Publications

Journal publications:

J. Shi, H. Jin, S.-A. Abad, W. Gaozhang, G. Shi, H.A. Wurdemann, “A Static Modelling and Evaluation Framework for Soft Continuum Robots with Reinforced Chambers“, IEEE Transactions on Robotics, 2025.

A. Shariati , B. Anvari, J.L. Kaestle, J. Krol, K. Motaghedolhagh, N. Stanton, N. Reed, H. Wurdemann, “Analysing Variables Associated with Driver Reaction during the Transition from Automated to Manual Driving“, IEEE Transactions on Intelligent Transportation Systems, 2025.

Y. Wang, V. Muthurangu, H.A. Wurdemann, “MR-conditional Robotic Cardiac Intervention: Design and Validation in Patient-specific Phantoms“, IEEE Transactions on Medical Robotics and Bionics, 2025. [Video]

J. Shi, S.-A. Abad, G. Shi, W. Gaozhang, J.S. Dai, H.A. Wurdemann, “Model-Based Static Compliance Analysis and Control for Pneumatic-Driven Soft Robots“, IEEE/ASME Transactions on Mechatronics, 2025. [Video]

J.L. Kaestle, B. Anvari, J. Peters, J. Krol, H.A. Wurdemann, “Correlation between reaction time, multi-modal feedback and take-over requests for level 3 automated vehicles“, IEEE Transactions on Haptics, 2025. (in press)

S. Abad Guaman, N. Herzig, D. Raitt, M. Koltzenburg, H.A. Wurdemann, “Bioinspired adaptable multiplanar mechano-vibrotactile haptic system“, Nature Communications, vol. 15, 7631, 2024. [Video]

J. Yao, X. Pi, G. Bosi, G. Burresci, H.A. Wurdemann, “Synchronous Inflation of a Valvuloplasty Balloon Catheter with Heart Rate: In-vitro Evaluation in Terms of Dilatation Performance“, IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1114-1121, 2025. [Video]

V. Soana, S.M. Sabery, F. Bosi, H.A. Wurdemann, “Elastic robotic structures: a multidisciplinary framework for the design and control of shape-morphing elastic system for architectural and design applications“, Construction Robotics, vol. 9, no. 3, pp. 1-22,  2025.

J. Shi, G. Shi, Y. Wu, H.A. Wurdemann, “A Multi-cavity Touch Interface for a Flexible Soft Laparoscopy Device: Design and Evaluation,” IEEE Transactions on Medical Robotics and Bionics, 2024. (in press) [Video]

K. Motaghedolhagh, A. Shariati, S. Homer-Vanniasinkam, H.A. Wurdemann, “Soft Wearable Body-Powered Hydraulic Actuation System for a Prosthetic Finger Design“, IEEE Transactions on Biomedical Engineering, vol. 71, no. 12, pp. 3543-3555, 2024.

G. Shi, J. Shi, A. Shariati, K. Motaghedolhagh, S. Homer-Vanniasinkam, H.A. Wurdemann, “Design and characterisation of multi-cavity, fluidic haptic feedback system for mechano-tactile feedback“, IEEE Transactions on Haptics, 2024. (in press)

L. Beddow, H.A. Wurdemann, D. Kanoulas,”Reinforcement Learning Grasping with Force Feedback from Modeling of Compliant Fingers“, IEEE/ASME Transactions on Mechatronics, 2024 (accepted). [Video]

J. Peters, B. Anvari, J. Licher, M. Wiese, A. Raatz, H.A. Wurdemann, “Acceptance and usability of a soft robotic, haptic feedback seat for autonomy level transitions in highly automated vehicles“, IEEE Transactions on Haptics, 2024 (accepted). [Video]

D. Raitt, M. Huseynov, S. Homer-Vanniasinkam, H.A. Wurdemann, S.-A. Abad Guaman, “Soft-Tipped Sensor with Compliance Control for Elasticity Sensing and Palpation“, IEEE Transactions on Robotics, vol. 40, pp. 2430-2441, 2024.

W. Gaozhang, Y. Li, J. Shi, Y. Wang, A. Stilli, H.A. Wurdemann, “A novel stiffness-controllable joint using antagonistic actuation principles“, Mechanism and Machine Theory, vol. 196, 2024. [Video]

R.M. Monteiro, J. Shi, H.A. Wurdemann, F. Iida, T.G Thuruthel, “Visuo-dynamic self-modelling of soft robotic systems“, Frontiers in Robotics and AI Soft Robotics, vol. 11, pp. 1-14, 2024.

