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ARQ: Advanced Robotics at Queen Mary

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Prof Kaspar Althoefer

Kaspar AlthoeferPhD

Professor of Robotics Engineering
Head of Centre for Advanced Robotics (ARQ)

School of Engineering and Materials Science
Queen Mary University of London
+44 (0)20 7882 3419

www.sems.qmul.ac.uk/k.althoefer
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Publications

Publications of specific relevance to Advanced Robotics

2021

Obadina OO, Thaha MA, Althoefer K and Shaheed MH (2021). Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm. Journal of Vibration and Control  10775463211-10775463211. 10.1177/10775463211003402
Marques L, Murphy R, Althoefer K, Tadokoro S and Laschi C (2021). Robotics Responds to the COVID-19 Outbreak [From the Guest Editors]. IEEE Robotics and Automation Magazine  vol. 28, (1) 16-17. 10.1109/MRA.2020.3048866
Ishihara M, Matsuno T, Althoefer K and Hirai S (2021). Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. 2021 IEEE/SICE International Symposium on System Integration, SII 2021  87-92. 10.1109/IEEECONF49454.2021.9382706
Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C and Shahdad S (2021). Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry. Surgeon  10.1016/j.surge.2020.12.008
Förster F and Althoefer K (2021). Attribution of autonomy and its role in robotic language acquisition. AI and Society  10.1007/s00146-020-01114-8

2020

Palermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I (2020). Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. Frontiers in Robotics and AI  10.3389/frobt.2020.513004
Li W, Noh Y, Alomainy A, Vitanov I, Zheng Y, Qi P and Althoefer K (2020). F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation. Proceedings of IEEE Sensors  vol. 2020-October, 10.1109/SENSORS47125.2020.9278600
Dawood AB, Godaba H, Ataka A and Althoefer K (2020). Silicone-based Capacitive E-skin for Exteroception and Proprioception. Conference: International Conference on Intelligent Robots and Systems (IROS) (Las Vegas, NV, USA (Virtual))  10.1109/IROS45743.2020.9340945
Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). Observer-based Control of Inflatable Robot with Variable Stiffness. IEEE International Conference on Intelligent Robots and Systems  8646-8652. 10.1109/IROS45743.2020.9341785
Godaba H, Sajad A, Patel N, Althoefer K and Zhang K (2020). A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing. IEEE International Conference on Intelligent Robots and Systems  8716-8721. Conference: 2020 IEEE International Conference on Intelligent Robots and Systems  10.1109/IROS45743.2020.9341554
Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J, Xu G and Althoefer K (2020). Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation. IEEE Transactions on Medical Robotics and Bionics  vol. 2, (4) 565-568. 10.1109/tmrb.2020.3031006
Putzu F, ABRAR T, Hassan A, Godaba H, Rizqi A and Althoefer K (2020). An In-Homogeneous Structured Eversion Actuator. Conference: Towards Autonomous Robotic Systems Conference (TAROS) (Online) 
Omarali B, Denoun B, Althoefer K, Jamone L, Valle M and Farkhatdinov I (2020). Virtual Reality based Telerobotics Framework with Depth Cameras. 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020  1217-1222. 10.1109/RO-MAN47096.2020.9223445
Frazier PA, Jamone L, Althoefer K and Calvo P (2020). Plant Bioinspired Ecological Robotics. Frontiers in Robotics and AI  vol. 7, 10.3389/frobt.2020.00079
Li X, Li W, Zheng Y, Althoefer K and Qi P (2020). Criminisi algorithm applied to a gelsight fingertip sensor for multi-modality perception. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM  vol. 2020-July, 190-195. 10.1109/AIM43001.2020.9158799
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
Palermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I (2020). Implementing Tactile and Proximity Sensing for Crack Detection. Proceedings - IEEE International Conference on Robotics and Automation  632-637. 10.1109/ICRA40945.2020.9196936
Godaba H, Vitanov I, Aljaber F, Ataka A and Althoefer K (2020). A bending sensor insensitive to pressure: Soft proprioception based on abraded optical fibres. 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020  104-109. 10.1109/RoboSoft48309.2020.9115984
Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness. IEEE Robotics and Automation Letters  1-1. 10.1109/lra.2020.2976326
Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K and Nanayakkara T (2020). Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings. IEEE Robotics and Automation Letters  vol. 5, (2) 2824-2831. 10.1109/LRA.2020.2972790
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. International Journal of Robotics Research  10.1177/0278364919881685
Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T (2020). Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. Intelligent Robotics and Applications  10.1007/978-3-319-22873-0_52
Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K (2020). An Inhomogeneous Structured Eversion Actuator. 10.1007/978-3-030-63486-5_4
Li W, Alomainy A, Vitanov I, Noh Y, Qi P and Althoefer K (2020). F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement. IEEE Sensors Journal  1-1. 10.1109/jsen.2020.3030631
Dawood AB, Godaba H and Althoefer K (2020). Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. 10.1007/978-3-030-63486-5_8
Vitanov I, Rizqi A and Althoefer K (2020). Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach. 10.1007/978-3-030-63486-5_7

2019

Godaba H, Putzu F, Abrar T, Konstantinova J and Althoefer K (2019). Payload capabilities and operational limits of eversion robots. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 383-394. Conference: Annual Conference Towards Autonomous Robotic Systems  10.1007/978-3-030-25332-5_33
Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C, Back J, Lindenroth L, Gomez A, Toussaint N, Zimmer V, Knight C, Fletcher T, Lloyd D, Simpson J, Pasupathy D, Liu H, Althoefer K, Hajnal J, Razavi R and Rhode K (2019). Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 27-38. Conference: Towards Autonomous Robotic Systems Conference (TAROS)  10.1007/978-3-030-25332-5_3
Dawood AB, Godaba H and Althoefer K (2019). Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 99-110. Conference: Annual Conference Towards Autonomous Robotic Systems  10.1007/978-3-030-25332-5_9
Zhang K and Althoefer K (2019). Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 138-147. Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) (London)  10.1007/978-3-030-23807-0_12
Putzu F, Konstantinova J and Althoefer K (2019). Soft particles for granular jamming. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 65-74. Conference: Towards Autonomus Robotics Systems (TAROS)  10.1007/978-3-030-25332-5_6
Danabek D, Otaran A, Althoefer K and Farkhatdinov I (2019). Mobile robot trajectory analysis with the help of vision system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 273-279. Conference: Towards Autonomous Robotic Systems Conference (TAROS)  10.1007/978-3-030-25332-5_24
Hassan A, Godaba H and Althoefer K (2019). Design Analysis of a Fabric Based Lightweight Robotic Gripper. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 16-27. Conference: Annual Conference Towards Autonomous Robotic Systems  10.1007/978-3-030-23807-0_2
Ali A, Althoefer K and Konstantinova J (2019). Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 160-170. Conference: Towards Autonomous Robotic Systems Conference  10.1007/978-3-030-23807-0_14
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
Bálint LAP, Macías LHP and Althoefer K (2019). Virtual Reality Simulator for Medical Auscultation Training. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 386-398. Conference: Towards Autonomous Robotic Systems Conference  10.1007/978-3-030-23807-0_32
Aljaber F and Althoefer K (2019). Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 126-137. Conference: TAROS  10.1007/978-3-030-23807-0_11
Ataka A, Stilli A, Konstantinova J, Wurdemann HA and Althoefer K (2019). Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 52-64. Conference: Annual Conference Towards Autonomous Robotic Systems  10.1007/978-3-030-23807-0_5
Putzu F, Konstantinova J and Althoefer K (2019). Eversion-type soft overtube for endoscopic surgery. 10.31256/hsmr2019.4
Sadati S, Shiva A, Elnaz Naghibi S, Rucker C, Renson L, Bergeles C, Althoefer K, Nanayakkara T, Hauser H and Walker I (2019). Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. 10.15607/rss.2019.xv.076
Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and Althoefer K (2019). An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. Front Neurorobot  vol. 13, 34-34. 10.3389/fnbot.2019.00034
Abrar T, Putzu F, Konstantinova J and Althoefer K (2019). EPAM: Eversive pneumatic artificial muscle. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics  19-24. 10.1109/ROBOSOFT.2019.8722787
Li W, Konstantinova J, Noh Y, Ma Z, Alomainy A and Althoefer K (2019). An elastomer-based flexible optical force and tactile sensor. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics  361-366. 10.1109/ROBOSOFT.2019.8722793
Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA and Althoefer K (2019). Real-time robot-assisted ergonomics. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2019-May, 1975-1981. Conference: International Conference on Robotics and Automation (ICRA)  10.1109/ICRA.2019.8793739
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J, Singh D and Rhode K (2019). Analysis of a customized clutch joint designed for the safety management of an ultrasound robot. Applied Sciences (Switzerland)  vol. 9, (9) 10.3390/app9091900
Ataka A, Lam HK and Althoefer K (2019). Magnetic-field-inspired navigation for quadcopter robot in unknown environments. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2019-May, 6165-6171. 10.1109/ICRA.2019.8793682
Li W, Konstantinova J, Alomainy A and Althoefer K (2019). Elastomer-based touch sensor: Visualization of tactile pressure distribution. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11650 LNAI, 87-98. Conference: Towards Autonomous Robotic Systems (TAROS)  10.1007/978-3-030-25332-5_8
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
Matsuno T, Wang Z, Althoefer K and Hirai S (2019). Adaptive update of reference capacitances in conductive fabric based robotic skin. IEEE Robotics and Automation Letters  vol. 4, (2) 2212-2219. 10.1109/LRA.2019.2901991
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
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J, Althoefer K, Singh D and Rhode K (2019). Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. J Vis Exp  (143) 10.3791/58811
Ataka A, Shiva A, Lam H-K and Althoefer K (2019). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 (Madrid, Spain)  10.1109/IROS.2018.8593592
Omarali B, Palermo F, Valle M, Poslad S, Althoefer K and Farkhatdinov I (2019). Position and Velocity Control for Telemanipulation with Interoperability Protocol. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 11649 LNAI, 316-324. 10.1007/978-3-030-23807-0_26
Althoefer K, Konstantinova J and Zhang K (2019). Preface.

