Requirements elicitation for robotic and computer-assisted minimally invasive surgery (2019)
Journal Article
Nakawala, H., De Momi, E., Tzemanaki, A., Dogramadzi, S., Russo, A., Catellani, M., …Ferrigno, G. (2019). Requirements elicitation for robotic and computer-assisted minimally invasive surgery. International Journal of Advanced Robotic Systems, 16(4), 172988141986580. https://doi.org/10.1177/1729881419865805

The robotic surgical systems and computer-assisted technologies market has seen impressive growth over the last decades, but uptake by end-users is still scarce. The purpose of this article is to provide a comprehensive and informed list of the end-u... Read More about Requirements elicitation for robotic and computer-assisted minimally invasive surgery.

Designing bio-inspired robotics workshops given language limitations (2019)
Presentation / Conference Contribution
Carrillo-Zapata, D., Lee, C., Digumarti, K. M., Hauert, S., & Boushel, C. (2019, April). Designing bio-inspired robotics workshops given language limitations. Paper presented at RiE 2019 : 10th International Conference on Robotics in Education, Vienna, Austria

Educational robots are increasingly being used in schools as learning tools to support the development of skills such as computational thinking because of the growing number of technology-related jobs. Using robots as a tool inside the classroom has... Read More about Designing bio-inspired robotics workshops given language limitations.

Effective persuasion strategies for socially assistive robots (2019)
Presentation / Conference Contribution
Winkle, K., Lemaignan, S., Caleb-Solly, P., Turton, A., Leonards, U., & Bremner, P. (2019). Effective persuasion strategies for socially assistive robots. In Proceedings of the 2019 ACM/IEEE Human-Robot Interaction Conference (277-285). https://doi.org/10.1109/HRI.2019.8673313

In this paper we present the results of an experimental study investigating the application of human persuasive strategies to a social robot. We demonstrate that robot displays of goodwill and similarity to the participant significantly increased rob... Read More about Effective persuasion strategies for socially assistive robots.

Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation (2018)
Presentation / Conference Contribution
Singh, H., Jafari, A., Ryu, J. H., & Peer, A. (2018). Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4972-4979. https://doi.org/10.1109/IROS.2018.8593866

© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwid... Read More about Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation.

Lyapunov observer/controller for stable haptic interaction (2018)
Presentation / Conference Contribution
Jafari, A., Singh, H., Karunanayaka, H., Ryu, J. H., Chong, J., & Etoundi, A. (2018). Lyapunov observer/controller for stable haptic interaction. . https://doi.org/10.1109/AIM.2018.8452311

© 2018 IEEE. Passivity has been the most common tool to achieve stability in haptic and teleoperation systems; however passivity-based approaches suffer from the conservativism of passivity criteria. Therefore, it is essential to have an approach whi... Read More about Lyapunov observer/controller for stable haptic interaction.

Camouflage assessment: Machine and human (2018)
Journal Article
Volonakis, T. N., Matthews, O. E., Liggins, E., Baddeley, R. J., Scott-Samuel, N. E., & Cuthill, I. C. (2018). Camouflage assessment: Machine and human. Computers in Industry, 99, 173-182. https://doi.org/10.1016/j.compind.2018.03.013

© 2018 Elsevier B.V. A vision model is designed using low-level vision principles so that it can perform as a human observer model for camouflage assessment. In a camouflaged-object assessment task, using military patterns in an outdoor environment,... Read More about Camouflage assessment: Machine and human.

Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics (2018)
Presentation / Conference Contribution
Etoundi, A., Chong, J., & Jafari, A. (2018). Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics. . https://doi.org/10.1109/CoDIT.2018.8394776

© 2018 IEEE. The process of designing bio-inspired knee joint for prosthetics/exoskeletons has been a challenging issue due to the complicated relationships between the performance criteria and the link lengths of the design space, or workspace in th... Read More about Modelling of a Bio-Inspired Knee Joint and Design of an Energy Saving Exoskeleton Based on Performance Maps Optimisation for Condylar Knee Prosthetics.

