Professor 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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Research

Tactile Perception, Soft Robotics, Sensors, Healthcare Robotics, Nuclear Engineering, Machine Learning

Publications

Publications of specific relevance to Advanced Robotics

2023

Althoefer K (2023). The 40th International Conference on Robotics and Automation (ICRA) 2023: Embracing the Future: Making Robots for Humans [Conference Highlights]. IEEE Robotics & Automation Magazine  vol. 30, (4) 105-109. 10.1109/mra.2023.3322892
Murtaza Z, Bonzini AA, Althoefer K and Jamone L (2023). QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human Manipulation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE International Conference on Development and Learning (ICDL)  10.1109/icdl55364.2023.10364422
Kaleel D, Clement B and Althoefer K (2023). A Framework to Design and Build a Height Controllable Eversion Robot. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)  10.1109/iccma59762.2023.10374973
Suulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D and Althoefer K (2023). Soft Cap for Vine Robots. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros55552.2023.10341377
Hassan A, Abrar T, Aljaber F, Vitanov I and Althoefer K (2023). Eversion-Capable Fabric Robot Gripper with Novel Retraction Mechanism. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros55552.2023.10342364
Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y, Althoefer K and Kwok K-W (2023). Intelligent Shape Decoding of a Soft Optical Waveguide Sensor. Advanced Intelligent Systems  vol. 6, (2) 10.1002/aisy.202300082
Yip M, Salcudean S, Goldberg K, Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K, Walsh CJ, Huang HH and Lee I-C (2023). Artificial intelligence meets medical robotics. Science  vol. 381, (6654) 141-146. 10.1126/science.adj3312
Li W, Wang M, Li J, Su Y, Jha DK, Qian X, Althoefer K and Liu H (2023). L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing. IEEE Robotics and Automation Letters  vol. 8, (8) 5148-5155. 10.1109/lra.2023.3292575
(2023). Welcome Page. Institute of Electrical and Electronics Engineers (IEEE) 10.1109/icra48891.2023.10160735
Althoefer K, Ling Y, Li W, Qian X, Lee WW and Qi P (2023). A Miniaturised Camera-based Multi-Modal Tactile Sensor. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra48891.2023.10160634
Dawood AB, Coppola C and Althoefer K (2023). Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra48891.2023.10160961
Fras J and Althoefer K (2023). A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissue. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra48891.2023.10160689
Aljaber F, Hassan A, Abrar T, Vitanov I and Althoefer K (2023). Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2023 IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft55895.2023.10121998
Giudici G, Omarali B, Bonzini AA, Althoefer K, Farkhatdinov I and Jamone L (2023). Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot. Towards Autonomous Robotic Systems  Springer Nature 10.1007/978-3-031-43360-3_36

2022

Suulker C, Skach S and Althoefer K (2022). Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons. IEEE Robotics and Automation Letters  vol. 7, (4) 10621-10627. 10.1109/lra.2022.3194883
Wang X, Wang Y, Zhang K, Althoefer K and Su L (2022). Learning to sense three-dimensional shape deformation of a single multimode fiber. Scientific Reports  10.1038/s41598-022-15781-8
Hassan A, Aljaber F, Vitanov I and Althoefer K (2022). Performance Evaluation and Optimisation of Multi-point Waveguide based optical Sensor for Soft Robots. Conference: 2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)  10.1109/fleps53764.2022.9781539
Omarali B, Palermo F, Althoefer K, Valle M and Farkhatdinov I (2022). Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 International Conference on Robotics and Automation (ICRA)  10.1109/icra46639.2022.9811825
Kwok K-W, Wurdemann H, Arezzo A, Menciassi A and Althoefer K (2022). Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook. Proceedings of the IEEE  vol. 110, (7) 871-892. 10.1109/jproc.2022.3167931
Dawood AB, Denoun B and Althoefer K (2022). Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022  831-836. Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/RoboSoft54090.2022.9762066
Suulker C, Hassan A, Skach S and Althoefer K (2022). A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762074
Liu C, Edwards O, Althoefer K, Zhang K and Godaba H (2022). An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762154
Sun Y, Wu L, Wang H, Althoefer K and Qi P (2022). The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762113
Aljaber F, Hassan A, Vitanov I and Althoefer K (2022). Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762125
Matsuno T, Miyagoshi R, Shimizu K, Ishihara M, Watanabe S, Shintake J, Althoefer K and Hirai S (2022). Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft54090.2022.9762078
Ataka A, Lam HK and Althoefer K (2022). Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments. Frontiers in Robotics and AI  vol. 9, 10.3389/frobt.2022.834177
Jia G, Lam H-K and Althoefer K (2022). Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types. Pattern Recognition  vol. 121, 10.1016/j.patcog.2021.108226

