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SAPHIR / 03 Research output

Work by members of the group, newest first. Filter by research area or search by title and author.

53 papers · since 2019 Newest first

  1. A Multi-Vine Soft Robot Enabling Accessible Working Channel and Steering

    Kashef R, Suulker C, Sheikhsofla M, Althoefer K

    Hamlyn Symposium on Medical Robotics · 2026

    Reza Kashef Reza Kashef Cem Süülker Cem Süülker Mohammad Sheikhsofla Mohammad Sheikhsofla Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  2. A Soft Robotic Interface for Chick-Robot Affective Interactions

    Chen J, Mielke A, Althoefer K, Versace E

    arXiv preprint · 2026

    Jue Chen Jue Chen Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  3. Buoyancy Actuation of an Underwater Soft Robot Arm through Inflation with Incompressible Fluids

    Kaleel D, Lalitharatne TD, Baker AG, Wurdemann HA, Clément B, Althoefer K

    SSRN preprint · 2026

    Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  4. Design and Performance Evaluation of a Modular Mobile Robot for Autonomous Hospital Logistics

    Dei NN, Gandah S, Spreafico G, Firrincieli A, Juliá Ros R, Solaz Estevan V, Soriano Á, Scotto Di Luzio F, Tagliamonte NL, Papakostas L, Karamousadakis M, Medrano-Gil A, Río-Martín J, Lolis V, Votis K, Sala Soriano P, Rovira Simón J, Kardas P, Lewek P, Timler D, Llorente Sanz L, Nieto De Vicente-Arche J, Haitjema S, Hoefer I, Guillen S, Gutierrez G, Pecchia L, Zollo L, Fico G, Chiurazzi M, Ciuti G

    IEEE Transactions on Automation Science and Engineering · 2026

    Neri Niccolò Dei Neri Niccolò Dei
    DOI ↗

  5. Enabling High-Curvature Navigation in Eversion Robots through Buckle-Inducing Constrictive Bands

    Suulker C, Haimus MA, Mack T, Sheikhsofla M, Dei NN, Kashef R, Sadati H, Barontini F, Ficuciello F, Arezzo A, Siciliano B, Althoefer K

    arXiv preprint · 2026

    Cem Süülker Cem Süülker Thomas Christopher Mack Thomas Christopher Mack Mohammad Sheikhsofla Mohammad Sheikhsofla Neri Niccolò Dei Neri Niccolò Dei Reza Kashef Reza Kashef Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  6. Hyperelastic Characterisation of Silicone Tissue Phantoms: A Parametric Database with Model Selection and Inverse Design Framework

    Dawood AB, Zhang Z, Osman D, Suulker C, Abdulali A, Angelmahr M, Althoefer K

    2026

    Abu Bakar Dawood Abu Bakar Dawood Dalia Osman Dalia Osman Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    Link ↗

  7. Layered e-skin for Shear Sensing

    Cong Q, Devillard A, Dawood AB, Zhang X, Fan W, Dei NN, Suulker C, Althoefer K, Burdet E, Zhang D

    arXiv preprint · 2026

    Qingzheng Cong Qingzheng Cong Abu Bakar Dawood Abu Bakar Dawood Neri Niccolò Dei Neri Niccolò Dei Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  8. Learning-Based Soft Robotic Grasping: Recent Progress and Remaining Challenges

    Majumder A, Konstantinova J, Deacon G, Althoefer K

    Advanced Robotics Research · 2026

    Arnab Majumder Arnab Majumder Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  9. Magnetic-Based Variable-Stiffness Sensor for Robotic Palpation for Tissue Characterisation in Minimally Invasive Surgery

    Osman D, Nadipineni S, Dawood A, Lalitharatne T, Althoefer K

    Proceedings of the 18th Hamlyn Symposium on Medical Robotics (HSMR 2026) · 2026

    Dalia Osman Dalia Osman Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  10. Smart Illuminated Touch: Integrated AI for Improved Optical Tomography-Based Soft Sensors

    Dawood AB, Rajalakshmi JP, Majumder A, Althoefer K

    IEEE Sensors Journal · 2026

    Abu Bakar Dawood Abu Bakar Dawood Arnab Majumder Arnab Majumder Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  11. Soft Eversion Robots for Colonoscopy: Challenges, Open Problems, and Emerging Solutions

    Suulker C, Mack T, Cong Q, Dei NN, Kashef R, Sheikhsofla M, Althoefer K

    arXiv preprint · 2026

    Cem Süülker Cem Süülker Thomas Christopher Mack Thomas Christopher Mack Qingzheng Cong Qingzheng Cong Neri Niccolò Dei Neri Niccolò Dei Reza Kashef Reza Kashef Mohammad Sheikhsofla Mohammad Sheikhsofla Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  12. Soft robotic phantoms for ethical and multimodal surgical simulation