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
Ataka A, Shiva A, Lam HK and Althoefer K (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE International Conference on Intelligent Robots and Systems  168-173. 10.1109/IROS.2018.8593592
COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T (2018). Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands. PLoS ONE  10.1371/journal.pone.0208228
ALTHOEFER KA (2018). Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading. Advanced Robotics  10.1080/01691864.2018.1528178
Ataka A, Lam HK and Althoefer K (2018). Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments. Proceedings - IEEE International Conference on Robotics and Automation  6983-6988. 10.1109/ICRA.2018.8463203
Puertolas Balint L and Althoefer K (2018). Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. Conference: CRAS 2018 (London) 
PUTZU F, ABRAR T and ALTHOEFER K (2018). Plant-Inspired Soft Pneumatic Eversion Robot. Conference: BioRob 2018 (Enschede, Netherlands)  10.1109/BIOROB.2018.8487848
FRAS J and ALTHOEFER K (2018). Soft Pneumatic Prosthetic Hand. Conference: TAROS  10.1007/978-3-319-96728-8_10
OBADINA OO, THAHA MA, ALTHOEFER K and SHAHEED MH (2018). A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System., Editors: Giuliani M, Assaf T and Giannaccini ME. Lecture Notes in Computer Science  28-39. Conference: Towards Autonomous Robotic Systems (TAROS) 2018 (Bristol, UK)  10.1007/978-3-319-96728-8_3
Caenazzo A and Althoefer K (2018). Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10965 LNAI, 284-290. Conference: TAROS  10.1007/978-3-319-96728-8_24
Li W, Konstantinova J, Noh Y, Alomainy A and Althoefer K (2018). Camera-based force and tactile sensor. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10965 LNAI, 438-450. Conference: TAROS  10.1007/978-3-319-96728-8_37
ALTHOEFER KA (2018). Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. IEEE Robotics and Automation Letters  10.1109/LRA.2018.2853801
Sadati SMH, Naghibi SE, Althoefer K and Nanayakkara T (2018). Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018  455-460. 10.1109/ROBOSOFT.2018.8405368
Al Jaber F and Althoefer K (2018). Towards creating a flexible shape senor for soft robots. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018  114-119. 10.1109/ROBOSOFT.2018.8404906
Mehta A, Velazquez-Pimentel D, Sadek S and Althoefer K (2018). Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018  344-349. 10.1109/ROBOSOFT.2018.8404943
ALTHOEFER KA (2018). iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Autonomous Robots  10.1007/s10514-018-9777-7
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
ALTHOEFER KA (2018). Real-Time Vision-Based Stiffness Mapping. Sensors  10.3390/s18051347
ALTHOEFER KA (2018). AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients. Conference: International Conference on Soft Robotics  10.1109/ROBOSOFT.2018.8405388
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
ALTHOEFER KA (2018). Antagonistic actuation and stiffness control in soft inflatable robots. Nature Reviews Materials  10.1038/s41578-018-0004-0
Sadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T (2018). Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. IEEE Robotics and Automation Letters  vol. 3, (3) 2283-2290. 10.1109/LRA.2018.2805163
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.1875
Stilli A, Althoefer K and Wurdemann HA (2018). Soft robotics. Bio-inspired antagonistic stiffening. Biosystems and Biorobotics  10.1007/978-3-030-01836-8_20
Konstantinova J, Wurdemann H, Shafti A, Shiva A and Althoefer K (2018). Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:. 10.13052/rp-9788793519718

2017

Obadina OO, Bernth J, Althoefer K and Shaheed MH (2017). A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System. 10.31256/ukras17.10
Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK and Kwok KW (2017). Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation. Soft Robotics  vol. 4, (4) 324-337. 10.1089/soro.2016.0065
Stopforth R, Davrajh S and Althoefer K (2017). Low cost soft endoscope robotic probe. 2017 IEEE AFRICON: Science, Technology and Innovation for Africa, AFRICON 2017  1414-1419. 10.1109/AFRCON.2017.8095689
Konstantinova J, Cotugno G, Stilli A, Noh Y, Althoefer K and IEEE (2017). Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor. 2017 IEEE SENSORS  543-545. Conference: IEEE Sensors Conference  10.1109/ICSENS.2017.8234057
KONSTANTINOVA J, Cotugno G, Stilli A, Noh Y and Althoefer K (2017). Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor. Conference: IEEE Sensors Conference (Glasgow)  10.1109/ICSENS.2017.8234057
ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). Anchoring like octopus: biologically inspired soft artificial sucker. Journal of the Royal Society Interface  vol. 14, (135) 10.1098/rsif.2017.0395
KONSTANTINOVA J, Stilli and Althoefer (2017). Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. Sensors  vol. 17, (10) 10.3390/s17102337
Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). Anchoring like octopus: Biologically inspired soft artificial sucker. Journal of the Royal Society Interface  vol. 14, (135) 10.1098/rsif.2017.0395
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
Sadati SMH, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T (2017). Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods. IEEE Robotics and Automation Letters  vol. 3, (1) 328-335. 10.1109/LRA.2017.2743100
Stilli A, Grattarola L, Feldmann H, Wurdemann HA and Althoefer K (2017). Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators. Proceedings - IEEE International Conference on Robotics and Automation  4971-4976. Conference: IEEE International Conference on Robotics and Automation  10.1109/ICRA.2017.7989578
KONSTANTINOVA J, Krivic S, Stilli A, Piater J and Althoefer K (2017). Autonomous Object Handover using Wrist Tactile Information. Conference: 18th Towards Autonomous Robotic Systems (TAROS) Conference (Surrey, United Kingdom)  10.1007/978-3-319-64107-2_35
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K and Nanayakkara T (2017). A geometry deformation model for braided continuum manipulators. Frontiers Robotics AI  vol. 4, (JUN) 10.3389/frobt.2017.00022
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. 10.31256/hsmr2017.27
Shao W, Kosmas P, Althoefer K and Barras J (2017). Canceling strong and complex interference in NQR-based landmine detection. 2016 IEEE International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for  Conference: International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016  10.1109/ICIAFS.2016.7946536
Wang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K and Housden RJ (2017). Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10170 LNCS, 14-23. 10.1007/978-3-319-54057-3_2
Ranasinghe A, Althoefer K, Dasgupta P, Nagar A and Nanayakkara T (2017). Wearable haptic based pattern feedback sleeve system. Advances in Intelligent Systems and Computing  vol. 547, 302-312. 10.1007/978-981-10-3325-4_30
Shao W, Barras J, Althoefer K and Kosmas P (2017). Detecting NQR signals severely polluted by interference. Signal Processing  vol. 138, 256-264. 10.1016/j.sigpro.2017.03.032
Luo S, Zhu L, Althoefer K and Liu H (2017). Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. Neurocomputing  10.1016/j.neucom.2017.03.014
Stilli A, Wurdemann HA and Althoefer K (2017). A Novel Concept for Safe, Stiffness-Controllable Robot Links. Soft Robotics  vol. 4, (1) 16-22. 10.1089/soro.2016.0015
Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and Althoefer K (2017). Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model. PLoS ONE  10.1371/journal.pone.0172703
Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD, Althoefer K and Dasgupta P (2017). Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery. Med Eng Phys  10.1016/j.medengphy.2017.01.021
KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T (2017). Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs. PLoS ONE  10.1371/journal.pone.0171706
Stopforth R, Davrajh S and Althoefer K (2017). Low cost robotic endoscope design considerations. 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016  10.1109/RoboMech.2016.7813170
Sadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K and Nanayakkara T (2017). Mechanics of continuum manipulators, a comparative study of five methods with experiments. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10454 LNAI, 686-702. 10.1007/978-3-319-64107-2_56

