Publications: Prof Kaspar Althoefer

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 .

Murtaza Z, Bonzini AA, Althoefer K, Jamone L ( 2023 ) . QMCube - A Tactile Cube to Explore Hand Interaction Forces in Human Manipulation . Conference: 2023 IEEE International Conference on Development and Learning (ICDL) vol. 00 , 37 - 42 .

Kaleel D, Clement B, Althoefer K ( 2023 ) . A Framework to Design and Build a Height Controllable Eversion Robot . Conference: 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA) vol. 00 , 239 - 244 .

Hassan A, Abrar T, Aljaber F, Vitanov I, Althoefer K ( 2023 ) . Eversion-Capable Fabric Robot Gripper with Novel Retraction Mechanism . Conference: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 10232 - 10237 .

Suulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D, Althoefer K ( 2023 ) . Soft Cap for Vine Robots . Conference: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 6462 - 6468 .

Giudici G, Omarali B, Bonzini AA, Althoefer K, Farkhatdinov I, Jamone L ( 2023 ) . Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot . Towards Autonomous Robotic Systems , vol. 14136 , Springer Nature

Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y, Althoefer K et al. ( 2023 ) . Intelligent Shape Decoding of a Soft Optical Waveguide Sensor . Advanced Intelligent Systems vol. 6 , ( 2 )

Yip M, Salcudean S, Goldberg K, Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K et al. ( 2023 ) . Artificial intelligence meets medical robotics . Science vol. 381 , ( 6654 ) 141 - 146 .

Li W, Wang M, Li J, Su Y, Jha DK, Qian X, Althoefer K, 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 .

( 2023 ) . Welcome Page . 1 - 1 .

Althoefer K, Ling Y, Li W, Qian X, Lee WW, Qi P ( 2023 ) . A Miniaturised Camera-based Multi-Modal Tactile Sensor . Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 12570 - 12575 .

Fras J, Althoefer K ( 2023 ) . A fluidic actuator with an internal stiffening structure inspired by mammalian erectile tissue . Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 662 - 668 .

Dawood AB, Coppola C, Althoefer K ( 2023 ) . Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin . Conference: 2023 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 614 - 619 .

Aljaber F, Hassan A, Abrar T, Vitanov I, Althoefer K ( 2023 ) . Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications . Conference: 2023 IEEE International Conference on Soft Robotics (RoboSoft) vol. 00 , 1 - 6 .

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 .

Omarali B, Palermo F, Althoefer K, Valle M, Farkhatdinov I ( 2022 ) . Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation . Conference: 2022 International Conference on Robotics and Automation (ICRA) vol. 00 , 9288 - 9294 .

Kwok K-W, 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 .

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 . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)831 - 836 .

Suulker C, Hassan A, Skach S, Althoefer K ( 2022 ) . A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 735 - 740 .

Liu C, Edwards O, Althoefer K, Zhang K, Godaba H ( 2022 ) . An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 715 - 721 .

Aljaber F, Hassan A, Vitanov I, Althoefer K ( 2022 ) . Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 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 . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 903 - 910 .

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 . Conference: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) vol. 00 , 673 - 680 .

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 ,

Jia G, Lam H-K, Althoefer K ( 2022 ) . Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types . Pattern Recognition vol. 121 ,

Omarali B, Althoefer K, Mastrogiovanni F, Valle M, Farkhatdinov I ( 2021 ) . Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation . Conference: 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC) vol. 00 , 607 - 612 .

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

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 vol. 11 , ( 14 )

Fras J, Arezzo A, Shiva A, 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)

Abrar T, Putzu F, Ataka A, Godaba H, Althoefer K ( 2021 ) . Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure . Conference: 2021 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 12089 - 12096 .

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 . IEEE Robotics & Automation Magazine vol. 28 , ( 1 ) 16 - 17 .

Ataka A, Abrar T, Putzu F, Godaba H, Althoefer K ( 2021 ) . Observer-based Control of Inflatable Robot with Variable Stiffness * . Conference: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 8646 - 8652 .

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 . The Surgeon vol. 19 , ( 5 ) e281 - e288 .

Förster F, Althoefer K ( 2021 ) . Attribution of autonomy and its role in robotic language acquisition . AI & SOCIETY vol. 37 , ( 2 ) 605 - 617 .

Ishihara M, Matsuno T, Althoefer K, Hirai S ( 2021 ) . Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor . Conference: 2021 IEEE/SICE International Symposium on System Integration (SII) vol. 00 , 87 - 92 .

Hassan A, Aljaber F, Godaba H, Vitanov I, Althoefer K ( 2021 ) . Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers . Conference: 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI) vol. 00 , 574 - 579 .

Bálint LAP, Althoefer K, Macías LHP ( 2021 ) . Virtual Reality Percussion Simulator for Medical Student Training . Conference: 2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI) vol. 00 , 295 - 299 .

Abrar T, Hassan A, Putzu F, Godaba H, Ataka A, Althoefer K ( 2020 ) . An Inhomogeneous Structured Eversion Actuator . Towards Autonomous Robotic Systems , vol. 12228 , Springer Nature

Vitanov I, Rizqi A, Althoefer K ( 2020 ) . Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach . Towards Autonomous Robotic Systems , vol. 12228 , Springer Nature

Dawood AB, Godaba H, Althoefer K ( 2020 ) . Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots . Towards Autonomous Robotic Systems , vol. 12228 , Springer Nature

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 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 . Conference: 2020 IEEE SENSORS vol. 00 , 1 - 4 .

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 .

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 .

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 ,

Palermo F, Konstantinova J, Althoefer K, Poslad S, Farkhatdinov I ( 2020 ) . Implementing Tactile and Proximity Sensing for Crack Detection . Conference: 2020 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 632 - 637 .

Godaba H, Vitanov I, Aljaber F, Ataka A, Althoefer K ( 2020 ) . A bending sensor insensitive to pressure: soft proprioception based on abraded optical fibres . Conference: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) vol. 00 , 104 - 109 .

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 . Conference: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) vol. 00 , 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 ,

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

Omarali B, Denoun B, Althoefer K, Jamone L, Valle M, Farkhatdinov I ( 2020 ) . Virtual Reality based Telerobotics Framework with Depth Cameras . Conference: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) vol. 00 , 1217 - 1222 .

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 , Springer Nature

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 ( 2020 ) . Instant soft robot: A simple recipe for quick and easy manufacturing . 2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) . 476 - 482 .

