li J, Song X et al. (2011), Rolling indentation probe for tissue abnormality identification during minimally invasive surgery $nameOfConference


    • Yousef H, Boukallel M, Althoefer K (2011), Tactile sensing for dexterous in-hand manipulation in robotics - A review $nameOfConference


    • Polygerinos P, Seneviratne LD, Althoefer K (2011), Modeling of light intensity-modulated fiber-optic displacement sensors $nameOfConference


    • Li J, Liu H, Dasgupta P et al. (2011), Resuts of kidney lesion experiments with haptic probe $nameOfConference

    • Polygerinos P, Ataollahi A, Schaeffter T et al. (2011), MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures $nameOfConference


    • Song X, Seneviratne LD, Althoefer K (2011), A Kalman filter-integrated optical flow method for velocity sensing of mobile robots $nameOfConference


    • Song X, Althoefer K, Seneviratne L (2010), A robust downward-looking camera based velocity estimation with height compensation for mobile robots $nameOfConference


    • Sangpradit K, Althoefer K, Seneviratne LD (2010), Finite element modelling of rolling indentation for tissue adomanlity identification $nameOfConference


    • Althoefer K, Liu H, Puangmali P et al. (2010), Force sensing in medical robotics $nameOfConference


    • Ataollahi A, Polygerinos P, Puangmali P et al. (2010), Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands $nameOfConference


    • Sangpradit K, Althoefer K, Seneviratne L (2010), Tissue parameter estimation for a mechatronic probe using inverse finite element analysis $nameOfConference

    • Liu H, Li J, Poon QI et al. (2010), Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery $nameOfConference


    • Puangmali P, Dasgupta P, Seneviratne LD et al. (2010), Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery $nameOfConference


    • Polygerinos P, Puangmali P, Schaeffter T et al. (2010), Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures $nameOfConference


    • Polygerinos P, Zbyszewski D, Schaeffter T et al. (2010), MRI-compatible fiber-optic force sensors for catheterization procedures $nameOfConference


    • Zbyszewski D, Challacombe B, Li J et al. (2010), A comparative study between an improved novel air-cushion sensor and a wheeled probe for minimally invasive surgery $nameOfConference


    • Liu H, Puangmali P, Zbyszewski D et al. (2010), An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery $nameOfConference


    • Al-Milli S, Seneviratne LD, Althoefer K (2010), Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain $nameOfConference


    • Smith JAS, Rayner TJ, Rowe MD et al. (2010), Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN) $nameOfConference


    • Puangmali P, Althoefer K, Seneviratne LD (2010), Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors $nameOfConference


    • Liu H, Seneviratne LD, Althoefer K et al. (2010), Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery $nameOfConference


    • Althoefer K, Seneviratne L, Al-Milli S et al. (2010), Tractive force prediction for unmanned ground vehicles in rough terrain $nameOfConference


    • Zbyszewski D, Polygerinos P, Seneviratne LD et al. (2009), A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery $nameOfConference


    • Polygerinos P, Schaeffter T, Seneviratne L et al. (2009), Measuring tip and side forces of a novel catheter prototype: A feasibility study $nameOfConference


    • Polygerinos P, Schaeffter T, Seneviratne L et al. (2009), A fibre-optic catheter-tip force sensor with MRI compatibility: A feasibility study $nameOfConference


    • Liu H, Elhage O, Dasgupta P et al. (2009), A haptic probe for soft tissue abnormality identification during minimally invasive surgery $nameOfConference

    • Puangmali P, Althoefer K, Seneviratne LD (2009), Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments $nameOfConference


    • Sangpradit K, Liu H, Seneviratne LD et al. (2009), Tissue identification using inverse finite element analysis of rolling indentation $nameOfConference


    • Song ZB, Seneviratne LD, Althoefer K et al. (2009), Slip parameter estimation of a single wheel using a non-linear observer $nameOfConference


    • Zbyszewski D, Challacombe B, Liu H et al. (2009), Air-cushion force-sensitive probe for soft tissue investigation during minimally invasive surgery $nameOfConference


