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Research

Publications: Prof Kaspar Althoefer

Suulker C, Skach S, 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 .
Wang X, Wang Y, Zhang K, Althoefer K, Su L ( 2022 ) . Learning to sense three-dimensional shape deformation of a single multimode fiber . Scientific Reports
Hassan A, Aljaber F, Vitanov I, 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)1 - 4 .
Kwok KW, Wurdemann H, Arezzo A, Menciassi A, Althoefer K ( 2022 ) . Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook . Proceedings of the IEEE vol. 110 , ( 7 ) 871 - 892 .
Förster F, Althoefer K ( 2022 ) . Attribution of autonomy and its role in robotic language acquisition . AI and Society vol. 37 , ( 2 ) 605 - 617 .
Ataka A, Lam HK, Althoefer K ( 2022 ) . Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments . Frontiers in Robotics and AI vol. 9 ,
Suulker C, Hassan A, Skach S, Althoefer K ( 2022 ) . A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 735 - 740 .
Liu C, Edwards O, Althoefer K, Zhang K, Godaba H ( 2022 ) . An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 715 - 721 .
Aljaber F, Hassan A, Vitanov I, Althoefer K ( 2022 ) . Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 859 - 864 .
Matsuno T, Miyagoshi R, Shimizu K, Ishihara M, Watanabe S, Shintake J, Althoefer K, Hirai S ( 2022 ) . Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 903 - 910 .
Dawood AB, Denoun B, 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 .
Omarali B, Palermo F, Althoefer K, Valle M, Farkhatdinov I ( 2022 ) . Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation . Proceedings - IEEE International Conference on Robotics and Automation . 9288 - 9294 .
Sun Y, Wu L, Wang H, Althoefer K, Qi P ( 2022 ) . The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray . 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 . 673 - 680 .
Jia G, Lam HK, Althoefer K ( 2022 ) . Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types . Pattern Recognition vol. 121 ,
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T et al. ( 2021 ) . A Suite of Robotic Solutions for Nuclear Waste Decommissioning . Robotics vol. 10 , ( 4 ) 112 - 112 .
Palermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G, 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
Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C, Shahdad S ( 2021 ) . Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry . Surgeon vol. 19 , ( 5 ) e281 - e288 .
Wang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY, Althoefer K, Liu Y et al. ( 2021 ) . Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics . Advanced Intelligent Systems vol. 3 , ( 11 )
Slonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L, 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)
Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H, Althoefer K ( 2021 ) . Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop . Applied Sciences (Switzerland) vol. 11 , ( 14 )
Obadina OO, Thaha MA, Althoefer K, Shaheed MH ( 2021 ) . Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm . Journal of Vibration and Control107754632110034 - 107754632110034 .
Marques L, Murphy R, Althoefer K, Tadokoro S, Laschi C ( 2021 ) . Robotics Responds to the COVID-19 Outbreak [From the Guest Editors] . IEEE Robotics and Automation Magazine vol. 28 , ( 1 ) 16 - 17 .
Ishihara M, Matsuno T, Althoefer K, Hirai S ( 2021 ) . Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor . 2021 IEEE/SICE International Symposium on System Integration, SII 2021 . 87 - 92 .
Fras J, Arezzo A, Shiva A, Althoefer K ( 2021 ) . Chapter 27: Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability . RSC Soft Matter , vol. 2021-January ,
Abrar T, Putzu F, Ataka A, Godaba H, Althoefer K ( 2021 ) . Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2021-May , 7130 - 7136 .
Hassan A, Aljaber F, Godaba H, Vitanov I, Althoefer K ( 2021 ) . Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers . 6th International Forum on Research and Technology for Society and Industry, RTSI 2021 - Proceedings . 574 - 579 .
Puertolas Balint LA, Althoefer K, Perez Macias LH ( 2021 ) . Virtual Reality Percussion Simulator for Medical Student Training . 6th International Forum on Research and Technology for Society and Industry, RTSI 2021 - Proceedings . 295 - 299 .
Omarali B, Althoefer K, Mastrogiovanni F, Valle M, Farkhatdinov I ( 2021 ) . Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation . Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics . 607 - 612 .
Palermo F, Konstantinova J, Poslad S, Althoefer K, Farkhatdinov I ( 2020 ) . Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing . Frontiers in Robotics and AI
Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J et al. ( 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 .
Li W, Noh Y, Alomainy A, Vitanov I, Zheng Y, Qi P, Althoefer K ( 2020 ) . F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation . Proceedings of IEEE Sensors . vol. 2020-October ,
Dawood AB, Godaba H, Ataka A, 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) ) from: 25/10/2020 to: 29/10/2020 ,
Godaba H, Sajad A, Patel N, Althoefer K, 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 . Conference: 2020 IEEE International Conference on Intelligent Robots and Systems8716 - 8721 .
Ataka A, Abrar T, Putzu F, Godaba H, Althoefer K ( 2020 ) . Observer-based Control of Inflatable Robot with Variable Stiffness . IEEE International Conference on Intelligent Robots and Systems . 8646 - 8652 .
Putzu F, ABRAR T, Hassan A, Godaba H, Rizqi A, Althoefer K ( 2020 ) . An In-Homogeneous Structured Eversion Actuator . Conference: Towards Autonomous Robotic Systems Conference (TAROS) ( Online ) from: 16/09/2020 to: 16/09/2020 ,
Omarali B, Denoun B, Althoefer K, Jamone L, Valle M, Farkhatdinov I ( 2020 ) . Virtual Reality based Telerobotics Framework with Depth Cameras . 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 . 1217 - 1222 .
Frazier PA, Jamone L, Althoefer K, Calvo P ( 2020 ) . Plant Bioinspired Ecological Robotics . Frontiers in Robotics and AI vol. 7 ,
Li X, Li W, Zheng Y, Althoefer K, Qi P ( 2020 ) . Criminisi algorithm applied to a gelsight fingertip sensor for multi-modality perception . IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM . vol. 2020-July , 190 - 195 .
Fras J, Althoefer K, Glowka J ( 2020 ) . Instant soft robot: A simple recipe for quick and easy manufacturing . Conference: IEEE International Conference on Soft Robotics RoboSoft 2020 ( Online ) from: 15/05/2020 to: 15/06/2020 ,
Godaba H, Vitanov I, Aljaber F, Ataka A, Althoefer K ( 2020 ) . A bending sensor insensitive to pressure: Soft proprioception based on abraded optical fibres . 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 . 104 - 109 .
Palermo F, Konstantinova J, Althoefer K, Poslad S, Farkhatdinov I ( 2020 ) . Implementing Tactile and Proximity Sensing for Crack Detection . Proceedings - IEEE International Conference on Robotics and Automation . 632 - 637 .
Ataka A, Abrar T, Putzu F, Godaba H, Althoefer K ( 2020 ) . Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness . IEEE Robotics and Automation Letters1 - 1 .
Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K et al. ( 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 .
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
Abrar T, Hassan A, Putzu F, Godaba H, Ataka A, Althoefer K ( 2020 ) . An Inhomogeneous Structured Eversion Actuator . vol. 12228 LNAI ,
Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K, Nanayakkara T ( 2020 ) . Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming . Intelligent Robotics and Applications , vol. 9246 ,
Li W, Alomainy A, Vitanov I, Noh Y, Qi P, Althoefer K ( 2020 ) . F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement . IEEE Sensors Journal1 - 1 .
