King's College London

Research portal

Research Outputs

  1. 2018
  2. Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement

    Sadati, S., Naghibi, S. E., Althoefer, K. A. & Nanayakkara, T., 2018, The first IEEE-RAS International Conference on Soft Robotics (RoboSoft 2018). IEEE, 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  3. 2017
  4. Mechanics of Continuum Manipulators, A Comparative Study of Five Methods with Experiments

    Sadati, S. M. H., Naghibi, S. E., Shiva, A., Walker, I. D., Althoefer, K. & Nanayakkara, T., 20 Jul 2017, Conference Towards Autonomous Robotic Systems. Surrey, UK: SPRINGER, Vol. 10454. p. 689-702

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  5. 2016
  6. New kinematic multi-section model for catheter contact force estimation and steering

    Back, J., Lindenroth, L., Karim, R., Althoefer, K., Rhode, K. & Liu, H., 1 Dec 2016, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-November. p. 2122-2127 6 p. 7759333

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  7. Iterative Closest Labeled Point for tactile object shape recognition

    Luo, S., Mou, W., Althoefer, K. & Liu, H., 28 Nov 2016, IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-November. p. 3137-3142 6 p. 7759485

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  8. Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator

    Lindenroth, L., Back, J., Schoisengeier, A., Noh, Y., Wurdemann, H., Althoefer, K. & Liu, H., 28 Nov 2016, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-November. p. 2458-2463 6 p. 7759383

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  9. Design of a flexible force-sensing platform for medical ultrasound probes

    Schoisengeier, A., Lindenroth, L., Back, J., Qiu, C., Noh, Y., Althoefer, K., Dai, J. S., Rhode, K. & Liu, H., 28 Jul 2016, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society Press, Vol. 2016-July. p. 278-283 6 p. 7523638

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  10. Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments

    Rizqi, A. A. A., Shafti, A., Shiva, A., Würdemann, H. & Althoefer, K., 13 Jun 2016, The 26th International Conference on Automated Planning and Scheduling: Proceedings of the 1st Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interactions. Shafti, A. & Orlandini, A. (eds.). p. 17 23 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  11. Real-time Planner for Multi-segment Continuum Canipulator in Dynamic Environments

    Rizqi, A. A. A., Qi, P., Liu, H. & Althoefer, K. A., 9 Jun 2016, Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2016. p. 4080-4085 6 p. 7487598

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  12. A Geometry Deformation Model for Compound Continuum Manipulators with External Loading

    Sadati, S., Shiva, A., Rizqi, A. A. A., Naghibi, S. E., Walker, I., Althoefer, K. A. & Nanayakkara, T., 8 Jun 2016, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-June. p. 4957-4962 6 p. 7487702

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  13. Designing embroidered electrodes for wearable surface electromyography

    Shafti, A., Manero, R. B. R., Borg, A. M., Althoefer, K. & Howard, M. J., 8 Jun 2016, Proceedings - IEEE International Conference on Robotics and Automation. June ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2016. p. 172-177 6 p. 7487131

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  14. Real-time planner for multi-segment continuum manipulator in dynamic environments

    Ataka, A., Qi, P., Liu, H. & Althoefer, K., 8 Jun 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-June. p. 4080-4085 6 p. 7487598

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  15. 2015
  16. A neural network clamping force model for bolt tightening of wind turbine hubs

    Secco, E. L., Nagar, A., Deters, C., Wurdemann, H., Lam, H. K. & Althoefer, K., 22 Dec 2015, Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015. Institute of Electrical and Electronics Engineers Inc., p. 288-296 9 p. 7363084

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  17. A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing

    Sareh, S., Noh, Y., Ranzani, T., Wurdemann, H., Liu, H. & Althoefer, K., 11 Dec 2015, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December. p. 2336-2341 6 p. 7353692

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  18. Catheter contact force estimation from shape detection using a real-time Cosserat rod model

    Back, J., Manwell, T., Karim, R., Rhode, K., Althoefer, K. & Liu, H., 11 Dec 2015, 2015 IEEE International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers Inc., p. 2037-2042 6 p. 7353647

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  19. Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery

    Back, J., Dasgupta, P., Seneviratne, L., Althoefer, K. & Liu, H., 11 Dec 2015, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December. p. 1528-1533 6 p. 7353570

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  20. Multi-axis stiffness sensing device for medical palpation

    Faragasso, A., Stilli, A., Bimbo, J., Wurdemann, H. A. & Althoefer, K., 11 Dec 2015, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December. p. 2711-2716 6 p. 7353748

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  21. Novel method to form adaptive internal impedance profiles in walkers

    Escudero Morland, M. F., Althoefer, K. & Nanayakkara, T., 4 Nov 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 7764-7767 4 p. 7320192

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  22. Embedded electro-conductive yarn for shape sensing of soft robotic manipulators

    Wurdemann, H. A., Sareh, S., Shafti, A., Noh, Y., Faragasso, A., Chathuranga, D. S., Liu, H., Hirai, S. & Althoefer, K., 29 Aug 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 8026-8029 4 p. 7320255

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  23. Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle

    Maghooa, F., Stilli, A., Noh, Y., Althoefer, K. & Wurdemann, H. A., 29 Jun 2015, Proceedings - IEEE International Conference on Robotics and Automation. June ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-June. p. 2556-2561 6 p. 7139542

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  24. Science forum: RIPOSTE: a framework for improving the design and analysis of laboratory-based research.

