Fuzzy Navigation for Robotic Manipulators. - Kaspar Althoefer; Lakmal D. Seneviratne; P. Zavlangas; Bart Krekelberg (Int. J. Uncertain. Fuzziness Knowl. Based Syst., 1998)

Use of artificial neural networks for the monitoring of screw insertions. - Bruno Lara 001; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 1999)

Weightless neural network based monitoring of screw fastenings. - Lakmal D. Seneviratne; P. Visuwan; Kaspar Althoefer (IROS, 1999)

Radial Basis Artificial Neural Networks for Screw Insertions Classification. - Bruno Lara 001; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2000)

Reinforcement learning in a rule-based navigator for robotic manipulators. - Kaspar Althoefer; Bart Krekelberg; Dirk Husmeier; Lakmal D. Seneviratne (Neurocomputing, 2001)

Automated Sewer Pipe Inspection through Image Processing. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2002)

A New Three-Term Backpropagation Algorithm with Convergence Analysis. - Yahya H. Zweiri; James F. Whidborne; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2002)

Pipe inspection using intelligent analysis techniques with high noise-tolerance. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2002)

Model-based automation for heavy duty mobile excavator. - Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2002)

A sensor for pipe inspection: model, analysis and image extraction. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (ICIP (3), 2003)

Experiments using a laser-based transducer and automated analysis techniques for pipe inspection. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2003)

Modeling of ultrasound sensor for pipe inspection. - Francisco Gómez 004; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2003)

On-Line Soil Property Estimation for Autonmous Excavator Vehicles. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2003)

A Generalized Newton Method for Identification of Closed-Chain Excavator Arm Parameters. - Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2003)

Identification of threaded fastening parameters using the Newton Raphson Method. - Mongkorn Klingajay; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2003)

Automated Pipe Inspection using ANN and Laser Data Fusion. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2004)

An Ultrasonic Profiling Method for Sewer Inspection. - Francisco Gómez 004; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2004)

Gap Sensing Benefits in Conform™ Extrusion Machinery. - Kafeel Khawaja; Kaspar Althoefer; Mike P. Clode; Lakmal D. Seneviratne (ICRA, 2004)

Hybrid Model in a Real-time Soil Parameter Identification Scheme for Autonomous Excavation. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2004)

Parameter estimation for excavator arm using generalized Newton method. - Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Robotics, 2004)

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification. - Samuel Dilshan Somasundaram; Kaspar Althoefer; John A. S. Smith; Lakmal D. Seneviratne (CLAWAR, 2005)

Online Soil-bucket Interaction Identification for Autonomous Excavation. - Choopar Tan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2005)

Stability analysis of a three-term backpropagation algorithm. - Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (Neural Networks, 2005)

Performance Prediction of a Wheeled Vehicle on Unknown Terrain using Identified Soil Parameters. - Suksun Hutangkabodee; Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2006)

Non-linear Observer for Slip Estimation of Skid-steering Vehicles. - Zibin Song; Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2006)

Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction. - Suksun Hutangkabodee; Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (Int. J. Autom. Comput., 2006)

Detection of Stochastic Nuclear Quadrupole Resonance Signals. - Samuel Dilshan Somasundaram; Andreas Jakobsson; Naveed Razzaq Butt; Michael D. Rowe; John A. S. Smith; Kaspar Althoefer (DSP, 2007)

Dynamic Analysis and Traversability Prediction of Tracked Vehicles on Soft Terrain. - Said Al-Milli; Kaspar Althoefer; Lakmal D. Seneviratne (ICNSC, 2007)

A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition. - Savan Chhaniyara; Kaspar Althoefer; Yahya H. Zweiri; Lakmal D. Seneviratne (ICNSC, 2007)

A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery. - David P. Noonan; Hongbin Liu 001; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2007)

Validation of soil parameter identification for track-terrain interaction Dynamics. - Suksun Hutangkabodee; Yahya H. Zweiri; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2007)

The development of nonlinear viscoelastic model for the application of soft tissue identification. - Hongbin Liu 001; David P. Noonan; Yahya H. Zweiri; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2007)

Experimental study of soft tissue recovery using optical fiber probe. - Hongbin Liu 001; Pinyo Puangmali; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2007)

On-line energy-based method for soil estimation and classification in autonomous excavation. - Shahram Mohseni Vahed; Haten Al Delaimi; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2007)

An Ultrasonic Profiling Method for the Inspection of Tubular Structures. - Francisco Gómez 004; Kaspar Althoefer; Lakmal D. Seneviratne (Comput. Aided Civ. Infrastructure Eng., 2007)

Vision-Based Velocity Estimation for Unmanned Ground Vehicles. - Xiaojing Song; Lakmal D. Seneviratne; Kaspar Althoefer; Zibin Song (Int. J. Inf. Acquis., 2007)

Automated Pipe Defect Detection and Categorization Using Camera/Laser-Based Profiler and Artificial Neural Network. - Olga Duran; Kaspar Althoefer; Lakmal D. Seneviratne (IEEE Trans Autom. Sci. Eng., 2007)

Exploiting Spin Echo Decay in the Detection of Nuclear Quadrupole Resonance Signals. - Samuel Dilshan Somasundaram; Andreas Jakobsson; John A. S. Smith; Kaspar Althoefer (IEEE Trans. Geosci. Remote. Sens., 2007)

A robust slip estimation method for skid-steered mobile robots. - Xiaojing Song; Lakmal D. Seneviratne; Kaspar Althoefer; Zibin Song (ICARCV, 2008)

Detecting stochastic nuclear quadrupole resonance signals in the presence of strong radio frequency interference. - Samuel Dilshan Somasundaram; Andreas Jakobsson; Michael D. Rowe; John A. S. Smith; Naveed Razzaq Butt; Kaspar Althoefer (ICASSP, 2008)

Rolling mechanical imaging: A novel approach for soft tissue modelling and identification during minimally invasive surgery. - Hongbin Liu 001; David P. Noonan; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2008)

Optical fiber sensor for soft tissue investigation during minimally invasive surgery. - Pinyo Puangmali; Hongbin Liu 001; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2008)

Maneuverability performance of tracked vehicles on soft terrains. - Said Al-Milli; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2008)

Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles. - Xiaojing Song; Zibin Song; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2008)

Tactile sensing using a novel air cushion sensor: A feasibility study. - Dinusha Zbyszewski; Arkapravo Bhaumik; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2008)

Robust Detection of Stochastic Nuclear Quadrupole Resonance Signals. - Samuel Dilshan Somasundaram; Andreas Jakobsson; Michael D. Rowe; John A. S. Smith; Naveed Razzaq Butt; Kaspar Althoefer (IEEE Trans. Signal Process., 2008)

Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments. - Pinyo Puangmali; Kaspar Althoefer; Lakmal D. Seneviratne (ICRA, 2009)

Tissue identification using inverse Finite Element analysis of rolling indentation. - Kiattisak Sangpradit; Hongbin Liu 001; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2009)

Measuring tip and side forces of a novel catheter prototype: A feasibility study. - Panagiotis Polygerinos; Tobias Schaeffter; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2009)

A novel MRI compatible air-cushion tactile sensor for Minimally Invasive Surgery. - Dinusha Zbyszewski; Panagiotis Polygerinos; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2009)