A systematic review of study results reported for the evaluation of robotic rollators from the perspective of users (2018)
Journal Article
Bauer, J. M., Werner, C., Ullrich, P., Geravand, M., Peer, A., Bauer, J. M., & Hauer, K. (2018). A systematic review of study results reported for the evaluation of robotic rollators from the perspective of users. Disability and Rehabilitation: Assistive Technology, 13(1), 31-39. https://doi.org/10.1080/17483107.2016.1278470

© 2017 Informa UK Limited, trading as Taylor & Francis Group. Purpose: To evaluate the effectiveness and perception of robotic rollators (RRs) from the perspective of users. Methods: Studies identified in a previous systematic review published on 2... Read More about A systematic review of study results reported for the evaluation of robotic rollators from the perspective of users.

Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment (2018)
Journal Article
Tzemanaki, A., Al, G. A., Melhuish, C., & Dogramadzi, S. (2018). Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment. Frontiers in Robotics and AI, 5(JUN), 1-15. https://doi.org/10.3389/frobt.2018.00062

© 2018 Tzemanaki, Al, Melhuish and Dogramadzi. This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit... Read More about Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment.

Invariance and variability in interaction error-related potentials and their consequences for classification (2017)
Journal Article
Abu-Alqumsan, M., Kapeller, C., Hintermüller, C., Guger, C., & Peer, A. (2017). Invariance and variability in interaction error-related potentials and their consequences for classification. Journal of Neural Engineering, 14(6), 066015. https://doi.org/10.1088/1741-2552/aa8416

© 2017 IOP Publishing Ltd. Objective. This paper discusses the invariance and variability in interaction error-related potentials (ErrPs), where a special focus is laid upon the factors of (1) the human mental processing required to assess interface... Read More about Invariance and variability in interaction error-related potentials and their consequences for classification.

Could a Robot Care? It’s All in the Movement (2017)
Book Chapter
Meacham, D., & Studley, M. (2017). Could a Robot Care? It’s All in the Movement. In P. Lin, K. Abney, & R. Jenkins (Eds.), In Robot Ethics 2.0: From Autonomous Cars to Artificial Intelligence. Oxford University Press (OUP). https://doi.org/10.1093/oso/9780190652951.003.0007

In this chapter, we ask if care robots can care. The standard and indeed intuitive response to such a question is no. This response is premised on the argument that care requires internal cognitive and emotional states that robots lack. We explore ar... Read More about Could a Robot Care? It’s All in the Movement.

Goal-recognition-based adaptive brain-computer interface for navigating immersive robotic systems (2017)
Journal Article
Abu-Alqumsan, M., Ebert, F., & Peer, A. (2017). Goal-recognition-based adaptive brain-computer interface for navigating immersive robotic systems. Journal of Neural Engineering, 14(3), https://doi.org/10.1088/1741-2552/aa66e0

© 2017 IOP Publishing Ltd. Objective. This work proposes principled strategies for self-adaptations in EEG-based Brain-computer interfaces (BCIs) as a way out of the bandwidth bottleneck resulting from the considerable mismatch between the low-bandwi... Read More about Goal-recognition-based adaptive brain-computer interface for navigating immersive robotic systems.

Decision-making model for adaptive impedance control of teleoperation systems (2017)
Journal Article
Sofrony, J., Corredor, J., Sofroni, J., & Peer, A. (2017). Decision-making model for adaptive impedance control of teleoperation systems. IEEE Transactions on Haptics, 10(1), 5-16. https://doi.org/10.1109/TOH.2016.2581807

© 2008-2011 IEEE. This paper presents a haptic assistance strategy for teleoperation that makes a task and situation-specific compromise between improving tracking performance or human-machine interaction in partially structured environments via the... Read More about Decision-making model for adaptive impedance control of teleoperation systems.