    Masca, N. G. D., Hensor, E. M. A., Cornelius, V. R., Buffa, F. M., Marriott, H. M., Eales, J. M., Messenger, M. P., Anderson, A. E., Boot, C., Bunce, C., Goldin, R. D., Harris, J., Hinchliffe, R. F., Junaid, H., Kingston, S., Martin-Ruiz, C., Nelson, C. P., Peacock, J., Seed, P. T., Shinkins, B. & 4 others, Staples, K. J., Toombs, J., Wright, A. K. A. & Teare, M. D., 2015, eLife. p. e05519 (eLife; vol. 4).

    Research output: Chapter in Book/Report/Conference proceedingChapter

  25. Tension Sensing for a Linear Actuated Catheter Robot

    Back, J., Karim, R., Noh, Y., Rhode, K., Althoefer, K. & Liu, H., 2015, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer-Verlag Berlin Heidelberg, Vol. 9245. p. 472-482 11 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 9245).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  26. 2014
  27. Improved modeling and bounds for NQR spectroscopy signals

    Kyriakidou, G., Jakobsson, A., Gudmundson, E., Gregorovič, A., Barras, J. & Althoefer, K., 10 Nov 2014, 2014 Proceedings of the 22nd European Signal Processing Conference (EUSIPCO). Lisbon: IEEE, p. 2325-2329 5 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  28. A continuum body force sensor designed for flexible surgical robotics devices

    Noh, Y., Secco, E. L., Sareh, S., Wurdemann, H., Faragasso, A., Back, J., Liu, H., Sklar, E. & Althoefer, K., 2 Nov 2014, Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE . Institute of Electrical and Electronics Engineers Inc., p. 3711-3714 4 p. 6944429

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  29. Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS

    Faragasso, A., Stilli, A., Bimbo, J., Noh, Y., Liu, H., Nanayakkara, T., Dasgupta, P., Wurdemann, H. A. & Althoefer, K., 2 Nov 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 6517-6520 4 p. 6945121

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  30. A novel continuum-style robot with multilayer compliant modules

    Qi, P., Qiu, C., Liu, H., Dai, J. S., Seneviratne, L. & Althoefer, K., 31 Oct 2014, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 3175-3180 6 p. 6943002

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  31. Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle

    Stilli, A., Wurdemann, H. A. & Althoefer, K., 31 Oct 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2476-2481 6 p. 6942899

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  32. Bio-inspired tactile sensor sleeve for surgical soft manipulators

    Sareh, S., Jiang, A., Faragasso, A., Noh, Y., Nanayakkara, T., Dasgupta, P., Seneviratne, L. D., Wurdemann, H. A. & Althoefer, K., 22 Sep 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1454-1459 6 p. 6907043

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  33. Control a contact sensing finger for surface haptic exploration

    Back, J., Bimbo, J., Noh, Y., Seneviratne, L., Althoefer, K. & Liu, H., 22 Sep 2014, Proceedings - 2014 IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 2736-2741 6 p. 6907251

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  34. Novel uniaxial force sensor based on visual information for minimally invasive surgery

    Faragasso, A., Bimbo, J., Noh, Y., Jiang, A., Sareh, S., Liu, H., Nanayakkara, T., Wurdemann, H. A. & Althoefer, K., 22 Sep 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1405-1410 6 p. 6907036

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  35. Elastic mesh braided worm robot for locomotive endoscopy

    Manwell, T. M. R., Vitek, T., Ranzani, T., Menciassi, A., Althoefer, K. A. & Liu, H., 26 Aug 2014, Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE. IEEE, p. 848 851 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  36. An investigation into the Teaching of Injection Procedures in Dental Education and Other Clinical Programmes Using a Virtual Haptic Simulator

    Cox, M. J., Quinn, B. F. A., Shahriari-Rad, A., Woolford, M. J., San Diego, J., Butchers, C., Fordham-Clarke, C. J., Wynne, L., Holmes, S., Hatzipanagos, S., Althoefer, K. A. & Layland, P., Aug 2014, 40th Annual Meeting of the Association of Dental Education of Europe. Riga, Latvia

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  37. Enhancing teaching and learning in healthcare education through touch technologies: hapTEL injections in dental, medical and nursing education