Y. Gao, A. Redfearn, S. Dawes, J. Shi, A. Taylor, H.A. Wurdemann, S. Guldin, “A Smart Centrifuge for Automated Sample Processing with Liquid Handling Robots“, Journal of Open Hardware, 2024. (in press)

J. Shi, S.-A. Abad, J.S. Dai, H.A. Wurdemann, “Position and Orientation Control for Hyper-elastic Multi-segment Continuum Robots“, IEEE/ASME Transactions on Mechatronics, vol. 29, no. 2, pp. 995-1006, 2023. [Video]

J. Yao, G. Bosi, G. Burresci, H.A. Wurdemann, “Finite element and fluid-structure interaction modelling of a balloon catheter“, IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 1, pp. 68-72, 2023.

O. Ramos, L. de Arco, C.A. Cifuentes, M. Moazen, H.A. Wurdemann, M. Munera, “Mechanical Assessment of Novel Compliant Mechanisms for Underactuated Prosthetic Hands“, Frontiers in Bioengineering and Biotechnology, vol. 11, 2023.

J. Shi, A. Shariati, S.-A. Abad, Y. Liu, J.S. Dai, H.A. Wurdemann, “Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory“, International Journal of Robotics Research, vol. 43, no. 3, pp. 354-384, 2023. [Video 1, Video 2, Video 3]

J. Yao, G. Bosi, A. Palombi, G. Burresci, H.A. Wurdemann, “Compliant Aortic Annulus Sizing with Different Elliptical Ratios Through a Valvuloplasty Balloon Catheter“, IEEE Transactions on Biomedical Engineering, vol. 70, no. 12, pp. 3469-3479, 2023.

E. Almanzor, F. Ye, J. Shi, T.G. Thuruthel, H.A. Wurdemann and F. Iida, “Static Shape Control of Soft Continuum Robots using Deep Visual Inverse Kinematic Models“, IEEE Transactions on Robotics, vol. 39, no. 4, pp. 2973-2988, 2023. [Video]

K.A. Mountris, M. Li, R. Schilling, L. Dong, S.N. Atluri, A. Casals, H.A. Wurdemann, “An explicit total Lagrangian Fragile Points Method for finite deformation of hyperelastic materials“, Engineering Analysis with Boundary Elements, vol. 151, pp. 255-264, 2023.

A. Shariati, H.A. Wurdemann, “Analysis of a soft bio-Inspired active actuation model for the design of artificial vocal folds“, Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 15, no. 3, pp. 031007, 2023.

G. Shi, A. Shariati, I. Eames, H.A. Wurdemann, “Modelling the compression of a soft ellipsoid fingertip“, Soft Matter, 18, pp. 9076, 2022.

C.A. Cifuentes, O. Ramos, M. Munera, M. Moazen, H.A. Wurdemann, “Assessment of Soft Actuators for Hand Exoskeletons: Pleated Textile Actuators and Fiber-Reinforced Silicone Actuators“, Frontiers in Bioengineering and Biotechnology, Bionics and Biomimetics, vol. 10, 2022.

K.-W. Kwok, H.A. Wurdemann, A. Arezzo, A. Menciassi, K. Althoefer, “Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook“, Proceedings of the IEEE, pp. 1-22, 2022.

D.G. Raitt, S.-A. Abad, S. Homer-Vanniasinkam, H.A. Wurdemann, “Soft, stiffness-controllable sensing tip for on-demand force range adjustment with angled force direction identification“, IEEE Sensors Journal, vol. 22. no. 9, pp. 1558-1748, 2022 [Video].

S.-A. Abad, A. Arezzo, S. Homer-Vanniasinkam, H.A. Wurdemann, Soft robotics systems for endoscopic interventions, Editor: Luigi Manfredi, Endorobotics, Elsevier, Academic Press, pp. 61-93, 2022.