Local and Remote Cooperation with Virtual and Robotic Agents: A P300 BCI Study in Healthy and People Living with Spinal Cord Injury (2016)
Journal Article
Hintermuller, C., Guger, C., Tidoni, E., Abu-Alqumsan, M., Leonardis, D., Kapeller, C., …Aglioti, S. M. (2017). Local and Remote Cooperation with Virtual and Robotic Agents: A P300 BCI Study in Healthy and People Living with Spinal Cord Injury. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25(9), 1622-1632. https://doi.org/10.1109/TNSRE.2016.2626391

© 2001-2011 IEEE. The development of technological applications that allow people to control and embody external devices within social interaction settings represents a major goal for current and future brain-computer interface (BCI) systems. Prior r... Read More about Local and Remote Cooperation with Virtual and Robotic Agents: A P300 BCI Study in Healthy and People Living with Spinal Cord Injury.

Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review (2016)
Journal Article
Werner, C., Ullrich, P., Geravand, M., Peer, A., & Hauer, K. (2016). Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review. Gerontology, 62(6), 644-653. https://doi.org/10.1159/000444878

© 2016 S. Karger AG, Basel. Background: Robotic rollators enhance the basic functions of established devices by technically advanced physical, cognitive, or sensory support to increase autonomy in persons with severe impairment. In the evaluation of... Read More about Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review.

Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle (2016)
Journal Article
Pearson, M. J., Wilson, E. D., Assaf, T., Pearson, M., Rossiter, J. M., Anderson, S. R., …Dean, P. (2016). Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle. Interface, 13(122), https://doi.org/10.1098/rsif.2016.0547

© 2016 The Author(s) Published by the Royal Society. All rights reserved. Electroactive polymer actuators are important for soft robotics, but can be difficult to control because of compliance, creep and nonlinearities. Because biological control mec... Read More about Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle.

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery (2016)
Presentation / Conference Contribution
Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., …Dogramadzi, S. (2016, June). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. Presented at International Conference on Biomedical Robotics and Biomechatronics, Singapore

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. MicroAngelo is an anthropomorphic master-slave system for tele-operated robot-assisted surgery. As part of this system, this paper focuses... Read More about Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery.

Visual-tactile sensory map calibration of a biomimetic whiskered robot (2016)
Presentation / Conference Contribution
Assaf, T., Wilson, E. D., Anderson, S., Dean, P., Porrill, J., & Pearson, M. J. (2016). Visual-tactile sensory map calibration of a biomimetic whiskered robot. IEEE International Conference on Robotics and Automation, 2016-June, 967-972. https://doi.org/10.1109/ICRA.2016.7487228

© 2016 IEEE. We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot... Read More about Visual-tactile sensory map calibration of a biomimetic whiskered robot.

An Integrated Decision Making Approach for Adaptive Shared Control of Mobility Assistance Robots (2016)
Journal Article
Geravand, M., Werner, C., Hauer, K., & Peer, A. (2016). An Integrated Decision Making Approach for Adaptive Shared Control of Mobility Assistance Robots. International Journal of Social Robotics, 8(5), 631-648. https://doi.org/10.1007/s12369-016-0353-z

© 2016, Springer Science+Business Media Dordrecht. Mobility assistance robots provide support to elderly or patients during walking. The design of a safe and intuitive assistance behavior is one of the major challenges in this context. We present an... Read More about An Integrated Decision Making Approach for Adaptive Shared Control of Mobility Assistance Robots.

A new interaction force decomposition maximizing compensating forces under physical work constraints (2016)
Presentation / Conference Contribution
Schmidts, A. M., Schneider, M., Kühne, M., & Peer, A. (2016, May). A new interaction force decomposition maximizing compensating forces under physical work constraints. Paper presented at IEEE International Conference on Robotics and Automation, Stockholm

In manipulation tasks interaction forces are often decomposed to be able to control robustness-reflective and accelerating forces separately. While this decomposition is typically performed for the synthesis of interaction forces to be applied for ex... Read More about A new interaction force decomposition maximizing compensating forces under physical work constraints.