Prof Kaspar Althoefer
Dipl.-Ing. Aachen, PhD
All Publications
Page 1 of 4
2025
- Soft robotics: what's next in bioinspired design and applications of soft robots?
Bioinspiration & Biomimetics, IOP Publishing
12-09-2025 - Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 10 (10), 9662-9669.
01-08-2025 - Multi-Agent Fuzzy Reinforcement Learning with LLM for Cooperative Navigation of Endovascular Robotics
IEEE Transactions On Fuzzy Systems, Institute of Electrical and Electronics Engineers
14-07-2025 - Efficient Manufacturing of Steerable Eversion Robots with Integrated Pneumatic Artificial Muscles
Mack T, Suulker C, Dawood AB, Althoefer K
Journal of Manufacturing and Materials Processing, Mdpi vol. 9 (7), 223-223.
01-07-2025 - Embedding high-resolution touch across robotic hands enables adaptive human-like grasping
Nature Machine Intelligence, Springer Nature vol. 7 (6), 889-900.
01-06-2025 - Guest EditorialSpecial Collection on Tactile Robotics
Yim M, Luo S, Lepora N, Yuan W, Althoefer K, Cheng G, Dahiya R
IEEE Transactions On Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 41, ii-iii.
01-01-2025
2024
- Editorial: Advanced motion control and navigation of robots in extreme environments
Montazeri A, Sadeghzadeh-Nokhodberiz N, Shojaei K, Althoefer K
Frontiers in Robotics and Ai, Frontiers vol. 11
15-11-2024 - Abraded optical fibre-based dynamic range force sensor for tissue palpation
Dawood AB, Chavali VK, Mack T, Zhang Z, Godaba H, Angelmahr M, Althoefer K
Frontiers in Robotics and Ai, Frontiers vol. 11
11-11-2024 - A structured framework to evaluate capsule endoscope locomotion systems
Dinkar DK, Shaheed MH, Herrington E, Althoefer K, Thaha MA
Progress in Biomedical Engineering, IOP Publishing vol. 6 (4), 042003-042003.
01-10-2024 - Let Me Give You a Hand: Enhancing Human Grasp Force With a Soft Robotic Assistive Glove
Suulker C, Greenway A, Skach S, Farkhatdinov I, Charles Miller S, Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (9), 7811-7818.
01-09-2024 - Intelligent Shape Decoding of a Soft Optical Waveguide Sensor
Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y, Althoefer K et al.
Advanced Intelligent Systems, Wiley vol. 6 (2)
01-02-2024
2023
- The 40th International Conference on Robotics and Automation (ICRA) 2023: Embracing the Future: Making Robots for Humans [Conference Highlights]
Althoefer K
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 30 (4), 105-109.
01-12-2023 - Intelligent Shape Decoding of a Soft Optical Waveguide Sensor
Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Sze K-Y, Althoefer K et al.
Advanced Intelligent Systems, Wiley vol. 6 (2)
20-07-2023 - Artificial intelligence meets medical robotics
Yip M, Salcudean S, Goldberg K, Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K et al.
Science, American Association For The Advancement of Science (Aaas) vol. 381 (6654), 141-146.
13-07-2023 - L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing
Li W, Wang M, Li J, Su Y, Jha DK, Qian X, Althoefer K, Liu H
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (8), 5148-5155.
05-07-2023 - Welcome Page
, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
04-07-2023
2022
- Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons
Suulker C, Skach S, Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (4), 10621-10627.
29-07-2022 - Learning to sense three-dimensional shape deformation of a single multimode fiber
Wang X, Wang Y, Zhang K, Althoefer K, Su L
Scientific Reports, Nature Research
25-07-2022 - Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook
Kwok K-W, Wurdemann H, Arezzo A, Menciassi A, Althoefer K
Proceedings of The IEEE, Institute of Electrical and Electronics Engineers (IEEE) vol. 110 (7), 871-892.
02-05-2022 - Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments
Ataka A, Lam HK, Althoefer K
Frontiers in Robotics and Ai, Frontiers Media vol. 9
18-02-2022 - Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types
Jia G, Lam H-K, Althoefer K
Pattern Recognition, Elsevier vol. 121
01-01-2022
2021
- A Suite of Robotic Solutions for Nuclear Waste Decommissioning
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T et al.