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 .

Omarali B, Palermo F, Valle M, Poslad S, Althoefer K, Farkhatdinov I ( 2019 ) . Position and Velocity Control for Telemanipulation with Interoperability Protocol . vol. 11649 , 316 - 324 .

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 .

Sadati S, Shiva A, Elnaz Naghibi S, Rucker C, Renson L, Bergeles C, Althoefer K, Nanayakkara T et al. . Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators . Conference: Robotics: Science and Systems XV

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 .

Ataka A, Lam HK, Althoefer K ( 2019 ) . Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments . Conference: 2019 International Conference on Robotics and Automation (ICRA) vol. 00 , 6165 - 6171 .

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 )

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 .

Li W, Konstantinova J, Noh Y, Ma Z, Alomainy A, Althoefer K ( 2019 ) . An Elastomer-based Flexible Optical Force and Tactile Sensor . Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) vol. 00 , 361 - 366 .

Abrar T, Putzu F, Konstantinova J, Althoefer K ( 2019 ) . EPAM: Eversive Pneumatic Artificial Muscle . Conference: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) vol. 00 , 19 - 24 .

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 .

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 .

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

Althoefer K, Konstantinova J, Zhang K ( 2019 ) . Preface .

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

Stilli A, Althoefer K, Wurdemann HA ( 2018 ) . Soft Robotics. Bio-inspired Antagonistic Stiffening . Developing Support Technologies , vol. 23 , Springer Nature

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

Ataka A, Shiva A, Lam HK, 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 . Conference: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) vol. 00 , 168 - 173 .

Puertolas Balint L, Althoefer K ( 2018 ) . Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing . Conference: CRAS 2018 ( London )

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

ALTHOEFER KA ( 2018 ) . iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing . Autonomous Robots

Ataka A, Lam H-K, 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 . Conference: 2018 IEEE International Conference on Robotics and Automation (ICRA) vol. 00 , 6983 - 6988 .

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

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 . Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)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 . Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)455 - 460 .

ALJaber F, Althoefer K ( 2018 ) . Towards Creating a Flexible Shape Senor for Soft Robots . Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)114 - 119 .

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 .

Ataka A, Shiva A, Lam HK, 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, Althoefer K ( 2018 ) . Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: . River Publishers

Chhaniyara S, Bunnun P, Seneviratne LD, Althoefer K ( 2017 ) . 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 .

Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K et al. ( 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 )

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 .

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 . J R Soc 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 .

Shao W, Kosmas P, Althoefer K, 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 Next Generation, ICIAfS 2016 . Conference: International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016

Wang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K, 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 Bioinformatics) vol. 10170 LNCS , 14 - 23 .

Ranasinghe A, Althoefer K, Dasgupta P, Nagar A, Nanayakkara T ( 2017 ) . Wearable haptic based pattern feedback sleeve system . Advances in Intelligent Systems and Computing vol. 547 , 302 - 312 .

Shao W, Barras J, Althoefer K, Kosmas P ( 2017 ) . Detecting NQR signals severely polluted by interference . Signal Processing vol. 138 , 256 - 264 .

Luo S, Zhu L, Althoefer K, Liu H ( 2017 ) . Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders . Neurocomputing

Stilli A, Wurdemann HA, Althoefer K ( 2017 ) . A Novel Concept for Safe, Stiffness-Controllable Robot Links . Soft Robotics vol. 4 , ( 1 ) 16 - 22 .

Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H, Althoefer K ( 2017 ) . Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model . PLoS ONE

Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD et al. ( 2017 ) . Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery . Med Eng Phys

KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K, Nanayakkara T ( 2017 ) . Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs . PLoS ONE

Stopforth R, Davrajh S, Althoefer K ( 2017 ) . Low Cost Soft Endoscope Robotic Probe . Conference: 2017 IEEE AFRICON1414 - 1419 .

Sadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K, 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 Bioinformatics) vol. 10454 LNAI , 686 - 702 .

ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM, Howard MJ ( 2016 ) . Embroidered Electromyography: A Systematic Design Guide . IEEE Transactions on Neural Systems and Rehabilitation Engineering

ALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, 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

Noh Y, Bimbo J, Stilli A, Wurdemann H, Liu H, Housden J, Rhode K, 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 . Conference: International Conference on Intelligent Robots and Systems vol. 2016-November , 202 - 207 .

Konstantinova J, Stilli A, Faragasso A, Althoefer K ( 2016 ) . Fingertip proximity sensor with realtime visual-based calibration . IEEE International Conference on Intelligent Robots and Systems . Conference: IROS 2016 vol. 2016-November , 170 - 175 .

Luo S, Mou W, Althoefer K, Liu H ( 2016 ) . Iterative Closest Labeled Point for tactile object shape recognition . IEEE International Conference on Intelligent Robots and Systems . Conference: IEEE International Conference on Intelligent Robots and Systems vol. 2016-November , 3137 - 3142 .

Back J, Lindenroth L, Karim R, Althoefer K, Rhode K, Liu H ( 2016 ) . New kinematic multi-section model for catheter contact force estimation and steering . IEEE International Conference on Intelligent Robots and Systems . Conference: IEEE International Conference on Intelligent Robots and Systems vol. 2016-November , 2122 - 2127 .

Lindenroth L, Back J, Schoisengeier A, Noh Y, Würdemann H, Althoefer K, Liu H ( 2016 ) . Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator . IEEE International Conference on Intelligent Robots and Systems . Conference: IEEE International Conference on Intelligent Robots and Systems vol. 2016-November , 2458 - 2463 .

ALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H et al. ( 2016 ) . Multi-axis force/torque sensor based on simply supported beam and optoelectronics . Journal of Sensors MDPI

ALTHOEFER KA ( 2016 ) . Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography . IEEEROBOTICS&AUTOMATIONMAGAZINE

Maurtua I, Pedrocchi N, Orlandini A, Fernandez JDG, Vogel C, Geenen A, Althoefer K, Shafti A ( 2016 ) . FourByThree: Imagine humans and robots working hand in hand . IEEE International Conference on Emerging Technologies and Factory Automation, ETFA . Conference: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA vol. 2016-November ,

Stopforth R, Davrajh S, Althoefer K ( 2016 ) . Low Cost Robotic Endoscope Design Considerations . Conference: 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)1 - 6 .

Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T, Althoefer K ( 2016 ) . Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism . IEEE Trans Biomed Eng vol. 63 , ( 11 ) 2425 - 2435 .

Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K, Althoefer K ( 2016 ) . Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization . IEEE Sensors Journal vol. 16 , ( 22 ) 7924 - 7932 .

Seneviratne LD, Ngemoh FA, Earles SWE, Althoefer KA ( 2016 ) . 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 .

Zweiri YH, Seneviratne LD, Althoefer K ( 2016 ) . 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 .

Shafti A, Lazpita BU, Elhage O, Wurdemann HA, 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) . Conference: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2016 , 1894 - 1897 .

Manerol RBR, Shafti A, Michael B, Grewal J, Fernández JLR, Althoefer K, 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) . Conference: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2016 , 6062 - 6065 .

Qi P, Zhang C, Li J, Li Z, Dai JS, 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 . Conference: BioRob 2016 vol. 2016-July , 49 - 54 .

Konstantinova J, Cotugno G, Dasgupta P, Althoefer K, 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 . Conference: BioRob2016 vol. 2016-July , 323 - 328 .

Schoisengeier A, Lindenroth L, Back J, Qiu C, Noh Y, Althoefer K, Dai JS, Rhode K et al. ( 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 . Conference: BioRob 2016 vol. 2016-July , 278 - 283 .

Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P, 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 . Conference: BioRob 2016 vol. 2016-July , 600 - 605 .

Shiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A et al. ( 2016 ) . Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator . IEEE Robotics and Automation Letters vol. 1 , ( 2 ) 632 - 637 .

Li M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H, Althoefer K ( 2016 ) . Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments . PLoS One vol. 11 , ( 6 ) e0157681 - e0157681 .

Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M et al. ( 2016 ) . Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models . Surgical Endoscopy: surgical and interventional techniques

Sadati SMH, Shiva A, Ataka A, Naghibi SE, Walker ID, Althoefer K, Nanayakkara T ( 2016 ) . A geometry deformation model for compound continuum manipulators with external loading . Proceedings - IEEE International Conference on Robotics and Automation . Conference: IEEE International Conference on Robotics and Automation vol. 2016-June , 4957 - 4962 .

Shafti A, Manero RBR, Borg AM, Althoefer K, Howard MJ ( 2016 ) . Designing embroidered electrodes for wearable surface electromyography . Proceedings - IEEE International Conference on Robotics and Automation . Conference: IEEE International Conference on Robotics and Automation vol. 2016-June , 172 - 177 .

Ataka A, Qi P, Liu H, Althoefer K ( 2016 ) . Real-time planner for multi-segment continuum manipulator in dynamic environments . Proceedings - IEEE International Conference on Robotics and Automation . Conference: IEEE International Conference on Robotics and Automation vol. 2016-June , 4080 - 4085 .

Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD, 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 .

Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K, Bimbo J ( 2016 ) . Stable Grip Control on Soft Objects With Time-Varying Stiffness . IEEE Transactions on Robotics vol. 32 , ( 3 ) 626 - 637 .

Chen C, Zhang F, Barras J, Althoefer K, Bhunia S, Mandal S ( 2016 ) . Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy . IEEE/ACM Trans Comput Biol Bioinform vol. 13 , ( 3 ) 417 - 430 .

Qi P, Liu C, Ataka A, Lam HK, Althoefer K ( 2016 ) . Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach . IEEE Transactions on Industrial Electronics vol. 63 , ( 8 ) 5022 - 5035 .

Cotugno G, Althoefer K, 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 .

Qiu C, Qi P, Liu H, Althoefer K, Dai JS ( 2016 ) . Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs . Journal of Mechanical Design, Transactions of the ASME vol. 138 , ( 4 )

Dias J, Althoefer K, Lima PU ( 2016 ) . Robot Competitions: What Did We Learn? [Competitions] . IEEE Robotics & Automation Magazine vol. 23 , ( 1 ) 16 - 18 .

Noh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K, Althoefer K ( 2016 ) . Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators . IEEE Sensors Journal vol. 16 , ( 6 ) 1641 - 1651 .

Qi P, Liu H, Seneviratne L, Althoefer K ( 2015 ) . Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs . Conference: Volume 5A: 39th Mechanisms and Robotics Conferencev05at08a033 - v05at08a033 .

Bai G, Qi P, Althoefer K, Li D, Kong X, Dai JS ( 2015 ) . Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application . Conference: Volume 5B: 39th Mechanisms and Robotics Conferencev05bt08a011 - v05bt08a011 .

Ranasinghe A, Sornkarn N, Dasgupta P, Althoefer K, Penders J, 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 .

Bimbo J, Luo S, Althoefer K, 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 .

Ataka A, Shiva A, Shafti A, Wurdemann H, 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 Support Technologies for Mobile Machines, CLAWAR 2016 . 178 - 185 .

Yu Y, Qi P, Althoefer K, Lam HK ( 2015 ) . Lagrangian Dynamics and Nonlinear Control of a Continuum Manipulator . Conference: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)1912 - 1917 .

Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K, Menciassi A ( 2015 ) . Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications . Soft Robotics vol. 2 , ( 4 ) 146 - 154 .

Sareh S, Noh Y, Li M, Ranzani T, Liu H, Althoefer K ( 2015 ) . Macrobend optical sensing for pose measurement in soft robot arms . Smart Materials and Structures vol. 24 , ( 12 )

Noh Y, Housden RJ, Gomez A, Knight C, Garcia F, Liu H, Razavi R, Rhode K et al. ( 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) . Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2015 , 5773 - 5776 .

Wurdemann HA, Sareh S, Shafti A, Noh Y, Faragasso A, Chathuranga DS, Liu H, Hirai S et al. ( 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) . Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2015 , 8026 - 8029 .

Smith JAS, Rowe MD, Althoefer K, Peirson NF, 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 .

Secco EL, Nagar A, Deters C, Wurdemann H, Lam H-K, Althoefer K ( 2015 ) . A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs . Conference: 2015 IEEE International Conference on Computer and Information Technology; Ubiquitous Computing and Communications; Dependable, Autonomic and Secure Computing; Pervasive Intelligence and Computing288 - 296 .

Smith JAS, Rowe MD, Althoefer K, Peirson NF, Barras J ( 2015 ) . 14N NQR, relaxation and molecular dynamics of the explosive TNT . Solid State Nuclear Magnetic Resonance vol. 71 , 61 - 66 .