The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain. - Lakmal D. Seneviratne; Yahya H. Zweiri; Suksun Hutangkabodee; Zibin Song; Xiaojing Song; Savan Chhaniyara; Said Al-Milli; Kaspar Althoefer (Int. J. Model. Identif. Control., 2009)

Slip parameter estimation of a single wheel using a non-linear observer. - Zibin Song; Lakmal D. Seneviratne; Kaspar Althoefer; Xiaojing Song; Yahya H. Zweiri (Robotica, 2009)

Hybrid Soil Parameter Measurement and Estimation Scheme for Excavation Automation. - Kaspar Althoefer; C. P. Tan; Yahya H. Zweiri; Lakmal D. Seneviratne (IEEE Trans. Instrum. Meas., 2009)

Finite element modelling of rolling indentation for tissue adomanlity identification. - Kiattisak Sangpradit; Kaspar Althoefer; Lakmal D. Seneviratne (ICARCV, 2010)

A robust downward-looking camera based velocity estimation with height compensation for mobile robots. - Xiaojing Song; Kaspar Althoefer; Lakmal D. Seneviratne (ICARCV, 2010)

Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery. - Hongbin Liu 001; Jichun Li 002; Qi-ian Poon; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2010)

Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures. - Panagiotis Polygerinos; Pinyo Puangmali; Tobias Schaeffter; Reza Razavi; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2010)

Miniaturized triaxial optical fiber force sensor for MRI-Guided minimally invasive surgery. - Pinyo Puangmali; Prokar Dasgupta; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2010)

Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. - Asghar Ataollahi; Panagiotis Polygerinos; Pinyo Puangmali; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2010)

Tractive Force Prediction for Unmanned Ground Vehicles in Rough Terrain. - Kaspar Althoefer; Lakmal D. Seneviratne; Said Al-Milli; Savan Chhaniyara; Xiaojing Song (TA, 2010)

Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery. - Hongbin Liu 001; David P. Noonan; Benjamin J. Challacombe; Prokar Dasgupta; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Biomed. Eng., 2010)

Mathematical Modeling of Intensity-Modulated Bent-Tip Optical Fiber Displacement Sensors. - Pinyo Puangmali; Kaspar Althoefer; Lakmal D. Seneviratne (IEEE Trans. Instrum. Meas., 2010)

MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures. - Panagiotis Polygerinos; Asghar Ataollahi; Tobias Schaeffter; Reza Razavi; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Biomed. Eng., 2011)

Finite-Element Modeling of Soft Tissue Rolling Indentation. - Kiattisak Sangpradit; Hongbin Liu 001; Prokar Dasgupta; Kaspar Althoefer; Lakmal D. Seneviratne (IEEE Trans. Biomed. Eng., 2011)

Modeling of Light Intensity-Modulated Fiber-Optic Displacement Sensors. - Panagiotis Polygerinos; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Instrum. Meas., 2011)

Rolling Indentation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery. - Hongbin Liu 001; Jichun Li 002; Xiaojing Song; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Robotics, 2011)

A stiffness probe based on force and vision sensing for soft tissue diagnosis. - Jichun Li 002; Hongbin Liu 001; Kaspar Althoefer; Lakmal D. Seneviratne (EMBC, 2012)

Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback. - Min Li 003; Hongbin Liu 001; Jichun Li 002; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2012)

A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor. - Hongbin Liu 001; Xiaojing Song; D. P. Thrishantha Nanayakkara; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2012)

An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators. - Ramon Sargeant; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2012)

Novel indentation depth measuring system for stiffness characterization in soft tissue palpation. - Indika B. Wanninayake; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2012)

Adaptive grip control on an uncertain object. - Allen Jiang; João Bimbo; Simon Goulder; Hongbin Liu 001; Xiaojing Song; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IROS, 2012)

Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling. - Allen Jiang; Georgios Xynogalas; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IROS, 2012)

Surface material recognition through haptic exploration using an intelligent contact sensing finger. - Hongbin Liu 001; Xiaojing Song; João Bimbo; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2012)

A novel dynamic slip prediction and compensation approach based on haptic surface exploration. - Xiaojing Song; Hongbin Liu 001; João Bimbo; Kaspar Althoefer; Lakmal D. Seneviratne (IROS, 2012)

Object pose estimation and tracking by fusing visual and tactile information. - João Bimbo; Silvia Rodríguez-Jiménez; Hongbin Liu 001; Xiaojing Song; Nicolas Burrus; Lakmal D. Seneviratne; Mohamed Abderrahim 001; Kaspar Althoefer (MFI, 2012)

Tactile image based contact shape recognition using neural network. - Hongbin Liu 001; Juan Greco; Xiaojing Song; João Bimbo; Lakmal D. Seneviratne; Kaspar Althoefer (MFI, 2012)

An optical multi-axial force/torque sensor for dexterous grasping and manipulation. - Ramon Sargeant; Hongbin Liu 001; Lakmal D. Seneviratne; Kaspar Althoefer (MFI, 2012)

A 2-Axis Optical Force-Torque Fingertip Sensor for Dexterous Grasping Using Linear Polarizers. - Ramon Sargeant; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Instrum. Meas., 2012)

Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs. - Christian Deters; Emanuele Lindo Secco; Helge A. Wurdemann; Hak-Keung Lam; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2013)

An optical curvature sensor for flexible manipulators. - Thomas C. Searle; Kaspar Althoefer; Lakmal D. Seneviratne; Hongbin Liu 001 (ICRA, 2013)

Combining touch and vision for the estimation of an object's pose during manipulation. - João Bimbo; Lakmal D. Seneviratne; Kaspar Althoefer; Hongbin Liu 001 (IROS, 2013)

Force-velocity modulation strategies for soft tissue examination. - Jelizaveta Konstantinova; Min Li 003; Vahid Aminzadeh; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IROS, 2013)

A two party haptic guidance controller via a hard rein. - Anuradha Ranasinghe 001; Jacques Penders; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IROS, 2013)

Fiber optics tactile array probe for tissue palpation during minimally invasive surgery. - Hui Xie 006; Hongbin Liu 001; Shan Luo 001; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2013)

Evaluating Manual Palpation Trajectory Patterns in Tele-manipulation for Soft Tissue Examination. - Jelizaveta Konstantinova; Min Li 003; Vahid Aminzadeh; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Prokar Dasgupta (SMC, 2013)

Haptics for Multi-fingered Palpation. - Min Li 003; Shan Luo 001; Lakmal D. Seneviratne; D. P. Thrishantha Nanayakkara; Kaspar Althoefer; Prokar Dasgupta (SMC, 2013)

An Optimal State Dependent Haptic Guidance Controller via a Hard Rein. - Anuradha Ranasinghe 001; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Jacques Penders; Prokar Dasgupta (SMC, 2013)

Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics. - John G. Taylor; Vassilis Cutsuridis; Matthew Hartley; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (Cogn. Comput., 2013)

Air-float Palpation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery. - Indika B. Wanninayake; Prokar Dasgupta; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Biomed. Eng., 2013)