Fras J, Glowka J, Althoefer K, IEEE ( 2020 ) . Instant soft robot: A simple recipe for quick and easy manufacturing . 2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) . 476 - 482 .
Vitanov I, Rizqi A, Althoefer K ( 2020 ) . Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach . vol. 12228 LNAI ,
Dawood AB, Godaba H, Althoefer K ( 2020 ) . Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots . vol. 12228 LNAI ,
Dawood AB, Godaba H, 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 Bioinformatics) . Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11650 LNAI , 99 - 110 .
Godaba H, Putzu F, Abrar T, Konstantinova J, 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 Bioinformatics) . Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11650 LNAI , 383 - 394 .
Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C et al. ( 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 Bioinformatics) . Conference: Towards Autonomous Robotic Systems Conference (TAROS) vol. 11650 LNAI , 27 - 38 .
Zhang K, 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 Bioinformatics) . Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) ( London ) from: 03/07/2019 to: 05/07/2019 , vol. 11649 LNAI , 138 - 147 .
Danabek D, Otaran A, Althoefer K, 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 Bioinformatics) . Conference: Towards Autonomous Robotic Systems Conference (TAROS) vol. 11650 LNAI , 273 - 279 .
Putzu F, Konstantinova J, Althoefer K ( 2019 ) . Soft particles for granular jamming . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . Conference: Towards Autonomus Robotics Systems (TAROS) from: 03/07/2020 to: 05/07/2019 , vol. 11650 LNAI , 65 - 74 .
Hassan A, Godaba H, 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 Bioinformatics) . Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI , 16 - 27 .
Ali A, Althoefer K, 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 Bioinformatics) . Conference: Towards Autonomous Robotic Systems Conference vol. 11649 LNAI , 160 - 170 .
Ataka A, Stilli A, Konstantinova J, Wurdemann HA, 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 Bioinformatics) . Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI , 52 - 64 .
Aljaber F, 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 Bioinformatics) . Conference: TAROS vol. 11649 LNAI , 126 - 137 .
Fras J, 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 Bioinformatics) . Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI , 103 - 114 .
Bálint LAP, Macías LHP, 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 Bioinformatics) . Conference: Towards Autonomous Robotic Systems Conference vol. 11649 LNAI , 386 - 398 .
Putzu F, Konstantinova J, Althoefer K ( 2019 ) . Eversion-type soft overtube for endoscopic surgery . Conference: The Hamlyn Symposium on Medical Robotics7 - 8 .
Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J et al. ( 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 .
Li W, Konstantinova J, Noh Y, Ma Z, Alomainy A, Althoefer K ( 2019 ) . An elastomer-based flexible optical force and tactile sensor . RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics . 361 - 366 .
Abrar T, Putzu F, Konstantinova J, Althoefer K ( 2019 ) . EPAM: Eversive pneumatic artificial muscle . RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics . 19 - 24 .
Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA, Althoefer K ( 2019 ) . Real-time robot-assisted ergonomics . Proceedings - IEEE International Conference on Robotics and Automation . Conference: International Conference on Robotics and Automation (ICRA) vol. 2019-May , 1975 - 1981 .
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J et al. ( 2019 ) . Analysis of a customized clutch joint designed for the safety management of an ultrasound robot . Applied Sciences (Switzerland) vol. 9 , ( 9 )
Ataka A, Lam HK, Althoefer K ( 2019 ) . Magnetic-field-inspired navigation for quadcopter robot in unknown environments . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2019-May , 6165 - 6171 .
Li W, Konstantinova J, Alomainy A, 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 Bioinformatics) . Conference: Towards Autonomous Robotic Systems (TAROS) vol. 11650 LNAI , 87 - 98 .
Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID et al. ( 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 .
KONSTANTINOVA J, Cotugno G, Stilli A, Noh Y, Althoefer K ( 2017 ) . Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor . Conference: IEEE Sensors Conference ( Glasgow ) from: 29/10/2017 to: 01/11/2017 ,
Matsuno T, Wang Z, Althoefer K, Hirai S ( 2019 ) . Adaptive update of reference capacitances in conductive fabric based robotic skin . IEEE Robotics and Automation Letters vol. 4 , ( 2 ) 2212 - 2219 .
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J et al. ( 2019 ) . Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound . J Vis Exp ( 143 )
Ataka A, Shiva A, Lam H-K, Althoefer K ( 2019 ) . Magnetic-field-inspired Navigation for Soft Continuum Manipulator . Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 ( Madrid, Spain ) from: 01/10/2018 to: 05/10/2018 ,
FRAS J, ALTHOEFER K ( 2019 ) . Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination . Conference: International Conference on Intelligent Robots
Omarali B, Palermo F, Valle M, Poslad S, Althoefer K, Farkhatdinov I ( 2019 ) . Position and Velocity Control for Telemanipulation with Interoperability Protocol . Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . vol. 11649 LNAI , 316 - 324 .
Althoefer K, Konstantinova J, Zhang K ( 2019 ) . Preface .
Sadati SMH, Shiva A, Renson L, Rucker C, Althoefer K, Nanayakkara T, Bergeles C, Hauser H et al. ( 2019 ) . Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators . Robotics: Science and Systems .
Ataka A, Shiva A, Lam HK, Althoefer K ( 2018 ) . Magnetic-field-inspired Navigation for Soft Continuum Manipulator . IEEE International Conference on Intelligent Robots and Systems . 168 - 173 .
Stilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K, 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 . Conference: International Conference on Intelligent Robots and Systems (IROS)6959 - 6964 .
COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA, Nanayakkara T ( 2018 ) . Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands . PLoS ONE
PUTZU F, ABRAR T, ALTHOEFER K ( 2018 ) . Plant-Inspired Soft Pneumatic Eversion Robot . Conference: BioRob 2018 ( Enschede, Netherlands ) from: 26/08/2018 to: 29/08/2018 ,
Obadina O, Bernth J, Althoefer K, Hasan Shaheed M ( 2018 ) . A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System . Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings vol. 1 , 29 - 31 .
Fras J, Althoefer K ( 2018 ) . Bio-mimetic pneumatic soft prosthetic hand . Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings vol. 1 , 90 - 92 .
Putzu F, Althoefer K, Manfredi L ( 2018 ) . Silicone-based ultra-stretchable strain sensors . Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings vol. 1 , 144 - 147 .
ALTHOEFER KA ( 2018 ) . Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading . Advanced Robotics
Puertolas Balint L, Althoefer K ( 2018 ) . Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing . Conference: CRAS 2018 ( London )
Ataka A, Lam HK, Althoefer K ( 2018 ) . Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments . Proceedings - IEEE International Conference on Robotics and Automation . 6983 - 6988 .
Puertolas Balint L, Althoefer K ( 2018 ) . Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing . Conference: CRAS
OBADINA OO, THAHA MA, ALTHOEFER K, SHAHEED MH ( 2018 ) . A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System . Lecture Notes in Computer Science28 - 39 .
