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?
Laschi C, Wen L, Iida F, Abdulali A, Hauser H, Wang Y, Liu K, Ricotti L et al.
Bioinspiration & Biomimetics, IOP Publishing
12-09-2025 - Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
Giudici G, Coppola C, Althoefer K, Farkhatdinov I, Jamone L
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
Althoefer K, Yao T, Xu Y, Wang H, Qiu X, Qi P
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
Zhao Z, Li W, Li Y, Liu T, Li B, Wang M, Du K, Liu H et al.
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, Shojaei 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, Miller SC, Althoefer K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (9), 7811-7818.
24-07-2024 - Intelligent Shape Decoding of a Soft Optical Waveguide Sensor
Mak C-H, Li Y, Wang K, Wu M, Ho JD-L, Dou Q, Kwok K-W
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, Dou Q, Sze K-Y
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, Krieger A, Walsh CJ, Huang HH
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, Jha DK, Qian X, Althoefer K
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, 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
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, 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, Wong KKY, Liu Y
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
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
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, Althoefer K
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, Wu D, Liang Z, Yuan H, Xie J
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
Frontiers in Robotics and Ai, Frontiers Media vol. 7
14-07-2020 - Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness
Ataka A, Abrar T, Putzu F
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 1-1.
26-02-2020 - 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 vol. 5 (2), 2824-2831.
10-02-2020 - TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models
Althoefer K
International Journal of Robotics Research, Sage Publications
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, Xie J
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, Hajnal J
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 Robot 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
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, Lindenroth L, Liu H, Hajnal J
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
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
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
Soft Robotics vol. 4 (4), 324-337.
01-12-2017 - Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure
KONSTANTINOVA J, Stilli
Sensors, Mdpi vol. 17 (10)
13-10-2017