Publications

2024

Journal Articles

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

S. Aracri; J. Hughes; C. Della Santina; J. Jovanova; S. Hoh et al. 

Soft Robotics. 2024. DOI : 10.1089/soro.2023.0225.

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

F. Stella; C. Della Santina; J. Hughes 

Ieee Robotics And Automation Letters. 2024. Vol. 9, num. 2, p. 1945 – 1952. DOI : 10.1109/LRA.2023.3339063.

Into the ice: Exploration and data capturing in glacial moulins by a tethered robot

M. Polzin; J. Hughes 

Journal Of Field Robotics. 2024. DOI : 10.1002/rob.22280.

Anniversary AI reflections

N. Ferruz; M. Zitnik; P-Y. Oudeyer; E. Hine; N. Sengupta et al. 

Nature Machine Intelligence. 2024. Vol. 6, num. 1, p. 6 – 12. DOI : 10.1038/s42256-023-00784-5.

Fiber-Optic Force Sensing of Modular Robotic Skin for Remote and Autonomous Robot Control

S. Lee; J. I. Kim; Y. Baek; D. Chang; J. Lee et al. 

IEEE Transactions on Robotics. 2024. Vol. 40, p. 2373 – 2389. DOI : 10.1109/TRO.2024.3378178.

Conference Papers

Morphological and Material Programability of a Hall-Effect Based Soft Tactile Sensors

S. Lee; J. Hughes 

2024. 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, April 14-17, 2024. p. 325 – 331. DOI : 10.1109/RoboSoft60065.2024.10521990.

Reviews

Soft robotics for farm to fork: applications in agriculture & farming

C. Armanini; K. Junge; P. Johnson; C. Whitfield; F. Renda et al. 

Bioinspiration & Biomimetics. 2024. Vol. 19, num. 2, p. 021002. DOI : 10.1088/1748-3190/ad2084.

Theses

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

C. Ercolani / A. Martinoli (Dir.)  

Lausanne, EPFL, 2024. 

Investigating neural resource allocation in the sensorimotor control of extra limbs

G. Dominijanni / S. Micera; S. Shokur (Dir.)  

Lausanne, EPFL, 2024. 

Additively manufactured stretchable zipping electrostatic actuators

G. Grasso / H. Shea; S. Rosset (Dir.)  

Lausanne, EPFL, 2024. 

2023

Journal Articles

Soft Bending Actuator With Fiber-Jamming Variable Stiffness and Fiber-Optic Proprioception

J. Kang; S. Lee; Y-L. Park 

Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 11, p. 7344 – 7351. DOI : 10.1109/LRA.2023.3316075.

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

S. Jacquart; N. Obayashi; J. Hughes 

Frontiers In Robotics And Ai. 2023. Vol. 10, p. 1267019. DOI : 10.3389/frobt.2023.1267019.

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

M. Pierallini; F. Stella; F. Angelini; B. Deutschmann; J. Hughes et al. 

Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 10, p. 6427 – 6434. DOI : 10.1109/LRA.2023.3307007.

4D printing of Metal-Reinforced double network granular hydrogels

M. Hirsch; L. D’Onofrio; Q. Guan; J. Hughes; E. Amstad 

Chemical Engineering Journal. 2023. Vol. 473, p. 145433. DOI : 10.1016/j.cej.2023.145433.

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

T. Kim; S. Lee; S. Chang; S. Hwang; Y-L. Park 

Advanced Intelligent Systems. 2023. DOI : 10.1002/aisy.202300172.

Special issue on robotics technology for agriculture

T. Fukao; J. Hughes; K. Hosoda 

Advanced Robotics. 2023. Vol. 37, num. 15, p. 959 – 959. DOI : 10.1080/01691864.2023.2241210.

Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

M. Polzin; J. Hughes 

Advanced Robotics. 2023. DOI : 10.1080/01691864.2023.2229901.

How can LLMs transform the robotic design process?

F. Stella; C. Della Santina; J. Hughes 

Nature Machine Intelligence. 2023. DOI : 10.1038/s42256-023-00669-7.