2016

ALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H and Liu H (2016). Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic Environments. Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/IROS.2016.7759438
ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ (2016). Embroidered Electromyography: A Systematic Design Guide. IEEE Transactions on Neural Systems and Rehabilitation Engineering  10.1109/TNSRE.2016.2633506
Noh Y, Bimbo J, Stilli A, Wurdemann H, Liu H, Housden J, Rhode K and Althoefer K (2016). A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam. IEEE International Conference on Intelligent Robots and Systems  vol. 2016-November, 202-207. Conference: International Conference on Intelligent Robots and Systems  10.1109/IROS.2016.7759056
Konstantinova J, Stilli A, Faragasso A and Althoefer K (2016). Fingertip proximity sensor with realtime visual-based calibration. IEEE International Conference on Intelligent Robots and Systems  vol. 2016-November, 170-175. Conference: IROS 2016  10.1109/IROS.2016.7759051
Luo S, Mou W, Althoefer K and Liu H (2016). Iterative Closest Labeled Point for tactile object shape recognition. IEEE International Conference on Intelligent Robots and Systems  vol. 2016-November, 3137-3142. Conference: IEEE International Conference on Intelligent Robots and Systems  10.1109/IROS.2016.7759485
Lindenroth L, Back J, Schoisengeier A, Noh Y, Würdemann H, Althoefer K and Liu H (2016). Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. IEEE International Conference on Intelligent Robots and Systems  vol. 2016-November, 2458-2463. Conference: IEEE International Conference on Intelligent Robots and Systems  10.1109/IROS.2016.7759383
Back J, Lindenroth L, Karim R, Althoefer K, Rhode K and Liu H (2016). New kinematic multi-section model for catheter contact force estimation and steering. IEEE International Conference on Intelligent Robots and Systems  vol. 2016-November, 2122-2127. Conference: IEEE International Conference on Intelligent Robots and Systems  10.1109/IROS.2016.7759333
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
ALTHOEFER KA (2016). Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography. IEEEROBOTICS&AUTOMATIONMAGAZINE  10.1109/MRA.2016.2580478
Maurtua I, Pedrocchi N, Orlandini A, Fernandez JDG, Vogel C, Geenen A, Althoefer K and Shafti A (2016). FourByThree: Imagine humans and robots working hand in hand. IEEE International Conference on Emerging Technologies and Factory Automation, ETFA  vol. 2016-November, Conference: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA  10.1109/ETFA.2016.7733583
Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T and Althoefer K (2016). Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. IEEE Trans Biomed Eng  vol. 63, (11) 2425-2435. 10.1109/TBME.2013.2276739
Shafti A, Lazpita BU, Elhage O, Wurdemann HA and Althoefer K (2016). Analysis of comfort and ergonomics for clinical work environments. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2016-October, 1894-1897. 10.1109/EMBC.2016.7591091
Manero RBR, Shafti A, Michael B, Grewal J, Fernandez JLR, Althoefer K and Howard MJ (2016). Wearable embroidered muscle activity sensing device for the human upper leg. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2016-October, 6062-6065. 10.1109/EMBC.2016.7592111
Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and Althoefer K (2016). Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization. IEEE Sensors Journal  vol. 16, (22) 7924-7932. 10.1109/JSEN.2016.2600671
Qi P, Zhang C, Li J, Li Z, Dai JS and Althoefer K (2016). A compact continuum manipulator system with enhanced steering abilities for robot-Assisted surgery. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics  vol. 2016-July, 49-54. Conference: BioRob 2016  10.1109/BIOROB.2016.7523597
Schoisengeier A, Lindenroth L, Back J, Qiu C, Noh Y, Althoefer K, Dai JS, Rhode K and Liu H (2016). Design of a flexible force-sensing platform for medical ultrasound probes. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics  vol. 2016-July, 278-283. Conference: BioRob 2016  10.1109/BIOROB.2016.7523638
Konstantinova J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T (2016). Autonomous robotic palpation of soft tissue using the modulation of applied force. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics  vol. 2016-July, 323-328. Conference: BioRob2016  10.1109/BIOROB.2016.7523646
Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P and Althoefer K (2016). Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics  vol. 2016-July, 600-605. Conference: BioRob 2016  10.1109/BIOROB.2016.7523691
Shiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A, Althoefer K and Wurdemann HA (2016). Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. IEEE Robotics and Automation Letters  vol. 1, (2) 632-637. 10.1109/LRA.2016.2523120
Li M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H and Althoefer K (2016). Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments., Editors: Zhang D. PLoS One  vol. 11, (6) e0157681-e0157681. 10.1371/journal.pone.0157681
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
Shafti A, Manero RBR, Borg AM, Althoefer K and Howard MJ (2016). Designing embroidered electrodes for wearable surface electromyography. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2016-June, 172-177. Conference: IEEE International Conference on Robotics and Automation  10.1109/ICRA.2016.7487131
Ataka A, Qi P, Liu H and Althoefer K (2016). Real-time planner for multi-segment continuum manipulator in dynamic environments. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2016-June, 4080-4085. Conference: IEEE International Conference on Robotics and Automation  10.1109/ICRA.2016.7487598
Sadati SMH, Shiva A, Ataka A, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T (2016). A geometry deformation model for compound continuum manipulators with external loading. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2016-June, 4957-4962. Conference: IEEE International Conference on Robotics and Automation  10.1109/ICRA.2016.7487702
Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD and Althoefer K (2016). A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs. IEEE/ASME Transactions on Mechatronics  vol. 21, (3) 1281-1292. 10.1109/TMECH.2015.2498738
Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K and Bimbo J (2016). Stable Grip Control on Soft Objects With Time-Varying Stiffness. IEEE Transactions on Robotics  vol. 32, (3) 626-637. 10.1109/TRO.2016.2549545
Chen C, Zhang F, Barras J, Althoefer K, Bhunia S and Mandal S (2016). Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy. IEEE/ACM Trans Comput Biol Bioinform  vol. 13, (3) 417-430. 10.1109/TCBB.2015.2511763
Qi P, Liu C, Ataka A, Lam HK and Althoefer K (2016). Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach. IEEE Transactions on Industrial Electronics  vol. 63, (8) 5022-5035. 10.1109/TIE.2016.2554078
Cotugno G, Althoefer K and Nanayakkara T (2016). The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands. IEEE Transactions on Systems, Man, and Cybernetics: Systems  vol. 47, (7) 1061-1070. 10.1109/TSMC.2016.2531679
Qiu C, Qi P, Liu H, Althoefer K and Dai JS (2016). Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs. Journal of Mechanical Design, Transactions of the ASME  vol. 138, (4) 10.1115/1.4032580
Noh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K and Althoefer K (2016). Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators. IEEE Sensors Journal  vol. 16, (6) 1641-1651. 10.1109/JSEN.2015.2488099
Dias J, Althoefer K and Lima PU (2016). Robot Competitions: What Did We Learn? [Competitions]. IEEE Robotics and Automation Magazine  vol. 23, (1) 16-18. 10.1109/MRA.2015.2511678
Ranasinghe A, Sornkarn N, Dasgupta P, Althoefer K, Penders J and Nanayakkara T (2016). Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins. IEEE Transactions on Cybernetics  vol. 46, (2) 568-579. 10.1109/TCYB.2015.2409772
Bimbo J, Luo S, Althoefer K and Liu H (2016). In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching. IEEE Robotics and Automation Letters  vol. 1, (1) 570-577. 10.1109/LRA.2016.2517244
Ataka A, Shiva A, Shafti A, Wurdemann H and Althoefer K (2016). Reactive motion planning for mobile continuum arm in dynamic industrial environment. Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Suppor  178-185. 10.1142/9789813149137_0023

2015

Secco EL, Nagar A, Deters C, Wurdemann H, Lam HK and Althoefer K (2015). A neural network clamping force model for bolt tightening of wind turbine hubs. Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Confe  288-296. 10.1109/CIT/IUCC/DASC/PICOM.2015.42
Faragasso A, Stilli A, Bimbo J, Wurdemann HA and Althoefer K (2015). Multi-axis stiffness sensing device for medical palpation. IEEE International Conference on Intelligent Robots and Systems  vol. 2015-December, 2711-2716. 10.1109/IROS.2015.7353748
Sareh S, Noh Y, Ranzani T, Wurdemann H, Liu H and Althoefer K (2015). A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing. IEEE International Conference on Intelligent Robots and Systems  vol. 2015-December, 2336-2341. 10.1109/IROS.2015.7353692
Back J, Manwell T, Karim R, Rhode K, Althoefer K and Liu H (2015). Catheter contact force estimation from shape detection using a real-time Cosserat rod model. IEEE International Conference on Intelligent Robots and Systems  vol. 2015-December, 2037-2042. 10.1109/IROS.2015.7353647
Back J, Dasgupta P, Seneviratne L, Althoefer K and Liu H (2015). Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery. IEEE International Conference on Intelligent Robots and Systems  vol. 2015-December, 1528-1533. 10.1109/IROS.2015.7353570
Konstantinova J, Stilli A and Althoefer K (2015). Force and proximity fingertip sensor to enhance grasping perception. IEEE International Conference on Intelligent Robots and Systems  vol. 2015-December, 2118-2123. 10.1109/IROS.2015.7353659
Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A (2015). Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications. Soft Robotics  vol. 2, (4) 146-154. 10.1089/soro.2015.0011
Sareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K (2015). Macrobend optical sensing for pose measurement in soft robot arms. Smart Materials and Structures  vol. 24, (12) 10.1088/0964-1726/24/12/125024
Wurdemann HA, Sareh S, Shafti A, Noh Y, Faragasso A, Chathuranga DS, Liu H, Hirai S and Althoefer K (2015). Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2015-November, 8026-8029. 10.1109/EMBC.2015.7320255
Escudero Morland MF, Althoefer K and Nanayakkara T (2015). Novel method to form adaptive internal impedance profiles in walkers. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2015-November, 7764-7767. 10.1109/EMBC.2015.7320192
Shafti A, Andorno F, Marchese N, Arolfo S, Aydin A, Elhage O, Noh Y, Wurdemann HA, Arezzo A, Dasgupta P and Althoefer K (2015). Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2015-November, 4861-4864. 10.1109/EMBC.2015.7319482
Noh Y, Housden RJ, Gomez A, Knight C, Garcia F, Liu H, Razavi R, Rhode K and Althoefer K (2015). An ergonomic handheld ultrasound probe providing contact forces and pose information. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  vol. 2015-November, 5773-5776. 10.1109/EMBC.2015.7319704
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). 14N NQR, relaxation and molecular dynamics of the explosive TNT. Solid State Nuclear Magnetic Resonance  vol. 71, 61-66. 10.1016/j.ssnmr.2015.09.009
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; A study for monoclinic TNT. Solid State Nuclear Magnetic Resonance  vol. 71, 41-54. 10.1016/j.ssnmr.2015.10.004
Luo S, Mou W, Althoefer K and Liu H (2015). Novel Tactile-SIFT Descriptor for Object Shape Recognition. IEEE Sensors Journal  vol. 15, (9) 5001-5009. 10.1109/JSEN.2015.2432127
Bai G, Qi P, Althoefer K, Li D, Kong X and Dai JS (2015). Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application. 10.1115/detc2015-47118
Althoefer K, Wurdemann H and Stilli A (2015). Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamics. BJU INTERNATIONAL  vol. 116, 48-49.
Wang S, Housden J, Singh D, Althoefer K and Rhode K (2015). Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound. International Journal of Medical Robotics and Computer Assisted Surgery  vol. 12, (3) 342-354. 10.1002/rcs.1691
Ranasinghe A, Dasgupta P, Althoefer K and Nanayakkara T (2015). Identification of haptic based guiding using hard reins. PLoS ONE  vol. 10, (7) 10.1371/journal.pone.0132020
Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and Althoefer K (2015). Finger contact sensing and the application in dexterous hand manipulation. Autonomous Robots  vol. 39, (1) 25-41. 10.1007/s10514-015-9425-4
Xie H, Liu H, Noh Y, Li J, Wang S and Althoefer K (2015). A fiber-optics-based body contact sensor for a flexible manipulator. IEEE Sensors Journal  vol. 15, (6) 3543-3550. 10.1109/JSEN.2015.2392384
Li M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann HA (2015). Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue. Medical and Biological Engineering and Computing  vol. 53, (11) 1177-1186. 10.1007/s11517-015-1309-4
Kyriakidou G, Jakobsson A, Althoefer K and Barras J (2015). Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy. Analytical Chemistry  vol. 87, (7) 3806-3811. 10.1021/ac5044658
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2015). Modeling and optimizing output characteristics of intensity modulated optical fiber-based displacement sensors. IEEE Transactions on Instrumentation and Measurement  vol. 64, (3) 758-767. 10.1109/TIM.2014.2347694
Luo S, Mou W, Althoefer K and Liu H (2015). Localizing the object contact through matching tactile features with visual map. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2015-June, (June) 3903-3908. 10.1109/ICRA.2015.7139743
Bimbo J, Kormushev P, Althoefer K and Liu H (2015). Global estimation of an objects pose using tactile sensing. Advanced Robotics  vol. 29, (5) 363-374. 10.1080/01691864.2014.1002531
Back J, Karim R, Noh Y, Rhode K, Althoefer K and Liu H (2015). Tension sensing for a linear actuated catheter robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9245, 472-482. 10.1007/978-3-319-22876-1_40
Luo S, Liu X, Althoefer K and Liu H (2015). Tactile object recognition with semi-supervised learning. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9245, 15-26. 10.1007/978-3-319-22876-1_2
Maghooa F, Stilli A, Noh Y, Althoefer K and Wurdemann HA (2015). Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2015-June, (June) 2556-2561. 10.1109/ICRA.2015.7139542
Deters C, Lam HK, Secco EL, Wurdemann HA, Seneviratne LD and Althoefer K (2015). Accurate bolt tightening using model-free fuzzy control for wind turbine hub bearing assembly. IEEE Transactions on Control Systems Technology  vol. 23, (1) 1-12. 10.1109/TCST.2014.2309854
Wurdemann HA, Stilli A and Althoefer K (2015). Lecture notes in computer science: An antagonistic actuation technique for simultaneous stiffness and position control. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9246, 164-174. 10.1007/978-3-319-22873-0_15
Manwell T, Jupp A, Althoefer K and Liu H (2015). Surface classification for crawling peristaltic worm robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9246, 175-184. 10.1007/978-3-319-22873-0_16
Yu Y, Qi P, Althoefer K and Lam HK (2015). Lagrangian dynamics and nonlinear control of a continuum manipulator. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015  1912-1917. 10.1109/ROBIO.2015.7419052
Bai G, Qi P, Althoefer K, Li D, Kong X and Dai JS (2015). Kinematic analysis of a mechanism with dual remote centre of motion and its potential application. Proceedings of the ASME Design Engineering Technical Conference  vol. 5B-2015, 10.1115/DETC201547118
Qi P, Liu H, Seneviratne L and Althoefer K (2015). Design, kinematics and prototype of a flexible robot arm with planar springs. Proceedings of the ASME Design Engineering Technical Conference  vol. 5A-2015, 10.1115/DETC2015-46503
Sadati SMH, Noh Y, Naghibi SE, Kaspar A and Nanayakkara T (2015). Stiffness control of soft robotic manipulator for minimally invasive surgery (MIS) using scale jamming. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 9246, 141-151. 10.1007/978-3-319-22873-0_13