Li W, Konstantinova J, Noh Y, Alomainy A, 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 Bioinformatics) . Conference: TAROS vol. 10965 LNAI , 438 - 450 .
Caenazzo A, 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 Bioinformatics) . Conference: TAROS vol. 10965 LNAI , 284 - 290 .
FRAS J, ALTHOEFER K ( 2018 ) . Soft Pneumatic Prosthetic Hand . Conference: TAROS
ALTHOEFER KA ( 2018 ) . Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments . IEEE Robotics and Automation Letters
Mehta A, Mehta A, Velazquez-Pimentel D, Sadek S, Althoefer K ( 2018 ) . Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment . 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 . 344 - 349 .
Sadati SMH, Naghibi SE, Althoefer K, Nanayakkara T ( 2018 ) . Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement . 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 . 455 - 460 .
Al Jaber F, Althoefer K ( 2018 ) . Towards creating a flexible shape senor for soft robots . 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 . 114 - 119 .
ALTHOEFER KA ( 2018 ) . iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing . Autonomous Robots
FRAS J, Noh Y, Macias M, Wurdemann H, ALTHOEFER K ( 2018 ) . Bio-inspired octopus robot based on novel soft fluidic actuator . Conference: IEEE International Conference on Robotics and Automation (ICRA)
ALTHOEFER KA ( 2018 ) . Real-Time Vision-Based Stiffness Mapping . Sensors
ALTHOEFER KA ( 2018 ) . AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients . Conference: International Conference on Soft Robotics
FRAS J, Macias M, Noh Y, ALTHOEFER K ( 2018 ) . Fluidical bending actuator designed for soft octopus robot tentacle . Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)
ALTHOEFER KA ( 2018 ) . Antagonistic actuation and stiffness control in soft inflatable robots . Nature Reviews Materials
Sadati SMH, Sullivan L, Walker ID, Althoefer K, 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 .
Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K et al. ( 2018 ) . Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery . International Journal of Medical Robotics and Computer Assisted Surgery vol. 14 , ( 1 )
Ataka A, Shiva A, Lam HK, Althoefer K, Kosecka J ( 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, Althoefer K ( 2018 ) . Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: .
Stilli A, Althoefer K, Wurdemann HA ( 2018 ) . Soft robotics. Bio-inspired antagonistic stiffening . Biosystems and Biorobotics , vol. 23 ,
Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK et al. ( 2017 ) . Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation . Soft Robotics vol. 4 , ( 4 ) 324 - 337 .
Stopforth R, Davrajh S, Althoefer K ( 2017 ) . Low cost soft endoscope robotic probe . 2017 IEEE AFRICON: Science, Technology and Innovation for Africa, AFRICON 2017 . 1414 - 1419 .
Konstantinova J, Cotugno G, Stilli A, Noh Y, Althoefer K, IEEE ( 2017 ) . Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor . 2017 IEEE SENSORS . Conference: IEEE Sensors Conference from: 29/10/2017 to: 01/11/2017 , 543 - 545 .
ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B, Kovac M ( 2017 ) . Anchoring like octopus: biologically inspired soft artificial sucker . Journal of the Royal Society Interface vol. 14 , ( 135 )
KONSTANTINOVA J, Stilli, Althoefer ( 2017 ) . Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure . Sensors vol. 17 , ( 10 )
Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B, Kovac M ( 2017 ) . Anchoring like octopus: Biologically inspired soft artificial sucker . Journal of the Royal Society Interface vol. 14 , ( 135 )
ALTHOEFER KA, fras J, noh Y, Wurdemann H ( 2017 ) . Soft fluidic rotary actuator with improved actuation properties . Conference: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Sadati SMH, Naghibi SE, Walker ID, Althoefer K, 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 .
Stilli A, Grattarola L, Feldmann H, Wurdemann HA, Althoefer K ( 2017 ) . Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators . Proceedings - IEEE International Conference on Robotics and Automation . Conference: IEEE International Conference on Robotics and Automation4971 - 4976 .
KONSTANTINOVA J, Krivic S, Stilli A, Piater J, Althoefer K ( 2017 ) . Autonomous Object Handover using Wrist Tactile Information . Conference: 18th Towards Autonomous Robotic Systems (TAROS) Conference ( Surrey, United Kingdom ) from: 19/07/2017 to: 21/07/2017 ,
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K, Nanayakkara T ( 2017 ) . A geometry deformation model for braided continuum manipulators . Frontiers Robotics AI vol. 4 , ( JUN )
Garbin N, Stilli A, Shiva A, Fras J, Slawinski PR, Obstein KL, Althoefer K, Wurdemann HA et al. ( 2017 ) . Toward a Low-Cost Soft Robotic Manipulator based on Fluid-Actuated Bellows for Gastric Cancer Screening . Conference: 10th Hamlyn Symposium on Medical Robotics 201753 - 54 .
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Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K, 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 .
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K, Seneviratne LD ( 2014 ) . Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe . Medical and Biological Engineering and Computing vol. 52 , ( 1 ) 17 - 28 .
Althoefer K ( 2014 ) . MRI-safe robots. Why are they not yet routinely used? . BJU International vol. 113 , ( 6 ) 975 - 976 .
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA, Althoefer K ( 2014 ) . Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators . Smart Materials and Structures vol. 23 , ( 9 )
Rowe MD, Smith JAS, Barras J, Althoefer K ( 2014 ) . Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions . MAGNETIC RESONANCE DETECTION OF EXPLOSIVES AND ILLICIT MATERIALS . 35 - 43 .
Rowe MD, Smith JAS, Barras J, Althoefer K ( 2014 ) . Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions . NATO Science for Peace and Security Series B: Physics and Biophysics35 - 43 .
Qiu C, Qi P, Liu HB, Althoefer K, Dai JS ( 2014 ) . Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator . Proceedings of the ASME Design Engineering Technical Conference . vol. 5A ,
Karim R, Ma YL, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K et al. ( 2014 ) . Surface flattening of the human left atrium and proof-of-concept clinical applications . Computerized Medical Imaging and Graphics vol. 38 , ( 4 ) 251 - 266 .
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T, Dasgupta P ( 2014 ) . The granular jamming integrated actuator . 2014 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2014 . 12 - 17 .
Ranasinghe A, Penders J, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . A two party haptic guidance controller via a hard rein . IEEE International Conference on Intelligent Robots and Systems . 116 - 122 .
Ranasinghe A, Althoefer K, Nanayakkara T, Penders J, Dasgupta P ( 2013 ) . An optimal state dependent haptic guidance controller via a hard rein . Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 . 2322 - 2327 .
Bimbo J, Seneviratne LD, Althoefer K, Liu H ( 2013 ) . Combining touch and vision for the estimation of an object's pose during manipulation . IEEE International Conference on Intelligent Robots and Systems . 4021 - 4026 .
Konstantinova J, Li M, Aminzadeh V, Althoefer K, Nanayakkara T, Dasgupta P ( 2013 ) . Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination . Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 . 4190 - 4195 .
Xie H, Liu H, Luo S, Seneviratne LD, Althoefer K ( 2013 ) . Fiber optics tactile array probe for tissue palpation during minimally invasive surgery . IEEE International Conference on Intelligent Robots and Systems . 2539 - 2544 .
Konstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . Force-velocity modulation strategies for soft tissue examination . IEEE International Conference on Intelligent Robots and Systems . 1998 - 2003 .
Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K, Dasgupta P ( 2013 ) . Haptics for multi-fingered palpation . Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 . 4184 - 4189 .
Searle TC, Althoefer K, Seneviratne L, Liu H ( 2013 ) . An optical curvature sensor for flexible manipulators . Proceedings - IEEE International Conference on Robotics and Automation . 4415 - 4420 .
Deters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD, Althoefer K ( 2013 ) . Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs . Proceedings - IEEE International Conference on Robotics and Automation . 270 - 276 .
Wanninayake IB, Dasgupta P, Seneviratne LD, 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 .
Taylor JG, Cutsuridis V, Hartley M, Althoefer K, Nanayakkara T ( 2013 ) . Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics . Cognitive Computation vol. 5 , ( 3 ) 340 - 354 .
Barras J, Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D, 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 .
Rowe MD, Smith JAS, Barras J, Althoefer K ( 2013 ) . Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions . Magnetic Resonance Detection of Explosives and Illicit Materials ,
Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . Granular jamming transitions for a robotic mechanism . AIP Conference Proceedings . vol. 1542 , 385 - 388 .
Barras J, Murnane D, Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G, 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 .
Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . Granular jamming with hydraulic control . Proceedings of the ASME Design Engineering Technical Conference . vol. 6 A ,
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T, Althoefer K ( 2013 ) . Triaxial catheter-tip force sensor for MRI-guided cardiac procedures . IEEE/ASME Transactions on Mechatronics vol. 18 , ( 1 ) 386 - 396 .
Li J, Liu H, Althoefer K, 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, Seneviratne LD ( 2012 ) . Object surface classificaiton based on friction properties for intelligent robotic hands . World Automation Congress Proceedings .
Sargeant R, Liu H, Seneviratne LD, Althoefer K ( 2012 ) . An optical multi-axial force/torque sensor for dexterous grasping and manipulation . IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems . 144 - 149 .
Bimbo J, Rodriguez-Jimenez S, Liu H, Song X, Burrus N, Senerivatne LD, Abderrahim M, Althoefer K ( 2012 ) . Object pose estimation and tracking by fusing visual and tactile information . IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems . 65 - 70 .
Liu H, Greco J, Song X, Bimbo J, Seneviratne L, Althoefer K ( 2012 ) . Tactile image based contact shape recognition using neural network . IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems . 138 - 143 .
Song X, Liu H, Bimbo J, Althoefer K, Seneviratne LD ( 2012 ) . A novel dynamic slip prediction and compensation approach based on haptic surface exploration . IEEE International Conference on Intelligent Robots and Systems . 4511 - 4516 .
Li J, Zirjakova J, Yao W, Althoefer K, Dasgupta P, Seneviratne LD ( 2012 ) . A passive robotic platform for three-dimensional scanning of ex vivo soft tissue . Advances in Reconfigurable Mechanisms and Robots I . 477 - 485 .
( 2012 ) . A stiffness probe based on force and vision sensing for soft tissue diagnosis . Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference vol. 2012 , 944 - 947 .
Jiang A, Ataollahi A, Althoefer K, Dasgupta P, Nanayakkara T ( 2012 ) . A variable stiffness joint by granular jamming . Proceedings of the ASME Design Engineering Technical Conference . vol. 4 , 267 - 275 .
Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K, Nanayakkara T ( 2012 ) . Adaptive grip control on an uncertain object . IEEE International Conference on Intelligent Robots and Systems . 1161 - 1166 .
Jiang A, Xynogalas G, Dasgupta P, Althoefer K, Nanayakkara T ( 2012 ) . Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling . IEEE International Conference on Intelligent Robots and Systems . 2922 - 2927 .
Liu H, Song X, Bimbo J, Althoefer K, Senerivatne L ( 2012 ) . Intelligent fingertip sensing for contact information identification . Advances in Reconfigurable Mechanisms and Robots I . 599 - 608 .
Xie H, Jiang A, Seneviratne L, Althoefer K ( 2012 ) . Pixel-based optical fiber tactile force sensor for robot manipulation . Proceedings of IEEE Sensors .
Deters C, Wurdemann HA, Dai JS, Seneviratne LD, Althoefer K ( 2012 ) . Reconfigurable assembly approach for wind turbines using multiple intelligent agents . Advances in Reconfigurable Mechanisms and Robots I . 95 - 103 .
Liu H, Song X, Bimbo J, Seneviratne L, Althoefer K ( 2012 ) . Surface material recognition through haptic exploration using an intelligent contact sensing finger . IEEE International Conference on Intelligent Robots and Systems . 52 - 57 .
Barras J, Althoefer K, Rowe MD, Poplett IJ, Smith JAS ( 2012 ) . The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy . Applied Magnetic Resonance vol. 43 , ( 4 ) 511 - 529 .
Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA, 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 .
Yao W, Schaeffter T, Seneviratne L, Althoefer K ( 2012 ) . Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization . Journal of Medical Devices, Transactions of the ASME vol. 6 , ( 4 )
Jiang A, Althoefer K, Dasgupta P, Nanayakkara T ( 2012 ) . GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES . JOURNAL OF ENDOUROLOGY vol. 26 , A403 - A404 .
Zirjakova J, Althoefer K, Dasgupta P, Nanayakkara T ( 2012 ) . PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT . JOURNAL OF ENDOUROLOGY vol. 26 , A20 - A21 .
Li M, Dasgupta P, Seneviratne LD, Althoefer K ( 2012 ) . SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY . JOURNAL OF ENDOUROLOGY vol. 26 , A48 - A48 .
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD, Althoefer K ( 2012 ) . Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study . BRITISH JOURNAL OF SURGERY . vol. 99 , 53 - 53 .
Sargeant R, Seneviratne LD, 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 .
Liu H, Song X, Nanayakkara T, Seneviratne LD, Althoefer K ( 2012 ) . A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor . Proceedings - IEEE International Conference on Robotics and Automation . 1410 - 1415 .
Sargeant R, Seneviratne LD, Althoefer K ( 2012 ) . An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators . Proceedings - IEEE International Conference on Robotics and Automation . 1422 - 1427 .
Lara B, Seneviratne LD, Althoefer K ( 2012 ) . Automated screw insertion monitoring using neural networks: A computational intelligence approach to assembly in manufacturing . Computational Intelligence and its Applications: Evolutionary Computation, Fuzzy Logic, Neural Network and Support Vector Machine Techniques ,
Puangmali P, Liu H, Seneviratne LD, Dasgupta P, Althoefer K ( 2012 ) . Miniature 3-axis distal force sensor for minimally invasive surgical palpation . IEEE/ASME Transactions on Mechatronics vol. 17 , ( 4 ) 646 - 656 .
Wanninayake IB, Althoefer K, Seneviratne LD ( 2012 ) . Novel air-float tactile array for stiffness characterization in soft tissue palpation . Procedia Engineering . vol. 41 , 281 - 288 .