J.M. Gomez-de-Gabriel, H.A. Wurdemann, “Adaptive Underactuated Finger with Active Rolling Surface“, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 8253-8260, 2021. [Video]

M. Li, C. Jiazhou, G. He, L. Cui, C. Chen, E.L. Secco, W. Yao, J. Xie, G. Xu, H.A. Wurdemann, “Attention Enhancement for Exoskeleton-assisted Hand Rehabilitation using Fingertip Haptic Stimulation“, Frontiers Robotics and AI, vol. 8, pp. 144, 2021.

G. Locks, C. Roesler, F. Horn, I. Gindri, H.A. Wurdemann, P. Silveira, “A model for in vitro evaluation of overlapping connections between devices used in the endovascular repair of popliteal aneurysms“, Journal of Testing and Evaluation, 2021.

J.-L. Kaestle, B. Anvari, J. Krol, H.A. Wurdemann, “Correlation between Situational Awareness and EEG signals“, Neurocomputing, vol. 432, pp. 70-79, 2021. [Video]

R. Alturkistani, A. Kavin, S. Devasahayam, R. Thomas, E. Colombini, C. Cifuentes, S. Homer-Vanniasinkam, H.A. Wurdemann, M. Moazen, “Affordable passive 3D-printed prosthesis for persons with partial hand amputation”, Prosthetics & Orthotics International, vol. 44(2), pp. 92-98, 2020.

G. Shi, A. Palombi, Z. Lim, A. Astolfi, A. Burani, S. Campagnini, F.G.C. Loizzo, M. Lo Preti, A. Marin Vargas, E. Peperoni, C.M. Oddo, J. Hardwicke, M. Venus, S. Homer-Vanniasinkam, H.A. Wurdemann, “Fluidic haptic interface for mechano-tactile feedback“, IEEE Transactions on Haptics, vol. 13(1), pp. 204-210, 2020 [Video].

J.M. Gandarias, Y. Wang, A. Stilli, A.J. Garcia-Cerezo, J.M. Gomez-de-Gabriel, H.A. Wurdemann, “Open-loop position control in collaborative, modular Variable-Stiffness-Link (VSL) robots“, IEEE Robotics and Automation Letters (RA-L), vol. 5(2), pp. 1772-1779, 2020 [Video].

G. Annio, G. Franzetti, M. Bonfanti, A. Gallarello, A. Palombi, E. De Momi, S. Homer-Vanniasinkam, H.A. Wurdemann, V. Tsang, V. Diaz-Zuccarini, R. Torii, S. Balabani, G. Burriesci, “Low cost fabrication of PVA based personalised vascular phantoms for in vitro haemodynamic studies: three applications“, ASME Journal of Engineering and Science in Medical Diagnostics and Therapy, vol 3(3), pp. 034501, 2019.

A. Gallarello, A. Palombi, G. Annio, S. Homer-Vanniasinkam, E. De Momi, G. Maritati, R. Torii, G. Burriesci, H.A. Wurdemann, “Patient-specific aortic phantom with tuneable compliance”, ASME Journal of Engineering and Science in Medical Diagnostics and Therapy,  vol. 2(4), pp. 041005, 2019.

A. Shiva, H. Sadati, Y. Noh, J. Fras, A. Ataka, H.A. Wurdemann, H. Hauser, I. Walker, T. Nanayakkara, K. Althoefer, “Elasticity vs. Hyperelasticity Considerations in Quasi-Static Modelling of a Soft Finger-like Robotic Appendage for Realtime Position & Force Estimation“, Soft Robotics, vol. 6 (2), 2019.

A. Stilli, K. Althoefer, H.A. Wurdemann, “Soft Robotics. Bio-inspired Antagonistic Stiffening“, Developing Support Technologies, Biosystems & Biorobotics, Springer, pp. 207-214, 2018.

A. Faragasso, J. Bimbo, A. Stilli, H.A. Wurdemann, K. Althoefer, H. Asama, “Real-time Vision-based Stiffness Mapping“, Physical Sensors, vol. 18 (5),  pp. e1347, 2018.

H. Abidi, M. Brancadoro, A. Diodato, M. Cianchetti, H.A. Wurdemann, K. Althoefer, A. Menciassi, “Highly Dexterous 2-module Soft Robot for Intra-organ Navigation in Minimally Invasive Surgery“, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 14 (1), pp. e1875, 2018.

K. Althoefer, H.A. Wurdemann, A. Shafti, A. Shiva, J. Konstantinova, Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery – The STIFF-FLOP Approach, River Publishers Series in Automation, Control and Robotics, April 2018.