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

F. Stella; J. Hughes; D. Rus; C. Della Santina 

Soft Robotics. 2023. DOI : 10.1089/soro.2022.0025.

Exploration of the Design of Spiderweb-Inspired Structures for Vibration-Driven Sensing

M. Naderinejad; K. Junge; J. Hughes 

Biomimetics. 2023. Vol. 8, num. 1, p. 111. DOI : 10.3390/biomimetics8010111.

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

N. Obayashi; A. Vicari; K. Junge; K. Shakir; J. Hughes 

Ieee Robotics And Automation Letters. 2023. Vol. 8, num. 3, p. 1495 – 1500. DOI : 10.1109/LRA.2023.3240334.

Exploration-based model learning with self-attention for risk-sensitive robot control

D. Kim; S. Lee; T. H. Hong; Y-L. Park 

npj Robotics. 2023. Vol. 1, num. 7. DOI : 10.1038/s44182-023-00006-5.

Conference Papers

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

M. Polzin; F. Centamori; J. Hughes 

2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 29 – June 2, 2023. DOI : 10.1109/ICRA48891.2023.10160347.

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

A. Georgopoulou; S. Hamelryckx; K. Junge; L. M. Eckey; S. Rogler et al. 

2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122054.

Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization

A. Vicari; N. Obayashi; F. Stella; G. Raynaud; K. Mulleners et al. 

2023. Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023. DOI : 10.1109/RoboSoft55895.2023.10121999.

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

F. Pique; F. Stella; J. Hughes; E. Falotico; C. Della Santina 

2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122116.

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Y-S. Wu; K. D. Gilday; J. Hughes 

2023. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, OCT 01-05, 2023. p. 8331 – 8336. DOI : 10.1109/IROS55552.2023.10342299.

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

F. Stella; Q. Guan; C. Della Santina; J. Hughes 

2023. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10121939.

Reviews

The science of soft robot design: A review of motivations, methods and enabling technologies

F. Stella; J. Hughes 

Frontiers In Robotics And Ai. 2023. Vol. 9, p. 1059026. DOI : 10.3389/frobt.2022.1059026.

Theses

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

L. I. Paez Coy / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2023. 

Controlling the Microstructure and Composition of 3D Printed Soft Load-Bearing Hydrogels

M. Hirsch / E. Amstad (Dir.)  

Lausanne, EPFL, 2023. 

Posters

Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm

K. Junge; J. Hughes 

Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.

2022

Journal Articles

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

L. Costi; J. Hughes; J. Biggins; F. Iida 

Ieee Transactions On Medical Robotics And Bionics. 2022. Vol. 4, num. 3, p. 570 – 577. DOI : 10.1109/TMRB.2022.3192763.

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

C. Bosio; K. Junge; J. Hughes 

Frontiers In Robotics And Ai. 2022. Vol. 9, p. 878111. DOI : 10.3389/frobt.2022.878111.

Morphological Sensitivity and Falling Behavior of Paper V-Shapes

T. Howison; J. Hughes; F. Iida 

Artificial Life. 2022. Vol. 27, num. 3-4, p. 204 – 219. DOI : 10.1162/artl_a_00340.

A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification

J. DelPreto; J. Hughes; M. D’Aria; M. de Fazio; D. Rus 

IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 10589 – 10596. DOI : 10.1109/LRA.2022.3191232.

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

F. Stella; N. Obayashi; C. Della Santina; J. Hughes 

IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 11410 – 11417. DOI : 10.1109/LRA.2022.3192887.

Robotic automation and unsupervised cluster assisted modeling for solving the forward and reverse design problem of paper airplanes

N. Obayashi; K. Junge; S. Ilic; J. Hughes 

Scientific Reports. 2022. Vol. 13, num. 1, p. 4212. DOI : 10.1038/s41598-023-31395-0.

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

K. Junge; N. Obayashi; F. Stella; C. Della Santina; J. Hughes 

IEEE Robotics and Automation Magazine. 2022. Vol. 29, num. 4, p. 78 – 91. DOI : 10.1109/MRA.2022.3198821.