Wanninayake IB, Seneviratne LD, Althoefer K ( 2012 ) . Novel indentation depth measuring system for stiffness characterization in soft tissue palpation . Proceedings - IEEE International Conference on Robotics and Automation . 4648 - 4653 .
Li M, Liu H, Li J, Seneviratne LD, Althoefer K ( 2012 ) . Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback . Proceedings - IEEE International Conference on Robotics and Automation . 5359 - 5364 .
Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S, Althoefer K ( 2011 ) . <sup>14</sup>N quadrupole resonance and <sup>1</sup>H T<inf>1</inf> dispersion in the explosive RDX . Journal of Magnetic Resonance vol. 213 , ( 1 ) 98 - 106 .
Sangpradit K, Liu H, Dasgupta P, Althoefer K, Seneviratne LD ( 2011 ) . Finite-element modeling of soft tissue rolling indentation . IEEE Transactions on Biomedical Engineering vol. 58 , ( 12 PART 1 ) 3319 - 3327 .
Narimani M, Lam HK, Althoefer K, Dilmaghani R, Wolfe C, Deters C ( 2011 ) . An approach for stability analysis of polynomial fuzzy model-based control systems . IEEE International Conference on Fuzzy Systems . 2232 - 2237 .
Kumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L, Althoefer K, Dasgupta P ( 2011 ) . POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe . Urology vol. 78 , ( 3 ) s20 - s21 .
Song X, Seneviratne LD, 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 , 814 - 830 .
Liu H, Li J, Song X, Seneviratne LD, Althoefer K ( 2011 ) . Rolling indentation probe for tissue abnormality identification during minimally invasive surgery . IEEE Transactions on Robotics vol. 27 , ( 3 ) 450 - 460 .
Yousef H, Boukallel M, Althoefer K ( 2011 ) . Tactile sensing for dexterous in-hand manipulation in robotics - A review . Sensors and Actuators, A: Physical vol. 167 , ( 2 ) 171 - 187 .
Polygerinos P, Seneviratne LD, Althoefer K ( 2011 ) . Modeling of light intensity-modulated fiber-optic displacement sensors . IEEE Transactions on Instrumentation and Measurement vol. 60 , ( 4 ) 1408 - 1415 .
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD, Althoefer K ( 2011 ) . Resuts of kidney lesion experiments with haptic probe . BRITISH JOURNAL OF SURGERY . vol. 98 , 51 - 51 .
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K ( 2011 ) . MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures . IEEE Transactions on Biomedical Engineering vol. 58 , ( 3 PART 1 ) 721 - 726 .
Song X, Seneviratne LD, Althoefer K ( 2011 ) . A Kalman filter-integrated optical flow method for velocity sensing of mobile robots . IEEE/ASME Transactions on Mechatronics vol. 16 , ( 3 ) 551 - 563 .
Song X, Althoefer K, Seneviratne L ( 2010 ) . A robust downward-looking camera based velocity estimation with height compensation for mobile robots . 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 . 378 - 383 .
Sangpradit K, Althoefer K, Seneviratne LD ( 2010 ) . Finite element modelling of rolling indentation for tissue adomanlity identification . 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 . 163 - 168 .
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D, Seneviratne LD ( 2010 ) . Force sensing in medical robotics . Mechatronics in Action: Case Studies in Mechatronics - Applications and Education ,
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD, Althoefer K ( 2010 ) . Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands . IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings . 910 - 915 .
Sangpradit K, Althoefer K, 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 .
Liu H, Li J, Poon QI, Seneviratne LD, Althoefer K ( 2010 ) . Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery . Proceedings - IEEE International Conference on Robotics and Automation . 3654 - 3659 .
Puangmali P, Dasgupta P, Seneviratne LD, Althoefer K ( 2010 ) . Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery . Proceedings - IEEE International Conference on Robotics and Automation . 2592 - 2597 .
Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K ( 2010 ) . Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures . Proceedings - IEEE International Conference on Robotics and Automation . 2598 - 2603 .
Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K ( 2010 ) . MRI-compatible fiber-optic force sensors for catheterization procedures . IEEE Sensors Journal vol. 10 , ( 10 ) 1598 - 1608 .
Zbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P, 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 .
Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L, 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 .
Al-Milli S, Seneviratne LD, Althoefer K ( 2010 ) . Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain . Journal of Terramechanics vol. 47 , ( 3 ) 151 - 160 .
Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD, Althoefer K ( 2010 ) . Magnetic field-cycling NMR and <sup>14</sup>N, <sup>17</sup>O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN) . Journal of Magnetic Resonance vol. 204 , ( 1 ) 139 - 144 .
Puangmali P, Althoefer K, Seneviratne LD ( 2010 ) . Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors . IEEE Transactions on Instrumentation and Measurement vol. 59 , ( 2 ) 283 - 291 .
Liu H, Seneviratne LD, Althoefer K, Noonan DP, Challacombe BJ, Dasgupta P ( 2010 ) . Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery . IEEE Transactions on Biomedical Engineering vol. 57 , ( 2 ) 404 - 414 .
Althoefer K, Seneviratne L, Al-Milli S, Chhaniyara S, Song X ( 2010 ) . Tractive force prediction for unmanned ground vehicles in rough terrain . IFAC Proceedings Volumes (IFAC-PapersOnline) . 64 - 69 .
Zbyszewski D, Polygerinos P, Seneviratne LD, Althoefer K ( 2009 ) . A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery . 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 . 2647 - 2652 .
Polygerinos P, Schaeffter T, Seneviratne L, Althoefer K ( 2009 ) . Measuring tip and side forces of a novel catheter prototype: A feasibility study . 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 . 966 - 971 .
Polygerinos P, Schaeffter T, Seneviratne L, Althoefer K ( 2009 ) . A fibre-optic catheter-tip force sensor with MRI compatibility: A feasibility study . Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 20091501 - 1504 .
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L, Althoefer K ( 2009 ) . A haptic probe for soft tissue abnormality identification during minimally invasive surgery . Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009 . 417 - 422 .
Puangmali P, Althoefer K, Seneviratne LD ( 2009 ) . Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments . Proceedings - IEEE International Conference on Robotics and Automation . 3682 - 3687 .
Sangpradit K, Liu H, Seneviratne LD, Althoefer K ( 2009 ) . Tissue identification using inverse finite element analysis of rolling indentation . Proceedings - IEEE International Conference on Robotics and Automation . 1250 - 1255 .
Song ZB, Seneviratne LD, Althoefer K, Song XJ, Zweiri YH ( 2009 ) . Slip parameter estimation of a single wheel using a non-linear observer . Robotica vol. 27 , ( 6 ) 801 - 811 .
Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D, Althoefer K ( 2009 ) . Air-cushion force-sensitive probe for soft tissue investigation during minimally invasive surgery . Journal of Endourology vol. 23 , ( 9 ) 1421 - 1424 .
Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L, Dasgupta P ( 2009 ) . The science behind haptics in robotic urological surgery . BJU International vol. 104 , ( 4 ) 433 - 434 .
Tate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES, Wren SAC ( 2009 ) . Quantitative <sup>35</sup>Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese . Analytical Chemistry vol. 81 , ( 13 ) 5574 - 5576 .
