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/app111465862020

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_392019
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.2018.00602018

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, 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
Abidi H, Gerboni G, Brancadoro M,
Fras J, Diodato A, Cianchetti M, Wurdemann H,
Althoefer K and Menciassi A (2018).
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.18752017
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_272016
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_392015
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_142014

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