Dr Jan Fras

Jan Fras

PhD student @ QMUL, Robotics Research Engineer @ Ocado Technology

SEMS, Supervisor: Prof. Kaspar Althoefer

jfras.github.io/jfras/
Google Scholar

Research

Soft robotics, Soft locomotion, Grasping, Manipulation, Soft actuators

Interests

My focus is actuation in soft robotics. I design, fabricate and program soft robotic systems. Check my website for more details!

Publications

Publications of specific relevance to Advanced Robotics

2021

Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and Althoefer K (2021). Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop. Applied Sciences  vol. 11, (14) 10.3390/app11146586
Fras J, Arezzo A, Shiva A and Althoefer K (2021). Chapter 27 Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability. Soft Matter For Biomedical Applications  Royal Society of Chemistry (RSC) 10.1039/9781839161124-00684

2020

Fras J, Althoefer K and Glowka J (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. Conference: IEEE International Conference on Soft Robotics RoboSoft 2020 (Online)  10.1109/RoboSoft48309.2020.9115973
Macia? M, D?browski A, Fra? J, Karczewski M, Puchalski S, Tabaka S and Jaroszek P (2020). Measuring Performance in Robotic Teleoperation Tasks with Virtual Reality Headgear. Advances in Intelligent Systems and Computing  vol. 920, 408-417. 10.1007/978-3-030-13273-6_39
Fras J, Glowka J and Althoefer K (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. 2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)  476-482. 10.1109/robosoft48309.2020.9115973

2019

Fras J and Althoefer K (2019). Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 103-114. Conference: Annual Conference Towards Autonomous Robotic Systems  10.1007/978-3-030-23807-0_9
Mustaza SM, Elsayed Y, Lekakou C, Saaj C and Fras J (2019). Dynamic modeling of fiber-reinforced soft manipulator: A visco-hyperelastic material-based continuum mechanics approach. Soft Robotics  vol. 6, (3) 305-317. 10.1089/soro.2018.0032
Shiva A, Sadati SMH, Noh Y, Fra? J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K (2019). Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robotics  vol. 6, (2) 228-249. 10.1089/soro.2018.0060
FRAS J and ALTHOEFER K (2019). Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination. Conference: International Conference on Intelligent Robots  10.1109/IROS.2018.8593666

2018

Stilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K and Wurdemann HA (2018). Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. IEEE International Conference on Intelligent Robots and Systems  6959-6964. Conference: International Conference on Intelligent Robots and Systems (IROS)  10.1109/IROS.2018.8593674
Fras J and Althoefer K (2018). Bio-mimetic pneumatic soft prosthetic hand. UK-Robotics and Autonomous Systems (RAS) Network Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings  10.31256/ukras17.29
FRAS J and ALTHOEFER K (2018). Soft Pneumatic Prosthetic Hand. Conference: TAROS  10.1007/978-3-319-96728-8_10
FRAS J, Noh Y, Macias M, Wurdemann H and ALTHOEFER K (2018). Bio-inspired octopus robot based on novel soft fluidic actuator. Conference: IEEE International Conference on Robotics and Automation (ICRA)  10.1109/ICRA.2018.8460629
FRAS J, Macias M, Noh Y and ALTHOEFER K (2018). Fluidical bending actuator designed for soft octopus robot tentacle. Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/ROBOSOFT.2018.8404928

2017

Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K and Menciassi A (2017). Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery. International Journal of Medical Robotics and Computer Assisted Surgery  vol. 14, (1) 10.1002/rcs.1875
ALTHOEFER KA, fras J, noh Y and Wurdemann H (2017). Soft fluidic rotary actuator with improved actuation properties. Conference: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/IROS.2017.8206448
Garbin N, Stilli A, Shiva A, Fras J, Slawinski PR, Obstein KL, Althoefer K, Wurdemann HA and Valdastri P (2017). Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer Screening. UK-Robotics and Autonomous Systems (RAS) Network Conference: 10th Hamlyn Symposium on Medical Robotics 2017  10.31256/hsmr2017.27
Fra? J, Macia? M, Czubaczy?ski F, Salek P and Glówka J (2017). Soft flexible gripper design, characterization and application. Advances in Intelligent Systems and Computing  vol. 543, 368-377. 10.1007/978-3-319-48923-0_40
Fra? J (2017). Depth-map-based shape recognition of soft continuum manipulator body. Advances in Intelligent Systems and Computing  10.1007/978-3-319-54042-9_27

2016

ALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H, Housden J and Rhode K (2016). Multi-axis force/torque sensor based on simply supported beam and optoelectronics. Journal of Sensors MDPI  10.3390/s16111936
Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M, Menciassi A, Wurdemann H, Noh Y, Althoefer K, Fras J, Glowka J, Nawrat Z, Cassidy G, Walker R and Morino M (2016). Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models. Surgical Endoscopy: surgical and interventional techniques  10.1007/s00464-016-4967-x
Fra? J, Tabaka S and Czarnowski J (2016). Visual marker based shape recognition system for continuum manipulators. Advances in Intelligent Systems and Computing  vol. 440, 435-445. 10.1007/978-3-319-29357-8_39

2015

Fras J, Czarnowski J, Macias M, Glowka J, Cianchetti M and Menciassi A (2015). New STIFF-FLOP module construction idea for improved actuation and sensing. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2015-June, (June) 2901-2906. 10.1109/ICRA.2015.7139595
Mustaza SM, Mahdi D, Saaj C, Albukhanajer WA, Lekakou C, Elsayed Y and Fras J (2015). Tuneable stiffness design of soft continuum manipulator. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9246, 152-163. 10.1007/978-3-319-22873-0_14

2014

Fra? J, Czarnowski J, Macia? M and G?ówka J (2014). Static modeling of multisection soft continuum manipulator for stiff-flop project. Advances in Intelligent Systems and Computing  vol. 267, 365-375. 10.1007/978-3-319-05353-0_35