Granular Jamming Based Controllable Organ Design for Abdominal Palpation. - Liang He 007; Nicolas Herzig; Simon de Lusignan; D. P. Thrishantha Nanayakkara (EMBC, 2018)

Precise In-Hand Manipulation of Soft Objects using Soft Fingertips with Tactile Sensing and Active Deformation. - Qiujie Lu; Liang He 007; D. P. Thrishantha Nanayakkara; Nicolas Rojas 002 (RoboSoft, 2020)

Facial Expression Rendering in Medical Training Simulators: Current Status and Future Directions. - Thilina Dulantha Lalitharatne; Yongxuan Tan; Florence Leong; Liang He 007; Nejra van Zalk; Simon de Lusignan; Fumiya Iida; D. P. Thrishantha Nanayakkara (IEEE Access, 2020)

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects. - Liang He 007; Qiujie Lu; Sara-Adela Abad; Nicolas Rojas 002; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

A Soft Pressure Sensor Skin for Hand and Wrist Orthoses. - Xinyang Tan; Liang He 007; Jiangang Cao; Wei Chen; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation Training. - Liang He 007; Florence Leong; Thilina Dulantha Lalitharatne; Simon de Lusignan; Thrishantha Nanayakkara (ICRA, 2021)

Design of a Multimaterial 3D-Printed Soft Actuator with Bi-directional Variable Stiffness. - Oliver Shorthose; Liang He 007; Alessandro Albini; Perla Maiolino (TAROS, 2021)

MorphFace: A Hybrid Morphable Face for a Robopatient. - Thilina Dulantha Lalitharatne; Yongxuan Tan; Liang He 007; Florence Leong; Nejra van Zalk; Simon de Lusignan; Fumiya Iida; Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2021)

An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training. - Liang He 007; Nicolas Herzig; Simon de Lusignan; Luca Scimeca; Perla Maiolino; Fumiya Iida; Thrishantha Nanayakkara (IEEE Trans. Robotics, 2021)

A Modular Soft Robotic Arm with Embedded Tactile Sensors for Proprioception. - Wenye Ouyang; Liang He 007; Alessandro Albini; Perla Maiolino (RoboSoft, 2022)

A Simulation-Based Toolbox to Expedite the Digital Design of Bellow Soft Pneumatic Actuators. - Yao Yao; Liang He 007; Perla Maiolino (RoboSoft, 2022)

Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing. - Oliver Shorthose; Alessandro Albini; Liang He 007; Perla Maiolino (IEEE Robotics Autom. Lett., 2022)

Design and Characterization of a 3D-Printed Pneumatically-Driven Bistable Valve With Tunable Characteristics. - Sihan Wang 003; Liang He 007; Perla Maiolino (IEEE Robotics Autom. Lett., 2022)

A Modular Approach to Design Multi-Channel Bistable Valves for Integrated Pneumatically-Driven Soft Robots via 3D-Printing. - Sihan Wang 003; Liang He 007; Perla Maiolino (IEEE Robotics Autom. Lett., 2022)

EDAMS: An Encoder-Decoder Architecture for Multi-grasp Soft Sensing Object Recognition. - Oliver Shorthose; Alessandro Albini; Luca Scimeca; Liang He 007; Perla Maiolino (RoboSoft, 2023)

Design Optimization for Bellow Soft Pneumatic Actuators in Shape-Matching. - Yao Yao; Yuwen Chen; Liang He 007; Perla Maiolino (RoboSoft, 2023)

SPADA: A Toolbox of Designing Soft Pneumatic Actuators for Shape Matching based on the Surrogate Model. - Yao Yao; Liang He 007; Perla Maiolino (CoRR, 2023)

A Sensor Placement Benchmarking Method With Principal Component Analysis. - Fengyu Zhong; Liang He 007; Amy Zavatsky; Perla Maiolino (IEEE Trans. Instrum. Meas., 2023)

A Magnetorheological Elastomer-Based Proportional Valve for Soft Pneumatic Actuators. - Sihan Wang 003; Liang He 007; Alessandro Albini; Peizhi Zhang; Perla Maiolino (Adv. Intell. Syst., 2023)

Touch Technology in Affective Human-, Robot-, and Virtual-Human Interactions: A Survey. - Temitayo A. Olugbade; Liang He 007; Perla Maiolino; Dirk Heylen; Nadia Bianchi-Berthouze (Proc. IEEE, 2023)

A Toolbox for Designing 3D-Printing-Ready Pneumatic Circuits for Controlling Soft Robots. - Sihan Wang 003; Liang He 007; Yao Yao; Chenying Liu 002; Perla Maiolino (Adv. Intell. Syst., 2023)

The design of a sensorized laryngoscope training system for pediatric intubation. - Ningzhe Hou; Liang He 007; Alessandro Albini; Louis Halamek; Perla Maiolino (IROS, 2024)

Improving the Loading and Sensing Performance of a Soft Actuator Using an Internal Spine. - Codrutza-Maria Dragu; Alessandro Albini; Liang He 007; Perla Maiolino (RoboSoft, 2024)

Exploring Kinematic Bifurcations and Hinge Compliance for In-Hand Manipulation: How Could Thick-Panel Origami Contribute? - Chenying Liu 002; Liang He 007; Sihan Wang 003; Albert Williams; Zhong You; Perla Maiolino (Adv. Intell. Syst., 2024)

Designing Kresling Origami for Personalised Wrist Orthosis. - Chenying Liu 002; Shuai Mao; Yixing Lei; Liang He 007 (RoboSoft, 2025)