Towards kinematic modeling of a multi-DOF tendon driven robotic catheter. - Peng Qi 001; Hongbin Liu 001; Lakmal D. Seneviratne; Kaspar Althoefer (EMBC, 2014)

Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS. - Angela Faragasso; Agostino Stilli; João Bimbo; Yohan Noh; Hongbin Liu 001; D. P. Thrishantha Nanayakkara; Prokar Dasgupta; Helge A. Wurdemann; Kaspar Althoefer (EMBC, 2014)

Elastic mesh braided worm robot for locomotive endoscopy. - Thomas Manwell; Tomas Vitek; Tommaso Ranzani; Arianna Menciassi; Kaspar Althoefer; Hongbin Liu 001 (EMBC, 2014)

A continuum body force sensor designed for flexible surgical robotics devices. - Yohan Noh; Emanuele Lindo Secco; Sina Sareh; Helge A. Würdemann; Angela Faragasso; Junghwan Back; Hongbin Liu 001; Elizabeth Sklar; Kaspar Althoefer (EMBC, 2014)

Improved modeling and bounds for NQR spectroscopy signals. - G. Kyriakidou; Andreas Jakobsson; Erik Gudmundson; A. Gregorovic; Jamie Barras; Kaspar Althoefer (EUSIPCO, 2014)

Control a contact sensing finger for surface haptic exploration. - Junghwan Back; João Bimbo; Yohan Noh; Lakmal D. Seneviratne; Kaspar Althoefer; Hongbin Liu 001 (ICRA, 2014)

Simplifying grasping complexity through generalization of kinaesthetically learned synergies. - Giuseppe Cotugno 001; Vishawanathan Mohan; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (ICRA, 2014)

Novel uniaxial force sensor based on visual information for minimally invasive surgery. - Angela Faragasso; João Bimbo; Yohan Noh; Allen Jiang; Sina Sareh; Hongbin Liu 001; D. P. Thrishantha Nanayakkara; Helge A. Wurdemann; Kaspar Althoefer (ICRA, 2014)

A novel tumor localization method using haptic palpation based on soft tissue probing data. - Min Li 003; Angela Faragasso; Jelizaveta Konstantinova; Vahid Aminzadeh; Lakmal D. Seneviratne; Prokar Dasgupta; Kaspar Althoefer (ICRA, 2014)

A three-axial body force sensor for flexible manipulators. - Yohan Noh; Sina Sareh; Jungwhan Back; Helge A. Wurdemann; Tommaso Ranzani; Emanuele Lindo Secco; Angela Faragasso; Hongbin Liu 001; Kaspar Althoefer (ICRA, 2014)

Bio-inspired tactile sensor sleeve for surgical soft manipulators. - Sina Sareh; Allen Jiang; Angela Faragasso; Yohan Noh; D. P. Thrishantha Nanayakkara; Prokar Dasgupta; Lakmal D. Seneviratne; Helge A. Wurdemann; Kaspar Althoefer (ICRA, 2014)

Estimation of tissue stiffness using a prototype of air-float stiffness probe. - Indika B. Wanninayake; Lakmal D. Seneviratne; Kaspar Althoefer (ICRA, 2014)

A novel continuum-style robot with multilayer compliant modules. - Peng Qi 001; Chen Qiu; Hongbin Liu 001; Jian S. Dai 001; Lakmal D. Seneviratne; Kaspar Althoefer (IROS, 2014)

Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. - Agostino Stilli; Helge A. Wurdemann; Kaspar Althoefer (IROS, 2014)

Fuzzy logic control of a continuum manipulator for surgical applications. - Peng Qi 001; Chuang Liu 003; Lin'an Zhang; Shuxin Wang; Hak-Keung Lam; Kaspar Althoefer (ROBIO, 2014)

Surface flattening of the human left atrium and proof-of-concept clinical applications. - Rashed Karim; YingLiang Ma; Munjung Jang; Richard James Housden; Steven E. Williams; Zhong Chen; Asghar Ataollahi; Kaspar Althoefer; C. Aldo Rinaldi; Reza Razavi; Mark D. O'Neill; Tobias Schaeffter; et al. (Comput. Medical Imaging Graph., 2014)

Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. - Hongbin Liu 001; Kiattisak Sangpradit; Min Li 003; Prokar Dasgupta; Kaspar Althoefer; Lakmal D. Seneviratne (Medical Biol. Eng. Comput., 2014)

Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. - Rainer Müller; Leenhard Hörauf; Matthias Vette; Javier Lopez San Martin; Aitor Alzaga; Jörg Hohmann; Kaspar Althoefer; Helge A. Würdemann (Prod. Eng., 2014)

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues. - Jelizaveta Konstantinova; Min Li 003; Gautam Mehra; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Trans. Biomed. Eng., 2014)

Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching. - Hak-Keung Lam; Hongyi Li 001; Christian Deters; Emanuele Lindo Secco; Helge A. Wurdemann; Kaspar Althoefer (IEEE Trans. Ind. Electron., 2014)

Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration. - Xiaojing Song; Hongbin Liu 001; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Lakmal D. Seneviratne (IEEE Trans. Robotics, 2014)

A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs. - Emanuele Lindo Secco; Atulya Nagar; Christian Deters; Helge A. Wurdemann; Hak-Keung Lam; Kaspar Althoefer (CIT/IUCC/DASC/PICom, 2015)

Novel method to form adaptive internal impedance profiles in walkers. - Maximilano F. Escudero Morland; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (EMBC, 2015)

An ergonomic handheld ultrasound probe providing contact forces and pose information. - Yohan Noh; Richard James Housden; Alberto Gómez 002; Caroline L. Knight; Francesca Garcia; Hongbin Liu 001; Reza Razavi; Kawal S. Rhode; Kaspar Althoefer (EMBC, 2015)

Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery. - Ali Shafti; Federica Andorno; Nicola Marchese; Simone Arolfo; Abdullatif Aydin; Oussama Elhage; Yohan Noh; Helge A. Würdemann; Alberto Arezzo; Prokar Dasgupta; Kaspar Althoefer (EMBC, 2015)

Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. - Helge A. Wurdemann; Sina Sareh; Ali Shafti; Yohan Noh; Angela Faragasso; Damith Suresh Chathuranga; Hongbin Liu 001; Shinichi Hirai; Kaspar Althoefer (EMBC, 2015)

Tension Sensing for a Linear Actuated Catheter Robot. - Junghwan Back; Rashed Karim; Yohan Noh; Kawal S. Rhode; Kaspar Althoefer; Hongbin Liu 001 (ICIRA (2), 2015)

Tactile Object Recognition with Semi-Supervised Learning. - Shan Luo 001; Xiaozhou Liu; Kaspar Althoefer; Hongbin Liu 001 (ICIRA (2), 2015)

Surface Classification for Crawling Peristaltic Worm Robot. - Thomas Manwell; Alexander Jupp; Kaspar Althoefer; Hongbin Liu 001 (ICIRA (3), 2015)

Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. - S. M. Hadi Sadati; Yohan Noh; S. Elnaz Naghibi; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (ICIRA (3), 2015)

Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control. - Helge A. Würdemann; Agostino Stilli; Kaspar Althoefer (ICIRA (3), 2015)