M. Li, J. Konstantinova, G. Xu, B. He, V. Aminzadeh, J. Xie, H.A. Wurdemann, K. Althoefer, “Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model”, PLOS ONE, vol. 12 (3), pp. e0172703, 2017.

Y. Noh, J. Bimbo, S. Sareh, H.A. Wurdemann, J. Fraś, D. Suresh Chathuranga, H. Liu, J. Housden, K. Althoefer, K. Rhode, “Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics“, Sensors, vol. 16 (11), pp. 1936, 2016.

Y. Noh, H. Liu, S. Sareh, D. Suresh Chathuranga Katudampe Vithanage, H.A. Wurdemann, K. Rhode, K. Althoefer, “Image-based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization“, IEEE Sensors Journal, vol. 16(22), pp. 7924-7932, 2016.

M. Li, S. Sareh, G. Xu, M.B. Ridzuan, S. Luo, J. Xie, H.A. Wurdemann, K. Althoefer, “Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments“, PLoS ONE, vol. 11(6), pp. 1-17, 2016.

A. Arezzo, Y. Mintz, M.E. Allaix, S. Arolfo, M. Bonino, G. Gerboni, M. Brancadoro, M. Cianchetti, A. Menciassi, H.A. Wurdemann, Y. Noh, K. Althoefer, J. Fras, J. Glowka, Z. Nawrat, G. Cassidy, R. Walker, M. Morino, “Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models“, Surgical Endoscopy, vol. 31(1), pp. 264–273, 2016.

A. Stilli, H.A. Wurdemann, K. Althoefer, “A Novel Concept for Safe, Stiffness-Controllable Robot Links“, Soft Robotics, vol. 4(1), pp. 16-22, 2016.

E.L. Secco, C. Deters, H.A. Wurdemann, H.K. Lam, L.D. Seneviratne, K. Althoefer, “A K-nearest Clamping Force Classifier for Bolt Tightening of Wind Turbine Hubs“, Journal of Intelligent Computing, vol. 7(1), pp. 18-30, 2016.

E.L. Secco, C. Deters, H.A. Wurdemann, H.K. Lam, K. Althoefer, “An Integrated Method for the Geometric Inspection of Wind Turbine Hubs with Industrial Robot“, Journal of Intelligent Computing, vol. 7(1), pp. 1-17, 2016.

A. Shiva, A. Stilli, Y. Noh, A. Faragasso, I.D. Falco, G. Gerboni, M. Cianchetti, A.  Menciassi, K. Althoefer and H.A. Wurdemann “Tendon-based stiffening for a pneumatically actuated soft manipulator” IEEE Robotics and Automation Letters, vol. 1(2), pp. 632-637, 2016.

M. Li, J. Konstantinova, A. Jiang, H. Liu, T. Nanayakkara, L.D. Seneviratne, P. Dasgupta, G. Mehra, K. Althoefer, H.A. Wurdemann “Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue” Medical & Biological Engineering & Computing, vol. 53(11), pp. 1177-1186, 2015.

Y. Noh, S. Sareh, H.A. Wurdemann, H. Liu, J. Back, J. Housden, K. Rhode, K. Althoefer, “Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators“, IEEE Sensors Journal, vol. 16(6), pp. 1641-1651, 2015.

M. Li, H. Liu, A. Jiang, L.D. Seneviratne, P. Dasgupta, K. Althoefer, H.A. Wurdemann “Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review” Journal of Engineering in Medicine, vol. 228(5), pp. 509-522, 2014.

M Li, T. Ranzani, S. Sareh, L.D. Seneviratne, P. Dasgupta, H.A. Wurdemann, K. Althoefer “Multi-Fingered Haptic Palpation utilizing Granular Jamming Stiffness Feedback Actuators” Smart Materials and Structures, vol. 23(9), pp. 1-11, 2014.

C. Deters , H.K. Lam, E.L. Secco, H.A. Wurdemann, L.D. Seneviratne, K. Althoefer “Accurate Bolt Tightening using Model-Free Fuzzy Control for Wind Turbine Hub Bearing Assembly” IEEE Transactions of Control Systems Technology, vol. 23(1), pp. 1-12, 2014.