Building a bridge to Robot CoSpace

M. Shimizu; F. P. Aghababa; A. Kabiri; J. Hughes; A. Visser 

2022. 

Action augmentation of tactile perception for soft-body palpation

L. Scimeca; J. Hughes; P. Maiolino; L. He; T. Nanayakkara et al. 

Soft Robotics. 2022. Vol. 9, num. 2, p. 280 – 292. DOI : 10.1089/soro.2020.0129.

A comparison of approaches for including connectivity in systematic conservation planning

J. O. Hanson; J. Vincent; R. Schuster; L. Fahrig; A. Brennan et al. 

Journal of Applied Ecology. 2022. Vol. 59, num. 10, p. 2507 – 2519. DOI : 10.1111/1365-2664.14251.

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

K. Gilday; J. Hughes; F. Iida 

Soft Robotics. 2022. DOI : 10.1089/soro.2021.0077.

Conference Papers

Leveraging Embodied Intelligence for Dexterous Robotic Manipulators Through Iterative Co-design

K. Junge; J. Hughes 

2022. International Workshop on Embodied Intelligence, Online, Mars 24-26, 2021. DOI : 10.1088/1757-899X/1261/1/012009.

Simulation and Fabrication of Soft Robots with Embedded Skeletons

J. M. Bern; F. Zargarbashi; A. Zhang; J. Hughes; D. Rus 

2022. 2022 International Conference on Robotics and Automation (ICRA). p. 5205 – 5211. DOI : 10.1109/ICRA46639.2022.9811844.

Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation

K. Junge; K. Qiu; J. Hughes 

2022. IROS 2022 Kyoto – The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, October 23-27, 2022. DOI : 10.1109/IROS47612.2022.9981310.

Automatic Co-Design of Aerial Robots Using a Graph Grammar

A. Zhao; T. Du; J. Xu; J. Hughes; J. Salazar et al. 

2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, JAPAN, Oct 23-27, 2022. p. 11260 – 11267. DOI : 10.1109/IROS47612.2022.9982013.

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

H. Wang; T. Howison; J. Hughes; A. Abdulali; F. Iida 

2022. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). p. 300 – 305. DOI : 10.1109/RoboSoft54090.2022.9762138.

Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

S. Ilic; J. Hughes 

2022. 15th International Workshop on Human-Friendly Robotics (HFR), Delft, Netherlands, Septembre 22-23, 2022. p. 61 – 73. DOI : 10.1007/978-3-031-22731-8_5.

Exploration of Human-Robot Collaboration Methods for Iterative Design Optimization of Paper Airplanes

N. Obayashi; K. Junge; J. Hughes 

2022. International Workshop on Human-Friendly Robotics (HFR), Delft, The Netherlands, September 22-23, 2022. p. 131 – 145. DOI : 10.1007/978-3-031-22731-8_10.

Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation

N. Obayashi; C. Bosio; J. Hughes 

2022. 5th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, UK, April 4-8, 2022. p. 328 – 333. DOI : 10.1109/RoboSoft54090.2022.9762148.

Theses

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

F. Khadivar / A. Billard (Dir.)  

Lausanne, EPFL, 2022. 

Posters

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

F. Stella; Q. Guan; J. Leng; C. Della Santina; J. Hughes 

Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.

Talks

Soft Sensorized Physical Twin for Harvesting Raspberries

K. Junge; J. Hughes 

5th International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, April 4-8, 2022.

2021

Journal Articles

Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation

T. G. Thuruthel; J. Hughes; A. Georgopoulou; F. Clemens; F. Iida 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 2, p. 2099 – 2105. DOI : 10.1109/LRA.2021.3061399.

Bridging the divide between ecological forecasts and environmental decision making

K. Bodner; C. Rauen Firkowski; J. R. Bennett; C. Brookson; M. Dietze et al. 

Ecosphere. 2021. Vol. 12, num. 12, p. e03869. DOI : 10.1002/ecs2.3869.