2021

Omarali B, Althoefer K, Mastrogiovanni F, Valle M and Farkhatdinov I (2021). Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  10.1109/smc52423.2021.9658796
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K (2021). A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics  vol. 10, (4) 112-112. 10.3390/robotics10040112
Palermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G and Farkhatdinov I (2021). Multi-modal robotic visual-tactile localisation and detection of surface cracks. Conference: 2021 IEEE 17th International Conference on Automation Science and Engineering  10.1109/CASE49439.2021.9551553
Wang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY, Althoefer K, Liu Y, Fukuda T and Kwok K-W (2021). Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics. Advanced Intelligent Systems  vol. 3, (11) 10.1002/aisy.202100089
Slonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L and Versace E (2021). Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. IEEE International Conference on Development and Learning, ICDL 2021  Conference: 2021 IEEE International Conference on Development and Learning (ICDL)  10.1109/ICDL49984.2021.9515641
Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and Althoefer K (2021). Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop. Applied Sciences  vol. 11, (14) 10.3390/app11146586
Abrar T, Putzu F, Ataka A, Godaba H and Althoefer K (2021). Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2021 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra48506.2021.9561873
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. IEEE Robotics & Automation Magazine  vol. 28, (1) 16-17. 10.1109/mra.2020.3048866
Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2021). Observer-based Control of Inflatable Robot with Variable Stiffness *. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros45743.2020.9341785
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. The Surgeon  vol. 19, (5) e281-e288. 10.1016/j.surge.2020.12.008
Förster F and Althoefer K (2021). Attribution of autonomy and its role in robotic language acquisition. AI & SOCIETY  vol. 37, (2) 605-617. 10.1007/s00146-020-01114-8
Ishihara M, Matsuno T, Althoefer K and Hirai S (2021). Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2021 IEEE/SICE International Symposium on System Integration (SII)  10.1109/ieeeconf49454.2021.9382706
Bálint LAP, Althoefer K and Macías LHP (2021). Virtual Reality Percussion Simulator for Medical Student Training. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI)  10.1109/rtsi50628.2021.9597234
Hassan A, Aljaber F, Godaba H, Vitanov I and Althoefer K (2021). Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI)  10.1109/rtsi50628.2021.9597247
Fras J, Arezzo A, Shiva A and Althoefer K (2021). Chapter 27 Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability. Soft Matter For Biomedical Applications  Royal Society of Chemistry (RSC) 10.1039/9781839161124-00684

2020

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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 IEEE SENSORS  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
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) 
Palermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I (2020). Implementing Tactile and Proximity Sensing for Crack Detection. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 IEEE International Conference on Robotics and Automation (ICRA)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft48309.2020.9115984
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  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
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
Omarali B, Denoun B, Althoefer K, Jamone L, Valle M and Farkhatdinov I (2020). Virtual Reality based Telerobotics Framework with Depth Cameras. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)  10.1109/ro-man47096.2020.9223445
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  Springer Nature 10.1007/978-3-319-22873-0_52
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
Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K (2020). An Inhomogeneous Structured Eversion Actuator. Towards Autonomous Robotic Systems  Springer Nature 10.1007/978-3-030-63486-5_4
Dawood AB, Godaba H and Althoefer K (2020). Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. Towards Autonomous Robotic Systems  Springer Nature 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. Towards Autonomous Robotic Systems  Springer Nature 10.1007/978-3-030-63486-5_7
Fras J, Glowka J and Althoefer K (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. 2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)  476-482. 10.1109/robosoft48309.2020.9115973

