Prof Kaspar Althoefer
Dipl.-Ing. Aachen, PhD, IEEE Fellow
All Publications
Page 2 of 4
2018
- Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments
Ataka A, Lam H-K
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 3 (4), 3583-3590.
02-08-2018 - iCLAP: shape recognition by combining proprioception and touch sensing
Luo S, Mou W
Autonomous Robots, Springer Nature vol. 43 (4), 993-1004.
23-06-2018 - Real-Time Vision-Based Stiffness Mapping †
Faragasso A, Bimbo J, Stilli A, Wurdemann HA, Asama H
Sensors, Mdpi vol. 18 (5)
26-04-2018 - Antagonistic actuation and stiffness control in soft inflatable robots
Althoefer K
Nature Reviews Materials, Springer Nature vol. 3 (6), 76-77.
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
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 3 (3), 2283-2290.
28-03-2018 - A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System
Obadina OO, Thaha M, Althoefer K, Hasan Shaheed M
Lecture Notes in Computer Science, Springer Nature vol. 10965, 28-39.
01-01-2018
2017
- Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery
Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Althoefer K
International Journal of Medical Robotics and Computer Assisted Surgery, Wiley vol. 14 (1)
05-12-2017 - Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders
Luo S, Zhu L
Neurocomputing, Elsevier vol. 267, 18-24.
01-12-2017 - 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 A
Sensors, Mdpi vol. 17 (10)
13-10-2017 - Anchoring like octopus: biologically inspired soft artificial sucker
Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P
Journal of The Royal Society Interface, The Royal Society vol. 14 (135)
01-10-2017 - Detecting NQR signals severely polluted by interference
Shao W, Barras J
Signal Processing, Elsevier vol. 138, 256-264.
01-09-2017 - Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and RitzGalerkin Methods
Sadati SMH, Naghibi SE, Walker ID, Nanayakkara T
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 3 (1), 328-335.
22-08-2017 - A Geometry Deformation Model for Braided Continuum Manipulators
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Walker ID, Althoefer K
Frontiers in Robotics and Ai, Frontiers vol. 4
30-06-2017 - Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot
Wang S, Singh D, Lau D, Reddy K, Althoefer K
Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 10170 LNCS, 14-23.
13-04-2017 - Wearable haptic based pattern feedback sleeve system
Ranasinghe A, Althoefer K, Dasgupta P, Nanayakkara T
Advances in Intelligent Systems and Computing vol. 547, 302-312.
13-04-2017 - A Novel Concept for Safe, Stiffness-Controllable Robot Links
Stilli A, Wurdemann HA
Soft Robotics vol. 4 (1), 16-22.
01-03-2017 - Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model
Li M, Konstantinova J, Xu G, He B, Aminzadeh V, Xie J, Wurdemann H
Plos One, Public Library of Science (Plos) vol. 12 (3)
01-03-2017 - Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery
Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD et al.
Medical Engineering & Physics, IOP Publishing vol. 43 (1), 112-117.
21-02-2017 - Palpation force modulation strategies to identify hard regions in soft tissue organs
Konstantinova J, Cotugno G, Dasgupta P
Plos One, Public Library of Science (Plos) vol. 12 (2)
15-02-2017 - Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments
Sadati SMH, Naghibi SE, Shiva A, Walker ID, Althoefer K, Nanayakkara T
Lecture Notes in Computer Science, Springer Nature vol. 10454, 686-702.
01-01-2017
2016
- Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Transesophageal Echocardiography
Wang S, Singh D, Althoefer K, Rhode K
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (4), 118-127.
16-12-2016 - Embroidered Electromyography: A Systematic Design Guide
Shafti A, Manero RBR, Borg AM
IEEE Transactions On Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 25 (9), 1472-1480.
01-12-2016 - Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics
Noh Y, Bimbo J, Sareh S, Wurdemann H, Fraś J, Chathuranga DS, Althoefer K
Sensors, Mdpi vol. 16 (11)
17-11-2016 - Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism.
Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Althoefer K
IEEE Trans Biomed Eng vol. 63 (11), 2425-2435.
01-11-2016 - Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization
Noh Y, Liu H, Sareh S, Chathuranga DS, Rhode K
IEEE Sensors Journal vol. 16 (22), 7924-7932.
16-08-2016 - Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach
Qi P, Liu C, Ataka A, Lam HK, Althoefer K
IEEE Transactions On Industrial Electronics, Institute of Electrical and Electronics Engineers (IEEE) vol. 63 (8), 5022-5035.