    • Vivekananda U, Henderson A, Murphy DG et al. (2009), The science behind haptics in robotic urological surgery $nameOfConference


    • Tate E, Althoefer K, Barras J et al. (2009), Quantitative 35Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese $nameOfConference


    • Althoefer K, Tan CP, Zweiri YH et al. (2009), Hybrid soil parameter easurement and estimation scheme for excavation automation $nameOfConference


    • Liu H, Elhage O, Dasgupta P et al. (2009), A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery $nameOfConference

    • Song X, Seneviratne L, Althoefer K (2009), A Vision Based Wheel Slip Estimation Technique for Mining Vehicles $nameOfConference


    • Puangmali P, Althoefer K, Seneviratne LD et al. (2009), Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments $nameOfConference

    • Seneviratne L, Zweiri Y, Hutangkabodee S et al. (2009), The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain $nameOfConference


    • Sangpradit K, Liu H, Seneviratne LD et al. (2009), Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation $nameOfConference

    • Song X, Seneviratne LD, Althoefer K et al. (2008), A robust slip estimation method for skid-steered mobile robots $nameOfConference


    • Song X, Seneviratne LD, Althoefer K et al. (2008), A vision-based technique for vehicle slip and velocity estimation $nameOfConference


    • Althoefer K, Zbyszewski D, Liu H et al. (2008), Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery $nameOfConference


    • Al-Milli S, Althoefer K, Seneviratne LD (2008), Maneuverability performance of tracked vehicles on soft terrains $nameOfConference


    • Song X, Song Z, Seneviratne LD et al. (2008), Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles $nameOfConference


    • Somasundaram SD, Jakobsson A, Rowe MD et al. (2008), Robust detection of stochastic nuclear quadrupole resonance signals $nameOfConference


    • Hutangkabodee S, Zweiri Y, Seneviratne L et al. (2008), Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction $nameOfConference

    • Mohseni-Vahed S, Althoefer K, Seneviratne LD et al. (2008), Soil estimation based on dissipation energy during autonomous excavation $nameOfConference


    • Zbyszewski D, Bhaumik A, Althoefer K et al. (2008), Tactile sensing using a novel air cushion sensor: A feasibility study $nameOfConference


    • Zbyszewski D, Liu H, Puangmali P et al. (2008), Wheel/tissue force interaction: a new concept for soft tissue diagnosis during MIS. $nameOfConference


    • Puangmali P, Liu H, Althoefer K et al. (2008), Optical fiber sensor for soft tissue investigation during minimally invasive surgery $nameOfConference


    • Liu H, Noonan DP, Althoefer K et al. (2008), Rolling mechanical imaging: A novel approach for soft tissue modelling and identification during minimally invasive surgery $nameOfConference


    • Somasundaram SD, Jakobsson A, Rowe MD et al. (2008), Detecting stochastic nuclear quadrupole resonance signals in the presence of strong radio frequency interference $nameOfConference


    • Althoefer K, Lara B, Zweiri YH et al. (2008), Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks $nameOfConference


    • Song ZB, Zweiri YH, Seneviratne LD et al. (2008), Non-linear observer for slip estimation of tracked vehicles $nameOfConference


    • Al-Ja'Afreh T, Zweiri Y, Seneviratne L et al. (2008), A new soft-tissue indentation model for estimating circular indenter 'force-displacement' characteristics $nameOfConference


    • Song Z-B, Zweiri YH, Seneviratne LD et al. (2008), Non-linear observer for slip estimation of tracked vehicles $nameOfConference


    • Puangmali P, Althoefer K, Seneviratne LD et al. (2008), State-of-the-art in force and tactile sensing for minimally invasive surgery $nameOfConference


    • Al-Milli S, Chhaniyara S, Georgiou E et al. (2008), Experimental study on track-terrain interaction dynamics in an integrated environment: Test RIG $nameOfConference


    • Al-Ja'afreh TM, Zweiri YH, Seneviratne LD et al. (2008), Modelling soft tissue-mechatronic tool interactions during indentation $nameOfConference


    • Chhaniyara S, Bunnun P, Seneviratne LD et al. (2008), Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility Study $nameOfConference