2019

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
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
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
Putzu F, Konstantinova J and Althoefer K (2019). Eversion-type soft overtube for endoscopic surgery. UK-Robotics and Autonomous Systems (RAS) Network Conference: The Hamlyn Symposium on Medical Robotics  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. Robotics: Science and Systems Foundation Conference: Robotics: Science and Systems XV  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
Ataka A, Lam HK and Althoefer K (2019). Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2019 International Conference on Robotics and Automation (ICRA)  10.1109/icra.2019.8793682
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
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
Abrar T, Putzu F, Konstantinova J and Althoefer K (2019). EPAM: Eversive Pneumatic Artificial Muscle. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft.2019.8722793
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
Shiva A, Sadati SMH, Noh Y, Fra? J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K (2019). Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robotics  vol. 6, (2) 228-249. 10.1089/soro.2018.0060
FRAS J and ALTHOEFER K (2019). Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination. Conference: International Conference on Intelligent Robots  10.1109/IROS.2018.8593666
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. Springer Nature 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
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
Obadina O, Bernth J, Althoefer K and Hasan Shaheed M (2018). A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System. The Hamlyn Centre for Robotic Surgery Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings  10.31256/ukras17.10
Putzu F, Althoefer K and Manfredi L (2018). Silicone-based ultra-stretchable strain sensors. UK-Robotics and Autonomous Systems (RAS) Network Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings  10.31256/ukras17.46
Fras J and Althoefer K (2018). Bio-mimetic pneumatic soft prosthetic hand. UK-Robotics and Autonomous Systems (RAS) Network Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings  10.31256/ukras17.29
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, Shiva A, Lam HK and Althoefer K (2018). Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator* *This work was supported in part by King's College London, the EPSRC in the framework of the NCNR (National Centre for Nuclear Robotics) project (EP/R02572X/1), the STIFF-FLOP project grant from the European Communities Seventh Framework Programme under grant agreement 287728, and the Indonesia Endowment Fund for Education, Ministry of Finance Republic of Indonesia. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros.2018.8593592
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
Puertolas Balint L and Althoefer K (2018). Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. Conference: CRAS 
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. 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
ALTHOEFER KA (2018). iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Autonomous Robots  10.1007/s10514-018-9777-7
Ataka A, Lam H-K and Althoefer K (2018). Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments**This work was supported in part by King's College London, the EPSRC in the framework of the NCNR (National Centre for Nuclear Robotics) project (EP/R02572X/1), and the Indonesia Endowment Fund for Education, Ministry of Finance Republic of Indonesia. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2018 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2018.8463203
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, Naghibi SE, Althoefer K and Nanayakkara T (2018). Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft.2018.8405368
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft.2018.8404943
ALJaber F and Althoefer K (2018). Towards Creating a Flexible Shape Senor for Soft Robots. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)  10.1109/robosoft.2018.8404906
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
Stilli A, Althoefer K and Wurdemann HA (2018). Soft Robotics. Bio-inspired Antagonistic Stiffening. Developing Support Technologies  Springer Nature 10.1007/978-3-030-01836-8_20
Ataka A, Shiva A, Lam HK and Althoefer K (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)  8061-8066.
Konstantinova J, Wurdemann H, Shafti A, Shiva A and Althoefer K (2018). Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:. River Publishers 10.13052/rp-9788793519718

2017

Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K and Menciassi A (2017). Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery. International Journal of Medical Robotics and Computer Assisted Surgery  vol. 14, (1) 10.1002/rcs.1875
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
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. J R Soc 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. UK-Robotics and Autonomous Systems (RAS) Network Conference: 10th Hamlyn Symposium on Medical Robotics 2017  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
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
Stopforth R, Davrajh S and Althoefer K (2017). Low Cost Soft Endoscope Robotic Probe. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2017 IEEE AFRICON  10.1109/afrcon.2017.8095689

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
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
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
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
Stopforth R, Davrajh S and Althoefer K (2016). Low Cost Robotic Endoscope Design Considerations. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)  10.1109/robomech.2016.7813170
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
Shafti A, Lazpita BU, Elhage O, Wurdemann HA and Althoefer K (2016). Analysis of Comfort and Ergonomics for Clinical Work Environments **This work was supported by the Horizon 2020 Research and Innovation Programme under grant agreement 287728 in the framework of EU project FourByThree. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2016, 1894-1897. Conference: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  10.1109/embc.2016.7591091
Manerol RBR, Shafti A, Michael B, Grewal J, Fernández JLR, Althoefer K and Howard MJ (2016). Wearable Embroidered Muscle Activity Sensing Device for the Human Upper Leg. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2016, 6062-6065. Conference: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  10.1109/embc.2016.7592111
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
Dias J, Althoefer K and Lima PU (2016). Robot Competitions: What Did We Learn? [Competitions]. IEEE Robotics & Automation Magazine  vol. 23, (1) 16-18. 10.1109/mra.2015.2511678
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
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

