Designing bio-inspired robotics workshops given language limitations (2019)
Presentation / Conference Contribution

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

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

© 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

© 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.

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

© 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.

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery (2016)
Presentation / Conference Contribution

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

© 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.

A new interaction force decomposition maximizing compensating forces under physical work constraints (2016)
Presentation / Conference Contribution

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.

Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control (2016)
Presentation / Conference Contribution

While collision detection and contact-related injury reduction in physical human-robot interaction has been studied intensively, safety issues in physical human robot collaboration (pHRC) with continuous coupling of human and robot(s) has received li... Read More about Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control.

Second-order model for rotary traveling wave ultrasonic motors (2015)
Presentation / Conference Contribution

Ultrasonic motors are compact actuators with high precision and high stall torque. They feature a friction-based actuation principle and offer an alternative to standard
actuators such as direct current motors. However, their nonlinear dynamics, the... Read More about Second-order model for rotary traveling wave ultrasonic motors.

μAngelo: A Novel System for Robot-Assisted Minimally Invasive Surgery (2015)
Presentation / Conference Contribution

Follicular DEAs for two-way tactile communication (2015)
Presentation / Conference Contribution

© 2015 SPIE. Follicular structures in skin combine sensing and actuation in a soft and compliant continuous surface. We have developed a tactile display device inspired by this structure, using a Dielectric Elastomer Actuator (DEA). DEAs allow for co... Read More about Follicular DEAs for two-way tactile communication.

Cathode materials for ceramic based microbial fuel cells (MFCs) (2015)
Presentation / Conference Contribution

© 2015, Hydrogen Energy Publications, LLC. Published by Elsevier Ltd. All rights reserved. This study showed the electrochemical performance of different cathode electrodes tested on a ceramic separator functioning as a cation exchange membrane. Part... Read More about Cathode materials for ceramic based microbial fuel cells (MFCs).

Safety constrained motion control of mobility assistive robots (2014)
Presentation / Conference Contribution

Human sit-to-stand transfer modeling for optimal control of assistive robots (2014)
Presentation / Conference Contribution

Design of a new MR-compatible haptic interface with six actuated degrees of freedom (2014)
Presentation / Conference Contribution

μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design (2014)
Presentation / Conference Contribution

Abdominal surgery has seen a rapid transition from open procedures to Robot-Assisted Minimally Invasive Surgery (R-A MIS). The learning process for new surgeons is long compared to open surgery, and the desired dexterity cannot always be achieved usi... Read More about μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design.

Mechatronic implementation in minimally invasive surgical instruments (2014)
Presentation / Conference Contribution

Minimally invasive surgery (MIS) has proven to be beneficial in providing outstanding results for the patients. However, studies have shown that the surgeon faces significant challenges whilst performing this type of surgery, ranging from poorly desi... Read More about Mechatronic implementation in minimally invasive surgical instruments.

Interaction-based dynamic measurement of haptic characteristics of control elements (2014)
Presentation / Conference Contribution

Modeling the Weber fraction of vibrotactile amplitudes using gain control through global feedforward inhibition (2014)
Presentation / Conference Contribution