Localizing the object contact through matching tactile features with visual map. - Shan Luo 001; Wenxuan Mou; Kaspar Althoefer; Hongbin Liu 001 (ICRA, 2015)

Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle. - Farahnaz Maghooa; Agostino Stilli; Yohan Noh; Kaspar Althoefer; Helge A. Wurdemann (ICRA, 2015)

Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery. - Junghwan Back; Prokar Dasgupta; Lakmal D. Seneviratne; Kaspar Althoefer; Hongbin Liu 001 (IROS, 2015)

Catheter contact force estimation from shape detection using a real-time Cosserat rod model. - Junghwan Back; Thomas Manwell; Rashed Karim; Kawal S. Rhode; Kaspar Althoefer; Hongbin Liu 001 (IROS, 2015)

Multi-axis stiffness sensing device for medical palpation. - Angela Faragasso; Agostino Stilli; João Bimbo; Helge A. Wurdemann; Kaspar Althoefer (IROS, 2015)

Force and proximity fingertip sensor to enhance grasping perception. - Jelizaveta Konstantinova; Agostino Stilli; Kaspar Althoefer (IROS, 2015)

A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing. - Sina Sareh; Yohan Noh; Tommaso Ranzani; Helge A. Wurdemann; Hongbin Liu 001; Kaspar Althoefer (IROS, 2015)

Lagrangian dynamics and nonlinear control of a continuum manipulator. - Yan Yu 001; Peng Qi 001; Kaspar Althoefer; Hak-Keung Lam (ROBIO, 2015)

Global estimation of an object's pose using tactile sensing. - João Bimbo; Petar Kormushev; Kaspar Althoefer; Hongbin Liu 001 (Adv. Robotics, 2015)

Finger contact sensing and the application in dexterous hand manipulation. - Hongbin Liu 001; Kien-Cuong Nguyen; Véronique Perdereau; João Bimbo; Junghwan Back; Matthew Godden; Lakmal D. Seneviratne; Kaspar Althoefer (Auton. Robots, 2015)

Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue. - Min Li 003; Jelizaveta Konstantinova; Emanuele Lindo Secco; Allen Jiang; Hongbin Liu 001; D. P. Thrishantha Nanayakkara; Lakmal D. Seneviratne; Prokar Dasgupta; Kaspar Althoefer; Helge A. Wurdemann (Medical Biol. Eng. Comput., 2015)

Accurate Bolt Tightening Using Model-Free Fuzzy Control for Wind Turbine Hub Bearing Assembly. - Christian Deters; Hak-Keung Lam; Emanuele Lindo Secco; Helge A. Wurdemann; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Control. Syst. Technol., 2015)

Modeling and Optimizing Output Characteristics of Intensity Modulated Optical Fiber-Based Displacement Sensors. - Indika B. Wanninayake; Prokar Dasgupta; Lakmal D. Seneviratne; Kaspar Althoefer (IEEE Trans. Instrum. Meas., 2015)

A compact continuum manipulator system with enhanced steering abilities for robot-assisted surgery. - Peng Qi 001; Chunsong Zhang; Jianmin Li; Zheng Li 010; Jian S. Dai 001; Kaspar Althoefer (BioRob, 2016)

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. - Ahmad Ataka; Peng Qi 001; Ali Shiva; Ali Shafti; Helge A. Wurdemann; Prokar Dasgupta; Kaspar Althoefer (BioRob, 2016)

Autonomous robotic palpation of soft tissue using the modulation of applied force. - Jelizaveta Konstantinova; Giuseppe Cotugno 001; Prokar Dasgupta; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (BioRob, 2016)

Design of a flexible force-sensing platform for medical ultrasound probes. - Adrian Schoisengeier; Lukas Lindenroth; Junghwan Back; Chen Qiu; Yohan Noh; Kaspar Althoefer; Jian S. Dai 001; Kawal S. Rhode; Hongbin Liu 001 (BioRob, 2016)

Wearable embroidered muscle activity sensing device for the human upper leg. - Roger B. Ribas Manero; Ali Shafti; Brendan Michael; Jug-Raj Grewal; J. Ll. Ribas Fernandez; Kaspar Althoefer; Matthew J. Howard 001 (EMBC, 2016)

Analysis of comfort and ergonomics for clinical work environments. - Ali Shafti; Beatriz Urbistondo Lazpita; Oussama Elhage; Helge A. Wurdemann; Kaspar Althoefer (EMBC, 2016)

FourByThree: Imagine humans and robots working hand in hand. - Iñaki Maurtua; Nicola Pedrocchi; Andrea Orlandini; Jose de Gea Fernandez; Christian Vogel 003; Aaron Geenen; Kaspar Althoefer; Ali Shafti (ETFA, 2016)

Real-time planner for multi-segment continuum manipulator in dynamic environments. - Ahmad Ataka; Peng Qi 001; Hongbin Liu 001; Kaspar Althoefer (ICRA, 2016)

A geometry deformation model for compound continuum manipulators with external loading. - S. M. Hadi Sadati; Ali Shiva; Ahmad Ataka; S. Elnaz Naghibi; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (ICRA, 2016)

Designing embroidered electrodes for wearable surface electromyography. - Ali Shafti; Roger B. Ribas Manero; A. M. Borg; Kaspar Althoefer; Matthew J. Howard 001 (ICRA, 2016)

Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments. - Ahmad Ataka; Peng Qi 001; Ali Shiva; Ali Shafti; Helge A. Wurdemann; Hongbin Liu 001; Kaspar Althoefer (IROS, 2016)

New kinematic multi-section model for catheter contact force estimation and steering. - Junghwan Back; Lukas Lindenroth; Rashed Karim; Kaspar Althoefer; Kawal S. Rhode; Hongbin Liu 001 (IROS, 2016)

Fingertip proximity sensor with realtime visual-based calibration. - Jelizaveta Konstantinova; Agostino Stilli; Angela Faragasso; Kaspar Althoefer (IROS, 2016)

Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. - Lukas Lindenroth; Junghwan Back; Adrian Schoisengeier; Yohan Noh; Helge A. Wurdemann; Kaspar Althoefer; Hongbin Liu 001 (IROS, 2016)

Iterative Closest Labeled Point for tactile object shape recognition. - Shan Luo 001; Wenxuan Mou; Kaspar Althoefer; Hongbin Liu 001 (IROS, 2016)

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam. - Yohan Noh; João Bimbo; Agostino Stilli; Helge A. Wurdemann; Hongbin Liu 001; Richard James Housden; Kawal S. Rhode; Kaspar Althoefer (IROS, 2016)

Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot. - Shuangyi Wang; Davinder Singh; David Lau; Kiran Reddy; Kaspar Althoefer; Kawal S. Rhode; Richard James Housden (CARE@MICCAI, 2016)

Wearable Haptic Based Pattern Feedback Sleeve System. - Anuradha Ranasinghe 001; Kaspar Althoefer; Prokar Dasgupta; Atulya Nagar; D. P. Thrishantha Nanayakkara (SocProS (2), 2016)

In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching. - João Bimbo; Shan Luo 001; Kaspar Althoefer; Hongbin Liu 001 (IEEE Robotics Autom. Lett., 2016)