2014

Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and Althoefer K (2014). Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments. Mechatronics  vol. 24, (8) 1092-1100. 10.1016/j.mechatronics.2014.07.004
Qi P, Qiu C, Liu H, Dai JS, Seneviratne L and Althoefer K (2014). A novel continuum-style robot with multilayer compliant modules. IEEE International Conference on Intelligent Robots and Systems  3175-3180. 10.1109/IROS.2014.6943002
Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K (2014). Multi-fingered haptic palpation using pneumatic feedback actuators. Sensors and Actuators, A: Physical  vol. 218, 132-141. 10.1016/j.sna.2014.08.003
Jiang A, Ranzani T, Gerboni G, Lekstutyte L, Althoefer K, Dasgupta P and Nanayakkara T (2014). Robotic Granular Jamming: Does the Membrane Matter? Soft Robotics  vol. 1, (3) 192-201. 10.1089/soro.2014.0002
Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A (2014). Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach. Soft Robotics  vol. 1, (2) 122-131. 10.1089/soro.2014.0001
Qi P, Liu C, Zhang L, Wang S, Lam HK and Althoefer K (2014). Fuzzy logic control of a continuum manipulator for surgical applications. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014  413-418. 10.1109/ROBIO.2014.7090366
Xie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD and Althoefer K (2014). Magnetic resonance-compatible tactile force sensor using fiber optics and vision sensor. IEEE Sensors Journal  vol. 14, (3) 829-838. 10.1109/JSEN.2013.2281591
Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P and Althoefer K (2014). Novel force sensing approach employing prismatic-tip optical fiber inside an orthoplanar spring structure. IEEE/ASME Transactions on Mechatronics  vol. 19, (1) 121-130. 10.1109/TMECH.2012.2222906
Luo S, Mou W, Li M, Althoefer K and Liu H (2014). Rotation and translation invariant object recognition with a tactile sensor. Proceedings of IEEE Sensors  vol. 2014-December, (December) 1030-1033. 10.1109/ICSENS.2014.6985179
Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K and Würdemann H (2014). Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. Production Engineering  vol. 8, (6) 755-764. 10.1007/s11740-014-0557-8
Qiu C, Qi P, Liu HB, Althoefer K and Dai JS (2014). Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator. Proceedings of the ASME Design Engineering Technical Conference  vol. 5A, 10.1115/DETC2014-34607
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD (2014). Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. Medical and Biological Engineering and Computing  vol. 52, (1) 17-28. 10.1007/s11517-013-1118-6
Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K (2014). Control design for interval type-2 fuzzy systems under imperfect premise matching. IEEE Transactions on Industrial Electronics  vol. 61, (2) 956-968. 10.1109/TIE.2013.2253064
Song X, Liu H, Althoefer K, Nanayakkara T and Seneviratne LD (2014). Efficient break-away friction ratio and slip prediction based on haptic surface exploration. IEEE Transactions on Robotics  vol. 30, (1) 203-219. 10.1109/TRO.2013.2279630
Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann H (2014). Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 228, (5) 509-522. 10.1177/0954411914533679
Faragasso A, Stilli A, Bimbo J, Noh Y, Liu H, Nanayakkara T, Dasgupta P, Wurdemann HA and Althoefer K (2014). Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engin  vol. 2014, 6517-6520. 10.1109/EMBC.2014.6945121
Qi P, Liu H, Seneviratne L and Althoefer K (2014). Towards kinematic modeling of a multi-DOF tendon driven robotic catheter. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014  3009-3012. 10.1109/EMBC.2014.6944256
Noh Y, Secco EL, Sareh S, Wurdemann H, Faragasso A, Back J, Liu H, Sklar E and Althoefer K (2014). A continuum body force sensor designed for flexible surgical robotics devices. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014  3711-3714. 10.1109/EMBC.2014.6944429
Karim R, Ma YL, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K#38223#, Rinaldi CA, Razavi R, O'Neill MD, Schaeftter T and Rhode KS (2014). Surface flattening of the human left atrium and proof-of-concept clinical applications. Computerized Medical Imaging and Graphics  vol. 38, (4) 251-266. 10.1016/j.compmedimag.2014.01.004
Althoefer K (2014). MRI-safe robots. Why are they not yet routinely used? BJU International  vol. 113, (6) 975-976. 10.1111/bju.12706
Wanninayake IB, Seneviratne LD and Althoefer K (2014). Estimation of tissue stiffness using a prototype of air-float stiffness probe. Proceedings - IEEE International Conference on Robotics and Automation  1426-1431. 10.1109/ICRA.2014.6907039
Cotugno G, Mohan V, Althoefer K and Nanayakkara T (2014). Simplifying grasping complexity through generalization of kinaesthetically learned synergies. Proceedings - IEEE International Conference on Robotics and Automation  5345-5351. 10.1109/ICRA.2014.6907645
Faragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H, Nanayakkara T, Wurdemann HA and Althoefer K (2014). Novel uniaxial force sensor based on visual information for minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation  1405-1410. 10.1109/ICRA.2014.6907036
Li M, Faragasso A, Konstantinova J, Aminzadeh V, Seneviratne LD, Dasgupta P and Althoefer K (2014). A novel tumor localization method using haptic palpation based on soft tissue probing data. Proceedings - IEEE International Conference on Robotics and Automation  4188-4193. 10.1109/ICRA.2014.6907468
Sareh S, Jiang A, Faragasso A, Noh Y, Nanayakkara T, Dasgupta P, Seneviratne LD, Wurdemann HA and Althoefer K (2014). Bio-inspired tactile sensor sleeve for surgical soft manipulators. Proceedings - IEEE International Conference on Robotics and Automation  1454-1459. 10.1109/ICRA.2014.6907043
Back J, Bimbo J, Noh Y, Seneviratne L, Althoefer K and Liu H (2014). Control a contact sensing finger for surface haptic exploration. Proceedings - IEEE International Conference on Robotics and Automation  2736-2741. 10.1109/ICRA.2014.6907251
Manwell T, Vitek T, Ranzani T, Menciassi A, Althoefer K and Liu H (2014). Elastic mesh braided worm robot for locomotive endoscopy. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014  848-851. 10.1109/EMBC.2014.6943724
Kyriakidou G, Jakobsson A, Gudmundson E, Gregorovi A, Barras J and Althoefer K (2014). Improved modeling and bounds for NQR spectroscopy signals. European Signal Processing Conference  2325-2329.
Stilli A, Wurdemann HA and Althoefer K (2014). Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. IEEE International Conference on Intelligent Robots and Systems  2476-2481. 10.1109/IROS.2014.6942899
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T and Dasgupta P (2014). The granular jamming integrated actuator. 2014 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2014  12-17. 10.1109/ARIS.2014.6871512
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and Althoefer K (2014). Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Materials and Structures  vol. 23, (9) 10.1088/0964-1726/23/9/095007
Konstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K and Nanayakkara T (2014). Behavioral characteristics of manual palpation to localize hard nodules in soft tissues. IEEE Transactions on Biomedical Engineering  vol. 61, (6) 1651-1659. 10.1109/TBME.2013.2296877
Xie H, Liu H, Seneviratne LD and Althoefer K (2014). An optical tactile array probe head for tissue palpation during minimally invasive surgery. IEEE Sensors Journal  vol. 14, (9) 3283-3291. 10.1109/JSEN.2014.2328182
Konstantinova J, Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2014). Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review. IEEE Sensors Journal  vol. 14, (8) 2490-2501. 10.1109/JSEN.2014.2325794
Rowe MD, Smith JAS, Barras J and Althoefer K (2014). Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions. NATO Science for Peace and Security Series B: Physics and Biophysics  35-43. 10.1007/978-94-007-7265-6_3
Rowe MD, Smith JAS, Barras J and Althoefer K (2014). Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions. MAGNETIC RESONANCE DETECTION OF EXPLOSIVES AND ILLICIT MATERIALS  35-43. 10.1007/978-94-007-7265-6__3
Noh Y, Sareh S, Back J, Wurdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H and Althoefer K (2014). A three-Axial body force sensor for flexible manipulators. Proceedings - IEEE International Conference on Robotics and Automation  6388-6393. 10.1109/ICRA.2014.6907802