R. Müller, L. Hörauf, M. Vette, J.L. San Martin, A. Alzaga, J. Hohmann, K. Althoefer, H.A. Wurdemann” Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings” Production Engineering, vol. 8(6), pp. 755-764, 2014.

G. Wei, F. Stephan, V. Aminzadeh, H.A. Wurdemann, R. Walker, J.S. Dai, G. Gogu “DEXDEB–Application of DEXtrous Robotic Hands for DEBoning Operation” Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe, vol. 94, pp. 217-235, 2014.

H. Xie, A. Jiang, H.A. Wurdemann, L.D. Seneviratne, K. Althoefer “MR-Compatible Tactile Force Sensor using Fiber Optics and Vision Sensor” IEEE Sensors Journal, vol. 14(3), pp. 829-838, 2013.

H.K. Lam, H. Li, C. Deters, E. Secco, H.A. Wurdemann, K. Althoefer “Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching” IEEE Transactions on Industrial Electronics, vol. 61(2), pp. 956-968, 2013.

H.A. Wurdemann, V. Aminzadeh, J.S. Dai, J. Reed, G. Purnell “Category-based Food Ordering Processes” Trends in Food Science and Technology, vol. 22(1), pp. 14-20, 2011.

H.A. Wurdemann, V. Aminzadeh, J.S. Dai, J. Reed, G. Purnell “Introducing a new 3D Ordering Process for Discrete Food Products using Food Categorisation” Industrial Robot: An International Journal, vol. 37(6), pp. 562-570, 2010.

V. Aminzadeh, H.A. Wurdemann, J.S. Dai, J. Reed, G. Purnell “A new Algorithm for Pick-and-Place Operations” Industrial Robot: An International Journal, vol. 37(6), pp. 527-531, 2010.

Peer-reviewed full conference publications:

K. Motaghedolhagh, A. Shariati, J. Hardwicke, S. Hommer-Vanniasinkam, H.A. Wurdemann, “Validation and Verification of a Haptic Interface for Body-Powered Partial Hand Prostheses“, in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2025. (accepted)

V. Soana, F. Bosi , H.A. Wurdemann, “PNEUmorph: a shape-morphing interface comprising a pneumatic membrane constrained by variable-length tendons“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [Video]

X. Pi, J. Yao, B. Adams, A. Gerontati, H.A. Wurdemann, “Growing Manipulators through Feeding Material Outside-In: Inversion Robots“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [Video]

J. Licher, J. Peters, A. Raatz, H.A. Wurdemann, “Tendon Locking for Antagonistic Configuration- and Stiffness-Control in Soft Robots“, IEEE International Conference on Robotics and Automation (ICRA), 2025. (accepted) [Video]

S.I. Ahmad, H.A. Wurdemann, “Optimising Soft Robot Designs through an Integrated Environment“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-6, 2025.

D. Roshan, A. Shariati, K. Motaghedolhagh, H.A. Wurdemann, B. Mukherjee, “Psychophysical Evaluation of A Mechanotactile Haptic Feedback Device“, International Conference on Rehabilitation Robotics (ICORR), 2025. (accepted)

O.Y. Santiago Ramos, L. De Arco, M. Munera, J. Robledo, M. Moazen, H.A. Wurdemann, C.A. Cifuentes, “Development and Functional Evaluation of The PrHand V3 Soft-Robotics Prosthetic Hand“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 147-153, 2024.

L.J. Beddow, H.A. Wurdemann, D. Kanoulas, “Evaluating a Movable Palm in Caging Inspired Grasping Using a Reinforcement Learning-Based Approach“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 13104-13111, 2024.

Y. Huang, A.Y. Alkayas, J. Shi, F. Renda, H.A. Wurdemann, T.G. Thuruthel, “Predicting Interaction Shape of Soft Continuum Robots using Deep Visual Model“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11381-11387, 2024.

V. Soana, S. Minooee Sabery, F. Bosi , H.A. Wurdemann, “Design and control of robotic shape-morphing pneumatic-hybrid structures for architectural and design applications“, Symposium of the International Association for Shell and Spatial Structures (IASS), 2024.

J. Shi, S.-A. Abad, A. Menciassi, K. Althoefer, H.A. Wurdemann, “Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-centimetre Scale“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 157-164, 2024. [Video]

X. Long X, L. Beddow, D. Hadjivelichkov, A.M. Delfaki, H.A. Wurdemann, D. Kanoulas, “Reinforcement Learning-based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language–Image Learning“, IEEE/SICE International Symposium on System Integration, pp. 207-212, 2023.