    • Vahed SM, Song X, Dai JS et al. (2008), Soil Estimation Based on Dissipation Energy during Autonomous Excavation $nameOfConference


    • Chhaniyara S, Althoefer K, Seneviratne LD (2008), Visual odometry technique using circular marker identification for motion parameter estimation $nameOfConference


    • Zbyszewski D, Liu H, Puangmali P et al. (2008), Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MIS $nameOfConference


    • Song Z, Song X, Altheoer K et al. (2007), Non-linear observer for slip parameter estimation of unmanned wheeled vehicles $nameOfConference


    • Song X, Seneviratne LD, Althoefer K et al. (2007), Visual qdometry for velocity estimation of UGVs $nameOfConference


    • Somasundaram SD, Jakobsson A, Butt N et al. (2007), Detection of stochastic nuclear quadrupole resonance signals $nameOfConference


    • Liu H, Puangmali P, Althoefer KA et al. (2007), Experimental study of soft tissue recovery using optical fiber probe $nameOfConference


    • Vahed SM, Delaimi HA, Althoefer K et al. (2007), On-line energy-based method for soil estimation and classification in autonomous excavation $nameOfConference


    • Liu H, Noonan DP, Zweiri YH et al. (2007), The development of nonlinear viscoelastic model for the application of soft tissue identification $nameOfConference


    • SONG X, SENEVIRATNE LD, ALTHOEFER K et al. (2007), VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES $nameOfConference


    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2007), Validation of soil parameter identification for track-terrain interaction dynamics $nameOfConference


    • Noonan DP, Liu H, Zweiri YH et al. (2007), A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery $nameOfConference


    • Chhaniyara S, Althoefer K, Zweiri YH et al. (2007), A novel approach for self-localization based on computer vision and artificial marker deposition $nameOfConference


    • Al-Milli S, Althoefer K, Seneviratne LD (2007), Dynamic analysis and traversability prediction of tracked vehicles on soft terrain $nameOfConference


    • Gomez F, Althoefer K, Seneviratne LD (2007), An ultrasonic profiling method for the inspection of tubular structures $nameOfConference


    • Murphy D, Challacombe B, Nedas T et al. (2007), Equipment and technology in robotics $nameOfConference


    • Somasundaram SD, Jakobsson A, Smith JAS et al. (2007), Exploiting spin echo decay in the detection of nuclear quadrupole resonance signals $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2007), Automated pipe defect detection and categorization using caniera/laser-based profiler and artificial neural network $nameOfConference


    • Liu H, Puangmali P, Althoefer KA et al. (2007), Experimental study of soft tissue recovery using optical fiber probe $nameOfConference

    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2007), MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS $nameOfConference


    • Chhaniyara S, Althoefer R, Seneviratne LD (2007), Motion estimation and self-localization based on computer vision and artificial marker deposition $nameOfConference


    • Vahed SM, Delaimi HA, Althoefer K et al. (2007), On-line energy-based method for soil estimation and classification in autonomous excavation $nameOfConference

    • Liu H, Noonan DP, Zweiri YH et al. (2007), The development of nonlinear viscoelastic model for the application of soft tissue identification $nameOfConference

    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2007), Validation of soil parameter identification for track-terrain interaction dynamics $nameOfConference

    • Seneviratne L, Althoefer K, Zweiri Y et al. (2007), Vehicle-terrain interaction modeling and identification in rough terrain $nameOfConference

    • Zibin S, Zweiri YH, Seneviratne LD et al. (2006), Non-linear observer for slip estimation of skid-steering vehicles $nameOfConference


    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2006), Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters $nameOfConference


    • Song ZB, Zweiri YH, Althoefer K et al. (2006), Non-linear observer for slip estimation of tracked vehicles $nameOfConference

    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2006), Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification $nameOfConference


    • Somasundaram SD, Jakobsson A, Smith JAS et al. (2006), Frequency selective detection of Nuclear Quadrupole Resonance (NQR) spin echoes $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K (2006), Modelling of closed-chain manipulators on an excavator vehicle $nameOfConference


    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2006), Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction $nameOfConference


