64 citations · 224 across the 36 of their papers we have counts for
33 papers · 1 filter
Layered e-skin for Shear Sensing
Qingzheng Cong, Alexis W. M. Devillard, Abu Bakar Dawood +7
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimatio…
A Multi-Vine Soft Robot Enabling Accessible Working Channel and Steering
Reza Kashef, Cem Suulker, Mohammad Sheikh Sofla +1
Soft eversion robots, also known as vine robots, have attracted growing interest for navigation and inspection tasks, including minimally invasive medical applications [1]. A vine…
Soft Eversion Robots for Colonoscopy: Challenges, Open Problems, and Emerging Solutions
Cem Suulker, Thomas Mack, Qingzheng Cong +4
Conventional colonoscopy remains limited by patient discomfort and procedural risks, motivating research into compliant robotic alternatives. Eversion robots, which advance via pre…
A Soft Robotic Interface for Chick-Robot Affective Interactions
Jue Chen, Alexander Mielke, Kaspar Althoefer +1
The potential of Animal-Robot Interaction (ARI) in welfare applications depends on how much an animal perceives a robotic agent as socially relevant, non-threatening and potentiall…
Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits
Saitarun Nadipineni, Keshav Pandiyan, Kaspar Althoefer +2
The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested pr…
Human Emotion-Mediated Soft Robotic Arts: Exploring the Intersection of Human Emotions, Soft Robotics and Arts
Saitarun Nadipineni, Chenhao Hong, Tanishtha Ramlall +4
Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installati…
Enabling High-Curvature Navigation in Eversion Robots through Buckle-Inducing Constrictive Bands
Cem Suulker, Muhie Al Haimus, Thomas Mack +10
Tip-growing eversion robots are renowned for their ability to access remote spaces through narrow passages. However, achieving reliable navigation remains a significant challenge.…
TacEva: A Performance Evaluation Framework For Vision-Based Tactile Sensors
Qingzheng Cong, Steven Oh, Wen Fan +3
Vision-Based Tactile Sensors (VBTSs) are widely used in robotic tasks because of the high spatial resolution they offer and their relatively low manufacturing costs. However, varia…
Tactile Robotics: An Outlook
Shan Luo, Nathan F. Lepora, Wenzhen Yuan +3
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile…
Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions
Tianliang Yao, Bo Lu, Markus Kowarschik +6
Endovascular procedures have revolutionized vascular disease treatment, yet their manual execution is challenged by the demands for high precision, operator fatigue, and radiation…
Leveraging Tactile Sensing to Render both Haptic Feedback and Virtual Reality 3D Object Reconstruction in Robotic Telemanipulation
Gabriele Giudici, Aramis Augusto Bonzini, Claudio Coppola +3
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot…
Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
Gabriele Giudici, Claudio Coppola, Kaspar Althoefer +2
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. Whil…
Embedding high-resolution touch across robotic hands enables adaptive human-like grasping
Zihang Zhao, Wanlin Li, Yuyang Li +9
Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human h…
Hydraulic Volumetric Soft Everting Vine Robot Steering Mechanism for Underwater Exploration
Danyaal Kaleel, Benoit Clement, Kaspar Althoefer
Despite a significant proportion of the Earth being covered in water, exploration of what lies below has been limited due to the challenges and difficulties inherent in the process…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…
Assistive Soft Robotic Glove with Ruffles Enhanced Textile Actuators
Cem Suulker, Kaspar Althoefer
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our…
A User Study Method on Healthy Participants for Assessing an Assistive Wearable Robot Utilising EMG Sensing
Cem Suulker, Alexander Greenway, Sophie Skach +3
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our…
DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation Tasks
Xiaofeng Mao, Gabriele Giudici, Claudio Coppola +4
Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations have shown e…
Hybrid Continuum-Eversion Robot: Precise Navigation and Decontamination in Nuclear Environments using Vine Robot
Mohammed Al-Dubooni, Cuebong Wong, Kaspar Althoefer
Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot design…
Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
Zihang Zhao, Yuyang Li, Wanlin Li +4
Integrating robots into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will need to engage with articulated objects like doo…
Deformable Tip Mount for Soft Growing Eversion Robots
Cem Suulker, Sophie Skach, Danyaal Kaleel +4
Here we present a flexible tip mount for eversion (vine) robots. This soft cap allows attaching a payload to an eversion robot while allowing moving through narrow openings, as wel…
A Soft Robotic Gripper with Active Palm for In-Hand Object Reorientation
Thomas Mack, Ketao Zhang, Kaspar Althoefer
The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of ac…
Eversion Robots for Mapping Radiation in Pipes
Thomas Mack, Mohammed Al-Dubooni, Kaspar Althoefer
A system and testing rig were designed and built to simulate the use of an eversion robot equipped with a radiation sensor to characterise an irradiated pipe prior to decommissioni…
Robotic surface exploration with vision and tactile sensing for cracks detection and characterisation
Francesca Palermo, Bukeikhan Omarali, Changae Oh +2
This paper presents a novel algorithm for crack localisation and detection based on visual and tactile analysis via fibre-optics. A finger-shaped sensor based on fibre-optics is em…