Y. Wang, V. Muthurangu, H.A. Wurdemann, “Toward Autonomous Pulmonary Artery Catheterization: A Learning-based Robotic Navigation System“, in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 1-5, 2023.

K.A. Mountris, R. Schilling, A. Casals, H.A. Wurdemann, “Meshless Simulation of Multi-site Radio Frequency Catheter Ablation through the Fragile Points Method“, in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 1-4, 2023.

W. Gaozhang, J. Shi, Y. Li, A. Stilli, H.A. Wurdemann, “Characterisation of antagonistically actuated, stiffness-controllable joint-link units for cobots“, IEEE International Conference on Robotics and Automation (ICRA), , pp. 655-661, 2023. [Video]

P. Chaillo, J. Shi, A. Kruszewski, I. Fournier, H.A. Wurdemann, C. Duriez, “Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-8, 2023. [Video]

G. Shi, A. Shariati, J. Shi, N. Herzig, S.-A. Abad, H.A. Wurdemann, “Modelling the inflation of an elastic membrane with a load“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-8, 2023.

J. Shi, W. Gaozhang, H. Jin, G. Shi, H.A. Wurdemann, “Characterisation and control platform for pneumatically driven soft robots: Design and applications“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-8, 2023. [Video]

L. De Arco, O. Ramos, M. Munera, M. Moazen, H.A. Wurdemann, C.A. Cifuentes, “The PrHand: Functional Assessment of an Underactuated Soft-Robotic Prosthetic Hand“, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 1-6, 2022.

J. Yao, G.M. Bosi, G. Burriesci, H.A. Wurdemann, “Computational Analysis of Balloon Catheter Behaviour at Variable Inflation Levels“, International Engineering in Medicine and Biology Conference, pp. 3015-3019, 2022 [Video from WCB 2022].

J. Shi, W. Gaozhang, H.A. Wurdemann, “Design and Characterisation of Cross-sectional Geometries for Soft Robotic Manipulators with Fibre-reinforced Chambers“, IEEE International Conference on Soft Robotics (RoboSoft), pp. 125-131, 2022. [Video]

A. Shariati, J. Shi, S. Spurgeon, H.A. Wurdemann, “Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 661-667, 2021. [Video]

L. Beddow, H.A. Wurdemann, D., Kanoulas, “A Caging Inspired Gripper using Flexible Fingers and a Movable Palm“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7195-7200, 2021. [Video]

J. Shi, J.C. Frantz, A. Shariati, A. Shiva, J.S. Dai, D. Martins, H.A. Wurdemann, “Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator“, IEEE International Conference on Robotics and Automation (ICRA), pp. 11938-11944, 2021. [Video]

B. Anvari, H.A. Wurdemann, “Modelling Social Interaction between Humans and Service Robots in Large Public Spaces”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11189-11196, 2020. [Video]

J. Peters, B. Anvari, C. Chen, Z. Lim, H.A. Wurdemann, “Hybrid Fluidic Actuation for a Foam-based Soft Actuator”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8701-8708, 2020. [Video]

J. Peters, E. Nolan, M. Wiese, M. Miodownik, S. Spurgeon, A. Arezzo, A. Raatz, H.A. Wurdemann, “Actuation and stiffening in fluid-driven soft robots using low-melting-point material”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4692- 4698, 2019. [Video]

A. Palombi, G.M. Bosi, S. Di Giuseppe, E. De Momi, S. Homer-Vanniasinkam, G. Burriesci, H.A. Wurdemann, “Sizing the aortic annulus with a robotised, commercially available soft balloon catheter: in vitro study on idealised phantoms”, in IEEE International Conference on Robotics and Automation (ICRA), pp. 6230-6236, 2019. [Video]

A. Shafti, A. Ataka, B.U. Lazpita, A. Shiva, H.A. Wurdemann, K. Althoefer, “Real-time Robot-assisted Ergonomics” in IEEE International Conference on Robotics and Automation (ICRA), pp. 1975-1981, 2019. [Video]

A. Ataka, A. Stilli, J. Konstantinova, H.A. Wurdemann, K. Althoefer, “Kinematic Control and Obstacle Avoidance for Soft Infatable Manipulator“, Annual Conference Towards Autonomous Robotic Systems, pp. 52-64, 2019.