3D printable sensorized soft gelatin hydrogel for multi-material soft structures

D. Hardman; J. Hughes; T. G. Thuruthel; K. Gilday; F. Iida 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 5269 – 5275. DOI : 10.1109/LRA.2021.3072600.

Compliant Sensorized Testing Device to Provide a Model-Based Estimation of the Cooking Time of Vegetables

G. Sochacki; F. Iida; J. Hughes 

2021. DOI : 10.17863/CAM.66275.

Reality-assisted evolution of soft robots through large-scale physical experimentation: a review

T. Howison; S. Hauser; J. Hughes; F. Iida 

Artificial Life. 2021. Vol. 26, num. 4, p. 484 – 506. DOI : 10.1162/artl_a_00330.

Online morphological adaptation for tactile sensing augmentation

J. Hughes; L. Scimeca; P. Maiolino; F. Iida 

Frontiers in Robotics and AI. 2021. Vol. 8. DOI : 10.3389/frobt.2021.665030.

Soft self-healing fluidic tactile sensors with damage detection and localization abilities

T. George Thuruthel; A. W. Bosman; J. Hughes; F. Iida 

Sensors. 2021. Vol. 21, num. 24, p. 8284. DOI : 10.3390/s21248284.

Wrist-driven passive grasping: interaction-based trajectory adaption with a compliant anthropomorphic hand

K. Gilday; J. Hughes; F. Iida 

Bioinspiration & Biomimetics. 2021. Vol. 16, num. 2, p. 26024. DOI : 10.1088/1748-3190/abe345.

Underwater soft robot modeling and control with differentiable simulation

T. Du; J. Hughes; S. Wah; W. Matusik; D. Rus 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 4994 – 5001. DOI : 10.1109/LRA.2021.3070305.

Conference Papers

Sensing soft robot shape using imus: An experimental investigation

J. Hughes; F. Stella; C. D. Santina; D. Rus 

2021. International Symposium on Experimental Robotics. p. 543 – 552. DOI : 10.1007/978-3-030-71151-1_48.

Bioinspired soft bendable peristaltic pump exploiting ballooning for high volume throughput

L. Costi; J. Hughes; F. Iida 

2021. 2021 20th International Conference on Advanced Robotics (ICAR). p. 1 – 6. DOI : 10.1109/ICAR53236.2021.9659323.

Detangling hair using feedback-driven robotic brushing

J. Hughes; T. Plumb-Reyes; N. Charles; L. Mahadevan; D. Rus 

2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 487 – 494. DOI : 10.1109/RoboSoft51838.2021.9479221.

Jamming joints for stiffness and posture control with an anthropomorphic hand

K. Gilday; J. Hughes; F. Iida 

2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 134 – 140. DOI : 10.1109/RoboSoft51838.2021.9479352.

Closed-Loop Robotic Cooking of Scrambled Eggs with a Salinity-based ‘Taste’Sensor

G. Sochacki; J. Hughes; S. Hauser; F. Iida 

2021. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ELECTR NETWORK, SEP 27-OCT 01, 2021. p. 594 – 600. DOI : 10.1109/IROS51168.2021.9636750.

Patents

Wearable glove with hybrid resistive-pressure sensors

W. Matusik; D. L. Rus; A. Spielberg; J. A. E. HUGHES; G. Chang et al. 

US11625096; US2021373663.

2021.

2020

Journal Articles

A field-tested robotic harvesting system for iceberg lettuce

S. Birrell; J. Hughes; J. Y. Cai; F. Iida 

Journal of Field Robotics. 2020. Vol. 37, num. 2, p. 225 – 245. DOI : 10.1002/rob.21888.

Flexible, adaptive industrial assembly: driving innovation through competition

J. Hughes; K. Gilday; L. Scimeca; S. Garg; F. Iida 

Intelligent Service Robotics. 2020. Vol. 13, num. 1, p. 169 – 178. DOI : 10.1007/s11370-019-00292-9.