08-07-2016 - Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments
Li M, Sareh S, Xu G, Luo S, Wurdemann H
Plos One, Public Library of Science (Plos) vol. 11 (6)
28-06-2016 - Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models
Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M et al.
Surgical Endoscopy, Springer Nature vol. 31 (1), 264-273.
23-06-2016 - A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs
Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD
IEEE/Asme Transactions On Mechatronics vol. 21 (3), 1281-1292.
01-06-2016 - Stable Grip Control on Soft Objects With Time-Varying Stiffness
Nanayakkara T, Jiang A, del Roco Armas Fernndez M, Althoefer K
IEEE Transactions On Robotics, Institute of Electrical and Electronics Engineers (IEEE) vol. 32 (3), 626-637.
18-05-2016 - The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands
Cotugno G, Althoefer K
IEEE Transactions On Systems Man and Cybernetics Systems, Institute of Electrical and Electronics Engineers (IEEE) vol. 47 (7), 1061-1070.
05-04-2016 - Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs
Qiu C, Qi P, Liu H
Journal of Mechanical Design, Transactions of The Asme vol. 138 (4)
01-04-2016 - Robot Competitions: What Did We Learn? [Competitions]
Dias J, Althoefer K
IEEE Robotics & Automation Magazine, Institute of Electrical and Electronics Engineers (IEEE) vol. 23 (1), 16-18.
04-03-2016 - Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators
Noh Y, Sareh S, Wurdemann H, Liu H, Housden J
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (6), 1641-1651.
08-02-2016 - Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator
Shiva A, Stilli A, Faragasso A, De Falco I, Cianchetti M, Menciassi A
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 1 (2), 632-637.
28-01-2016 - Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins
Ranasinghe A, Sornkarn N, Dasgupta P, Penders J
IEEE Transactions On Cybernetics, Institute of Electrical and Electronics Engineers (IEEE) vol. 46 (2), 568-579.
13-01-2016 - In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching
Bimbo J, Luo S, Liu H
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 1 (1), 570-577.
01-01-2016
2015
- Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy
Chen C, Zhang F, Barras J, Bhunia S
IEEE Transactions On Computational Biology and Bioinformatics, Institute of Electrical and Electronics Engineers (IEEE) vol. 13 (3), 417-430.
23-12-2015 - Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications
Russo S, Ranzani T, Nefti-Meziani S, Althoefer K
Soft Robotics vol. 2 (4), 146-154.
01-12-2015 - Macrobend optical sensing for pose measurement in soft robot arms
Sareh S, Noh Y, Li M, Ranzani T, Liu H
Smart Materials and Structures, IOP Publishing vol. 24 (12)
06-11-2015 - Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; a study for monoclinic TNT
Smith JAS, Rowe MD, Peirson NF
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 41-54.
01-10-2015 - 14N NQR, relaxation and molecular dynamics of the explosive TNT
Smith JAS, Rowe MD, Althoefer K, Peirson NF
Solid State Nuclear Magnetic Resonance, Elsevier vol. 71, 61-66.
28-09-2015 - Design, testing and modelling of a novel robotic system for trans‐oesophageal ultrasound
Wang S, Housden J, Singh D
International Journal of Medical Robotics and Computer Assisted Surgery, Wiley vol. 12 (3), 342-354.
31-07-2015 - Identification of Haptic Based Guiding Using Hard Reins
Ranasinghe A, Dasgupta P, Althoefer K
Plos One, Public Library of Science (Plos) vol. 10 (7)
22-07-2015 - Novel Tactile-SIFT Descriptor for Object Shape Recognition
Luo S, Mou W, Althoefer K
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (9), 5001-5009.
13-07-2015 - Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue
Li M, Konstantinova J, Secco EL, Liu H, Nanayakkara T, Dasgupta P
Medical & Biological Engineering & Computing, Springer Nature vol. 53 (11), 1177-1186.
28-05-2015 - A Fiber-Optics-Based Body Contact Sensor for a Flexible Manipulator
Xie H, Liu H, Noh Y, Wang S
IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE) vol. 15 (6), 3543-3550.
01-05-2015 - Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy
Kyriakidou G, Jakobsson A, Althoefer K
Analytical Chemistry, American Chemical Society (Acs) vol. 87 (7), 3806-3811.
12-03-2015 - Global estimation of an object’s pose using tactile sensing
Bimbo J, Kormushev P, Liu H
Advanced Robotics, Taylor & Francis vol. 29 (5), 363-374.
04-03-2015