Robotics vol. 10 (4), 112-112.
07-10-2021 - Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics
Wang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY, Althoefer K, Liu Y et al.
Advanced Intelligent Systems, Wiley vol. 3 (11)
30-08-2021 - Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop
Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H, Althoefer K
Applied Sciences, Mdpi vol. 11 (14)
17-07-2021 - Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm
Obadina OO, Thaha MA, Althoefer K, Shaheed MH
Journal of Vibration and Control, Sage Publications, 10775463211-10775463211.
27-03-2021 - Robotics Responds to the COVID-19 Outbreak
Marques L, Murphy R, Althoefer K, Tadokoro S, Laschi C
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 28 (1), 16-17.
01-03-2021 - Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry
Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C, Shahdad S
The Surgeon, Elsevier vol. 19 (5), e281-e288.
22-01-2021 - Attribution of autonomy and its role in robotic language acquisition
Förster F, Althoefer K
Ai & Society, Springer Nature vol. 37 (2), 605-617.
16-01-2021
2020
- Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing
Palermo F, Konstantinova J, Poslad S, Althoefer K, Farkhatdinov I
Frontiers in Robotics and Ai, Frontiers Media
02-12-2020 - Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation
Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J et al.
IEEE Transactions On Medical Robotics and Bionics, Institute of Electrical and Electronics Engineers (IEEE) vol. 2 (4), 565-568.
14-10-2020 - Plant Bioinspired Ecological Robotics
Frazier PA, Jamone L, Althoefer K, Calvo P
Frontiers in Robotics and Ai, Frontiers Media vol. 7
14-07-2020 - Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings
Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K et al.
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 5 (2), 2824-2831.
01-04-2020 - Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness
Ataka A, Abrar T, Putzu F, Godaba H, Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
26-02-2020 - TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models
Sadati SMH, Naghibi SE, Shiva A, Michael B, Renson L, Howard M, Rucker CD, Althoefer K et al.
The International Journal of Robotics Research, Sage Publications vol. 40 (1), 296-347.
06-01-2020 - F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement
Li W, Alomainy A, Vitanov I, Noh Y, Qi P, Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
01-01-2020
2019
- An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism.
Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J et al.
Front Neurorobot vol. 13, 34-34.
29-05-2019 - Analysis of a customized clutch joint designed for the safety management of an ultrasound robot
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J et al.
Applied Sciences (Switzerland) vol. 9 (9)
09-05-2019 - Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation
Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID et al.
Soft Robotics, Mary Ann Liebert Inc vol. 6 (2), 228-249.
01-04-2019 - Adaptive update of reference capacitances in conductive fabric based robotic skin
Matsuno T, Wang Z, Althoefer K, Hirai S
IEEE Robotics and Automation Letters vol. 4 (2), 2212-2219.
27-02-2019 - Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound.
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J et al.
J Vis Exp (143)
07-01-2019
2018
- Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands
COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA, Nanayakkara T
Plos One, Public Library of Science (Plos)
26-12-2018 - Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading
ALTHOEFER KA
Advanced Robotics, Taylor & Francis
05-10-2018 - A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System
OBADINA OO, THAHA MA, ALTHOEFER K, SHAHEED MH
Lecture Notes in Computer Science, Springer Verlag, 28-39.
21-07-2018 - Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments
ALTHOEFER KA
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers
09-07-2018 - iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing
ALTHOEFER KA
Autonomous Robots, Springer Verlag
23-06-2018 - Real-Time Vision-Based Stiffness Mapping
ALTHOEFER KA
Sensors, Mdpi Ag
26-04-2018 - Antagonistic actuation and stiffness control in soft inflatable robots
ALTHOEFER KA
Nature Reviews Materials
20-04-2018 - Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators
Sadati SMH, Sullivan L, Walker ID, Althoefer K, Nanayakkara T
IEEE Robotics and Automation Letters vol. 3 (3), 2283-2290.
12-02-2018
2017
- Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation
Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK et al.
Soft Robotics vol. 4 (4), 324-337.
01-12-2017 - Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure
KONSTANTINOVA J, Stilli, Althoefer
Sensors, Mdpi vol. 17 (10)
13-10-2017