Faragasso A, Stilli A, Bimbo J, Wurdemann HA, Althoefer K ( 2015 ) . Multi-Axis Stiffness Sensing Device for Medical Palpation . Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2711 - 2716 .

Luo S, Liu X, Althoefer K, Liu H ( 2015 ) . Tactile Object Recognition with Semi-Supervised Learning . vol. 9245 , 15 - 26 .

Back J, Karim R, Noh Y, Rhode K, Althoefer K, Liu H ( 2015 ) . Tension Sensing for a Linear Actuated Catheter Robot . vol. 9245 , 472 - 482 .

Shafti A, Andorno F, Marchese N, Arolfo S, Aydin A, Elhage O, Noh Y, Wurdemann HA et al. ( 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) . Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2015 , 4861 - 4864 .

Wang S, Housden J, Singh D, Althoefer K, 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 .

Ranasinghe A, Dasgupta P, Althoefer K, Nanayakkara T ( 2015 ) . Identification of Haptic Based Guiding Using Hard Reins . PLOS ONE vol. 10 , ( 7 )

Luo S, Mou W, Althoefer K, Liu H ( 2015 ) . Novel Tactile-SIFT Descriptor for Object Shape Recognition . IEEE Sensors Journal vol. 15 , ( 9 ) 5001 - 5009 .

Li M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P et al. ( 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 .

Xie H, Liu H, Noh Y, Li J, Wang S, Althoefer K ( 2015 ) . A Fiber-Optics-Based Body Contact Sensor for a Flexible Manipulator . IEEE Sensors Journal vol. 15 , ( 6 ) 3543 - 3550 .

Luo S, Mou W, Althoefer K, Liu H ( 2015 ) . Localizing the Object Contact through Matching Tactile Features with Visual Map . Conference: 2015 IEEE International Conference on Robotics and Automation (ICRA)3903 - 3908 .

Maghooa F, Stilli A, Noh Y, Althoefer K, Wurdemann HA ( 2015 ) . Tendon and Pressure Actuation for a Bio-Inspired Manipulator Based on an Antagonistic Principle . Conference: 2015 IEEE International Conference on Robotics and Automation (ICRA)2556 - 2561 .

Bimbo J, Kormushev P, Althoefer K, Liu H ( 2015 ) . Global estimation of an object’s pose using tactile sensing . Advanced Robotics vol. 29 , ( 5 ) 363 - 374 .

Kyriakidou G, Jakobsson A, Althoefer K, Barras J ( 2015 ) . Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy . Analytical Chemistry vol. 87 , ( 7 ) 3806 - 3811 .

Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD, Althoefer K ( 2015 ) . Finger contact sensing and the application in dexterous hand manipulation . Autonomous Robots vol. 39 , ( 1 ) 25 - 41 .

Qiu C, Qi P, Liu HB, Althoefer K, Dai JS ( 2014 ) . Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator . Conference: Volume 5A: 38th Mechanisms and Robotics Conferencev05at08a036 - v05at08a036 .

Sareh S, Noh Y, Ranzani T, Wurdemann H, Liu H, Althoefer K ( 2015 ) . A 7.5mm Steiner Chain Fibre-Optic System for Multi-Segment Flex Sensing . Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2336 - 2341 .

Back J, Manwell T, Karim R, Rhode K, Althoefer K, Liu H ( 2015 ) . Catheter Contact Force Estimation from Shape Detection Using a Real-Time Cosserat Rod Model . Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2037 - 2042 .

Back J, Dasgupta P, Seneviratne L, Althoefer K, Liu H ( 2015 ) . Feasibility Study-Novel Optical Soft Tactile Array Sensing for Minimally Invasive Surgery . Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)1528 - 1533 .

Konstantinova J, Stilli A, Althoefer K ( 2015 ) . Force and Proximity Fingertip Sensor to Enhance Grasping Perception . Conference: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2118 - 2123 .

Bai G, Qi P, Althoefer K, Li D, Kong X, 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 ,

Wurdemann HA, Stilli A, Althoefer K ( 2015 ) . Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control . vol. 9246 , 164 - 174 .

Althoefer K, Wurdemann H, Stilli A ( 2015 ) . Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamics . BJU INTERNATIONAL . vol. 116 , 48 - 49 .

Morland MFE, Althoefer K, 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) . Conference: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2015 , 7764 - 7767 .

Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K, Nanayakkara T ( 2015 ) . Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming . vol. 9246 , 141 - 151 .

Manwell T, Jupp A, Althoefer K, Liu H ( 2015 ) . Surface Classification for Crawling Peristaltic Worm Robot . vol. 9246 , 175 - 184 .

Deters C, Lam H-K, Secco EL, Wurdemann HA, Seneviratne LD, 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 .

Luo S, Mou W, Li M, Althoefer K, Liu H . Rotation and translation invariant object recognition with a tactile sensor . 2010 IEEE Sensors . Conference: IEEE SENSORS 2014 Proceedings1030 - 1033 .

Qi P, Liu C, Zhang L, Wang S, Lam H-K, Althoefer K ( 2014 ) . Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications . Conference: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)413 - 418 .

Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P, Althoefer K ( 2014 ) . Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments . Mechatronics vol. 24 , ( 8 ) 1092 - 1100 .

Kyriakidou G, Jakobsson A, Gudmundson E, Gregorovič A, Barras J, 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, Althoefer K ( 2014 ) . Multi-fingered haptic palpation using pneumatic feedback actuators . Sensors and Actuators A Physical vol. 218 , 132 - 141 .

Jiang A, Ranzani T, Gerboni G, Lekstutyte L, Althoefer K, Dasgupta P, Nanayakkara T ( 2014 ) . Robotic Granular Jamming: Does the Membrane Matter? . Soft Robotics vol. 1 , ( 3 ) 192 - 201 .

Wanninayake IB, Dasgupta P, Seneviratne LD, 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 .

Xie H, Liu H, Seneviratne LD, Althoefer K ( 2014 ) . An Optical Tactile Array Probe Head for Tissue Palpation During Minimally Invasive Surgery . IEEE Sensors Journal vol. 14 , ( 9 ) 3283 - 3291 .

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 )

Konstantinova J, Jiang A, Althoefer K, Dasgupta P, 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 .

Althoefer K ( 2014 ) . MRI‐safe robots . BJU International vol. 113 , ( 6 ) 975 - 976 .

Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P, 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 .

Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T, Dasgupta P ( 2014 ) . The granular jamming integrated actuator . Conference: 2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS)12 - 17 .

Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K, 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 .

Konstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K, 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 .

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 .

Li M, Faragasso A, Konstantinova J, Aminzadeh V, Seneviratne LD, Dasgupta P, Althoefer K ( 2014 ) . A Novel Tumor Localization Method using Haptic Palpation based on Soft Tissue Probing Data . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)4188 - 4193 .

Noh Y, Sareh S, Back J, Würdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H et al. ( 2014 ) . A Three-Axial Body Force Sensor for Flexible Manipulators . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)6388 - 6393 .

Sareh S, Jiang A, Faragasso A, Noh Y, Nanayakkara T, Dasgupta P, Seneviratne LD, Wurdemann RA et al. ( 2014 ) . Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)1454 - 1459 .

Back J, Bimbo J, Noh Y, Seneviratne L, Althoefer K, Liu H ( 2014 ) . Control a Contact Sensing Finger for Surface Haptic Exploration . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)2736 - 2741 .

Wanninayake IB, Seneviratne LD, Althoefer K ( 2014 ) . Estimation of Tissue Stiffness Using a Prototype of Air-Float Stiffness Probe . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)1426 - 1431 .

Faragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H, Nanayakkara T, Wurdemann HA et al. ( 2014 ) . Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)1405 - 1410 .

Cotugno G, Mohan V, Althoefer K, Nanayakkara T ( 2014 ) . Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned Synergies . Conference: 2014 IEEE International Conference on Robotics and Automation (ICRA)5345 - 5351 .

Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . Granular Jamming With Hydraulic Control . Conference: Volume 6A: 37th Mechanisms and Robotics Conferencev06at07a021 - v06at07a021 .

Karim R, Ma Y, 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 .

Xie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD, Althoefer K ( 2014 ) . Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor . IEEE Sensors Journal vol. 14 , ( 3 ) 829 - 838 .

Noh Y, Secco EL, Sareh S, Würdemann H, Farazasso A, Back J, Liu H, Sklar E et al. ( 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) . Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society vol. 2014 , 3711 - 3714 .

Qi P, Qiu C, Liu H, Dai JS, Seneviratne L, Althoefer K ( 2014 ) . A Novel Continuum-Style Robot with Multilayer Compliant Modules . Conference: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems3175 - 3180 .

Manwell T, Vitek T, Ranzani T, Menciassi A, Althoefer K, Liu H ( 2014 ) . Elastic Mesh Braided Worm Robot for Locomotive Endoscopy . Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) . Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society vol. 2014 , 848 - 851 .

Faragasso A, Stilli A, Bimbo J, Noh Y, Liu H, Nanayakkara T, Dasgupta P, Wurdemann HA et al. ( 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) . Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society vol. 2014 , 6517 - 6520 .

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 .

Stilli A, Wurdemann HA, Althoefer K ( 2014 ) . Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle . Conference: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems2476 - 2481 .

Qi P, Liu H, Seneviratne L, 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) . Conference: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society vol. 2014 , 3009 - 3012 .

Ranasinghe A, Penders J, Dasgupra P, Althoefcr K, Nanayakkara T ( 2013 ) . A Two Party Haptic Guidance Controller Via a Hard Rein . Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems116 - 122 .

Bimbo J, Seneviratne LD, Althoefer K, Liu H ( 2013 ) . Combining Touch and Vision for the Estimation of an Object's Pose During Manipulation . Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems4021 - 4026 .

Xie H, Liu* H, Luo S, Seneviratne LD, Althoefer K ( 2013 ) . Fiber Optics Tactile Array Probe for Tissue Palpation during Minimally Invasive Surgery . Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems2539 - 2544 .

Konstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K, Nanayakkara T ( 2013 ) . Force-Velocity Modulation Strategies for Soft Tissue Examination . Conference: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems1998 - 2003 .

Ranasinghe A, Althoefer K, Nanayakkara T, Penders J, Dasgupta P ( 2013 ) . An Optimal State Dependent Haptic Guidance Controller Via a Hard Rein . Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics2322 - 2327 .

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 . Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics4190 - 4195 .

Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K, Dasgupta P ( 2013 ) . Haptics for Multi-Fingered Palpation . Conference: 2013 IEEE International Conference on Systems, Man, and Cybernetics4184 - 4189 .

Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K, 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 .

Song X, Liu H, Althoefer K, Nanayakkara T, 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 .

Jiang A, Ataollahi A, Althoefer K, Dasgupta P, Nanayakkara T ( 2012 ) . A Variable Stiffness Joint by Granular Jamming . Conference: Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B267 - 275 .

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 , Springer Nature

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 .

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 .

Searle TC, Althoefer K, Seneviratne L, Liu H ( 2013 ) . An Optical Curvature Sensor for Flexible Manipulators . Conference: 2013 IEEE International Conference on Robotics and Automation4415 - 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 . Conference: 2013 IEEE International Conference on Robotics and Automation270 - 276 .

Lam HK, Li H, Deters C, Secco EL, Wurdemann HA, 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 .

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, 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 .

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 .

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 .

Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P, 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 .

Li J, Liu H, Althoefer K, 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 .

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 vol. 6 , ( 4 )

Song X, Liu H, Bimbo J, Althoefer K, Seneviratne LD ( 2012 ) . A Novel Dynamic Slip Prediction and Compensation Approach Based on Haptic Surface Exploration . Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems vol. 1 , 4511 - 4516 .

Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K, Nanayakkara T ( 2012 ) . Adaptive grip control on an uncertain object . Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems1161 - 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 . Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems2922 - 2927 .

Xie H, Jiang A, Seneviratne L, Althoefer K ( 2012 ) . Pixel-based Optical Fiber Tactile Force Sensor for Robot Manipulation . Conference: 2012 IEEE Sensors1 - 4 .

Liu H, Song X, Bimbo J, Seneviratne L, Althoefer K ( 2012 ) . Surface Material Recognition through Haptic Exploration using an Intelligent Contact Sensing Finger . Conference: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems52 - 57 .

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 .

Sargeant R, Liu H, Seneviratne LD, Althoefer K ( 2012 ) . An Optical Multi-axial Force/Torque Sensor for Dexterous Grasping and Manipulation . Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)144 - 149 .