Althoefer K, Tan CP, Zweiri YH, Seneviratne LD ( 2009 ) . Hybrid soil parameter easurement and estimation scheme for excavation automation . IEEE Transactions on Instrumentation and Measurement vol. 58 , ( 10 ) 3633 - 3641 .
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L, Althoefer K ( 2009 ) . A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery . RECONFIGURABLE MECHANISMS AND ROBOTS . 436 - + .
Song X, Seneviratne L, Althoefer K ( 2009 ) . A Vision Based Wheel Slip Estimation Technique for Mining Vehicles . IFAC-PapersOnLine vol. 42 , ( 23 ) 179 - 184 .
Puangmali P, Althoefer K, Seneviratne LD, IEEE ( 2009 ) . Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments . ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 . 2671 - 2676 .
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Al-Milli S, Althoefer K ( 2009 ) . The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain . International Journal of Modelling, Identification and Control vol. 6 , ( 1 ) 40 - 50 .
Sangpradit K, Liu H, Seneviratne LD, Althoefer K, IEEE ( 2009 ) . Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation . ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 . 2933 - + .
Song X, Seneviratne LD, Althoefer K, Song Z ( 2008 ) . A robust slip estimation method for skid-steered mobile robots . 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 . 279 - 284 .
Song X, Seneviratne LD, Althoefer K, Song Z, Mohseni-Vahed S ( 2008 ) . A vision-based technique for vehicle slip and velocity estimation . IFAC Proceedings Volumes (IFAC-PapersOnline) . vol. 17 ,
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupt P, Murphy D ( 2008 ) . Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery . Proceedings of IEEE Sensors . 827 - 830 .
Al-Milli S, Althoefer K, Seneviratne LD ( 2008 ) . Maneuverability performance of tracked vehicles on soft terrains . 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS . 107 - 112 .
Song X, Song Z, Seneviratne LD, Althoefer K ( 2008 ) . Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles . 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS . 101 - 106 .
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR, Althoefer K ( 2008 ) . Robust detection of stochastic nuclear quadrupole resonance signals . IEEE Transactions on Signal Processing vol. 56 , ( 9 ) 4221 - 4229 .
Hutangkabodee S, Zweiri Y, Seneviratne L, 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 .
Mohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS, Lam HK ( 2008 ) . Soil estimation based on dissipation energy during autonomous excavation . IFAC Proceedings Volumes (IFAC-PapersOnline) . vol. 17 ,
Zbyszewski D, Bhaumik A, Althoefer K, Seneviratne LD ( 2008 ) . Tactile sensing using a novel air cushion sensor: A feasibility study . 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS . 41 - 46 .
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D et al. ( 2008 ) . Wheel/tissue force interaction: a new concept for soft tissue diagnosis during MIS . Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference5556 - 5559 .
Puangmali P, Liu H, Althoefer K, Seneviratne LD ( 2008 ) . Optical fiber sensor for soft tissue investigation during minimally invasive surgery . Proceedings - IEEE International Conference on Robotics and Automation . 2934 - 2939 .
Liu H, Noonan DP, Althoefer K, Seneviratne LD ( 2008 ) . Rolling mechanical imaging: A novel approach for soft tissue modelling and identification during minimally invasive surgery . Proceedings - IEEE International Conference on Robotics and Automation . 845 - 850 .
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR, Althoefer K ( 2008 ) . Detecting stochastic nuclear quadrupole resonance signals in the presence of strong radio frequency interference . ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings . 3645 - 3648 .
Althoefer K, Lara B, Zweiri YH, 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 .
Al-Ja'Afreh T, Zweiri Y, Seneviratne L, 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 .
Song Z-B, Zweiri YH, Seneviratne LD, 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 .
Puangmali P, Althoefer K, Seneviratne LD, Murphy D, Dasgupta P ( 2008 ) . State-of-the-art in force and tactile sensing for minimally invasive surgery . IEEE Sensors Journal vol. 8 , ( 4 ) 371 - 380 .
Al-Milli S, Chhaniyara S, Georgiou E, Althoefer K, Dai JS, Seneviratne L ( 2008 ) . Experimental study on track-terrain interaction dynamics in an integrated environment: Test RIG . Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008 . 1106 - 1113 .
Al-Ja'afreh TM, Zweiri YH, Seneviratne LD, Althoefer K ( 2008 ) . Modelling soft tissue-mechatronic tool interactions during indentation . International Journal of Modelling, Identification and Control vol. 4 , ( 4 ) 337 - 347 .
Song ZB, Zweiri YH, Seneviratne LD, 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 .
Chhaniyara S, Bunnun P, Seneviratne LD, 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 .
Vahed SM, Song X, Dai JS, Lam HK, Seneviratne LD, Althoefer K ( 2008 ) . Soil Estimation Based on Dissipation Energy during Autonomous Excavation . IFAC-PapersOnLine vol. 41 , ( 2 ) 13821 - 13826 .
Chhaniyara S, Althoefer K, Seneviratne LD ( 2008 ) . Visual odometry technique using circular marker identification for motion parameter estimation . Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008 . 1069 - 1076 .
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D et al. ( 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 - "Personalized Healthcare through Technology" . 5556 - 5559 .
Song Z, Song X, Altheoer K, Zweiri Y, Seneviratne L ( 2007 ) . Non-linear observer for slip parameter estimation of unmanned wheeled vehicles . Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 . 1213 - 1218 .
Song X, Seneviratne LD, Althoefer K, Song Z, Zweiri YH ( 2007 ) . Visual qdometry for velocity estimation of UGVs . Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 . 1611 - 1616 .
Somasundaram SD, Jakobsson A, Butt N, Rowe MD, Smith JAS, Althoefer K ( 2007 ) . Detection of stochastic nuclear quadrupole resonance signals . 2007 15th International Conference on Digital Signal Processing, DSP 2007 . 367 - 370 .
Liu H, Puangmali P, Althoefer KA, Seneviratne LD ( 2007 ) . Experimental study of soft tissue recovery using optical fiber probe . IEEE International Conference on Intelligent Robots and Systems . 516 - 521 .
Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD ( 2007 ) . On-line energy-based method for soil estimation and classification in autonomous excavation . IEEE International Conference on Intelligent Robots and Systems . 554 - 559 .
Liu H, Noonan DP, Zweiri YH, Althoefer KA, Seneviratne LD ( 2007 ) . The development of nonlinear viscoelastic model for the application of soft tissue identification . IEEE International Conference on Intelligent Robots and Systems . 208 - 213 .
SONG X, SENEVIRATNE LD, ALTHOEFER K, SONG Z ( 2007 ) . VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES . International Journal of Information Acquisition vol. 4 , ( 04 ) 303 - 315 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2007 ) . Validation of soil parameter identification for track-terrain interaction dynamics . IEEE International Conference on Intelligent Robots and Systems . 3174 - 3179 .
Noonan DP, Liu H, Zweiri YH, Althoefer KA, Seneviratne LD ( 2007 ) . A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery . Proceedings - IEEE International Conference on Robotics and Automation . 2629 - 2634 .
Chhaniyara S, Althoefer K, Zweiri YH, Seneviratne LD ( 2007 ) . A novel approach for self-localization based on computer vision and artificial marker deposition . 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07 . 139 - 144 .