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. - Ali Shiva; Agostino Stilli; Yohan Noh; Angela Faragasso; Iris De Falco; Giada Gerboni; Matteo Cianchetti; Arianna Menciassi; Kaspar Althoefer; Helge A. Wurdemann (IEEE Robotics Autom. Lett., 2016)

Robot Competitions: What Did We Learn? [Competitions]. - Jorge Dias 001; Kaspar Althoefer; Pedro U. Lima (IEEE Robotics Autom. Mag., 2016)

Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Transesophageal Echocardiography. - Shuangyi Wang; Davinder Singh; Devapriyan Johnson; Kaspar Althoefer; Kawal S. Rhode; Richard James Housden (IEEE Robotics Autom. Mag., 2016)

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics. - Yohan Noh; João Bimbo; Sina Sareh; Helge A. Würdemann; Jan Fras; Damith Suresh Chathuranga; Hongbin Liu 001; Richard James Housden; Kaspar Althoefer; Kawal S. Rhode (Sensors, 2016)

Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. - Asghar Ataollahi; Rashed Karim; Arash Soleiman Fallah; Kawal S. Rhode; Reza Razavi; Lakmal D. Seneviratne; Tobias Schaeffter; Kaspar Althoefer (IEEE Trans. Biomed. Eng., 2016)

Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy. - Cheng Chen; Fengchao Zhang; Jamie Barras; Kaspar Althoefer; Swarup Bhunia; Soumyajit Mandal (IEEE ACM Trans. Comput. Biol. Bioinform., 2016)

Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins. - Anuradha Ranasinghe 001; Nantachai Sornkarn; Prokar Dasgupta; Kaspar Althoefer; Jacques Penders; D. P. Thrishantha Nanayakkara (IEEE Trans. Cybern., 2016)

Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach. - Peng Qi 001; Chuang Liu 003; Ahmad Ataka; Hak-Keung Lam; Kaspar Althoefer (IEEE Trans. Ind. Electron., 2016)

Stable Grip Control on Soft Objects With Time-Varying Stiffness. - D. P. Thrishantha Nanayakkara; Allen Jiang; Maria del Rocio Armas Fernandez; Hongbin Liu 001; Kaspar Althoefer; João Bimbo (IEEE Trans. Robotics, 2016)

Low cost soft endoscope robotic probe. - Riaan Stopforth; Shaniel Davrajh; Kaspar Althoefer (AFRICON, 2017)

Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators. - Agostino Stilli; Luca Grattarola; Hauke Feldmann; Helge A. Wurdemann; Kaspar Althoefer (ICRA, 2017)

Object classification using hybrid fiber optical force/proximity sensor. - Jelizaveta Konstantinova; Giuseppe Cotugno 001; Agostino Stilli; Yohan Noh; Kaspar Althoefer (IEEE SENSORS, 2017)

Soft fluidic rotary actuator with improved actuation properties. - Jan Fras; Yohan Noh; Helge A. Wurdemann; Kaspar Althoefer (IROS, 2017)

Autonomous Object Handover Using Wrist Tactile Information. - Jelizaveta Konstantinova; Senka Krivic; Agostino Stilli; Justus H. Piater; Kaspar Althoefer (TAROS, 2017)

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments. - S. M. Hadi Sadati; Seyedeh Elnaz Naghibi; Ali Shiva; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (TAROS, 2017)

A Geometry Deformation Model for Braided Continuum Manipulators. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ali Shiva; Yohan Noh; Aditya Gupta; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (Frontiers Robotics AI, 2017)

Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. - Shan Luo 001; Leqi Zhu; Kaspar Althoefer; Hongbin Liu 001 (Neurocomputing, 2017)

Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. - Jelizaveta Konstantinova; Agostino Stilli; Kaspar Althoefer (Sensors, 2017)

Detecting NQR signals severely polluted by interference. - Weihang Shao; Jamie Barras; Kaspar Althoefer; Panagiotis Kosmas (Signal Process., 2017)

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands. - Giuseppe Cotugno 001; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Trans. Syst. Man Cybern. Syst., 2017)

Soft Robotics. Bio-inspired Antagonistic Stiffening. - Agostino Stilli; Kaspar Althoefer; Helge A. Wurdemann (Developing Support Technologies, 2018)

Plant-Inspired Soft Pneumatic Eversion Robot. - Fabrizio Putzu; Taqi Abrar; Kaspar Althoefer (BioRob, 2018)

Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments. - Ahmad Ataka; Hak-Keung Lam; Kaspar Althoefer (ICRA, 2018)

Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator. - Jan Fras; Yohan Noh; Mateusz Macias; Helge A. Würdemann; Kaspar Althoefer (ICRA, 2018)

Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator. - Ahmad Ataka; Ali Shiva; Hak-Keung Lam; Kaspar Althoefer (IROS, 2018)

Soft Biomimetic Prosthetic Hand: Design, Manufacturing and Preliminary Examination. - Jan Fras; Kaspar Althoefer (IROS, 2018)

Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. - Agostino Stilli; Efstathios Kolokotronis; Jan Fras; Ahmad Ataka; Kaspar Althoefer; Helge A. Wurdemann (IROS, 2018)

Fluidical bending actuator designed for soft octopus robot tentacle. - Jan Fras; Mateusz Macias; Yohan Noh; Kaspar Althoefer (RoboSoft, 2018)

Towards creating a flexible shape senor for soft robots. - Faisal Al Jaber; Kaspar Althoefer (RoboSoft, 2018)

Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment. - Alok Mehta; Akash Mehta; Diana Velazquez-Pimentel; Samy Sadek; Kaspar Althoefer (RoboSoft, 2018)

Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement. - S. M. Hadi Sadati; S. Elnaz Naghibi; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (RoboSoft, 2018)

AirExGlove - A novel pneumatic exoskeleton glove for adaptive hand rehabilitation in post-stroke patients. - Agostino Stilli; Arianna Cremoni; Matteo Bianchi 003; Alessandro Ridolfi; Filippo Gerii; Federica Vannetti; Helge A. Wurdemann; Benedetto Allotta; Kaspar Althoefer (RoboSoft, 2018)

Hypertonic Saline Solution for Signal Transmission and Steering in MRI-Guided Intravascular Catheterisation. - Alberto Caenazzo; Kaspar Althoefer (TAROS, 2018)

Soft Pneumatic Prosthetic Hand. - Jan Fras; Kaspar Althoefer (TAROS, 2018)

Camera-Based Force and Tactile Sensor. - Wanlin Li; Jelizaveta Konstantinova; Yohan Noh; Akram Alomainy; Kaspar Althoefer (TAROS, 2018)

A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System. - Ololade O. Obadina; Mohamed A. Thaha; Kaspar Althoefer; M. Hasan Shaheed (TAROS, 2018)

Localized online learning-based control of a soft redundant manipulator under variable loading. - Justin D. L. Ho; Kit-Hang Lee; Wai Lun Tang; Ka-Ming Hui; Kaspar Althoefer; James Lam; Ka-Wai Kwok (Adv. Robotics, 2018)

Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. - Ahmad Ataka; Hak-Keung Lam; Kaspar Althoefer (IEEE Robotics Autom. Lett., 2018)

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2018)

Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. - S. M. Hadi Sadati; Luis Sullivan; Ian D. Walker; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2018)