Bimbo J, Rodríguez-Jiménez 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 . Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)65 - 70 .

Liu H, Greco J, Song X, Bimbo J, Seneviratne L, Althoefer K ( 2012 ) . Tactile Image based Contact Shape Recognition using Neural Network . Conference: 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)138 - 143 .

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 , World Scientific Publishing

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 . 477 - 485 .

Liu H, Song X, Bimbo J, Althoefer K, Senerivatne L ( 2012 ) . Intelligent Fingertip Sensing for Contact Information Identification . 599 - 608 .

Deters C, Wurdemann HA, Dai JS, Seneviratne LD, Althoefer K ( 2012 ) . Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent Agents . 95 - 103 .

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 .

Liu H, Song X, Nanayakkarr T, Seneviratne LD, Althoefer K ( 2012 ) . A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor . Conference: 2012 IEEE International Conference on Robotics and Automation1410 - 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 . Conference: 2012 IEEE International Conference on Robotics and Automation1422 - 1427 .

Wanninayake IB, Seneviratne LD, Althoefer K ( 2012 ) . Novel Indentation Depth Measuring System for Stiffness Characterization in Soft Tissue Palpation . Conference: 2012 IEEE International Conference on Robotics and Automation vol. 1 , 4648 - 4653 .

Li M, Liu H, Li J, Seneviratne LD, 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 . Conference: 2012 IEEE International Conference on Robotics and Automation vol. 1 , 5359 - 5364 .

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 .

Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T, Althoefer K ( 2012 ) . Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures . IEEE/ASME Transactions on Mechatronics vol. 18 , ( 1 ) 386 - 396 .

Jiang A, Althoefer K, Dasgupta P, Nanayakkara T ( 2012 ) . GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES . JOURNAL OF ENDOUROLOGY vol. 26 , A403 - A404 .

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 .

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 .

Althoefer K, Seneviratne LD, Zavlangas P, Krekelberg B ( 2011 ) . Fuzzy Navigation for Robotic Manipulators . International Journal of Uncertainty Fuzziness and Knowledge-Based Systems vol. 6 , ( 02 ) 179 - 188 .

SONG X, SENEVIRATNE LD, ALTHOEFER K, SONG Z ( 2011 ) . VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES . International Journal of Information Acquisition vol. 4 , ( 04 ) 303 - 315 .

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 . Conference: Advances in Mobile Robotics1106 - 1113 .

CHHANIYARA S, ALTHOEFER K, SENEVIRATNE LD ( 2007 ) . MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION . Conference: Advances in Climbing and Walking Robots690 - 697 .

CHHANIYARA S, ALTHOEFER K, SENEVIRATNE LD ( 2008 ) . VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION . Conference: Advances in Mobile Robotics1069 - 1076 .

Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S, Althoefer K ( 2011 ) . 14N quadrupole resonance and 1H T1 dispersion in the explosive RDX . Journal of Magnetic Resonance vol. 213 , ( 1 ) 98 - 106 .

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 .

Narimani M, Lam HK, Althoefer K, Dilmaghan R, Wolfe C, Deters C ( 2011 ) . An Approach for Stability Analysis of Polynomial Fuzzy Model-Based Control Systems . Conference: 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)2232 - 2237 .

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 .

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 .

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 ) 3319 - 3327 .

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 .

Song X, Althoefer K, Seneviratne L ( 2010 ) . A Robust Downward-Looking Camera Based Velocity Estimation with Height Compensation for Mobile Robots . Conference: 2010 11th International Conference on Control Automation Robotics & Vision378 - 383 .

Sangpradit K, Althoefer K, Seneviratne LD ( 2010 ) . Finite Element Modelling of Rolling Indentation for Tissue Adomanlity Identification . Conference: 2010 11th International Conference on Control Automation Robotics & Vision163 - 168 .

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 .

Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K ( 2010 ) . MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures . IEEE Transactions on Biomedical Engineering vol. 58 , ( 3 ) 721 - 726 .

Polygerinos P, Seneviratne LD, Althoefer K ( 2010 ) . Modeling of Light Intensity-Modulated Fiber-Optic Displacement Sensors . IEEE Transactions on Instrumentation and Measurement vol. 60 , ( 4 ) 1408 - 1415 .

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 .

Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD, Althoefer K ( 2010 ) . Tactile Sensor Array Using Prismatic-Tip Optical Fibers for Dexterous Robotic Hands . Conference: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems910 - 915 .

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 .

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 .

Liu H, Li J, Poon Q-I, Seneviratne LD, Althoefer K ( 2010 ) . Miniaturized Force-Indentation Depth Sensor for Tissue Abnormality Identification during Laparoscopic Surgery . Conference: 2010 IEEE International Conference on Robotics and Automation3654 - 3659 .

Puangmali P, Dasgupta P, Seneviratne LD, Althoefer K ( 2010 ) . Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery . Conference: 2010 IEEE International Conference on Robotics and Automation2592 - 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 . Conference: 2010 IEEE International Conference on Robotics and Automation2598 - 2603 .

Song X, Seneviratne LD, 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 .

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 .

Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD, 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 .

Arghir S, Dobrescu R, Popescu D, Humaila H ( 2010 ) . Critical Resource Infrastructure Supervision and Intervention System . IFAC-PapersOnLine . vol. 43 , 70 - 76 .

Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D, Seneviratne LD ( 2010 ) . Force Sensing in Medical Robotics . Mechatronics in Action , Springer Nature

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 .

Zbyszewski D, Polygerinos P, Seneviratne LD, Althoefer K ( 2009 ) . A Novel MRI Compatible Air-Cushion Tactile Sensor for Minimally Invasive Surgery . Conference: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems2647 - 2652 .

Polygerinos P, Schaeffter T, Seneviratne L, Althoefer K ( 2009 ) . Measuring Tip and Side Forces of a Novel Catheter Prototype: A Feasibility Study . Conference: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems966 - 971 .

Liu H, Noonan DP, Challacombe BJ, Dasgupta P, Seneviratne LD, Althoefer K ( 2009 ) . Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery . IEEE Transactions on Biomedical Engineering vol. 57 , ( 2 ) 404 - 414 .

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 .

Puangmali P, Althoefer K, 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 .

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 35Cl 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 Measurement and Estimation Scheme for Excavation Automation . IEEE Transactions on Instrumentation and Measurement vol. 58 , ( 10 ) 3633 - 3641 .