2013

Bimbo J, Seneviratne LD, Althoefer K and Liu H (2013). Combining touch and vision for the estimation of an object's pose during manipulation. IEEE International Conference on Intelligent Robots and Systems  4021-4026. 10.1109/IROS.2013.6696931
Ranasinghe A, Penders J, Dasgupta P, Althoefer K and Nanayakkara T (2013). A two party haptic guidance controller via a hard rein. IEEE International Conference on Intelligent Robots and Systems  116-122. 10.1109/IROS.2013.6696341
Konstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K and Nanayakkara T (2013). Force-velocity modulation strategies for soft tissue examination. IEEE International Conference on Intelligent Robots and Systems  1998-2003. 10.1109/IROS.2013.6696622
Xie H, Liu H, Luo S, Seneviratne LD and Althoefer K (2013). Fiber optics tactile array probe for tissue palpation during minimally invasive surgery. IEEE International Conference on Intelligent Robots and Systems  2539-2544. 10.1109/IROS.2013.6696714
Ranasinghe A, Althoefer K, Nanayakkara T, Penders J and Dasgupta P (2013). An optimal state dependent haptic guidance controller via a hard rein. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013  2322-2327. 10.1109/SMC.2013.397
Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K and Dasgupta P (2013). Haptics for multi-fingered palpation. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013  4184-4189. 10.1109/SMC.2013.713
Konstantinova J, Li M, Aminzadeh V, Althoefer K, Nanayakkara T and Dasgupta P (2013). Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013  4190-4195. 10.1109/SMC.2013.714
Deters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD and Althoefer K (2013). Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs. Proceedings - IEEE International Conference on Robotics and Automation  270-276. 10.1109/ICRA.2013.6630587
Searle TC, Althoefer K, Seneviratne L and Liu H (2013). An optical curvature sensor for flexible manipulators. Proceedings - IEEE International Conference on Robotics and Automation  4415-4420. 10.1109/ICRA.2013.6631203
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2013). Air-float palpation probe for tissue abnormality identification during minimally invasive surgery. IEEE Transactions on Biomedical Engineering  vol. 60, (10) 2735-2744. 10.1109/TBME.2013.2264287
Barras J, Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D and Assi S (2013). Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines. TROPICAL MEDICINE & INTERNATIONAL HEALTH  vol. 18, 21-21.
Taylor JG, Cutsuridis V, Hartley M, Althoefer K and Nanayakkara T (2013). Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics. Cognitive Computation  vol. 5, (3) 340-354. 10.1007/s12559-013-9208-1
Rowe MD, Smith JAS, Barras J and Althoefer K (2013). Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions. Magnetic Resonance Detection of Explosives and Illicit Materials  10.1007/978-94-007-7265-6_3
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T (2013). Granular jamming transitions for a robotic mechanism. AIP Conference Proceedings  vol. 1542, 385-388. 10.1063/1.4811948
Barras J, Murnane D, Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G and Smith JAS (2013). Nitrogen-14 nuclear quadrupole resonance spectroscopy: A promising analytical methodology for medicines authentication and counterfeit antimalarial analysis. Analytical Chemistry  vol. 85, (5) 2746-2753. 10.1021/ac303267v
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T (2013). Granular jamming with hydraulic control. Proceedings of the ASME Design Engineering Technical Conference  vol. 6 A, 10.1115/DETC2013-12213
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T and Althoefer K (2013). Triaxial catheter-tip force sensor for MRI-guided cardiac procedures. IEEE/ASME Transactions on Mechatronics  vol. 18, (1) 386-396. 10.1109/TMECH.2011.2181405

2012

Li J, Liu H, Althoefer K and Seneviratne LD (2012). A stiffness probe for soft tissue abnormality identification during laparoscopic surgery. World Automation Congress Proceedings 
Song X, Liu H, Bimbo J, Althoefer K and Seneviratne LD (2012). Object surface classificaiton based on friction properties for intelligent robotic hands. World Automation Congress Proceedings 
Bimbo J, Rodriguez-Jimenez S, Liu H, Song X, Burrus N, Senerivatne LD, Abderrahim M and Althoefer K (2012). Object pose estimation and tracking by fusing visual and tactile information. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  65-70. 10.1109/MFI.2012.6343019
Sargeant R, Liu H, Seneviratne LD and Althoefer K (2012). An optical multi-axial force/torque sensor for dexterous grasping and manipulation. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  144-149. 10.1109/MFI.2012.6343043
Liu H, Greco J, Song X, Bimbo J, Seneviratne L and Althoefer K (2012). Tactile image based contact shape recognition using neural network. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  138-143. 10.1109/MFI.2012.6343036
(2012). A stiffness probe based on force and vision sensing for soft tissue diagnosis. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engin  vol. 2012, 944-947. 10.1109/EMBC.2012.6346088
Barras J, Althoefer K, Rowe MD, Poplett IJ and Smith JAS (2012). The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy. Applied Magnetic Resonance  vol. 43, (4) 511-529. 10.1007/s00723-012-0320-2
Jiang A, Ataollahi A, Althoefer K, Dasgupta P and Nanayakkara T (2012). A variable stiffness joint by granular jamming. Proceedings of the ASME Design Engineering Technical Conference  vol. 4, (PARTS A AND B) 267-275. 10.1115/DETC2012-70670
Liu H, Song X, Bimbo J, Althoefer K and Senerivatne L (2012). Intelligent fingertip sensing for contact information identification. Advances in Reconfigurable Mechanisms and Robots I  599-608. 10.1007/978-1-4471-4141-9_54
Li J, Zirjakova J, Yao W, Althoefer K, Dasgupta P and Seneviratne LD (2012). A passive robotic platform for three-dimensional scanning of ex vivo soft tissue. Advances in Reconfigurable Mechanisms and Robots I  477-485. 10.1007/978-1-4471-4141-9_43
Xie H, Jiang A, Seneviratne L and Althoefer K (2012). Pixel-based optical fiber tactile force sensor for robot manipulation. Proceedings of IEEE Sensors  10.1109/ICSENS.2012.6411462
Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K and Nanayakkara T (2012). Adaptive grip control on an uncertain object. IEEE International Conference on Intelligent Robots and Systems  1161-1166. 10.1109/IROS.2012.6385922
Liu H, Song X, Bimbo J, Seneviratne L and Althoefer K (2012). Surface material recognition through haptic exploration using an intelligent contact sensing finger. IEEE International Conference on Intelligent Robots and Systems  52-57. 10.1109/IROS.2012.6385815
Song X, Liu H, Bimbo J, Althoefer K and Seneviratne LD (2012). A novel dynamic slip prediction and compensation approach based on haptic surface exploration. IEEE International Conference on Intelligent Robots and Systems  4511-4516. 10.1109/IROS.2012.6385897
Jiang A, Xynogalas G, Dasgupta P, Althoefer K and Nanayakkara T (2012). Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling. IEEE International Conference on Intelligent Robots and Systems  2922-2927. 10.1109/IROS.2012.6385696
Deters C, Wurdemann HA, Dai JS, Seneviratne LD and Althoefer K (2012). Reconfigurable assembly approach for wind turbines using multiple intelligent agents. Advances in Reconfigurable Mechanisms and Robots I  95-103. 10.1007/978-1-4471-4141-9_10
Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA and Smith JAS (2012). Variable-pitch rectangular cross-section radiofrequency coils for the nitrogen-14 nuclear quadrupole resonance investigation of sealed medicines packets. Analytical Chemistry  vol. 84, (21) 8970-8972. 10.1021/ac3015643
Yao W, Schaeffter T, Seneviratne L and Althoefer K (2012). Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization. Journal of Medical Devices, Transactions of the ASME  vol. 6, (4) 10.1115/1.4007281
Zirjakova J, Althoefer K, Dasgupta P and Nanayakkara T (2012). PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT. JOURNAL OF ENDOUROLOGY  vol. 26, A20-A21.
Li M, Dasgupta P, Seneviratne LD and Althoefer K (2012). SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY. JOURNAL OF ENDOUROLOGY  vol. 26, A48-A48.
Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2012). GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES. JOURNAL OF ENDOUROLOGY  vol. 26, A403-A404.
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and Althoefer K (2012). Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study. BRITISH JOURNAL OF SURGERY  vol. 99, 53-53.
Sargeant R, Seneviratne LD and Althoefer K (2012). A 2-axis optical force-torque fingertip sensor for dexterous grasping using linear polarizers. IEEE Transactions on Instrumentation and Measurement  vol. 61, (12) 3363-3377. 10.1109/TIM.2012.2210456
Puangmali P, Liu H, Seneviratne LD, Dasgupta P and Althoefer K (2012). Miniature 3-axis distal force sensor for minimally invasive surgical palpation. IEEE/ASME Transactions on Mechatronics  vol. 17, (4) 646-656. 10.1109/TMECH.2011.2116033
Wanninayake IB, Althoefer K and Seneviratne LD (2012). Novel air-float tactile array for stiffness characterization in soft tissue palpation. Procedia Engineering  vol. 41, 281-288. 10.1016/j.proeng.2012.07.174
Sargeant R, Seneviratne LD and 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. Proceedings - IEEE International Conference on Robotics and Automation  1422-1427. 10.1109/ICRA.2012.6225067
Liu H, Song X, Nanayakkara T, Seneviratne LD and Althoefer K (2012). A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor. Proceedings - IEEE International Conference on Robotics and Automation  1410-1415. 10.1109/ICRA.2012.6224872
Wanninayake IB, Seneviratne LD and Althoefer K (2012). Novel indentation depth measuring system for stiffness characterization in soft tissue palpation. Proceedings - IEEE International Conference on Robotics and Automation  4648-4653. 10.1109/ICRA.2012.6225127
Li M, Liu H, Li J, Seneviratne LD and Althoefer K (2012). Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback. Proceedings - IEEE International Conference on Robotics and Automation  5359-5364. 10.1109/ICRA.2012.6225143
Lara B, Seneviratne LD and Althoefer K (2012). Automated screw insertion monitoring using neural networks: A computational intelligence approach to assembly in manufacturing. Computational Intelligence and Its Applications: Evolutionary Computation, Fuzzy Logic, Neural Network and Support Vector Machin  10.1142/9781848166929_0008