    • Gomez F, Althoefer K, Seneviratne LD (2006), Simulation of ultrasound imaging inside fully charged pipes $nameOfConference


    • Somasundaram SD, Althoefer K, Smith JAS et al. (2006), Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification $nameOfConference


    • Somasundaram SD, Althoefer K, Smith JAS et al. (2006), Detection of landmines using Nuclear Quadrupole Resonance (NQR): Signal processing to aid classification $nameOfConference


    • Rao A, Noonan D, Althoefer K et al. (2006), Development of an improved micro piezoelectric power generation / actuation system for biomedical & bio-MEMS applications $nameOfConference


    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2006), Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification $nameOfConference


    • Song ZB, Zweiri YH, Althoefer K et al. (2005), Non-linear observer for estimating slips of wheeled vehicles $nameOfConference

    • Tan CP, Zweiri YH, Althoefer K et al. (2005), Online soil-bucket interaction identification for autonomous excavation $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K (2005), Stability analysis of a three-term backpropagation algorithm $nameOfConference


    • Khawaja K, Seneviratne L, Althoefer K (2005), Wheel-tooling gap measurement system for Conform™ extrusion machinery based on a capacitive sensor $nameOfConference


    • Tan CP, Zweiri YH, Althoefer K et al. (2005), Online soil parameter estimation scheme based on Newton-Raphson method for autonomous excavation $nameOfConference


    • Althoefer K, Lara B, Seneviratne LD (2005), Monitoring of self-tapping screw fastenings using artificial neural networks $nameOfConference


    • Song ZB, Zweiri YH, Seneviratne LD et al. (2005), Driver support system based on a non-linear slip observer for off road vehicles $nameOfConference


    • Hutangkabodee S, Zweiri YH, Seneviratne LD et al. (2005), Traversability prediction for unmanned ground vehicles based on identified soil parameters $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K (2004), Identification methods for excavator arm parameters $nameOfConference

    • Song Z, Hutangkabodee S, Zweiri YH et al. (2004), Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics $nameOfConference

    • Duran O, Althoefer K, Seneviratna LD (2004), Laser profiler model for robot-based pipe inspection $nameOfConference

    • Gomez F, Althoefer K, Seneviratne LD (2004), An ultrasonic profiling method for sewer inspection $nameOfConference


    • Khawaja K, Althoefer K, Clode MP et al. (2004), Gap sensing benefits in conform™ extrusion machinery $nameOfConference


    • Tan C, Zweiri YH, Althoefer K et al. (2004), Hybrid model in a real-time soil parameter identification scheme for autonomous excavation $nameOfConference


    • Klingajay M, Seneviratne LD, Althoefer K (2004), Model Based Monitoring Strategies for Threaded Assembly System $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2004), Automated pipe inspection using ANN and laser data fusion $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K et al. (2004), Identification methods for excavator arm parameters $nameOfConference

    • Song Z, Hutangkabodee S, Zweiri YH et al. (2004), Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics $nameOfConference

    • Zweiri YH, Seneviratne LD, Althoefer K (2004), Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators $nameOfConference

    • Silversides RW, Dai JS, Althoefer KA et al. (2004), Non-invasive laser based measurement of the helicoidal motion of a vibratory platform with three leaf-spring legs $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K (2004), Parameter Estimation for Excavator Arm Using Generalized Newton Method $nameOfConference


    • Klingajay M, Seneviratne LD, Althoefer K (2003), Identification of threaded fastening parameters using the Newton Raphson Method $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2003), A sensor for pipe inspection: Model, analysis and image extraction $nameOfConference


    • Gomez F, Althoefer K, Seneviratne LD (2003), Modeling of ultrasound sensor for pipe inspection $nameOfConference


    • Zweiri YH, Seneviratne LD, Althoefer K (2003), A generalized newton method for identification of closed-chain excavator arm parameters $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2003), Experiments using a laser-based transducer and automated analysis techniques for pipe inspection $nameOfConference


    • Tan C, Zweiri YH, Althoefer K et al. (2003), On-line soil property estimation for autonomous excavator vehicles $nameOfConference