Real-Time Vision-Based Stiffness Mapping. - Angela Faragasso; João Bimbo; Agostino Stilli; Helge A. Wurdemann; Kaspar Althoefer; Hajime Asama (Sensors, 2018)

Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments. - Ahmad Ataka; Hak-Keung Lam; Kaspar Althoefer (ICRA, 2019)

Real-time Robot-assisted Ergonomics. - Ali Shafti; Ahmad Ataka; Beatriz Urbistondo Lazpita; Ali Shiva; Helge A. Würdemann; Kaspar Althoefer (ICRA, 2019)

EPAM: Eversive Pneumatic Artificial Muscle. - Taqi Abrar; Fabrizio Putzu; Jelizaveta Konstantinova; Kaspar Althoefer (RoboSoft, 2019)

An Elastomer-based Flexible Optical Force and Tactile Sensor. - Wanlin Li; Jelizaveta Konstantinova; Yohan Noh; Zixiang Ma; Akram Alomainy; Kaspar Althoefer (RoboSoft, 2019)

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. - Seyedmohammadhadi Sadati; Ali Shiva; Seyedeh Elnaz Naghibi; D. Caleb Rucker; Ludovic Renson; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Helmut Hauser; Ian D. Walker (Robotics: Science and Systems, 2019)

Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links. - Ahmad Ali; Kaspar Althoefer; Jelizaveta Konstantinova (TAROS (1), 2019)

Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. - Ahmad Ataka; Agostino Stilli; Jelizaveta Konstantinova; Helge A. Wurdemann; Kaspar Althoefer (TAROS (1), 2019)

Virtual Reality Simulator for Medical Auscultation Training. - Luis Andrés Puértolas Bálint; Luis Humberto Perez Macías; Kaspar Althoefer (TAROS (1), 2019)

Mobile Robot Trajectory Analysis with the Help of Vision System. - Dinmohamed Danabek; Ata Otaran; Kaspar Althoefer; Ildar Farkhatdinov (TAROS (2), 2019)

Modelling of a Soft Sensor for Exteroception and Proprioception in a Pneumatically Actuated Soft Robot. - Abu Bakar Dawood; Hareesh Godaba; Kaspar Althoefer (TAROS (2), 2019)

Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems. - Jan Fras; Kaspar Althoefer (TAROS (1), 2019)

Payload Capabilities and Operational Limits of Eversion Robots. - Hareesh Godaba; Fabrizio Putzu; Taqi Abrar; Jelizaveta Konstantinova; Kaspar Althoefer (TAROS (2), 2019)

Design Analysis of a Fabric Based Lightweight Robotic Gripper. - Ahmed Hassan; Hareesh Godaba; Kaspar Althoefer (TAROS (1), 2019)

Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing. - Faisal Al Jaber; Kaspar Althoefer (TAROS (1), 2019)

Elastomer-Based Touch Sensor: Visualization of Tactile Pressure Distribution. - Wanlin Li; Jelizaveta Konstantinova; Akram Alomainy; Kaspar Althoefer (TAROS (2), 2019)

Position and Velocity Control for Telemanipulation with Interoperability Protocol. - Bukeikhan Omarali; Francesca Palermo; Maurizio Valle; Stefan Poslad; Kaspar Althoefer; Ildar Farkhatdinov (TAROS (1), 2019)

Soft Particles for Granular Jamming. - Fabrizio Putzu; Jelizaveta Konstantinova; Kaspar Althoefer (TAROS (2), 2019)

Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System. - Shuangyi Wang; James Housden; Yohan Noh; Davinder Singh; Anisha Singh; Emily Skelton; Jacqueline Matthew; Cornelius Tan; Junghwan Back; Lukas Lindenroth; Alberto Gómez 002; Nicolas Toussaint; et al. (TAROS (2), 2019)

Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. - Ketao Zhang; Kaspar Althoefer (TAROS (1), 2019)

iCLAP: shape recognition by combining proprioception and touch sensing. - Shan Luo 001; Wenxuan Mou; Kaspar Althoefer; Hongbin Liu 001 (Auton. Robots, 2019)

An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. - Min Li 003; Bo He 001; Ziting Liang; Chen-Guang Zhao; Jiazhou Chen; Yueyan Zhuo; Guanghua Xu; Jun Xie 002; Kaspar Althoefer (Frontiers Neurorobotics, 2019)

Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin. - Takahiro Matsuno; Zhongkui Wang; Kaspar Althoefer; Shinichi Hirai (IEEE Robotics Autom. Lett., 2019)

Criminisi Algorithm Applied to a GelSight Fingertip Sensor for Multi-modality Perception. - Xinran Li; Wanlin Li; Yu Zheng; Kaspar Althoefer; Peng Qi 001 (AIM, 2020)

Implementing Tactile and Proximity Sensing for Crack Detection. - Francesca Palermo; Jelizaveta Konstantinova; Kaspar Althoefer; Stefan Poslad; Ildar Farkhatdinov (ICRA, 2020)

F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation. - Wanlin Li; Yohan Noh; Akram Alomainy; Ivan Vitanov; Yu Zheng; Peng Qi 001; Kaspar Althoefer (IEEE SENSORS, 2020)

Observer-based Control of Inflatable Robot with Variable Stiffness *. - Ahmad Ataka; Taqi Abrar; Fabrizio Putzu; Hareesh Godaba; Kaspar Althoefer (IROS, 2020)

Silicone-based Capacitive E-skin for Exteroception and Proprioception. - Abu Bakar Dawood; Hareesh Godaba; Ahmad Ataka; Kaspar Althoefer (IROS, 2020)

A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing. - Hareesh Godaba; Aqeel Sajad; Navin Patel; Kaspar Althoefer; Ketao Zhang (IROS, 2020)

Virtual Reality based Telerobotics Framework with Depth Cameras. - Bukeikhan Omarali; Brice D. Denoun; Kaspar Althoefer; Lorenzo Jamone; Maurizio Valle; Ildar Farkhatdinov (RO-MAN, 2020)

Instant soft robot: A simple recipe for quick and easy manufacturing. - Jan Fras; Jakub Glówka; Kaspar Althoefer (RoboSoft, 2020)

A bending sensor insensitive to pressure: soft proprioception based on abraded optical fibres. - Hareesh Godaba; Ivan Vitanov; Faisal Al Jaber; Ahmad Ataka; Kaspar Althoefer (RoboSoft, 2020)

An Inhomogeneous Structured Eversion Actuator. - Taqi Abrar; Ahmed Hassan; Fabrizio Putzu; Hareesh Godaba; Ahmad Ataka; Kaspar Althoefer (TAROS, 2020)

Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. - Abu Bakar Dawood; Hareesh Godaba; Kaspar Althoefer (TAROS, 2020)

Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach. - Ivan Vitanov; Ataka Rizqi; Kaspar Althoefer (TAROS, 2020)

Plant Bioinspired Ecological Robotics. - P. Adrian Frazier; Lorenzo Jamone; Kaspar Althoefer; Paco Calvo (Frontiers Robotics AI, 2020)

Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. - Francesca Palermo; Jelizaveta Konstantinova; Kaspar Althoefer; Stefan Poslad; Ildar Farkhatdinov (Frontiers Robotics AI, 2020)