Puangmali P, Althoefer K, Seneviratne LD ( 2009 ) . Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments . Conference: 2009 IEEE International Conference on Robotics and Automation3682 - 3687 .

Sangpradit K, Liu H, Seneviratne LD, Althoefer K ( 2009 ) . Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation . Conference: 2009 IEEE International Conference on Robotics and Automation1250 - 1255 .

Polygerinos P, Schaeffter T, Seneviratne L, 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) . Conference: 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society vol. 2009 , 1501 - 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 . 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 .

Polygerinos P, Schaeffter T, Seneviratne L, 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 .

Puangmali P, Althoefer K, 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 .

Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Milli SA, 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 )

Sangpradit K, Liu H, Seneviratne LD, 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 - + .

Song X, Seneviratne LD, Althoefer K, Song Z ( 2008 ) . A robust slip estimation method for skid-steered mobile robots . Conference: 2008 10th International Conference on Control, Automation, Robotics and Vision279 - 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 ,

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 ,

Song ZB, Seneviratne LD, Althoefer K, Song XJ, Zweiri YH ( 2008 ) . Slip parameter estimation of a single wheel using a non-linear observer . Robotica vol. 27 , ( 6 ) 801 - 811 .

Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupta P, Murphy D ( 2008 ) . Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery . 2010 IEEE Sensors . Conference: 2008 IEEE Sensors827 - 830 .

Al-Milli S, Althoefer K, Seneviratne LD ( 2008 ) . Maneuverability Performance of Tracked Vehicles on Soft Terrains . 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems107 - 112 .

Song X, Song Z, Seneviratne LD, 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) . Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems101 - 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 .

Zbyszewski D, Bhaumik A, Althoefer K, Seneviratne LD ( 2008 ) . Tactile Sensing using a Novel Air Cushion Sensor: A Feasibility Study . Conference: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems41 - 46 .

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 .

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 .

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 . Conference: Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B1231 - 1239 .

Puangmali P, Liu H, Althoefer K, Seneviratne LD ( 2008 ) . Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive Surgery . 2014 IEEE International Conference on Robotics and Automation (ICRA) . Conference: 2008 IEEE International Conference on Robotics and Automation2934 - 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 . 2014 IEEE International Conference on Robotics and Automation (ICRA) . Conference: 2008 IEEE International Conference on Robotics and Automation845 - 850 .

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 - 381 .

Rao A, Noonan D, Althoefer K, Seneviratne L ( 2006 ) . Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS Applications . Conference: ASME 2006 Frontiers in Biomedical Devices Conference37 - 38 .

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 . 2013 IEEE International Conference on Acoustics, Speech and Signal Processing . Conference: 2008 IEEE International Conference on Acoustics, Speech and Signal Processing3645 - 3648 .

ja'afreh TMA, 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 )

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 .

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 .

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 .

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 . Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) vol. 2008 , 5556 - 5559 .

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 .

Liu H, Puangmali P, Althoefer KA, Seneviratne LD ( 2007 ) . Experimental Study of Soft Tissue Recovery using Optical Fiber Probe . 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems516 - 521 .

Vahed SM, Delaimi HA, Althoefer K, 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) . Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems554 - 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 . 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems208 - 213 .

Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2007 ) . Validation of Soil Parameter Identification for Track-Terrain Interaction Dynamics . 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems3174 - 3179 .

Song Z, Song X, Altheoer K, Zweiri Y, Seneviratne L ( 2007 ) . Non-Linear Observer for Slip Parameter Estimation of Unmanned Wheeled Vehicles . Conference: 2007 International Conference on Mechatronics and Automation1213 - 1218 .

Song X, Seneviratne LD, Althoefer K, Song Z, Zweiri YH ( 2007 ) . Visual Odometry for Velocity Estimation of UGVs . Conference: 2007 International Conference on Mechatronics and Automation1611 - 1616 .

Somasundaram SD, Jakobsson A, Butt NR, Rowe MD, Smith JAS, Althoefer K ( 2007 ) . Detection of Stochastic Nuclear Quadrupole Resonance Signals . Conference: 2007 15th International Conference on Digital Signal Processing367 - 370 .

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 ) . Equipamiento y tecnologa en robtica . Archivos Españoles de Urología vol. 60 , ( 4 ) 349 - 355 .

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 . 2014 IEEE International Conference on Robotics and Automation (ICRA) . Conference: Proceedings 2007 IEEE International Conference on Robotics and Automation2629 - 2634 .

Chhaniyara S, Zweiri YH, Seneviratne LD, Althoefer K ( 2007 ) . A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition . Conference: 2007 IEEE International Conference on Networking, Sensing and Control139 - 144 .

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 Camera/Laser-Based Profiler and Artificial Neural Network . IEEE Transactions on Automation Science and Engineering vol. 4 , ( 1 ) 118 - 126 .

Al-Milli S, Althoefer K, D.Seneviratne L ( 2007 ) . DYNAMIC ANALYSIS AND TRAVERSABILITY PREDICTION OF TRACKED VEHICLES ON SOFT TERRAIN . Conference: 2007 IEEE International Conference on Networking, Sensing and Control279 - 284 .

Liu H, Puangmali P, Althoefer KA, 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, Althoefer K ( 2007 ) . MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS . IFAC-PapersOnLine vol. 40 , ( 20 ) 578 - 583 .

Song Z, Zweiri Y, Seneviratne LD, Althoefer K ( 2007 ) . NON-LINEAR OBSERVER FOR SLIP PARAMETER ESTIMATION OF UNMANNED WHEELED VEHICLES . IFAC-PapersOnLine . vol. 40 , 458 - 463 .

Vahed SM, Delaimi HA, Althoefer K, 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, 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, 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 - + .

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 .

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 .

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 .

Somasundaram SD, Jakobsson A, Smith JAS, Althoefer KA ( 2006 ) . Frequency selective detection of nuclear quadrupole resonance (NQR) spin echoes . Proceedings of SPIE . Conference: Detection and Remediation Technologies for Mines and Minelike Targets XI vol. 6217 ,

Gomez F, Althoefer K, Seneviratne LD ( 2006 ) . Simulation of ultrasound imaging inside fully charged pipes . Automation in Construction vol. 15 , ( 3 ) 355 - 364 .

Althoefer K, Seneviratne LD, Shields R ( 2006 ) . 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 .