    • Gomez F, Althoefer K, Seneviratne LD (2003), Modelling of rotating ultrasonic sensors for pipe inspection $nameOfConference

    • Tan C, Zweiri YH, Althoefer K et al. (2003), Soil parameters estimation for automated excavation $nameOfConference

    • Zweiri YH, Seneviratne LD, Althoefer K (2003), Modelling and control of an unmanned excavator vehicle $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2003), Pipe inspection using a laser-based transducer and automated analysis techniques $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2002), State of the art in sensor technologies for sewer inspection $nameOfConference


    • Zweiri YH, Whidborne JF, Seneviratne LD et al. (2002), A comparison of dynamic models of various complexity for diesel engines $nameOfConference


    • Zweiri YH, Whidborne JF, Althoefer K et al. (2002), A new three-term backpropagation algorithm with convergence analysis $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2002), Automated laser-based profiler for sewer inspection $nameOfConference

    • Duran O, Althoefer K, Seneviratne LD (2002), Automated sewer inspection using image processing and a neural classifier $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2002), Automated sewer pipe inspection through image processing $nameOfConference


    • Zweiri YH, Whidborne JF, Seneviratne LD et al. (2002), Dynamic modelling of diesel engines for design applications $nameOfConference

    • Lara B, Seneviratne L, Althoefer K (2002), Error classification of self-tapping screw fastenings in automated assembly $nameOfConference

    • Zweiri YH, Seneviratne LD, Althoefer K (2002), Model-based automation for heavy duty mobile excavator $nameOfConference


    • Seneviratne LD, Visuwan P, Althoefer K (2002), Monitoring of threaded fastenings in automated assembly using artificial neural networks $nameOfConference

    • Klingajay M, Seneviratne LD, Althoefer K (2002), Parameter estimation during automated screw insertions $nameOfConference


    • Duran O, Althoefer K, Seneviratne LD (2002), Pipe inspection using intelligent analysis techniques with high noise-tolerance $nameOfConference


    • Seneviratne LD, Ngemoh FA, Earles SWE et al. (2001), Theoretical modelling of the self-tapping screw fastening process $nameOfConference


    • Althoefer K, Krekelberg B, Husmeier D et al. (2001), Reinforcement learning in a rule-based navigator for robotic manipulators $nameOfConference


    • Lara B, Seneviratne LD, Althoefer K (2000), Radial basis artificial neural networks for screw insertions classification $nameOfConference


    • Althoefer K, Seneviratne LD, Shields R (2000), Mechatronic strategies for torque control of electric powered screwdrivers $nameOfConference


    • Lara B, Althoefer K, Seneviratne LD (1999), Use of artificial neural networks for the monitoring of screw insertions $nameOfConference


    • Seneviratne LD, Visuwan P, Althoefer K (1999), Weightless neural network based monitoring of screw fastenings $nameOfConference


    • Althoefer K, Seneviratne L, Krekelberg B (1999), Learning in a neuro-fuzzy navigator for robotic manipulators $nameOfConference


    • Husmeier D, Althoefer K (1998), Modelling conditional probabilities with network committees: how overfitting can be useful $nameOfConference

    • Lara B, Althoefer K, Seneviratne LD (1998), Automated robot-based screw insertion system $nameOfConference


    • Bekit BW, Seneviratne LD, Whidborne JF et al. (1998), Fuzzy PID tuning for robot manipulators $nameOfConference


    • Althoefer K, Seneviratne LD, Zavlangas P et al. (1998), Fuzzy navigation for robotic manipulators $nameOfConference


    • Althofer K, Fraser DA (1996), Fuzzy obstacle avoidance for robotic manipulators $nameOfConference

    • Althöfer K, Fraser DA, Bugmann G (1995), Rapid path planning for robotic manipulators using a nemulated resistive grid $nameOfConference


    • Althofer K, Fraser DA, Bugmann G et al. (1995), Configuration space transformation for articulated manipulators: A novel approach based on RBF-networks $nameOfConference


    • Fraser DA, Azhar F, Althoefer K (1993), On-line adaptation in robot control $nameOfConference

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