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
Yu Y, Qi P, Althoefer K and Lam HK (2015). Lagrangian Dynamics and Nonlinear Control of a Continuum Manipulator. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)  10.1109/robio.2015.7419052
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
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
Secco EL, Nagar A, Deters C, Wurdemann H, Lam H-K and Althoefer K (2015). A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE International Conference on Computer and Information Technology; Ubiquitous Computing and Communications; Dependable, Autonomic and Secure Computing; Pervasive Intelligence and Computing  10.1109/cit/iucc/dasc/picom.2015.42
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
Faragasso A, Stilli A, Bimbo J, Wurdemann HA and Althoefer K (2015). Multi-Axis Stiffness Sensing Device for Medical Palpation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros.2015.7353748
Qi P, Liu H, Seneviratne L and Althoefer K (2015). Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs. ASME International Conference: Volume 5A: 39th Mechanisms and Robotics Conference  10.1115/detc2015-46503
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. ASME International Conference: Volume 5B: 39th Mechanisms and Robotics Conference  10.1115/detc2015-47118
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. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2015, 8026-8029. Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  10.1109/embc.2015.7320255
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* *The authors would like to thank Guy's Hospital administration and staff for support during the course of these experiments. The work described in this paper is funded by the Seventh Framework Programme of the European Commission under grant agreement 287728 in the framework of EU project STIFF-FLOP. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2015, 4861-4864. Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  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. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2015, 5773-5776. Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  10.1109/embc.2015.7319704
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
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
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 & Biological Engineering & Computing  vol. 53, (11) 1177-1186. 10.1007/s11517-015-1309-4
Luo S, Mou W, Althoefer K and Liu H (2015). Localizing the Object Contact through Matching Tactile Features with Visual Map. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2015.7139743
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2015.7139542
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
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
Bimbo J, Kormushev P, Althoefer K and Liu H (2015). Global estimation of an object’s pose using tactile sensing. Advanced Robotics  vol. 29, (5) 363-374. 10.1080/01691864.2014.1002531
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
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros.2015.7353570
Konstantinova J, Stilli A and Althoefer K (2015). Force and Proximity Fingertip Sensor to Enhance Grasping Perception. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  10.1109/iros.2015.7353659
Morland MFE, Althoefer K and Nanayakkara T (2015). Novel Method to form Adaptive Internal Impedance Profiles in Walkers. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2015, 7764-7767. Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  10.1109/embc.2015.7320192
Back J, Karim R, Noh Y, Rhode K, Althoefer K and Liu H (2015). Tension Sensing for a Linear Actuated Catheter Robot. Springer Nature 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. Springer Nature 10.1007/978-3-319-22876-1_2
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.
Wurdemann HA, Stilli A and Althoefer K (2015). Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control. Springer Nature 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. Springer Nature 10.1007/978-3-319-22873-0_16
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
Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T (2015). Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. Springer Nature 10.1007/978-3-319-22873-0_13

2014

Deters C, Lam H-K, Secco EL, Wurdemann HA, Seneviratne LD and Althoefer K (2014). 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
Luo S, Mou W, Li M, Althoefer K and Liu H (2014). Rotation and translation invariant object recognition with a tactile sensor. 2010 IEEE Sensors  1030-1033. Conference: IEEE SENSORS 2014 Proceedings  10.1109/icsens.2014.6985179
Qi P, Liu C, Zhang L, Wang S, Lam H-K and Althoefer K (2014). Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)  10.1109/robio.2014.7090366
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
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.
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
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2014). 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
Qiu C, Qi P, Liu HB, Althoefer K and Dai JS (2014). Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator. ASME International Conference: Volume 5A: 38th Mechanisms and Robotics Conference  10.1115/detc2014-34607
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
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, 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
Althoefer K (2014). MRI‐safe robots. BJU International  vol. 113, (6) 975-976. 10.1111/bju.12706
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T and Dasgupta P (2014). The granular jamming integrated actuator. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS)  10.1109/aris.2014.6871512
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
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
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
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
Wanninayake IB, Seneviratne LD and Althoefer K (2014). Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907039
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907036
Cotugno G, Mohan V, Althoefer K and Nanayakkara T (2014). Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned Synergies. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907645
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907468
Sareh S, Jiang A, Faragasso A, Noh Y, Nanayakkara T, Dasgupta P, Seneviratne LD, Wurdemann RA and Althoefer K (2014). Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907251
Noh Y, Sareh S, Back J, Würdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H and Althoefer K (2014). A Three-Axial Body Force Sensor for Flexible Manipulators. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)  10.1109/icra.2014.6907802
Karim R, Ma Y, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K, 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
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
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. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2014, 6517-6520. Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  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. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2014, 3009-3012. Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  10.1109/embc.2014.6944256
Noh Y, Secco EL, Sareh S, Würdemann H, Farazasso A, Back J, Liu H, Sklar E and Althoefer K (2014). A Continuum Body Force Sensor Designed for Flexible Surgical Robotics Devices. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2014, 3711-3714. Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  10.1109/embc.2014.6944429
Manwell T, Vitek T, Ranzani T, Menciassi A, Althoefer K and Liu H (2014). Elastic Mesh Braided Worm Robot for Locomotive Endoscopy. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2014, 848-851. Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  10.1109/embc.2014.6943724
Stilli A, Wurdemann HA and Althoefer K (2014). Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2014.6942899
Qi P, Qiu C, Liu H, Dai JS, Seneviratne L and Althoefer K (2014). A Novel Continuum-Style Robot with Multilayer Compliant Modules. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2014.6943002
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