    Migliorini L, Dei NN, Menciassi A, Milani P

    Nature Reviews Bioengineering · 2026

    Neri Niccolò Dei Neri Niccolò Dei
    DOI ↗

  13. State of the art in soft eversion robots for colonoscopy: a review

    Suulker C, Mack T, Distefano G, Chan CH, Zhang K, Sadati SMH, Mecozzi L, Sulaiman S, Thaha MA, Ficuciello F, Siciliano B, Arezzo A, Althoefer K

    Progress in Biomedical Engineering · 2026

    Cem Süülker Cem Süülker Thomas Christopher Mack Thomas Christopher Mack Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  14. TacEva: A Performance Evaluation Framework for Vision-Based Tactile Sensors

    Cong Q, Oh S, Fan W, Luo S, Althoefer K, Zhang D

    Advanced Intelligent Systems · 2026

    Qingzheng Cong Qingzheng Cong Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  15. TacVerse: A Multisensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception

    Wei L, Khurana G, Bhouri S, Hong W, Xin Z, Cong Q, Fan W, Xiang Y, Zhang D

    Advanced Robotics Research · 2026

    Qingzheng Cong Qingzheng Cong
    DOI ↗

  16. A Low-Cost Stewart Platform-Based Multi-Axis Force/Torque Sensor Using Strain Gauges

    Noh Y, Billah T, Wu R, Osman D

    MATEC Web of Conferences · 2025

    Dalia Osman Dalia Osman
    DOI ↗

  17. Design of a Two Axis Optoelectronic Joint Measurement Sensor Using Orientation Constraining Mechanism for Flexible Robotic Application

    Osman D, Murali M, Noh Y

    MATEC Web of Conferences · 2025

    Dalia Osman Dalia Osman
    DOI ↗

  18. 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 · 2025

    Thomas Christopher Mack Thomas Christopher Mack Cem Süülker Cem Süülker Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  19. Fiber Bragg grating-based tactile sensing tool for minimally invasive surgery

    Zhang Z, Violakis G, Dawood AB, Abdalwareth A, Althoefer K, Polygerinos P, Angelmahr M, Schade W

    Proceedings of SPIE · 2025

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  20. Flexible Sensor Foil Based on Polymer Optical Waveguide for Haptic Assessment

    Zhang Z, Dawood AB, Violakis G, Abdalwareth A, Flachenecker G, Polygerinos P, Althoefer K, Angelmahr M, Schade W

    Sensors · 2025

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  21. MagicGripper: A Mini-MagicTac Integrated Gripper Enabling Multimodal Perception in Contact-Rich Manipulation

    Fan W, Li H, Cong Q, Zhang D

    IEEE Transactions on Automation Science and Engineering · 2025

    Qingzheng Cong Qingzheng Cong
    DOI ↗

  22. A Novel Assistive Imaging Device for Colon Map Reconstruction

    Dei NN, Bano S, Vasconcelos F, Consumi V, Stoyanov D, Stilli A, Ciuti G

    IEEE Robotics and Automation Letters · 2024

    Neri Niccolò Dei Neri Niccolò Dei
    DOI ↗

  23. A User Study Method on Healthy Participants for Assessing an Assistive Wearable Robot Utilising EMG Sensing

    Suulker C, Greenway A, Skach S, Farkhatdinov I, Miller SC, Althoefer K

    arXiv preprint · 2024

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  24. 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 · 2024

    Abu Bakar Dawood Abu Bakar Dawood Thomas Christopher Mack Thomas Christopher Mack Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  25. Assistive Soft Robotic Glove with Ruffles Enhanced Textile Actuators

    Suulker C, Althoefer K

    arXiv preprint · 2024

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  26. Deformable Tip Mount for Soft Growing Eversion Robots

    Suulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D, Althoefer K

    arXiv preprint · 2024

    Cem Süülker Cem Süülker Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  27. Gel-OPTOFORT Sensor: Multi-axis Force/Torque Measurement and Geometry Observation Using GelSight and Optoelectronic Sensor Technology

    Noh Y, Upare H, Osman D, Li W

    Proceedings of the 42nd Annual Conference of the Robotics Society of Japan (RSJ 2024) · 2024

    Dalia Osman Dalia Osman
    Link ↗

  28. Hybrid Continuum-Eversion Robot: Precise Navigation and Decontamination in Nuclear Environments using Vine Robot

    Al-Dubooni M, Wong C, Althoefer K

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2024

    Mohammed Al-Dubooni Mohammed Al-Dubooni Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  29. Hydraulic Volumetric Soft Everting Vine Robot Steering Mechanism for Underwater Exploration

    Kaleel D, Clément B, Althoefer K

    IFAC-PapersOnLine · 2024

    Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  30. 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 · 2024

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  31. Miniature Fibre-Optic Based Shape Sensing for Robotic Applications Using Curved Reflectors

    Osman D, Vignesh V, Noh Y

    Proceedings of the 42nd Annual Conference of the Robotics Society of Japan (RSJ 2024) · 2024