Al-Milli S, Althoefer K, Seneviratne LD ( 2007 ) . Dynamic analysis and traversability prediction of tracked vehicles on soft terrain . 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07 . 279 - 284 .
Gomez F, Althoefer K, Seneviratne LD ( 2007 ) . An ultrasonic profiling method for the inspection of tubular structures . Computer-Aided Civil and Infrastructure Engineering vol. 22 , ( 6 ) 400 - 418 .
Murphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L, Dasgupta P ( 2007 ) . Equipment and technology in robotics . Archivos Espanoles de Urologia vol. 60 , ( 4 ) 349 - 355 .
Somasundaram SD, Jakobsson A, Smith JAS, 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 .
Duran O, Althoefer K, Seneviratne LD ( 2007 ) . Automated pipe defect detection and categorization using caniera/laser-based profiler and artificial neural network . IEEE Transactions on Automation Science and Engineering vol. 4 , ( 1 ) 118 - 126 .
Liu H, Puangmali P, Althoefer KA, Seneviratne LD, IEEE ( 2007 ) . Experimental study of soft tissue recovery using optical fiber probe . 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 . 522 - 527 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2007 ) . MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS . IFAC-PapersOnLine vol. 40 , ( 20 ) 578 - 583 .
Chhaniyara S, Althoefer R, Seneviratne LD ( 2007 ) . Motion estimation and self-localization based on computer vision and artificial marker deposition . Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007 . 690 - 697 .
Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD, IEEE ( 2007 ) . On-line energy-based method for soil estimation and classification in autonomous excavation . 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 . 560 - 565 .
Liu H, Noonan DP, Zweiri YH, Althoefer KA, Seneviratne LD, IEEE ( 2007 ) . The development of nonlinear viscoelastic model for the application of soft tissue identification . 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 . 214 - + .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K, IEEE ( 2007 ) . Validation of soil parameter identification for track-terrain interaction dynamics . 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 . 3180 - + .
Seneviratne L, Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X, 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 .
Zibin S, Zweiri YH, Seneviratne LD, Althoefer K ( 2006 ) . Non-linear observer for slip estimation of skid-steering vehicles . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2006 , 1499 - 1504 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2006 ) . Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2006 , 3356 - 3361 .
Song ZB, Zweiri YH, Althoefer K, Seneviratne LD ( 2006 ) . Non-linear observer for slip estimation of tracked vehicles . 13th Annual International Conference on Mechatronics and Machine Vision in Practice 2006 . 13 - 23 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, 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 .
Somasundaram SD, Jakobsson A, Smith JAS, Althoefer KA ( 2006 ) . Frequency selective detection of Nuclear Quadrupole Resonance (NQR) spin echoes . Proceedings of SPIE - The International Society for Optical Engineering . vol. 6217 II ,
Zweiri YH, Seneviratne LD, Althoefer K ( 2006 ) . Modelling of closed-chain manipulators on an excavator vehicle . Mathematical and Computer Modelling of Dynamical Systems vol. 12 , ( 4 ) 329 - 345 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2006 ) . Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction . Machine Intelligence Research vol. 3 , ( 3 ) 244 - 251 .
Gomez F, Althoefer K, Seneviratne LD ( 2006 ) . Simulation of ultrasound imaging inside fully charged pipes . Automation in Construction vol. 15 , ( 3 ) 355 - 364 .
Somasundaram SD, Althoefer K, Smith JAS, Seneviratne LD ( 2006 ) . Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification . 833 - 840 .
Somasundaram SD, Althoefer K, Smith JAS, 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, CLAWAR 2005 . 833 - 840 .
Rao A, Noonan D, Althoefer K, Seneviratne L ( 2006 ) . Development of an improved micro piezoelectric power generation / actuation system for biomedical &amp; bio-MEMS applications . Proceedings of Frontiers in Biomedical Devices Conference, NanoBio06 . vol. 2006 ,
Hutangkabodee S, Zweiri YH, Seneviratne LD, 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 .
Song ZB, Zweiri YH, Althoefer K, Seneviratne LD ( 2005 ) . Non-linear observer for estimating slips of wheeled vehicles . 12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005 . 71 - 77 .
Tan CP, Zweiri YH, Althoefer K, Seneviratne LD ( 2005 ) . Online soil-bucket interaction identification for autonomous excavation . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2005 , 3576 - 3581 .
Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . Stability analysis of a three-term backpropagation algorithm . Neural Networks vol. 18 , ( 10 ) 1341 - 1347 .
Tan CP, Zweiri YH, Althoefer K, 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 .
Song ZB, Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . Driver support system based on a non-linear slip observer for off road vehicles . IFAC Proceedings Volumes (IFAC-PapersOnline) . vol. 38 , 83 - 88 .
Althoefer K, Lara B, Seneviratne LD ( 2005 ) . Monitoring of self-tapping screw fastenings using artificial neural networks . Journal of Manufacturing Science and Engineering vol. 127 , ( 1 ) 236 - 245 .
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . Traversability prediction for unmanned ground vehicles based on identified soil parameters . IFAC Proceedings Volumes (IFAC-PapersOnline) . vol. 16 , 25 - 30 .
Khawaja K, Seneviratne L, 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 .
Zweiri YH, Seneviratne LD, Althoefer K ( 2004 ) . Identification methods for excavator arm parameters . Proceedings of the SICE Annual Conference . 1645 - 1650 .
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2004 ) . Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics . Proceedings of the SICE Annual Conference . 1651 - 1656 .
Duran O, Althoefer K, 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 .
Gomez F, Althoefer K, Seneviratne LD ( 2004 ) . An ultrasonic profiling method for sewer inspection . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2004 , 4858 - 4863 .
Khawaja K, Althoefer K, Clode MP, Seneviratne LD ( 2004 ) . Gap sensing benefits in conform™ extrusion machinery . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2004 , 529 - 534 .
Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2004 ) . Hybrid model in a real-time soil parameter identification scheme for autonomous excavation . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2004 , 5268 - 5273 .
Klingajay M, Seneviratne LD, Althoefer K ( 2004 ) . Model Based Monitoring Strategies for Threaded Assembly System . IFAC-PapersOnLine vol. 37 , ( 4 ) 533 - 538 .
Duran O, Althoefer K, Seneviratne LD ( 2004 ) . Automated pipe inspection using ANN and laser data fusion . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2004 , 4875 - 4880 .
Zweiri YH, Seneviratne LD, Althoefer K, Engineers SIC ( 2004 ) . Identification methods for excavator arm parameters . SICE 2004 ANNUAL CONFERENCE, VOLS 1-3 . 1061 - 1066 .
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K, Engineers SIC ( 2004 ) . Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics . SICE 2004 ANNUAL CONFERENCE, VOLS 1-3 . 2255 - 2260 .
Zweiri YH, Seneviratne LD, Althoefer K ( 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 .
Silversides RW, Dai JS, Althoefer KA, Seneviratne L ( 2004 ) . Non-invasive laser based measurement of the helicoidal motion of a vibratory platform with three leaf-spring legs . Proceedings of the ASME Design Engineering Technical Conference . vol. 2 B , 1231 - 1239 .