Large-scale automated investigation of free-falling paper shapes via iterative physical experimentation

T. Howison; J. Hughes; F. Iida 

Nature Machine Intelligence. 2020. Vol. 2, num. 1, p. 68 – 75. DOI : 10.1038/s42256-019-0135-z.

RoboGrammar: graph grammar for terrain-optimized robot design

A. Zhao; J. Xu; M. Konaković-Luković; J. Hughes; A. Spielberg et al. 

ACM Transactions on Graphics. 2020. Vol. 39, num. 6, p. 188:1 – 188:16. DOI : 10.1145/3414685.3417831.

A Simple, Inexpensive, Wearable Glove with Hybrid Resistive-Pressure Sensors for Computational Sensing, Proprioception, and Task Identification

J. Hughes; A. Spielberg; M. Chounlakone; G. Chang; W. Matusik et al. 

Advanced Intelligent Systems. 2020. Vol. 2, num. 6, p. 2000002. DOI : 10.1002/aisy.202000002.

Joint entropy-based morphology optimization of soft strain sensor networks for functional robustness

T. G. Thuruthel; J. Hughes; F. Iida 

IEEE Sensors Journal. 2020. Vol. 20, num. 18, p. 10801 – 10810. DOI : 10.1109/JSEN.2020.2995237.

Improving robotic cooking using batch bayesian optimization

K. Junge; J. Hughes; T. G. Thuruthel; F. Iida 

IEEE Robotics and Automation Letters. 2020. Vol. 5, num. 2, p. 760 – 765. DOI : 10.1109/LRA.2020.2965418.

Conference Papers

Real World Bayesian Optimization Using Robots to Clean Liquid Spills

I. Voysey; J. Hughes; T. G. Thuruthel; K. Gilday; F. Iida 

2020. Annual Conference Towards Autonomous Robotic Systems. p. 196 – 208. DOI : 10.1007/978-3-030-63486-5_22.

Sensorization of a continuum body gripper for high force and delicate object grasping

J. Hughes; S. Li; D. Rus 

2020. 2020 IEEE International Conference on Robotics and Automation (ICRA), ELECTR NETWORK, MAY 31-JUN 15, 2020. p. 6913 – 6919. DOI : 10.1109/ICRA40945.2020.9196603.

Sensorized phantom for characterizing large area deformation of soft bodies for medical applications

J. Hughes; P. Maiolino; T. Nanayakkara; F. Iida 

2020. 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 278 – 284. DOI : 10.1109/RoboSoft48309.2020.9115971.

Extensible High Force Manipulator For Complex Exploration

J. Hughes; C. D. Santina; D. Rus 

2020. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 733 – 739. DOI : 10.1109/RoboSoft48309.2020.9116024.

Mechanically programmable, degradable & ingestible soft actuators

J. Hughes; D. Rus 

2020. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 836 – 843. DOI : 10.1109/RoboSoft48309.2020.9116001.

Morphologically programming the interactions of V-shaped falling papers

T. Howison; J. Hughes; F. Iida 

2020. ALIFE 2020: The 2020 Conference on Artificial Life. p. 359 – 366. DOI : 10.1162/isal_a_00306.

2019

Journal Articles

Twenty-three unsolved problems in hydrology (UPH) – a community perspective

G. Blöschl; M. F. Bierkens; A. Chambel; C. Cudennec; G. Destouni et al. 

Hydrological Sciences Journal. 2019. Vol. 64, num. 10, p. 1141 – 1158. DOI : 10.1080/02626667.2019.1620507.

A review of robot rescue simulation platforms for robotics education

J. Hughes; M. Shimizu; A. Visser 

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). 2019. Vol. 11531, p. 86 – 98. DOI : 10.1007/978-3-030-35699-6_7.

A proposal on more advanced Robot Rescue Simulation challenges for Robotics Education

J. Hughes; F. P. Aghababa; A. Kabiri; M. Shimizu; A. Visser 

2019. 