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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2013.6696931
Ranasinghe A, Penders J, Dasgupra P, Althoefcr K and Nanayakkara T (2013). A Two Party Haptic Guidance Controller Via a Hard Rein. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics  10.1109/smc.2013.397
Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K and Dasgupta P (2013). Haptics for Multi-Fingered Palpation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics  10.1109/smc.2013.714
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD (2013). Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. Medical & Biological Engineering & Computing  vol. 52, (1) 17-28. 10.1007/s11517-013-1118-6
Song X, Liu H, Althoefer K, Nanayakkara T and Seneviratne LD (2013). 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
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  Springer Nature 10.1007/978-94-007-7265-6_3
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T (2013). Granular Jamming With Hydraulic Control. ASME International Conference: Volume 6A: 37th Mechanisms and Robotics Conference  10.1115/detc2013-12213
Jiang A, Aste T, Dasgupta P, Althoefer K and Nanayakkara T (2013). Granular jamming transitions for a robotic mechanism. AIP Conference Proceedings  vol. 1542, (1) 385-388. 10.1063/1.4811948
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
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE International Conference on Robotics and Automation  10.1109/icra.2013.6630587
Searle TC, Althoefer K, Seneviratne L and Liu H (2013). An Optical Curvature Sensor for Flexible Manipulators. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2013 IEEE International Conference on Robotics and Automation  10.1109/icra.2013.6631203
Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K (2013). 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
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
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
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.

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 
Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P and Althoefer K (2012). 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
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  vol. 6, (4) 10.1115/1.4007281
Xie H, Jiang A, Seneviratne L and Althoefer K (2012). Pixel-based Optical Fiber Tactile Force Sensor for Robot Manipulation. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2012.6385696
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
Bimbo J, Rodríguez-Jiménez 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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)  10.1109/mfi.2012.6343036
Jiang A, Ataollahi A, Althoefer K, Dasgupta P and Nanayakkara T (2012). A Variable Stiffness Joint by Granular Jamming. ASME International Conference: Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B  10.1115/detc2012-70670
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  World Scientific Publishing 10.1142/9781848166929_0008
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
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Robotics and Automation  10.1109/icra.2012.6225067
Liu H, Song X, Nanayakkarr T, Seneviratne LD and Althoefer K (2012). A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Robotics and Automation  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Robotics and Automation  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**Research partially funded under the 7th Framework Program, grant agreement 287728 (EU project title: STIFF-FLOP), THEME 3: “Information and Communication Technologies”, Challenge 2: Cognitive Systems and Robotics. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2012 IEEE International Conference on Robotics and Automation  10.1109/icra.2012.6225143
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
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T and Althoefer K (2012). 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
Li J, Liu H, Althoefer K and Seneviratne LD (2012). A stiffness probe based on force and vision sensing for soft tissue diagnosis. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2012, 944-947. 10.1109/embc.2012.6346088
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
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.
Liu H, Song X, Bimbo J, Althoefer K and Senerivatne L (2012). Intelligent Fingertip Sensing for Contact Information Identification. Springer Nature 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. Springer Nature 10.1007/978-1-4471-4141-9_43
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.
Deters C, Wurdemann HA, Dai JS, Seneviratne LD and Althoefer K (2012). Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent Agents. Springer Nature 10.1007/978-1-4471-4141-9_10

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
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
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
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
Narimani M, Lam HK, Althoefer K, Dilmaghan R, Wolfe C and Deters C (2011). An Approach for Stability Analysis of Polynomial Fuzzy Model-Based Control Systems. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)  10.1109/fuzzy.2011.6007497
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
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) 3319-3327. 10.1109/tbme.2011.2106783
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.

2010

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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 11th International Conference on Control Automation Robotics & Vision  10.1109/icarcv.2010.5707909
Song X, Althoefer K and Seneviratne L (2010). A Robust Downward-Looking Camera Based Velocity Estimation with Height Compensation for Mobile Robots. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 11th International Conference on Control Automation Robotics & Vision  10.1109/icarcv.2010.5707269
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2010). MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures. IEEE Transactions on Biomedical Engineering  vol. 58, (3) 721-726. 10.1109/tbme.2010.2095853
Polygerinos P, Seneviratne LD and Althoefer K (2010). 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
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
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD and Althoefer K (2010). Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2010.5649109
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
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
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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 IEEE International Conference on Robotics and Automation  10.1109/robot.2010.5509416
Liu H, Li J, Poon Q-I, Seneviratne LD and Althoefer K (2010). Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification during Laparoscopic Surgery. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 IEEE International Conference on Robotics and Automation  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2010 IEEE International Conference on Robotics and Automation  10.1109/robot.2010.5509807
Song X, Seneviratne LD and Althoefer K (2010). 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
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
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
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD (2010). Force Sensing in Medical Robotics. Mechatronics in Action  Springer Nature 10.1007/978-1-84996-080-9_10
Arghir S, Dobrescu R, Popescu D and Humaila H (2010). Critical Resource Infrastructure Supervision and Intervention System. IFAC-PapersOnLine  vol. 43, (23) 70-76. 10.3182/20101005-4-ro-2018.00027