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness. - Ahmad Ataka; Taqi Abrar; Fabrizio Putzu; Hareesh Godaba; Kaspar Althoefer (IEEE Robotics Autom. Lett., 2020)

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. - S. M. Hadi Sadati; Ali Shiva; Nicolas Herzig; D. Caleb Rucker; Helmut Hauser; Ian D. Walker; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

Multi-modal robotic visual-tactile localisation and detection of surface cracks. - Francesca Palermo; Liz Rincon Ardila; Changjae Oh; Kaspar Althoefer; Stefan Poslad; Gentiane Venture; Ildar Farkhatdinov (CASE, 2021)

Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. - Zuzanna Slonina; Aramis Augusto Bonzini; Joshua Brown 004; Shuge Wang; Ildar Farkhatdinov; Kaspar Althoefer; Lorenzo Jamone; Elisabetta Versace (ICDL, 2021)

Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure. - Taqi Abrar; Fabrizio Putzu; Ahmad Ataka; Hareesh Godaba; Kaspar Althoefer (ICRA, 2021)

Virtual Reality Percussion Simulator for Medical Student Training. - Luis Andrés Puértolas Bálint; Kaspar Althoefer; Luis Humberto Perez Macías (RTSI, 2021)

Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers. - Ahmed Hassan; Faisal Al Jaber; Hareesh Godaba; Ivan Vitanov; Kaspar Althoefer (RTSI, 2021)

Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. - Mana Ishihara; Takahiro Matsuno; Kaspar Althoefer; Shinichi Hirai (SII, 2021)

Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. - Bukeikhan Omarali; Kaspar Althoefer; Fulvio Mastrogiovanni; Maurizio Valle; Ildar Farkhatdinov (SMC, 2021)

Large-Scale Surface Shape Sensing with Learning-Based Computational Mechanics. - Kui Wang 002; Chi-hin Mak; Justin D. L. Ho; Zhiyu Liu; Kam-Yim Sze; Kenneth K. Y. Wong; Kaspar Althoefer; Yunhui Liu 001; Toshio Fukuda; Ka-Wai Kwok (Adv. Intell. Syst., 2021)

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ali Shiva; Brendan Michael; Ludovic Renson; Matthew Howard 001; D. Caleb Rucker; Kaspar Althoefer; Thrishantha Nanayakkara; Steffen Zschaler; Christos Bergeles; Helmut Hauser; et al. (Int. J. Robotics Res., 2021)

Robotics Responds to the COVID-19 Outbreak [From the Guest Editors]. - Lino Marques; Robin Roberson Murphy; Kaspar Althoefer; Satoshi Tadokoro; Cecilia Laschi (IEEE Robotics Autom. Mag., 2021)

A Suite of Robotic Solutions for Nuclear Waste Decommissioning. - Ivan Vitanov; Ildar Farkhatdinov; Brice D. Denoun; Francesca Palermo; Ata Otaran; Joshua Brown 004; Bukeikhan Omarali; Taqi Abrar; Miles E. Hansard; Changjae Oh; Stefan Poslad; Chen Liu 032; et al. (Robotics, 2021)

Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. - Bukeikhan Omarali; Francesca Palermo; Kaspar Althoefer; Maurizio Valle; Ildar Farkhatdinov (ICRA, 2022)

Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator. - Faisal Al Jaber; Ahmed Hassan; Ivan Vitanov; Kaspar Althoefer (RoboSoft, 2022)

Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors. - Abu Bakar Dawood; Brice D. Denoun; Kaspar Althoefer (RoboSoft, 2022)

An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. - Chen Liu 032; Oliver Edwards; Kaspar Althoefer; Ketao Zhang; Hareesh Godaba (RoboSoft, 2022)

Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. - Takahiro Matsuno; Rikuya Miyagoshi; Keita Shimizu; Mana Ishihara; Shuya Watanabe; Jun Shintake; Kaspar Althoefer; Shinichi Hirai (RoboSoft, 2022)

The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray. - Yi Sun 008; Liao Wu; Hongjian Wang; Kaspar Althoefer; Peng Qi 001 (RoboSoft, 2022)

A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons. - Cem Suulker; Ahmed Hassan; Sophie Skach; Kaspar Althoefer (RoboSoft, 2022)

Attribution of autonomy and its role in robotic language acquisition. - Frank Förster; Kaspar Althoefer (AI Soc., 2022)

A Fabric Soft Robotic Exoskeleton with Novel Elastic Band Integrated Actuators for Hand Rehabilitation. - Cem Suulker; Sophie Skach; Kaspar Althoefer (CoRR, 2022)

Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments. - Ahmad Ataka; Hak-Keung Lam; Kaspar Althoefer (Frontiers Robotics AI, 2022)

Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook. - Ka-Wai Kwok; Helge A. Wurdemann; Alberto Arezzo; Arianna Menciassi; Kaspar Althoefer (Proc. IEEE, 2022)

Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types. - Guangyu Jia; Hak-Keung Lam; Kaspar Althoefer (Pattern Recognit., 2022)

Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons. - Cem Suulker; Sophie Skach; Kaspar Althoefer (IEEE Robotics Autom. Lett., 2022)

A Framework to Design and Build a Height Controllable Eversion Robot. - Danyaal Kaleel; Benoit Clement; Kaspar Althoefer (ICCMA, 2023)

QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human Manipulation. - Zain Murtaza; Aramis Augusto Bonzini; Kaspar Althoefer; Lorenzo Jamone (ICDL, 2023)

A Miniaturised Camera-based Multi-Modal Tactile Sensor. - Kaspar Althoefer; Yonggen Ling; Wanlin Li; Xinyuan Qian 001; Wang Wei Lee; Peng Qi 001 (ICRA, 2023)

Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin. - Abu Bakar Dawood; Claudio Coppola; Kaspar Althoefer (ICRA, 2023)

A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissue. - Jan Fras; Kaspar Althoefer (ICRA, 2023)

Eversion-Capable Fabric Robot Gripper with Novel Retraction Mechanism. - Ahmed Hassan; Taqi Abrar; Faisal Al Jaber; Ivan Vitanov; Kaspar Althoefer (IROS, 2023)

Soft Cap for Vine Robots. - Cem Suulker; Sophie Skach; Danyaal Kaleel; Taqi Abrar; Zain Murtaza; Dilara Suulker; Kaspar Althoefer (IROS, 2023)

Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications. - Faisal Al Jaber; Ahmed Hassan; Taqi Abrar; Ivan Vitanov; Kaspar Althoefer (RoboSoft, 2023)

Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot. - Gabriele Giudici; Bukeikhan Omarali; Aramis Augusto Bonzini; Kaspar Althoefer; Ildar Farkhatdinov; Lorenzo Jamone (TAROS, 2023)

Soft Cap for Eversion Robots. - Cem Suulker; Sophie Skach; Danyaal Kaleel; Taqi Abrar; Zain Murtaza; Dilara Suulker; Kaspar Althoefer (CoRR, 2023)

Integrating Elastic Bands to Enhance Performance for Textile Robotics. - Cem Suulker; Sophie Skach; Kaspar Althoefer (CoRR, 2023)