Zweiri YH, Seneviratne LD, Althoefer K ( 2004 ) . Parameter Estimation for Excavator Arm Using Generalized Newton Method . IEEE Transactions on Robotics . vol. 20 , 762 - 767 .
Klingajay M, Seneviratne LD, Althoefer K ( 2003 ) . Identification of threaded fastening parameters using the Newton Raphson Method . IEEE International Conference on Intelligent Robots and Systems . vol. 2 , 2055 - 2060 .
Duran O, Althoefer K, Seneviratne LD ( 2003 ) . A sensor for pipe inspection: Model, analysis and image extraction . IEEE International Conference on Image Processing . vol. 3 , 597 - 600 .
Gomez F, Althoefer K, Seneviratne LD ( 2003 ) . Modeling of ultrasound sensor for pipe inspection . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2 , 2555 - 2560 .
Zweiri YH, Seneviratne LD, Althoefer K ( 2003 ) . A generalized newton method for identification of closed-chain excavator arm parameters . Proceedings - IEEE International Conference on Robotics and Automation . vol. 1 , 103 - 108 .
Duran O, Althoefer K, Seneviratne LD ( 2003 ) . Experiments using a laser-based transducer and automated analysis techniques for pipe inspection . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2 , 2561 - 2566 .
Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2003 ) . On-line soil property estimation for autonomous excavator vehicles . Proceedings - IEEE International Conference on Robotics and Automation . vol. 1 , 121 - 126 .
Gomez F, Althoefer K, Seneviratne LD ( 2003 ) . Modelling of rotating ultrasonic sensors for pipe inspection . International Conference on Mechatronics, ICOM 2003 . 279 - 284 .
Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2003 ) . Soil parameters estimation for automated excavation . International Conference on Mechatronics, ICOM 2003 . 557 - 562 .
Zweiri YH, Seneviratne LD, 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 .
Duran O, Althoefer K, Seneviratne LD ( 2003 ) . Pipe inspection using a laser-based transducer and automated analysis techniques . IEEE/ASME Transactions on Mechatronics vol. 8 , ( 3 ) 401 - 409 .
Duran O, Althoefer K, Seneviratne LD ( 2002 ) . State of the art in sensor technologies for sewer inspection . IEEE Sensors Journal vol. 2 , ( 2 ) 73 - 81 .
Zweiri YH, Whidborne JF, Seneviratne LD, 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 .
Zweiri YH, Whidborne JF, Althoefer K, Seneviratne LD ( 2002 ) . A new three-term backpropagation algorithm with convergence analysis . Proceedings - IEEE International Conference on Robotics and Automation . vol. 4 , 3882 - 3887 .
Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Automated laser-based profiler for sewer inspection . INTELLIGENT AUTONOMOUS SYSTEMS 7 . 84 - 91 .
Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Automated sewer inspection using image processing and a neural classifier . Proceedings of the International Joint Conference on Neural Networks . vol. 2 , 1126 - 1131 .
Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Automated sewer pipe inspection through image processing . Proceedings - IEEE International Conference on Robotics and Automation . vol. 3 , 2551 - 2556 .
Zweiri YH, Whidborne JF, Seneviratne LD, Althoefer K ( 2002 ) . Dynamic modelling of diesel engines for design applications . COMPUTER-BASED DESIGN . 701 - 709 .
Lara B, Seneviratne L, Althoefer K ( 2002 ) . Error classification of self-tapping screw fastenings in automated assembly . INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001 . 31 - 36 .
Zweiri YH, Seneviratne LD, Althoefer K ( 2002 ) . Model-based automation for heavy duty mobile excavator . IEEE International Conference on Intelligent Robots and Systems . vol. 3 , 2967 - 2972 .
Seneviratne LD, Visuwan P, Althoefer K ( 2002 ) . Monitoring of threaded fastenings in automated assembly using artificial neural networks . INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001 . 61 - 65 .
Klingajay M, Seneviratne LD, Althoefer K ( 2002 ) . Parameter estimation during automated screw insertions . Proceedings of the IEEE International Conference on Industrial Technology . vol. 2 , 1019 - 1024 .
Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Pipe inspection using intelligent analysis techniques with high noise-tolerance . IEEE International Conference on Intelligent Robots and Systems . vol. 2 , 1886 - 1891 .
Seneviratne LD, Ngemoh FA, Earles SWE, 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 .
Althoefer K, Krekelberg B, Husmeier D, Seneviratne L ( 2001 ) . Reinforcement learning in a rule-based navigator for robotic manipulators . Neurocomputing vol. 37 , ( 1-4 ) 51 - 70 .
Lara B, Seneviratne LD, Althoefer K ( 2000 ) . Radial basis artificial neural networks for screw insertions classification . Proceedings - IEEE International Conference on Robotics and Automation . vol. 2 , 1912 - 1917 .
Althoefer K, Seneviratne LD, Shields R ( 2000 ) . Mechatronic strategies for torque control of electric powered screwdrivers . Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 214 , ( 12 ) 1485 - 1500 .
Lara B, Althoefer K, Seneviratne LD ( 1999 ) . Use of artificial neural networks for the monitoring of screw insertions . IEEE International Conference on Intelligent Robots and Systems . vol. 1 , 579 - 584 .
Seneviratne LD, Visuwan P, Althoefer K ( 1999 ) . Weightless neural network based monitoring of screw fastenings . IEEE International Conference on Intelligent Robots and Systems . vol. 1 , 561 - 566 .
Althoefer K, Seneviratne L, Krekelberg B ( 1999 ) . Learning in a neuro-fuzzy navigator for robotic manipulators . ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings . vol. 1 , 347 - 352 .
Husmeier D, Althoefer K ( 1998 ) . Modelling conditional probabilities with network committees: how overfitting can be useful . Neural Network World vol. 8 , ( 4 ) 417 - 439 .
Lara B, Althoefer K, Seneviratne LD ( 1998 ) . Automated robot-based screw insertion system . IECON Proceedings (Industrial Electronics Conference) . vol. 4 , 2440 - 2445 .
Bekit BW, Seneviratne LD, Whidborne JF, Althoefer K ( 1998 ) . Fuzzy PID tuning for robot manipulators . IECON Proceedings (Industrial Electronics Conference) . vol. 4 , 2452 - 2457 .
Althoefer K, Seneviratne LD, Zavlangas P, Krekelberg B ( 1998 ) . Fuzzy navigation for robotic manipulators . International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems vol. 6 , ( 2 ) 179 - 188 .
Althofer K, Fraser DA ( 1996 ) . Fuzzy obstacle avoidance for robotic manipulators . Neural Network World vol. 6 , ( 2 ) 133 - 142 .
Althöfer K, Fraser DA, Bugmann G ( 1995 ) . Rapid path planning for robotic manipulators using a nemulated resistive grid . Electronics Letters vol. 31 , ( 22 ) 1960 - 1961 .
Althofer K, Fraser DA, Bugmann G, Turan J ( 1995 ) . Configuration space transformation for articulated manipulators: A novel approach based on RBF-networks . IEE Conference Publication . 245 - 249 .
Fraser DA, Azhar F, Althoefer K ( 1993 ) . On-line adaptation in robot control . IEE Conference Publication . 205 - 209 .