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 .

Hutangkabodee S, Zweiri YH, Seneviratne LD, Altho K ( 2006 ) . Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification . vol. 25 , 517 - 528 .

Song Z, Zweiri YH, Seneviratne LD, Althoefer K ( 2006 ) . Non-linear Observer for Slip Estimation of Skid-steering Vehicles . Conference: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.1499 - 1504 .

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 ) . Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil Parameters . Conference: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.3356 - 3361 .

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 .

Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . Stability analysis of a three-term backpropagation algorithm . Neural Networks vol. 18 , ( 10 ) 1341 - 1347 .

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 .

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 .

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 - 243 .

Song ZB, Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . DRIVER SUPPORT SYSTEM BASED ON A NON-LINEAR SLIP OBSERVER FOR OFF ROAD VEHICLES . IFAC-PapersOnLine . vol. 38 , 83 - 88 .

Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2005 ) . Online Soil-bucket Interaction Identification for Autonomous Excavation . Conference: Proceedings of the 2005 IEEE International Conference on Robotics and Automation3576 - 3581 .

Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K ( 2005 ) . TRAVERSABILITY PREDICTION FOR UNMANNED GROUND VEHICLES BASED ON IDENTIFIED SOIL PARAMETERS . IFAC-PapersOnLine . vol. 38 , 25 - 30 .

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 .

Zweiri YH, Seneviratne LD, Althoefer K ( 2004 ) . Parameter Estimation for Excavator Arm Using Generalized Newton Method . IEEE Transactions on Robotics and Automation . vol. 20 , 762 - 767 .

Klingajay M, Seneviratne LD, Althoefer K ( 2004 ) . Model Based Monitoring Strategies for Threaded Assembly System . IFAC-PapersOnLine vol. 37 , ( 4 ) 533 - 538 .

Gomez F, Althoefer K, Seneviratne LD ( 2004 ) . An ultrasonic profiling method for sewer inspection . Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 vol. 5 , 4858 - 4863 .

Duran O, Althoefer K, Seneviratne LD ( 2004 ) . Automated Pipe Inspection Using ANN and Laser Data Fusion . Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 vol. 5 , 4875 - 4880 .

Khawaja K, Althoefer K, Clode MP, Seneviratne LD ( 2004 ) . Gap Sensing Benefits in Conform™ Extrusion Machinery . Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 vol. 1 , 529 - 534 .

Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2004 ) . Hybrid Model in a Real-Time Soil Parameter Identification Scheme for Autonomous Excavation . Conference: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 vol. 5 , 5268 - 5273 .

Zweiri YH, Seneviratne LD, Althoefer K ( 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 ( 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 .

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 .

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 )

Zweiri YH, Seneviratne LD, Althoefer K ( 2003 ) . A Generalized Newton Method for Identification of Closed-chain Excavator Arm Parameters . Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) vol. 1 , 103 - 108 .

Duran O, Althoefer K, Seneviratne LD ( 2003 ) . A Sensor for Pipe Inspection: Model, Analysis and Image Extraction . Conference: Proceedings 2003 International Conference on Image Processing (Cat. No.03CH37429) vol. 3 ,

Duran O, Althoefer K, Seneviratne LD ( 2003 ) . Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection . Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) vol. 2 , 2561 - 2566 .

Klingajay M, Seneviratne LD, Althoefer K ( 2003 ) . Identification of threaded fastening parameters using the Newton Raphson Method . Conference: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) vol. 2 , 2055 - 2060 .

Gomez F, Althoefer K, Seneviratne LD ( 2003 ) . Modeling of Ultrasound Sensor for Pipe Inspection . Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) vol. 2 , 2555 - 2560 .

Tan C, Zweiri YH, Althoefer K, Seneviratne LD ( 2003 ) . On-line Soil Property Estimation for Autonomous Excavator Vehicles . Conference: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) vol. 1 , 121 - 126 .

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 .

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, Althoefer K, Seneviratne LD ( 2002 ) . A New Three-Term Backpropagation Algorithm with Convergence Analysis . Conference: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) vol. 4 , 3882 - 3887 .

Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Automated Sewer Inspection using Image Processing and a Neural Classifier . Conference: Proceedings of the 2002 International Joint Conference on Neural Networks. IJCNN'02 (Cat. No.02CH37290) vol. 2 , 1126 - 1131 .

Duran O, Althoefer K, Seneviratne DL ( 2002 ) . Automated Sewer Pipe Inspection through Image Processing . Conference: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) vol. 3 , 2551 - 2556 .

Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Automated laser-based profiler for sewer inspection . INTELLIGENT AUTONOMOUS SYSTEMS 7 . 84 - 91 .

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 . Conference: IEEE/RSJ International Conference on Intelligent Robots and System 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 . Conference: 2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02. vol. 2 , 1019 - 1024 .

Duran O, Althoefer K, Seneviratne LD ( 2002 ) . Pipe Inspection using Intelligent Analysis Techniques with High Noise-Tolerance . Conference: IEEE/RSJ International Conference on Intelligent Robots and System vol. 2 , 1886 - 1891 .

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 . 2014 IEEE International Conference on Robotics and Automation (ICRA) . Conference: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) vol. 2 ,

Althoefer K, Seneviratne L, Krekelberg B ( 1999 ) . Learning in a neuro-fuzzy navigator for robotic manipulators . Conference: ICONIP'99. ANZIIS'99 & ANNES'99 & ACNN'99. 6th International Conference on Neural Information Processing. Proceedings (Cat. No.99EX378) vol. 1 ,

Lara B, Althoefer K, Seneviratne D ( 1999 ) . Use of artificial neural networks for the monitoring of screw insertions . 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) vol. 1 ,

Seneviratne LD, Visuwan P, Althoefer K ( 1999 ) . Weightless neural network based monitoring of screw fastenings . 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) vol. 1 ,

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 . Conference: IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) vol. 4 ,

Bekit BW, Seneviratne LD, Whidborne JF, Althoefer K ( 1998 ) . Fuzzy PID tuning for robot manipulators . Conference: IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200) vol. 4 ,

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 an emulated resistive grid . Electronics Letters vol. 31 , ( 22 ) 1960 - 1961 .

Althofer K ( 1995 ) . The configuration space transformation for articulated manipulators: a novel approach based on RBF-networks . Conference: 4th International Conference on Artificial Neural Networks vol. 1995 , 245 - 249 .

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