2009

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.
Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). Measuring Tip and Side Forces of a Novel Catheter Prototype: A Feasibility Study. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2009.5354140
Liu H, Noonan DP, Challacombe BJ, Dasgupta P, Seneviratne LD and Althoefer K (2009). 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
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
Puangmali P, Althoefer K and Seneviratne LD (2009). 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
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 Measurement and Estimation Scheme for Excavation Automation. IEEE Transactions on Instrumentation and Measurement  vol. 58, (10) 3633-3641. 10.1109/tim.2009.2018699
Puangmali P, Althoefer K and Seneviratne LD (2009). Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2009 IEEE International Conference on Robotics and Automation  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2009 IEEE International Conference on Robotics and Automation  10.1109/robot.2009.5152644
Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). A Fibre-Optic Catheter-Tip Force Sensor with MRI Compatibility: A Feasibility Study. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2009, 1501-1504. Conference: 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society  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. RECONFIGURABLE MECHANISMS AND ROBOTS  436-+.
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Milli SA 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) 10.1504/ijmic.2009.023529
Puangmali P, Althoefer K and Seneviratne LD (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 and Althoefer K (2009). Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7  2933-+.
Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). A fibre-optic catheter-tip force sensor with MRI compatibility: a feasibility study. Annu Int Conf IEEE Eng Med Biol Soc  vol. 2009, 1501-1054. 10.1109/IEMBS.2009.5334163
Song X, Seneviratne L and Althoefer K (2009). A Vision Based Wheel Slip Estimation Technique for Mining Vehicles. IFAC-PapersOnLine  vol. 42, (23) 179-184. 10.3182/20091014-3-cl-4011.00033

2008

Song X, Seneviratne LD, Althoefer K and Song Z (2008). A robust slip estimation method for skid-steered mobile robots. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2008 10th International Conference on Control, Automation, Robotics and Vision  10.1109/icarcv.2008.4795532
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
Song ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH (2008). Slip parameter estimation of a single wheel using a non-linear observer. Robotica  vol. 27, (6) 801-811. 10.1017/s0263574708005146
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupta P and Murphy D (2008). Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery. 2010 IEEE Sensors  827-830. Conference: 2008 IEEE Sensors  10.1109/icsens.2008.4716568
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. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  107-112. Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  101-106. Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2008.4651025
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. World Scientific Publishing Conference: Advances in Mobile Robotics  10.1142/9789812835772_0132
CHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD (2008). VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION. World Scientific Publishing Conference: Advances in Mobile Robotics  10.1142/9789812835772_0128
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
Al-ja'afreh T, Zweiri Y, Seneviratne L and Althoefer K (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
Puangmali P, Liu H, Althoefer K and Seneviratne LD (2008). Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive Surgery. 2014 IEEE International Conference on Robotics and Automation (ICRA)  2934-2939. Conference: 2008 IEEE International Conference on Robotics and Automation  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. 2014 IEEE International Conference on Robotics and Automation (ICRA)  845-850. Conference: 2008 IEEE International Conference on Robotics and Automation  10.1109/robot.2008.4543310
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) 371-381. 10.1109/jsen.2008.917481
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
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. 2013 IEEE International Conference on Acoustics, Speech and Signal Processing  3645-3648. Conference: 2008 IEEE International Conference on Acoustics, Speech and Signal Processing  10.1109/icassp.2008.4518442
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. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  vol. 2008, 5556-5559. 10.1109/iembs.2008.4650473
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
ja'afreh TMA, Zweiri YH, Seneviratne LD and Althoefer K (2008). Modelling soft tissue-mechatronic tool interactions during indentation. International Journal of Modelling Identification and Control  vol. 4, (4) 10.1504/ijmic.2008.021474
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
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) 245-267. 10.21307/ijssis-2017-289
Vahed SM, Song X, Dai JS, Lam HK, Seneviratne LD and Althoefer K (2008). Soil Estimation Based on Dissipation Energy during Autonomous Excavation. IFAC-PapersOnLine  vol. 41, (2) 13821-13826. 10.3182/20080706-5-kr-1001.02340