A. Stilli, E. Kolokotronis, J. Fraś, A. Ataka, K. Althoefer, H.A. Wurdemann, “Static kinematics for an antagonistically actuated robot based on a beam-mechanics-based model“, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6959-6964, 2018. [Video]

A. Stilli, A. Cremoni, M. Bianchi, A. Ridolfi, F. Gerli, F. Vannetti, H.A. Wurdemann, B. Allotta, K. Althoefer, “AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients“, in IEEE International Conference on Soft Robotics, pp. 579-584, 2018. [Video]

E.H. Murai, S. Homer-Vanniasinkam, P.G. Silveira, J.S. Dai, D. Martins, H.A. Wurdemann, “Towards a modular suturing catheter for minimally invasive vascular surgery“, in IEEE International Conference on Robotics and Automation (ICRA), pp. 44-49, 2018. [Video]

J. Fras, Y. Noh, M. Maciaś, H.A. Wurdemann, K. Althoefer, “Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator“, in IEEE International Conference on Robotics and Automation (ICRA), Brisbane, pp. 44-49, 2018.

J. Fras, Y. Noh, H.A. Wurdemann, K. Althoefer, “Soft fluidic rotary actuator with improved actuation properties“, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5610-5615, 2017.

A. Stilli, L. Grattarola, H. Feldmann, H.A. Wurdemann and K. Althoefer, “Variable Stiffness Links VSL – Toward Inherently Safe Robotic Manipulators“, in IEEE International Conference on Robotics and Automation (ICRA), pp. 4971-4976, Singapore, 2017.

L. Lindenroth, J. Back, A. Schoisengeier, Y. Noh, H.A. Wurdemann, K. Althoefer, H. Liu, “Stiffness-Based Modelling of a Hydraulically-Actuated Soft Robotics Manipulator”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2458-2463, 2016.

A. Ataka, P. Qi, A. Shiva, A. Shafti, H.A. Wurdemann, H. Liu, K. Althoefer, “Real-Time Pose Estimation and Obstacle Avoidance for Multi-Segment Continuum Manipulator in Dynamic Environments”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2827-2832, 2016.

A. Ataka, A. Shiva, A. Shafti, H.A. Wurdemann, K. Althoefer, “Reactive Motion Planning for Mobile Continuum Arm in Dynamic Industrial Environment“, in Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR, pp. 178-185, 2016.

Y. Noh, J. Bimbo, A. Stilli, H.A. Wurdemann, H. Liu, R.J. Housden, K. Rhode, K. Althoefer, “A New Miniaturised Multi-Axis Force/Torque Sensors Based on Optoelectronic Technology and Simply-Supported Beam”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 202-207, 2016.

A. Ataka, P. Qi, A. Shiva, A. Shafti, H.A. Wurdemann, K. Althoefer, “Towards Safer Obstacle Avoidance for Continuum-Style Manipulator in Dynamic Environments“, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pp. 600-605, 2016.

A. Shafti, B. Urbistondo Lazpita, O. Elhage, H.A. Wurdemann, K. Althoefer, “Analysis of Comfort and Ergonomics for Clinical Work Environments“, in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, USA, pp. 1894-1897, 2016.

A. Shafti, F. Andorno, N. Marchese, S. Arolfo, A. Aydin, O. Elhage, Y. Noh, H.A. Wurdemann, A. Arezzo, P. Dasgupta, K. Althoefer, “Comfort and Learnability Assessment of a New Soft Robotic Manipulator for Minimally Invasive Surgery” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, Italy, pp. 4861-4864, 2015.

S. Sareh, Y. Noh, T. Ranzani, H.A. Wurdemann, H. Liu, K. Althoefer, “A 7.5 mm Steiner chain fibre-optic system for multi-segment flex sensing“, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 2336-2341, 2015.

E.L. Secco, A. Nagar, C. Deters, H.A. Wurdemann, H.K. Lam, K. Althoefer, “A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs“, in IEEE International Conference on Pervasive Intelligence and Computing (PICom), Liverpool, UK, pp. 288-296, 2015.