2011

Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and Althoefer K (2011). 14N quadrupole resonance and 1H T1 dispersion in the explosive RDX. Journal of Magnetic Resonance  vol. 213, (1) 98-106. 10.1016/j.jmr.2011.09.011
Sangpradit K, Liu H, Dasgupta P, Althoefer K and Seneviratne LD (2011). Finite-element modeling of soft tissue rolling indentation. IEEE Transactions on Biomedical Engineering  vol. 58, (12 PART 1) 3319-3327. 10.1109/TBME.2011.2106783
Narimani M, Lam HK, Althoefer K, Dilmaghani R, Wolfe C and Deters C (2011). An approach for stability analysis of polynomial fuzzy model-based control systems. IEEE International Conference on Fuzzy Systems  2232-2237. 10.1109/FUZZY.2011.6007497
Song X, Seneviratne LD and Althoefer K (2011). Slip parameter estimation for tele-operated ground vehicles in slippery terrain. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering  vol. 225, (6) 814-830. 10.1177/0959651811401955
Kumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L, Althoefer K and Dasgupta P (2011). POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe. Urology  vol. 78, (3) s20-s21. 10.1016/j.urology.2011.07.444
Yousef H, Boukallel M and Althoefer K (2011). Tactile sensing for dexterous in-hand manipulation in robotics - A review. Sensors and Actuators, A: Physical  vol. 167, (2) 171-187. 10.1016/j.sna.2011.02.038
Liu H, Li J, Song X, Seneviratne LD and Althoefer K (2011). Rolling indentation probe for tissue abnormality identification during minimally invasive surgery. IEEE Transactions on Robotics  vol. 27, (3) 450-460. 10.1109/TRO.2011.2127210
Polygerinos P, Seneviratne LD and Althoefer K (2011). Modeling of light intensity-modulated fiber-optic displacement sensors. IEEE Transactions on Instrumentation and Measurement  vol. 60, (4) 1408-1415. 10.1109/TIM.2010.2085270
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and Althoefer K (2011). Resuts of kidney lesion experiments with haptic probe. BRITISH JOURNAL OF SURGERY  vol. 98, 51-51.
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2011). MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures. IEEE Transactions on Biomedical Engineering  vol. 58, (3 PART 1) 721-726. 10.1109/TBME.2010.2095853
Song X, Seneviratne LD and Althoefer K (2011). A Kalman filter-integrated optical flow method for velocity sensing of mobile robots. IEEE/ASME Transactions on Mechatronics  vol. 16, (3) 551-563. 10.1109/TMECH.2010.2046421

2010

Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD (2010). Force sensing in medical robotics. Mechatronics in Action: Case Studies in Mechatronics - Applications and Education  10.1007/978-1-84996-080-9_10
Sangpradit K, Althoefer K and Seneviratne L (2010). Tissue parameter estimation for a mechatronic probe using inverse finite element analysis. 16th Annual Conference on Mechatronics and Machine Vision in Practice 2010, M2VIP 2010  96-110.
Sangpradit K, Althoefer K and Seneviratne LD (2010). Finite element modelling of rolling indentation for tissue adomanlity identification. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010  163-168. 10.1109/ICARCV.2010.5707909
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD and Althoefer K (2010). Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings  910-915. 10.1109/IROS.2010.5649109
Song X, Althoefer K and Seneviratne L (2010). A robust downward-looking camera based velocity estimation with height compensation for mobile robots. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010  378-383. 10.1109/ICARCV.2010.5707269
Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2010). Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures. Proceedings - IEEE International Conference on Robotics and Automation  2598-2603. 10.1109/ROBOT.2010.5509416
Liu H, Li J, Poon QI, Seneviratne LD and Althoefer K (2010). Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery. Proceedings - IEEE International Conference on Robotics and Automation  3654-3659. 10.1109/ROBOT.2010.5509440
Puangmali P, Dasgupta P, Seneviratne LD and Althoefer K (2010). Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation  2592-2597. 10.1109/ROBOT.2010.5509807
Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2010). MRI-compatible fiber-optic force sensors for catheterization procedures. IEEE Sensors Journal  vol. 10, (10) 1598-1608. 10.1109/JSEN.2010.2043732
Zbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P and Murphy D (2010). A comparative study between an improved novel air-cushion sensor and a wheeled probe for minimally invasive surgery. Journal of Endourology  vol. 24, (7) 1155-1159. 10.1089/end.2010.0131
Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L and Althoefer K (2010). An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 224, (6) 751-763. 10.1243/09544119JEIM682
Al-Milli S, Seneviratne LD and Althoefer K (2010). Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain. Journal of Terramechanics  vol. 47, (3) 151-160. 10.1016/j.jterra.2010.02.001
Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD and Althoefer K (2010). Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN). Journal of Magnetic Resonance  vol. 204, (1) 139-144. 10.1016/j.jmr.2010.02.019
Puangmali P, Althoefer K and Seneviratne LD (2010). Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors. IEEE Transactions on Instrumentation and Measurement  vol. 59, (2) 283-291. 10.1109/TIM.2009.2023147
Liu H, Seneviratne LD, Althoefer K, Noonan DP, Challacombe BJ and Dasgupta P (2010). Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery. IEEE Transactions on Biomedical Engineering  vol. 57, (2) 404-414. 10.1109/TBME.2009.2032164
Althoefer K, Seneviratne L, Al-Milli S, Chhaniyara S and Song X (2010). Tractive force prediction for unmanned ground vehicles in rough terrain. IFAC Proceedings Volumes (IFAC-PapersOnline)  64-69. 10.3182/20101005-4-RO-2018.00027

2009

Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). Measuring tip and side forces of a novel catheter prototype: A feasibility study. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009  966-971. 10.1109/IROS.2009.5354556
Zbyszewski D, Polygerinos P, Seneviratne LD and Althoefer K (2009). A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009  2647-2652. 10.1109/IROS.2009.5354140
Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). A fibre-optic catheter-tip force sensor with MRI compatibility: A feasibility study. Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the  1501-1504. 10.1109/IEMBS.2009.5334163
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and Althoefer K (2009). A haptic probe for soft tissue abnormality identification during minimally invasive surgery. Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009  417-422.
Puangmali P, Althoefer K and Seneviratne LD (2009). Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments. Proceedings - IEEE International Conference on Robotics and Automation  3682-3687. 10.1109/ROBOT.2009.5152603
Sangpradit K, Liu H, Seneviratne LD and Althoefer K (2009). Tissue identification using inverse finite element analysis of rolling indentation. Proceedings - IEEE International Conference on Robotics and Automation  1250-1255. 10.1109/ROBOT.2009.5152644
Song ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH (2009). Slip parameter estimation of a single wheel using a non-linear observer. Robotica  vol. 27, (6) 801-811. 10.1017/S0263574708005146
Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D and Althoefer K (2009). Air-cushion force-sensitive probe for soft tissue investigation during minimally invasive surgery. Journal of Endourology  vol. 23, (9) 1421-1424. 10.1089/end.2009.0382
Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L and Dasgupta P (2009). The science behind haptics in robotic urological surgery. BJU International  vol. 104, (4) 433-434. 10.1111/j.1464-410X.2009.08521.x
Tate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES and Wren SAC (2009). Quantitative 35Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese. Analytical Chemistry  vol. 81, (13) 5574-5576. 10.1021/ac900656e
Althoefer K, Tan CP, Zweiri YH and Seneviratne LD (2009). Hybrid soil parameter easurement and estimation scheme for excavation automation. IEEE Transactions on Instrumentation and Measurement  vol. 58, (10) 3633-3641. 10.1109/TIM.2009.2018699
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and Althoefer K (2009). A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery. RECONFIGURABLE MECHANISMS AND ROBOTS  436-+.
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Al-Milli S and Althoefer K (2009). The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain. International Journal of Modelling, Identification and Control  vol. 6, (1) 40-50. 10.1504/IJMIC.2009.023529
Puangmali P, Althoefer K, Seneviratne LD and IEEE (2009). Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7  2671-2676.
Sangpradit K, Liu H, Seneviratne LD, Althoefer K and IEEE (2009). Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7  2933-+.

2008

Hutangkabodee S, Zweiri Y, Seneviratne L and Althoefer K (2008). Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS  vol. 5, (4) 425-432.
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (2008). Wheel/tissue force interaction: a new concept for soft tissue diagnosis during MIS. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engin  5556-5559. 10.1109/IEMBS.2008.4650473
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K (2008). Robust detection of stochastic nuclear quadrupole resonance signals. IEEE Transactions on Signal Processing  vol. 56, (9) 4221-4229. 10.1109/TSP.2008.923809
Al-Milli S, Althoefer K and Seneviratne LD (2008). Maneuverability performance of tracked vehicles on soft terrains. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS  107-112. 10.1109/IROS.2008.4651043
Zbyszewski D, Bhaumik A, Althoefer K and Seneviratne LD (2008). Tactile sensing using a novel air cushion sensor: A feasibility study. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS  41-46. 10.1109/IROS.2008.4651070
Song X, Song Z, Seneviratne LD and Althoefer K (2008). Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS  101-106. 10.1109/IROS.2008.4651025
Song X, Seneviratne LD, Althoefer K and Song Z (2008). A robust slip estimation method for skid-steered mobile robots. 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008  279-284. 10.1109/ICARCV.2008.4795532
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupt P and Murphy D (2008). Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery. Proceedings of IEEE Sensors  827-830. 10.1109/ICSENS.2008.4716568
Song X, Seneviratne LD, Althoefer K, Song Z and Mohseni-Vahed S (2008). A vision-based technique for vehicle slip and velocity estimation. IFAC Proceedings Volumes (IFAC-PapersOnline)  vol. 17, (1 PART 1) 10.3182/20080706-5-KR-1001.2698
Mohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS and Lam HK (2008). Soil estimation based on dissipation energy during autonomous excavation. IFAC Proceedings Volumes (IFAC-PapersOnline)  vol. 17, (1 PART 1) 10.3182/20080706-5-KR-1001.3883
Puangmali P, Liu H, Althoefer K and Seneviratne LD (2008). Optical fiber sensor for soft tissue investigation during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation  2934-2939. 10.1109/ROBOT.2008.4543655
Liu H, Noonan DP, Althoefer K and Seneviratne LD (2008). Rolling mechanical imaging: A novel approach for soft tissue modelling and identification during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation  845-850. 10.1109/ROBOT.2008.4543310
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K (2008). Detecting stochastic nuclear quadrupole resonance signals in the presence of strong radio frequency interference. ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings  3645-3648. 10.1109/ICASSP.2008.4518442
Althoefer K, Lara B, Zweiri YH and Seneviratne LD (2008). Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 222, (6) 1081-1095. 10.1243/09544062JMES546
Song ZB, Zweiri YH, Seneviratne LD and Althoefer K (2008). Non-linear observer for slip estimation of tracked vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering  vol. 222, (4) 515-533. 10.1243/09544070JAUTO452
Al-Ja'Afreh T, Zweiri Y, Seneviratne L and Althoefer K#38223# (2008). A new soft-tissue indentation model for estimating circular indenter 'force-displacement' characteristics. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 222, (5) 805-815. 10.1243/09544119JEIM319
Song Z-B, Zweiri YH, Seneviratne LD and Althoefer K (2008). Non-linear observer for slip estimation of tracked vehicles. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering  vol. 222, (4) 515-533. 10.1243/09544070jauto452
Puangmali P, Althoefer K, Seneviratne LD, Murphy D and Dasgupta P (2008). State-of-the-art in force and tactile sensing for minimally invasive surgery. IEEE Sensors Journal  vol. 8, (4) 371-380. 10.1109/JSEN.2008.917481
Al-Milli S, Chhaniyara S, Georgiou E, Althoefer K, Dai JS and Seneviratne L (2008). Experimental study on track-terrain interaction dynamics in an integrated environment: Test RIG. Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Te  1106-1113. 10.1142/9789812835772_0132
Chhaniyara S, Althoefer K and Seneviratne LD (2008). Visual odometry technique using circular marker identification for motion parameter estimation. Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Te  1069-1076. 10.1142/9789812835772_0128
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (2008). Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MIS. Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Pers  5556-5559. 10.1109/iembs.2008.4650473
Al-Ja'afreh TM, Zweiri YH, Seneviratne LD and Althoefer K#38223# (2008). Modelling soft tissue-mechatronic tool interactions during indentation. International Journal of Modelling, Identification and Control  vol. 4, (4) 337-347. 10.1504/IJMIC.2008.021474
Chhaniyara S, Bunnun P, Seneviratne LD and Althoefer K (2008). Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility Study. International Journal on Smart Sensing and Intelligent Systems  vol. 1, (1) 10.21307/ijssis-2017-289