2007

SONG X, SENEVIRATNE LD, ALTHOEFER K and SONG Z (2007). VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES. International Journal of Information Acquisition  vol. 4, (04) 303-315. 10.1142/s021987890700137x
Vahed SM, Delaimi HA, Althoefer K and Seneviratne LD (2007). On-line Energy-based Method for Soil Estimation and Classification in Autonomous Excavation. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  554-559. Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  208-213. Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  3174-3179. Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  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. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  516-521. Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  10.1109/iros.2007.4399376
Song X, Seneviratne LD, Althoefer K, Song Z and Zweiri YH (2007). Visual Odometry for Velocity Estimation of UGVs. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2007 International Conference on Mechatronics and Automation  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. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2007 International Conference on Mechatronics and Automation  10.1109/icma.2007.4303721
CHHANIYARA S, ALTHOEFER K and SENEVIRATNE LD (2007). MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION. World Scientific Publishing Conference: Advances in Climbing and Walking Robots  10.1142/9789812770189_0079
Somasundaram SD, Jakobsson A, Butt NR, Rowe MD, Smith JAS and Althoefer K (2007). Detection of Stochastic Nuclear Quadrupole Resonance Signals. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2007 15th International Conference on Digital Signal Processing  10.1109/icdsp.2007.4288595
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). Equipamiento y tecnologa en robtica. Archivos Españoles de Urología  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
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. 2014 IEEE International Conference on Robotics and Automation (ICRA)  2629-2634. Conference: Proceedings 2007 IEEE International Conference on Robotics and Automation  10.1109/robot.2007.363862
Chhaniyara S, Zweiri YH, Seneviratne LD and Althoefer K (2007). A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2007 IEEE International Conference on Networking, Sensing and Control  10.1109/icnsc.2007.372766
Duran O, Althoefer K and Seneviratne LD (2007). Automated Pipe Defect Detection and Categorization Using Camera/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 and Seneviratne LD (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 and Althoefer K (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-+.
Al-Milli S, Althoefer K and D.Seneviratne L (2007). DYNAMIC ANALYSIS AND TRAVERSABILITY PREDICTION OF TRACKED VEHICLES ON SOFT TERRAIN. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2007 IEEE International Conference on Networking, Sensing and Control  10.1109/icnsc.2007.372791
Vahed SM, Delaimi HA, Althoefer K and Seneviratne LD (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 and Seneviratne LD (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-+.
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2007). MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS. IFAC-PapersOnLine  vol. 40, (20) 578-583. 10.3182/20071017-3-br-2923.00093
Song Z, Zweiri Y, Seneviratne LD and Althoefer K (2007). NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLES. IFAC-PapersOnLine  vol. 40, (20) 458-463. 10.3182/20071017-3-br-2923.00073

2006

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
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
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction. Machine Intelligence Research  vol. 3, (3) 244-251. 10.1007/s11633-006-0244-0
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, Jakobsson A, Smith JAS and Althoefer KA (2006). Frequency selective detection of nuclear quadrupole resonance (NQR) spin echoes. Proceedings of SPIE  vol. 6217, Conference: Detection and Remediation Technologies for Mines and Minelike Targets XI  10.1117/12.665444
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.
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
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil Parameters. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.  10.1109/robot.2006.1642214
Song Z, Zweiri YH, Seneviratne LD and Althoefer K (2006). Non-linear Observer for Slip Estimation of Skid-steering Vehicles. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.  10.1109/robot.2006.1641920
Rao A, Noonan D, Althoefer K and Seneviratne L (2006). Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS Applications. ASME International Conference: ASME 2006 Frontiers in Biomedical Devices Conference  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. Springer Nature 10.1007/3-540-26415-9_100
Hutangkabodee S, Zweiri YH, Seneviratne LD and Altho K (2006). Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification. Springer Nature 10.1007/978-3-540-33453-8_43

2005

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.
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
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  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  vol. 127, (1) 236-243. 10.1115/1.1831286
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2005). Online Soil-bucket Interaction Identification for Autonomous Excavation. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings of the 2005 IEEE International Conference on Robotics and Automation  10.1109/robot.2005.1570664
Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2005). TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERS. IFAC-PapersOnLine  vol. 38, (1) 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-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.
Zweiri YH, Seneviratne LD and Althoefer K (2004). Parameter Estimation for Excavator Arm Using Generalized Newton Method. IEEE Transactions on Robotics and Automation  vol. 20, (4) 762-767. 10.1109/tro.2004.829476
Klingajay M, Seneviratne LD and Althoefer K (2004). Model Based Monitoring Strategies for Threaded Assembly System. IFAC-PapersOnLine  vol. 37, (4) 533-538. 10.1016/s1474-6670(17)36169-4
Gomez F, Althoefer K and Seneviratne LD (2004). An ultrasonic profiling method for sewer inspection. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  10.1109/robot.2004.1302487
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.
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2004). Hybrid Model in a Real-Time Soil Parameter Identification Scheme for Autonomous Excavation. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  10.1109/robot.2004.1302554
Khawaja K, Althoefer K, Clode MP and Seneviratne LD (2004). Gap Sensing Benefits in Conform™ Extrusion Machinery. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  10.1109/robot.2004.1307203
Duran O, Althoefer K and Seneviratne LD (2004). Automated Pipe Inspection Using ANN and Laser Data Fusion. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  10.1109/robot.2004.1302490
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (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 and Althoefer K (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. ASME International Conference: Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B  10.1115/detc2004-57466