    Dalia Osman Dalia Osman
    Link ↗

  32. Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft Robot

    Kaleel D, Clément B, Althoefer K

    Lecture Notes in Computer Science · 2024

    Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  33. Optoelectronic Shape Sensing for Flexible Robotic Applications

    Osman D, Noh Y

    TechRxiv preprint · 2024

    Dalia Osman Dalia Osman
    DOI ↗

  34. Shape Sensing for Continuum Robotics Using Optoelectronic Sensors with Convex Reflectors

    Osman D, Du X, Minton T, Noh Y

    Electronics · 2024

    Dalia Osman Dalia Osman
    DOI ↗

  35. Variable Stiffness & Dynamic Force Sensor for Tissue Palpation

    Dawood AB, Zhang Z, Angelmahr M, Arezzo A, Althoefer K

    Lecture Notes in Computer Science · 2024

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  36. A Framework to Design and Build a Height Controllable Eversion Robot

    Kaleel D, Clément B, Althoefer K

    International Conference on Control, Mechatronics and Automation (ICCMA) · 2023

    Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  37. A Soft Robotic Gripper with Active Palm for In-Hand Object Reorientation

    Mack T, Zhang K, Althoefer K

    arXiv preprint · 2023

    Thomas Christopher Mack Thomas Christopher Mack Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  38. Eversion Robots for Mapping Radiation in Pipes

    Mack T, Al-Dubooni M, Althoefer K

    arXiv preprint · 2023

    Thomas Christopher Mack Thomas Christopher Mack Mohammed Al-Dubooni Mohammed Al-Dubooni Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  39. Integrating Elastic Bands to Enhance Performance for Textile Robotics

    Suulker C, Skach S, Althoefer K

    arXiv preprint · 2023

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  40. Learning Decoupled Multi-touch Force Estimation, Localization and Stretch for Soft Capacitive E-skin

    Dawood AB, Coppola C, Althoefer K

    IEEE International Conference on Robotics and Automation (ICRA) · 2023

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  41. Soft Cap for Vine Robots

    Suulker C, Skach S, Kaleel D, Abrar T, Murtaza Z, Suulker D, Althoefer K

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2023

    Cem Süülker Cem Süülker Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  42. A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons

    Suulker C, Hassan A, Skach S, Althoefer K

    IEEE International Conference on Soft Robotics (RoboSoft) · 2022

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  43. Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

    Osman D, Du X, Li W, Noh Y

    IEEE Transactions on Medical Robotics and Bionics · 2022

    Dalia Osman Dalia Osman
    DOI ↗

  44. Miniature Optical Joint Measurement Sensor for Robotic Application Using Curvature Based Reflecting Surfaces

    Osman D, Li W, Du X, Minton T, Noh Y

    IEEE Sensors Letters · 2022

    Dalia Osman Dalia Osman
    DOI ↗

  45. Prototype of Optoelectronic Joint Sensor Using Curvature Based Reflector for Body Shape Sensing

    Osman D, Li W, Du X, Minton T, Noh Y

    2022 IEEE International Conference on Body Sensor Networks (BSN) · 2022

    Dalia Osman Dalia Osman
    DOI ↗

  46. Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors

    Dawood AB, Denoun B, Althoefer K

    IEEE International Conference on Soft Robotics (RoboSoft) · 2022

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  47. 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 · 2022

    Cem Süülker Cem Süülker Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  48. Underwater Eversion Robot Growth for Underwater Operations with an Emphasis on Underwater Mine Hunting

    Kaleel D, Clément B, Althoefer K

    HAL open archive · 2022

    Danyaal Mohamed Kaleel Danyaal Mohamed Kaleel Kaspar Althoefer Kaspar Althoefer

  49. Fusing Dexterity and Perception for Soft Robot-Assisted Minimally Invasive Surgery: What We Learnt from STIFF-FLOP

    Dawood AB, Fraś J, Aljaber F, Mintz Y, Arezzo A, Godaba H, Althoefer K

    Applied Sciences · 2021

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  50. An Optical Joint Angle Measurement Sensor Based on an Optoelectronic Sensor for Robot Manipulators

    Osman D, Du X, Li W, Noh Y

    2020 IEEE International Conference on Control, Mechatronics and Automation (ICCMA) · 2020

    Dalia Osman Dalia Osman
    DOI ↗

  51. Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots

    Dawood AB, Godaba H, Althoefer K

    Lecture Notes in Computer Science · 2020

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  52. Silicone-based Capacitive E-skin for Exteroception and Proprioception

    Dawood AB, Godaba H, Ataka A, Althoefer K

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2020

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗

  53. Modelling of a Soft Sensor for Exteroception and Proprioception in a Pneumatically Actuated Soft Robot

    Dawood AB, Godaba H, Althoefer K

    Lecture Notes in Computer Science · 2019

    Abu Bakar Dawood Abu Bakar Dawood Kaspar Althoefer Kaspar Althoefer
    DOI ↗