#SoftHapticsPubs

Journal publications:

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, 2016 (in press).

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, 2016 (in press).

A. Stilli, H.A. Wurdemann, K. Althoefer, “A Novel Concept for Safe, Stiffness-Controllable Robot Links“, Soft Robotics, 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, K. Althoefer and H.A. WurdemannTendon-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. WurdemannUsing 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.

M. Li, H. Liu, A. Jiang, L.D. Seneviratne, P. Dasgupta, K. Althoefer, H.A. WurdemannIntra-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.

Conference publications:

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), Singapore, 2017.

Y. Noh, J. Bimbo, A. Stilli, H.A. Wurdemann, H. Liu, R.J. Housden (193114), 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), 2016.

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), 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), 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), 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.

Agostino 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.

Workshop Contributions:

K. Althoefer, H. Wurdemann, A. Stilli, “Minimally invasive surgery employing antagonistic, inflatable robot: evaluation of positioning accuracy and motion dynamics”,
BJU International, 2015.

A. Stilli, F. Maghooa, H.A. Wurdemann, K. Althoefer “A new bio-inspired, antagonistically actuated and stiffness controllable manipulator” Workshop on New Technologies for Computer/Robot Assisted Surgery, 2014.

E.L. Secco, Y. Noh, S. Sareh, H.A. Wurdemann, H. Liu, K. Althoefer “Modular integration of a 3 DoF F/T sensor for robotic manipulators” Workshop on New Technologies for Computer/Robot Assisted Surgery, 2014.

M. Li, S. Sareh, M. Ridzuan, L.D. Seneviratne, P. Dasgupta, H.A. Wurdemann, K. Althoefer “Multi-Fingered Palpation using Pseudo-Haptic Feedback” Hamlyn Symposium on Medical Robotics, 2014.

M. Cianchetti, H.A. Wurdemann, A. Menciassi, K. Althoefer, T. Nanayakkara “MR‐compatible Bio‐inspired Soft Manipulator with Stretchable Sensing Sleeve for RMIS” International Workshop on Soft Robotics and Morphological Computation, 2013.

H.A. Wurdemann, A. Faragasso, T. Nanayakkara, L. Seneviratne, K. Althoefer “Modern Safe and Economic RMIS through Bio‐inspiration using Haptic Feedback and Visual Servoing” IEEE ICRA Workshop on Evaluating effectiveness and acceptance of robots in surgery, 2013.

H.A. Wurdemann, K. Lis, L. Mucha, K. Rohr, E.L. Secco, Z. Nawrat, T. Nanayakkara, K. Althoefer “Mapping Tactile Information of a Soft Manipulator to a Haptic Sleeve in RMIS” Workshop on New Technologies for Computer/Robot Assisted Surgery, 2013.

H.A. Wurdemann, A. Jiang, T. Nanayakkara, L.D. Seneviratne, K. Althoefer “Variable Stiffness Controllable and Learnable Manipulator for MIS” IEEE ICRA Workshop on Modular Surgical Robotics: How can we make it possible?, 2012.

Theses:

Statistical Macroscopic Model & Pose Estimation for Creating Physical Structure from Disarray, PhD thesis, 2012.

Observation of the Cardial Function and Tracking of a Chicken Embryo Heart, Diplomarbeit (MSc thesis), 2008.

Development of a Feedback Algorithm for a Smart Planing System using Spindle Vibrations, Studienarbeit (BSc thesis), 2007.