2003

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.
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) 10.1109/tmech.2003.816809
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. 10.1177/095965180321700402
Duran O, Althoefer K and Seneviratne LD (2003). Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)  10.1109/robot.2003.1241978
Duran O, Althoefer K and Seneviratne LD (2003). A Sensor for Pipe Inspection: Model, Analysis and Image Extraction. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429)  10.1109/icip.2003.1247315
Klingajay M, Seneviratne LD and Althoefer K (2003). Identification of threaded fastening parameters using the Newton Raphson Method. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)  10.1109/iros.2003.1248970
Zweiri YH, Seneviratne LD and Althoefer K (2003). A Generalized Newton Method for Identification of Closed-chain Excavator Arm Parameters. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)  10.1109/robot.2003.1241580
Gomez F, Althoefer K and Seneviratne LD (2003). Modeling of Ultrasound Sensor for Pipe Inspection. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)  10.1109/robot.2003.1241977
Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). On-line Soil Property Estimation for Autonomous Excavator Vehicles. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)  10.1109/robot.2003.1241583

2002

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
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
Klingajay M, Seneviratne LD and Althoefer K (2002). Parameter estimation during automated screw insertions. Institute of Electrical and Electronics Engineers (IEEE) Conference: 2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.  10.1109/icit.2002.1189311
Duran O, Althoefer K and Seneviratne DL (2002). Automated Sewer Pipe Inspection through Image Processing. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  10.1109/robot.2002.1013615
Zweiri YH, Whidborne JF, Althoefer K and Seneviratne LD (2002). A New Three-Term Backpropagation Algorithm with Convergence Analysis. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  10.1109/robot.2002.1014327
Duran O, Althoefer K and Seneviratne LD (2002). Automated Sewer Inspection using Image Processing and a Neural Classifier. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings of the 2002 International Joint Conference on Neural Networks. IJCNN'02 (Cat. No.02CH37290)  10.1109/ijcnn.2002.1007652
Duran O, Althoefer K and Seneviratne LD (2002). Pipe Inspection using Intelligent Analysis Techniques with High Noise-Tolerance. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE/RSJ International Conference on Intelligent Robots and System  10.1109/irds.2002.1044031
Zweiri YH, Seneviratne LD and Althoefer K (2002). Model-Based Automation for Heavy Duty Mobile Excavator. Institute of Electrical and Electronics Engineers (IEEE) Conference: IEEE/RSJ International Conference on Intelligent Robots and System  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

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
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

2000

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) 1485-1501. 10.1243/0954406001523434
Lara B, Seneviratne LD and Althoefer K (2000). Radial basis artificial neural networks for screw insertions classification. 2014 IEEE International Conference on Robotics and Automation (ICRA)  vol. 2, Conference: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  10.1109/robot.2000.844874

1999

Lara B, Althoefer K and Seneviratne D (1999). Use of artificial neural networks for the monitoring of screw insertions. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)  10.1109/iros.1999.813066
Seneviratne LD, Visuwan P and Althoefer K (1999). Weightless neural network based monitoring of screw fastenings. Institute of Electrical and Electronics Engineers (IEEE) Conference: Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)  10.1109/iros.1999.813063
Althoefer K, Seneviratne L and Krekelberg B (1999). Learning in a neuro-fuzzy navigator for robotic manipulators. Institute of Electrical and Electronics Engineers (IEEE) Conference: ICONIP'99. ANZIIS'99 & ANNES'99 & ACNN'99. 6th International Conference on Neural Information Processing. Proceedings (Cat. No.99EX378)  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 Knowledge-Based Systems  vol. 6, (02) 179-188. 10.1142/s0218488598000161
Lara B, Althoefer K and Seneviratne LD (1998). Automated robot-based screw insertion system. Institute of Electrical and Electronics Engineers (IEEE) Conference: IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)  10.1109/iecon.1998.724109
Bekit BW, Seneviratne LD, Whidborne JF and Althoefer K (1998). Fuzzy PID tuning for robot manipulators. Institute of Electrical and Electronics Engineers (IEEE) Conference: IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)  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 an emulated resistive grid. Electronics Letters  vol. 31, (22) 1960-1961. 10.1049/el:19951313
Althofer K (1995). The configuration space transformation for articulated manipulators: a novel approach based on RBF-networks. Institution of Engineering and Technology (IET) Conference: 4th International Conference on Artificial Neural Networks  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
Eversion and Growing Robots: Pipe Navigation, Inspection and Characterisation
Althoefer K and Mack TC
Engineering and Physical Sciences Research Council (19-09-2022 - 29-09-2026)
Summary
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