    Cox, M. J., Quinn, B. F. A., San Diego, J., Butchers, C., Fordham-Clarke, C. J., Wynne, L., Hatzipanagos, S., Barrow, A. & Althoefer, K. A., Jun 2014, 8th Teaching Excellence Conference at King's College London.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  38. Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator

    Qiu, C., Qi, P., Liu, H. B., Althoefer, K. & Dai, J. S., 1 Jan 2014, 38th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), Vol. 5A.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  39. A Three-Axial Body Force Sensor for Flexible Manipulators

    Noh, Y., Sareh, S., Back, J., Wurdemann, H., ranzazni, T., Secco, E., Faragasso, A., Liu, H. & Althoefer, K., 2014, IEEE International Conference on Robotics and Automation.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  40. Fuzzy logic control of a continuum manipulator for surgical applications

    Qi, P., Liu, C., Zhang, L., Wang, S., Lam, H-K. & Althoefer, K. A., 2014, IEEE International Conference on Robotics and Biomimetics.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  41. Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions

    Rowe, M. D., Smith, J. A. S., Barras, J. & Althoefer, K., 2014, Magnetic Resonance Detection of Explosives and Illicit Materials: Part 1. Apih, T., Rameev, B., Mozzhukhin, G. & Barras, J. (eds.). Springer Netherlands, p. 35-43 9 p. (NATO Science for Peace and Security Series B: Physics and Biophysics).

    Research output: Chapter in Book/Report/Conference proceedingChapter

  42. The granular jamming integrated actuator

    Jiang, A., Adejokun, S., Faragasso, A., Althoefer, K., Nanayakkara, T. & Dasgupta, P., 2014, 2014 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2014. IEEE Computer Society Press, p. 12-17 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  43. Towards kinematic modeling of a multi-DOF tendon driven robotic catheter

    Qi, P., Liu, H., Seneviratne, L. D. & Althoefer, K. A., 2014, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  44. 2013
  45. A Two Party Haptic Guidance Controller Via a Hard Rein

    Dissanayake Mudiyanselage, A., Penders, J., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 4 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan, p. 116 122 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  46. Force-velocity modulation strategies for soft tissue examination

    Konstantinova, J., Li, M., Aminzadeh, V., Dasgupta, P., Althoefer, K. & Nanayakkara, T., Nov 2013, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers Inc., p. 1998-2003 6 p. 6696622

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  47. An optimal state dependent haptic guidance controller via a hard rein

    Ranasinghe, A., Althoefer, K., Nanayakkara, T., Penders, J. & Dasgupta, P., Oct 2013, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. IEEE, p. 2322-2327 6 p. 6722150

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  48. Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination

    Konstantinova, J., Li, M., Aminzadeh, V., Althoefer, K., Nanayakkara, T. & Dasgupta, P., Oct 2013, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. IEEE, p. 4190-4195 6 p. 6722467

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  49. Granular jamming with hydraulic control

    Jiang, A., Aste, T., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 8 Aug 2013, Proceedings of the ASME Design Engineering Technical Conference. American Society of Mechanical Engineers, Vol. 6 A. 7 p. V06AT07A021

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  50. Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine Hubs

    Deters, C., Secco, E., Wurdemann, H. A., Lam, H-K., Seneviratne, L. & Althoefer, K., May 2013, 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, p. 270-276 7 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  51. An optical curvature sensor for flexible manipulators

    Searle, T., Althoefer, K. A., Seneviratne, L. D. & Liu, H., 2013, Robotics and Automation (ICRA), 2013 IEEE International Conference : On 6-10 May 2013. IEEE, p. 4415 - 4420 6 p. (IEEE International Conference on Robotics and Automation).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  52. Combining touch and vision for the estimation of an object's pose during manipulation

    Bimbo, J., Seneviratne, L. D., Althoefer, K. & Liu, H., 2013, IEEE International Conference on Intelligent Robots and Systems. IEEE, p. 4021-4026 6 p. 6696931

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  53. Granular Jamming Transitions for a Robotic Mechanism

    Jiang, A., Aste, T., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 2013, POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. Yu, A., Dong, K., Yang, R. & Luding, S. (eds.). MELVILLE: Amer Inst Physics, p. 385-388 4 p. (AIP Conference Proceedings; vol. 1542).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  54. 2012
  55. A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor

    Liu, H., Song, X., Nanayakkara, T., Seneviratne, L. D. & Althoefer, K., 2012, ICRA 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: St. Paul, Minnesota, USA, May 14-18 2012. Piscataway, N.J.: IEEE, p. 1410-1415 6 p. (IEEE International Conference on Robotics and Automation).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  56. An Investigation of the Use of Linear Polarizers to Measure Force and Torque in Optical 6-DOF Force/Torque Sensors for Dexterous Manipulators

    Sargeant, R., Seneviratne, L. D. & Althoefer, K., 2012, 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). NEW YORK: IEEE, p. 1422-1427 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  57. Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling

    Jiang, A., Xynogalas, G., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 2922-2927 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

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