Model-free soft-structure reconstruction for proprioception using tactile arrays

L. Scimeca; J. Hughes; P. Maiolino; F. Iida 

IEEE Robotics and Automation Letters. 2019. Vol. 4, num. 3, p. 2479 – 2484. DOI : 10.1109/LRA.2019.2906548.

Conference Papers

Gel-Based Soft Interfaces for Fastener Manipulation in Robotic Agile Assembly

K. Gilday; J. Hughes; F. Iida 

2019. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, SOUTH KOREA, APR 14-18, 2019. p. 155 – 160. DOI : 10.1109/ROBOSOFT.2019.8722738.

Theses

Bio-inspired soft robotic systems: Exploiting environmental interactions using embodied mechanics and sensory coordination

J. A. E. Hughes 

University of Cambridge, 2019. 

2018

Journal Articles

Multi-functional soft strain sensors for wearable physiological monitoring

J. Hughes; F. Iida 

Sensors. 2018. Vol. 18, num. 11, p. 3822. DOI : 10.3390/s18113822.

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing

J. A. E. Hughes; P. Maiolino; F. Iida 

Science Robotics. 2018. Vol. 3, num. 25, p. eaau3098. DOI : 10.1126/scirobotics.aau3098.

Achieving robotically peeled lettuce

J. Hughes; L. Scimeca; I. Ifrim; P. Maiolino; F. Iida 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 4, p. 4337 – 4342. DOI : 10.1109/LRA.2018.2855043.

Physics driven behavioural clustering of free-falling paper shapes

T. Howison; J. Hughes; F. Giardina; F. Iida 

PloS one. 2018. Vol. 14, num. 6, p. e0217997. DOI : 10.1371/journal.pone.0217997.

Tactile sensing applied to the universal gripper using conductive thermoplastic elastomer

J. Hughes; F. Iida 

Soft Robotics. 2018. Vol. 5, num. 5, p. 512 – 526. DOI : 10.1089/soro.2017.0089.

Conference Papers

Achieving flexible assembly using autonomous robotic systems

K. Gilday; J. Hughes; F. Iida 

2018. 2018 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, SPAIN, OCT 01-05, 2018. p. 1 – 9. DOI : 10.1109/IROS.2018.8593852.

Data Synthesization for Classification in Autonomous Robotic Grasping System Using ‘Catalogue’-Style Images

M. Cheah; J. Hughes; F. Iida 

2018. Annual Conference Towards Autonomous Robotic Systems. p. 40 – 51. DOI : 10.1007/978-3-319-96728-8_4.

Tack and deformation based sensorised gripping using conductive hot melt adhesive

J. Hughes; F. Iida 

2018. 1st IEEE-RAS International Conference on Soft Robotics (RoboSoft), Livorno, ITALY, APR 24-28, 2018. p. 553 – 558. DOI : 10.1109/ROBOSOFT.2018.8405384.

2017

Conference Papers

3D printed sensorized soft robotic manipulator design

J. Hughes; F. Iida 

2017. 18th Annual Conference on Towards Autonomous Robotics (TAROS), Univ Surrey, Guildford, ENGLAND, JUL 19-21, 2017. p. 627 – 636. DOI : 10.1007/978-3-319-64107-2_51.

Real-world, real-time robotic grasping with convolutional neural networks

J. Watson; J. Hughes; F. Iida 

2017. 18th Annual Conference on Towards Autonomous Robotics (TAROS), Univ Surrey, Guildford, ENGLAND, JUL 19-21, 2017. p. 617 – 626. DOI : 10.1007/978-3-319-64107-2_50.

Design principles for soft-rigid hybrid manipulators

U. Culha; J. Hughes; A. Rosendo; F. Giardina; F. Iida 

2017. Soft Robotics Week – Trends, Applications and Challenges, Livorno, ITALY, APR 25-30, 2016. p. 87 – 94. DOI : 10.1007/978-3-319-46460-2_11.

Localized differential sensing of soft deformable surfaces

J. Hughes; F. Iida 

2017. 2017 IEEE International Conference on Robotics and Automation (ICRA). p. 4959 – 4964. DOI : 10.1109/ICRA.2017.7989576.