2007

Song X, Seneviratne LD, Althoefer K, Song Z and Zweiri YH (2007). Visual qdometry for velocity estimation of UGVs. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007  1611-1616. 10.1109/ICMA.2007.4303790
Song Z, Song X, Altheoer K, Zweiri Y and Seneviratne L (2007). Non-linear observer for slip parameter estimation of unmanned wheeled vehicles. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007  1213-1218. 10.1109/ICMA.2007.4303721
Vahed SM, Delaimi HA, Althoefer K and Seneviratne LD (2007). On-line energy-based method for soil estimation and classification in autonomous excavation. IEEE International Conference on Intelligent Robots and Systems  554-559. 10.1109/IROS.2007.4399196
Liu H, Noonan DP, Zweiri YH, Althoefer KA and Seneviratne LD (2007). The development of nonlinear viscoelastic model for the application of soft tissue identification. IEEE International Conference on Intelligent Robots and Systems  208-213. 10.1109/IROS.2007.4399336
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2007). Validation of soil parameter identification for track-terrain interaction dynamics. IEEE International Conference on Intelligent Robots and Systems  3174-3179. 10.1109/IROS.2007.4399018
Liu H, Puangmali P, Althoefer KA and Seneviratne LD (2007). Experimental study of soft tissue recovery using optical fiber probe. IEEE International Conference on Intelligent Robots and Systems  516-521. 10.1109/IROS.2007.4399376
Somasundaram SD, Jakobsson A, Butt N, Rowe MD, Smith JAS and Althoefer K (2007). Detection of stochastic nuclear quadrupole resonance signals. 2007 15th International Conference on Digital Signal Processing, DSP 2007  367-370. 10.1109/ICDSP.2007.4288595
Noonan DP, Liu H, Zweiri YH, Althoefer KA and Seneviratne LD (2007). A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation  2629-2634. 10.1109/ROBOT.2007.363862
Al-Milli S, Althoefer K and Seneviratne LD (2007). Dynamic analysis and traversability prediction of tracked vehicles on soft terrain. 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07  279-284. 10.1109/ICNSC.2007.372791
Chhaniyara S, Althoefer K, Zweiri YH and Seneviratne LD (2007). A novel approach for self-localization based on computer vision and artificial marker deposition. 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07  139-144. 10.1109/ICNSC.2007.372766
Gomez F, Althoefer K and Seneviratne LD (2007). An ultrasonic profiling method for the inspection of tubular structures. Computer-Aided Civil and Infrastructure Engineering  vol. 22, (6) 400-418. 10.1111/j.1467-8667.2007.00496.x
Murphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L and Dasgupta P (2007). Equipment and technology in robotics. Archivos Espanoles de Urologia  vol. 60, (4) 349-355. 10.4321/s0004-06142007000400004
Somasundaram SD, Jakobsson A, Smith JAS and Althoefer K (2007). Exploiting spin echo decay in the detection of nuclear quadrupole resonance signals. IEEE Transactions on Geoscience and Remote Sensing  vol. 45, (4) 925-933. 10.1109/TGRS.2006.890413
Chhaniyara S, Althoefer R and Seneviratne LD (2007). Motion estimation and self-localization based on computer vision and artificial marker deposition. Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007  690-697. 10.1142/9789812770189_0079
Duran O, Althoefer K and Seneviratne LD (2007). Automated pipe defect detection and categorization using caniera/laser-based profiler and artificial neural network. IEEE Transactions on Automation Science and Engineering  vol. 4, (1) 118-126. 10.1109/TASE.2006.873225
Seneviratne L, Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X and Chhaniyara S (2007). Vehicle-terrain interaction modeling and identification in rough terrain. ICIIS 2007: SECOND INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS 2007, CONFERENCE PROCEEDINGS  11-15.
Liu H, Puangmali P, Althoefer KA, Seneviratne LD and IEEE (2007). Experimental study of soft tissue recovery using optical fiber probe. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  522-527.
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K and IEEE (2007). Validation of soil parameter identification for track-terrain interaction dynamics. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  3180-+.
Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD and IEEE (2007). On-line energy-based method for soil estimation and classification in autonomous excavation. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  560-565.
Liu H, Noonan DP, Zweiri YH, Althoefer KA, Seneviratne LD and IEEE (2007). The development of nonlinear viscoelastic model for the application of soft tissue identification. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  214-+.

2006

Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2006, 3356-3361. 10.1109/ROBOT.2006.1642214
Zibin S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Non-linear observer for slip estimation of skid-steering vehicles. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2006, 1499-1504. 10.1109/ROBOT.2006.1641920
Song ZB, Zweiri YH, Althoefer K and Seneviratne LD (2006). Non-linear observer for slip estimation of tracked vehicles. 13th Annual International Conference on Mechatronics and Machine Vision in Practice 2006  13-23.
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. Springer Tracts in Advanced Robotics  vol. 25, 517-528. 10.1007/11736592_43
Somasundaram SD, Jakobsson A, Smith JAS and Althoefer KA (2006). Frequency selective detection of Nuclear Quadrupole Resonance (NQR) spin echoes. Proceedings of SPIE - The International Society for Optical Engineering  vol. 6217 II, 10.1117/12.665444
Zweiri YH, Seneviratne LD and Althoefer K (2006). Modelling of closed-chain manipulators on an excavator vehicle. Mathematical and Computer Modelling of Dynamical Systems  vol. 12, (4) 329-345. 10.1080/13873950500067007
Gomez F, Althoefer K and Seneviratne LD (2006). Simulation of ultrasound imaging inside fully charged pipes. Automation in Construction  vol. 15, (3) 355-364. 10.1016/j.autcon.2005.07.001
Somasundaram SD, Althoefer K, Smith JAS and Seneviratne LD (2006). Detection of landmines using Nuclear Quadrupole Resonance (NQR): Signal processing to aid classification. Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,  833-840. 10.1007/3-540-26415-9_100
Rao A, Noonan D, Althoefer K and Seneviratne L (2006). Development of an improved micro piezoelectric power generation / actuation system for biomedical & bio-MEMS applications. Proceedings of Frontiers in Biomedical Devices Conference, NanoBio06  vol. 2006, 10.1115/nanobio2006-18021
Somasundaram SD, Althoefer K, Smith JAS and Seneviratne LD (2006). Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification. 10.1007/3-540-26415-9_100
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. Springer Tracts in Advanced Robotics  vol. 25, 517-528. 10.1007/978-3-540-33453-8_43

2005

Zweiri YH, Seneviratne LD and Althoefer K (2005). Stability analysis of a three-term backpropagation algorithm. Neural Networks  vol. 18, (10) 1341-1347. 10.1016/j.neunet.2005.04.007
Song ZB, Zweiri YH, Althoefer K and Seneviratne LD (2005). Non-linear observer for estimating slips of wheeled vehicles. 12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005  71-77.
Tan CP, Zweiri YH, Althoefer K and Seneviratne LD (2005). Online soil-bucket interaction identification for autonomous excavation. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2005, 3576-3581. 10.1109/ROBOT.2005.1570664
Khawaja K, Seneviratne L and Althoefer K (2005). Wheel-tooling gap measurement system for Conform™ extrusion machinery based on a capacitive sensor. Journal of Manufacturing Science and Engineering, Transactions of the ASME  vol. 127, (2) 394-401. 10.1115/1.1870004
Tan CP, Zweiri YH, Althoefer K and Seneviratne LD (2005). Online soil parameter estimation scheme based on Newton-Raphson method for autonomous excavation. IEEE/ASME Transactions on Mechatronics  vol. 10, (2) 221-229. 10.1109/TMECH.2005.844706
Althoefer K, Lara B and Seneviratne LD (2005). Monitoring of self-tapping screw fastenings using artificial neural networks. Journal of Manufacturing Science and Engineering, Transactions of the ASME  vol. 127, (1) 236-245. 10.1115/1.1831286
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2005). Traversability prediction for unmanned ground vehicles based on identified soil parameters. IFAC Proceedings Volumes (IFAC-PapersOnline)  vol. 16, 25-30. 10.3182/20050703-6-cz-1902.02056
Song ZB, Zweiri YH, Seneviratne LD and Althoefer K (2005). Driver support system based on a non-linear slip observer for off road vehicles. IFAC Proceedings Volumes (IFAC-PapersOnline)  vol. 38, (1) 83-88. 10.3182/20050703-6-cz-1902.01169