Robotic surface exploration with vision and tactile sensing for cracks detection and characterisation. - Francesca Palermo; Bukeikhan Omarali; Changjae Oh; Kaspar Althoefer; Ildar Farkhatdinov (CoRR, 2023)

Eversion Robots for Mapping Radiation in Pipes. - Thomas Mack; Mohammed Al-Dubooni; Kaspar Althoefer (CoRR, 2023)

A Soft Robotic Gripper with Active Palm for In-Hand Object Reorientation. - Thomas Mack; Ketao Zhang; Kaspar Althoefer (CoRR, 2023)

L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing. - Wanlin Li; Meng Wang 051; Jiarui Li; Yao Su 001; Devesh K. Jha; Xinyuan Qian 001; Kaspar Althoefer; Hangxin Liu (IEEE Robotics Autom. Lett., 2023)

The 40th International Conference on Robotics and Automation (ICRA) 2023: Embracing the Future: Making Robots for Humans [Conference Highlights]. - Kaspar Althoefer (IEEE Robotics Autom. Mag., 2023)

Hybrid Continuum-Eversion Robot: Precise Navigation and Decontamination in Nuclear Environments using Vine Robot. - Mohammed Al-Dubooni; Cuebong Wong; Kaspar Althoefer (IROS, 2024)

Optimal Sensing in Soft Pneumatic Actuators via Stretchable Optical Waveguides. - Faisal Al Jaber; Ahmed Hassan; Ivan Vitanov; Noora Almeadadi; Hind AlHajri; Sara AlEnazi; Rashid Al-Marri; Kaspar Althoefer; Pilsung Choe (IROS, 2024)

DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation Tasks. - Xiaofeng Mao; Gabriele Giudici; Claudio Coppola; Kaspar Althoefer; Ildar Farkhatdinov; Zhibin Li 001; Lorenzo Jamone (IROS, 2024)

Reconfigurable Soft Gripper Based on Eversion and Electroadhesion for Cluttered Environments. - Dana Ragab; Elizabeth Rendon-Morales; Kaspar Althoefer; Hareesh Godaba (IROS, 2024)

Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers. - Meng Wang 051; Wanlin Li; Hao Liang; Boren Li; Kaspar Althoefer; Yao Su 001; Hangxin Liu (IROS, 2024)

Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre Scale. - Jialei Shi; Sara-Adela Abad; Arianna Menciassi; Kaspar Althoefer; Helge A. Wurdemann (RoboSoft, 2024)

Variable Stiffness & Dynamic Force Sensor for Tissue Palpation. - Abu Bakar Dawood; Zhenyu Zhang; Martin Angelmahr; Alberto Arezzo; Kaspar Althoefer (TAROS (1), 2024)

Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft Robot. - Danyaal Kaleel; Benoit Clement; Kaspar Althoefer (TAROS (2), 2024)

Deformable Tip Mount for Soft Growing Eversion Robots. - Cem Suulker; Sophie Skach; Danyaal Kaleel; Taqi Abrar; Zain Murtaza; Dilara Suulker; Kaspar Althoefer (CoRR, 2024)

A User Study Method on Healthy Participants for Assessing an Assistive Wearable Robot Utilising EMG Sensing. - Cem Suulker; Alexander Greenway; Sophie Skach; Ildar Farkhatdinov; Stuart Charles Miller; Kaspar Althoefer (CoRR, 2024)

Assistive Soft Robotic Glove with Ruffles Enhanced Textile Actuators. - Cem Suulker; Kaspar Althoefer (CoRR, 2024)

Hydraulic Volumetric Soft Everting Vine Robot Steering Mechanism for Underwater Exploration. - Danyaal Kaleel; Benoit Clement; Kaspar Althoefer (CoRR, 2024)

Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation. - Gabriele Giudici; Claudio Coppola; Kaspar Althoefer; Ildar Farkhatdinov; Lorenzo Jamone (CoRR, 2024)

Leveraging Tactile Sensing to Render both Haptic Feedback and Virtual Reality 3D Object Reconstruction in Robotic Telemanipulation. - Gabriele Giudici; Aramis Augusto Bonzini; Claudio Coppola; Kaspar Althoefer; Ildar Farkhatdinov; Lorenzo Jamone (CoRR, 2024)

Embedding high-resolution touch across robotic hands enables adaptive human-like grasping. - Zihang Zhao; Wanlin Li; Yuyang Li; Tengyu Liu; Boren Li; Meng Wang 051; Kai Du; Hangxin Liu; Yixin Zhu 001; Qining Wang; Kaspar Althoefer; Song-Chun Zhu (CoRR, 2024)

Abraded optical fibre-based dynamic range force sensor for tissue palpation. - Abu Bakar Dawood; Vamsi Krishna Chavali; Thomas Mack; Zhenyu Zhang; Hareesh Godaba; Martin Angelmahr; Kaspar Althoefer (Frontiers Robotics AI, 2024)

Editorial: Advanced motion control and navigation of robots in extreme environments. - Allahyar Montazeri; Nargess Sadeghzadeh Nokhodberiz; Khoshnam Shojaei; Kaspar Althoefer (Frontiers Robotics AI, 2024)

Intelligent Shape Decoding of a Soft Optical Waveguide Sensor. - Chi-hin Mak; Yingqi Li; Kui Wang 002; Mengjie Wu; Justin Di-Lang Ho; Qi Dou 001; Kam-Yim Sze; Kaspar Althoefer; Ka-Wai Kwok (Adv. Intell. Syst., 2024)

Let Me Give You a Hand: Enhancing Human Grasp Force With a Soft Robotic Assistive Glove. - Cem Suulker; Alexander Greenway; Sophie Skach; Ildar Farkhatdinov; Stuart Miller; Kaspar Althoefer (IEEE Robotics Autom. Lett., 2024)

Human Emotion-Mediated Soft Robotic Arts: Exploring the Intersection of Human Emotions, Soft Robotics and Arts. - Saitarun Nadipineni; Chenhao Hong; Tanishtha Ramlall; H. P. Chapa Sirithunge; Kaspar Althoefer; Fumiya Iida; Thilina Dulantha Lalitharatne (RoboSoft, 2025)

Corrigendum: Editorial: Advanced motion control and navigation of robots in extreme environments. - Allahyar Montazeri; Nargess Sadeghzadeh Nokhodberiz; Khoshnam Shojaei; Kaspar Althoefer (Frontiers Robotics AI, 2025)

Guest EditorialSpecial Collection on Tactile Robotics. - Mark Yim; Shan Luo 001; Nathan F. Lepora; Wenzhen Yuan 001; Kaspar Althoefer; Gordon Cheng; Julio Rogelio Guadarrama-Olvera; Ravinder Dahiya (IEEE Trans. Robotics, 2025)

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects. - Zihang Zhao; Yuyang Li; Wanlin Li; Zhenghao Qi; Lecheng Ruan; Yixin Zhu 001; Kaspar Althoefer (IEEE Trans. Robotics, 2025)

Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions. - Tianliang Yao; Bo Lu 001; Markus Kowarschik; Yixuan Yuan; Hubin Zhao; Sebastien Ourselin; Kaspar Althoefer; Junbo Ge; Peng Qi 001 (CoRR, 2025)