H.A. Wurdemann, S. Sareh, A. Shafti, Y. Noh, A. Faragasso, D.S. Chathuranga, H. Liu, S. Hirai, K. Althoefer, “Embedded electro-conductive yarn for shape sensing of soft robotic manipulators” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, Italy, pp. 8026-8029, 2015.

H.A. Wurdemann, A. Stilli, K. Althoefer, “An antagonistic actuation technique for simultaneous stiffness and position control” in International Conference on Intelligent Robotics and Applications (ICIRA), Portsmouth, UK, pp. 164-174, 2015.

F. Maghooa, A. Stilli, H.A. Wurdemann, K. Althoefer “Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, pp. 2556-2561, 2015.

A. Faragasso, A. Stilli, J. Bimbo, Y. Noh, H. Liu, T. Nanayakkara, P. Dasgupta, H.A. Wurdemann, K. Althoefer “Add-On Stiffness Probe for Real-Time Soft Surface Characterisation in MIS” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, USA, pp. 6517-6520, 2014.

Y. Noh, E.L. Secco, S. Sareh, H.A. Wurdemann, H. Liu, K. Althoefer “A Continuum Body Force Sensor Designed for Flexible Surgical Robotic Devices” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, USA, pp. 3711-3714, 2014.

H.A. Wurdemann, V. Aminzadeh, J.S. Dai “Statistical Identification of Disorder and Macroscopic Transitional Model Between Disorder and Array” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, pp. 4247-4152, 2014.

A. Faragasso, J. Bimbo, Y. Noh, A. Jiang, S. Sareh, H. Liu, T. Nanayakkara, H.A. Wurdemann, K. Althoefer “Novel uniaxial force sensor based on visual information for minimally invasive surgery” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, pp. 1405-1410, 2014.

S. Sareh, A. Jiang, A. Faragasso, T. Nanayakkara, P. Dasgupta, L.D. Seneviratne, H.A. Wurdemann, K. Althoefer “MR-Compatible Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, pp. 1454-1459, 2014.

Y. Noh, S. Sareh, J. Back, H.A. Wurdemann, T. Ranzani, E.L. Secco, A. Faragasso, H. Liu, K.Althoefer “Three-Axial Body Force Sensor for Flexible Manipulators” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, pp. 6388-6393, 2014.

A. Stilli, H.A. Wurdemann, K. Althoefer “Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, pp. 2476-2481, 2014.

C. Deters , E.L. Secco, H.A. Wurdemann, H.K. Lam, L.D. Seneviratne, K. Althoefer “Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine Hubs” in IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 270-276, 2013.

C. Deters, H.A. Wurdemann, L.D. Seneviratne, K. Althoefer “Reconfigurable Assembly Approach for Wind Turbines using Multiple Intelligent Agents” in ASME/IEEE International Conference on Reconfigurable Mechanisms & Robots (ReMAR), Tianjin, China, pp. 95-103, 2012.

H.A. Wurdemann, V. Aminzadeh, L. Cui, J.S. Dai “Feature Extraction of Non-Uniform Food Products Using RGB and RGB-D Data Combined with Shape Models” in IEEE International Conference on Robotics and Biomimetics (ROBIO), Phucket, Thailand, pp. 1652-1657, 2011.

H.A. Wurdemann, E. Georgiou, L. Cui, J.S. Dai “SLAM Using 3D Reconstruction via a Visual RGB & RGB-D Sensory Input” in ASME International Design and Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC), Washington, USA, pp. 615-622, 2011.

H.A. Wurdemann, V. Aminzadeh, J.S. Dai, G. Purnell, J. Reed “Intrinsic Relation between Categorisation of Food Products & Processes” in ASME/IFToMM International Conference on Reconfigurable Mechanisms & Robots (ReMAR), London, UK, pp. 725-729, 2009.

J. Thommas, H.A. Wurdemann, T.M. Yelbuz “Neue Methode zur automatischen Konturerkennung & Positionskontrolle des schlagenden embryonalen Herzens für Zeitrafferstudien der Herzfehlerentstehung” in 40. Jahrestagung der Deutschen Gesellschaft für Pädiatrische Kardiologie, Neu-Ulm, Germany, p. 704, 2009.

S. Elmas, H.A. Wurdemann, M.R. Jackson, R.M. Parkin “Development of a Monitoring System for a Smart Planing Machine for Real-Time Operation” in IMechE Mechatronics Conference, Dublin, Ireland, pp. 231-238, 2008.