2004

Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification methods for excavator arm parameters. Proceedings of the SICE Annual Conference  1645-1650.
Duran O, Althoefer K and Seneviratna LD (2004). Laser profiler model for robot-based pipe inspection. Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC  353-358.
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. Proceedings of the SICE Annual Conference  1651-1656.
Gomez F, Althoefer K and Seneviratne LD (2004). An ultrasonic profiling method for sewer inspection. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2004, (5) 4858-4863. 10.1109/robot.2004.1302487
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2004). Hybrid model in a real-time soil parameter identification scheme for autonomous excavation. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2004, (5) 5268-5273. 10.1109/robot.2004.1302554
Khawaja K, Althoefer K, Clode MP and Seneviratne LD (2004). Gap sensing benefits in conform™ extrusion machinery. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2004, (1) 529-534. 10.1109/robot.2004.1307203
Zweiri YH, Seneviratne LD and Althoefer K (2004). Parameter Estimation for Excavator Arm Using Generalized Newton Method. IEEE Transactions on Robotics  vol. 20, (4) 762-767. 10.1109/TRO.2004.829476
Zweiri YH, Seneviratne LD and Althoefer K (2004). Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators. ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS  2248-2252.
Duran O, Althoefer K and Seneviratne LD (2004). Automated pipe inspection using ANN and laser data fusion. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2004, (5) 4875-4880. 10.1109/robot.2004.1302490
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K and Engineers SIC (2004). Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. SICE 2004 ANNUAL CONFERENCE, VOLS 1-3  2255-2260.
Zweiri YH, Seneviratne LD, Althoefer K and Engineers SIC (2004). Identification methods for excavator arm parameters. SICE 2004 ANNUAL CONFERENCE, VOLS 1-3  1061-1066.
Silversides RW, Dai JS, Althoefer KA and Seneviratne L (2004). Non-invasive laser based measurement of the helicoidal motion of a vibratory platform with three leaf-spring legs. Proceedings of the ASME Design Engineering Technical Conference  vol. 2 B, 1231-1239. 10.1115/detc2004-57466

2003

Klingajay M, Seneviratne LD and Althoefer K (2003). Identification of threaded fastening parameters using the Newton Raphson Method. IEEE International Conference on Intelligent Robots and Systems  vol. 2, 2055-2060. 10.1109/iros.2003.1248970
Duran O, Althoefer K and Seneviratne LD (2003). A sensor for pipe inspection: Model, analysis and image extraction. IEEE International Conference on Image Processing  vol. 3, 597-600. 10.1109/icip.2003.1247315
Gomez F, Althoefer K and Seneviratne LD (2003). Modeling of ultrasound sensor for pipe inspection. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2, 2555-2560. 10.1109/robot.2003.1241977
Duran O, Althoefer K and Seneviratne LD (2003). Experiments using a laser-based transducer and automated analysis techniques for pipe inspection. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2, 2561-2566. 10.1109/robot.2003.1241978
Zweiri YH, Seneviratne LD and Althoefer K (2003). A generalized newton method for identification of closed-chain excavator arm parameters. Proceedings - IEEE International Conference on Robotics and Automation  vol. 1, 103-108. 10.1109/robot.2003.1241580
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). On-line soil property estimation for autonomous excavator vehicles. Proceedings - IEEE International Conference on Robotics and Automation  vol. 1, 121-126. 10.1109/robot.2003.1241583
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). Soil parameters estimation for automated excavation. International Conference on Mechatronics, ICOM 2003  557-562.
Gomez F, Althoefer K and Seneviratne LD (2003). Modelling of rotating ultrasonic sensors for pipe inspection. International Conference on Mechatronics, ICOM 2003  279-284.
Zweiri YH, Seneviratne LD and Althoefer K (2003). Modelling and control of an unmanned excavator vehicle. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering  vol. 217, (4) 259-274. 10.1243/095965103322260386
Duran O, Althoefer K and Seneviratne LD (2003). Pipe inspection using a laser-based transducer and automated analysis techniques. IEEE/ASME Transactions on Mechatronics  vol. 8, (3) 401-409. 10.1109/TMECH.2003.816809

2002

Duran O, Althoefer K and Seneviratne LD (2002). State of the art in sensor technologies for sewer inspection. IEEE Sensors Journal  vol. 2, (2) 73-81. 10.1109/JSEN.2002.1000245
Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K (2002). A comparison of dynamic models of various complexity for diesel engines. Mathematical and Computer Modelling of Dynamical Systems  vol. 8, (3) 273-289. 10.1076/mcmd.8.3.273.14100
Klingajay M, Seneviratne LD and Althoefer K (2002). Parameter estimation during automated screw insertions. Proceedings of the IEEE International Conference on Industrial Technology  vol. 2, 1019-1024. 10.1109/ICIT.2002.1189311
Duran O, Althoefer K and Seneviratne LD (2002). Automated sewer pipe inspection through image processing. Proceedings - IEEE International Conference on Robotics and Automation  vol. 3, 2551-2556. 10.1109/robot.2002.1013615
Zweiri YH, Whidborne JF, Althoefer K and Seneviratne LD (2002). A new three-term backpropagation algorithm with convergence analysis. Proceedings - IEEE International Conference on Robotics and Automation  vol. 4, 3882-3887. 10.1109/robot.2002.1014327
Duran O, Althoefer K and Seneviratne LD (2002). Automated sewer inspection using image processing and a neural classifier. Proceedings of the International Joint Conference on Neural Networks  vol. 2, 1126-1131. 10.1109/ijcnn.2002.1007652
Duran O, Althoefer K and Seneviratne LD (2002). Pipe inspection using intelligent analysis techniques with high noise-tolerance. IEEE International Conference on Intelligent Robots and Systems  vol. 2, 1886-1891. 10.1109/irds.2002.1044031
Zweiri YH, Seneviratne LD and Althoefer K (2002). Model-based automation for heavy duty mobile excavator. IEEE International Conference on Intelligent Robots and Systems  vol. 3, 2967-2972. 10.1109/irds.2002.1041723
Seneviratne LD, Visuwan P and Althoefer K (2002). Monitoring of threaded fastenings in automated assembly using artificial neural networks. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001  61-65.
Duran O, Althoefer K and Seneviratne LD (2002). Automated laser-based profiler for sewer inspection. INTELLIGENT AUTONOMOUS SYSTEMS 7  84-91.
Lara B, Seneviratne L and Althoefer K (2002). Error classification of self-tapping screw fastenings in automated assembly. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001  31-36.
Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K (2002). Dynamic modelling of diesel engines for design applications. COMPUTER-BASED DESIGN  701-709.

2001

Seneviratne LD, Ngemoh FA, Earles SWE and Althoefer KA (2001). Theoretical modelling of the self-tapping screw fastening process. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 215, (2) 135-154. 10.1243/0954406011520562
Althoefer K, Krekelberg B, Husmeier D and Seneviratne L (2001). Reinforcement learning in a rule-based navigator for robotic manipulators. Neurocomputing  vol. 37, (1-4) 51-70. 10.1016/S0925-2312(00)00307-6

2000

Lara B, Seneviratne LD and Althoefer K (2000). Radial basis artificial neural networks for screw insertions classification. Proceedings - IEEE International Conference on Robotics and Automation  vol. 2, 1912-1917. 10.1109/robot.2000.844874
Althoefer K, Seneviratne LD and Shields R (2000). Mechatronic strategies for torque control of electric powered screwdrivers. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 214, (12) 1485-1500. 10.1243/0954406001523434

1999

Lara B, Althoefer K and Seneviratne LD (1999). Use of artificial neural networks for the monitoring of screw insertions. IEEE International Conference on Intelligent Robots and Systems  vol. 1, 579-584. 10.1109/iros.1999.813066
Seneviratne LD, Visuwan P and Althoefer K (1999). Weightless neural network based monitoring of screw fastenings. IEEE International Conference on Intelligent Robots and Systems  vol. 1, 561-566. 10.1109/iros.1999.813063
Althoefer K, Seneviratne L and Krekelberg B (1999). Learning in a neuro-fuzzy navigator for robotic manipulators. ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings  vol. 1, 347-352. 10.1109/ICONIP.1999.844012

1998

Husmeier D and Althoefer K (1998). Modelling conditional probabilities with network committees: how overfitting can be useful. Neural Network World  vol. 8, (4) 417-439.
Althoefer K, Seneviratne LD, Zavlangas P and Krekelberg B (1998). Fuzzy navigation for robotic manipulators. International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems  vol. 6, (2) 179-188. 10.1142/S0218488598000161
Lara B, Althoefer K and Seneviratne LD (1998). Automated robot-based screw insertion system. IECON Proceedings (Industrial Electronics Conference)  vol. 4, 2440-2445. 10.1109/iecon.1998.724109
Bekit BW, Seneviratne LD, Whidborne JF and Althoefer K (1998). Fuzzy PID tuning for robot manipulators. IECON Proceedings (Industrial Electronics Conference)  vol. 4, 2452-2457. 10.1109/iecon.1998.724111

1996

Althofer K and Fraser DA (1996). Fuzzy obstacle avoidance for robotic manipulators. Neural Network World  vol. 6, (2) 133-142.

1995

Althöfer K, Fraser DA and Bugmann G (1995). Rapid path planning for robotic manipulators using a nemulated resistive grid. Electronics Letters  vol. 31, (22) 1960-1961. 10.1049/el:19951313
Althofer K, Fraser DA, Bugmann G and Turan J (1995). Configuration space transformation for articulated manipulators: A novel approach based on RBF-networks. IEE Conference Publication  (409) 245-249. 10.1049/cp:19950562

1993

Fraser DA, Azhar F and Althoefer K (1993). On-line adaptation in robot control. IEE Conference Publication  (372) 205-209.

Grants

Grants of specific relevance to Advanced Robotics
National Centre for Nuclear Robotics (NCNR)
Stolkin R, Taylor CJ, Montazeri A, Giuliani M, Richardson TS, Althoefer KA, Scott TB, Farkhatdinov I, Hansard ME, Pipe AG, Leonardis AXC, Cavallaro AA, Stone R, Richards AG, Mistry MN, Peer A, Mcdonald-Maier KD, Melhuish C, Herrmann G, Jamone L, Poslad S, Hanheide MA, Neumann G and Malkin R
£11,588,430 Engineering and Physical Sciences Research Council (01-10-2017 - 31-03-2021)
Summary
Computer-guided imaging systems for prenatal screening and comprehensive diagnosis of fetal abnormalities
Althoefer KA, Razavi RS, Hajnal JV, Penney GP, Rhode KS, Rutherford MA and Schaeffter TR
£9,989,585 Wellcome Trust (01-03-2014 - 28-02-2021)
Summary


SQUIRREL
Althoefer KA
£1,109,438 European Commission (01-02-2014 - 31-01-2018)
Summary
FourByThree
Althoefer KA
EUR6,859,722 H2020-EU.2.1.5.1. - Technologies for Factories of the Future (01-12-2014 - 30-11-2017)
Summary
AQUAREOS (Advanced QUAdrupole Resonance-based Explosives Ordnance Scanner):
Althoefer KA
£269,409 FABW - Find a Better Way (01-12-2014 - 30-11-2016)
Summary
STIFF-FLOP
Althoefer KA
European Commission (01-01-2012 - 31-12-2015)
Summary