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Institute of Applied Data Science

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Professor Kaspar Althoefer

Kaspar Althoefer

Professor of Robotics Engineering & Turing Fellow

Department School of Electronic Engineering and Computer Science
 Queen Mary University of London
020 7882 3419

www.eecs.qmul.ac.uk/profiles/althoeferkaspar.html

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Research

Force and Tactile Sensing for Robotics, Soft and Stiffness-controllable Robot Structures, Minimally Invasive Surgery, Human-Robot Interaction in the Manufacturing Sector, Landmine Detection

Interests

Professor Kaspar Althoefer is Principal Investigator on a new project funded by the Alan Turing Institute: 'Learning collaboration affordances for intuitive human-robot interaction'

This project aims to create intelligent methods for natural and intuitive human-robot interaction, with the goal of equipping robots with the required intelligence to understand a given manual task in such a way to actively support a human completing it. The focus will be on natural, intuitive tool handover in a work environment, such as an operating theatre, a factory floor or the extreme environment of a nuclear power plant. While humans  conduct handover tasks with great ease, there are still many shortcomings when attempting to carry out this HRI task using existing robotic systems [1]. It has been shown that a large number of complex multimodal cues are used by humans when objects or tools are handed over from one person to another [2]. These cues range from spoken instructions, to hand gestures, mutual gaze, pressure sensing with the hands and changes in body position and orientation [3].

[1] K. W. Strabala, M. K. Lee, A. D. Dragan, J. L. Forlizzi, S. Srinivasa, M. Cakmak and V. Micelli,
“Towards seamless human-robot handovers,” J. Human-Robot Interaction, 2(1), pp. 112– 132, 2013.
[2] N. Sebanz and G. Knoblich, “Prediction in Joint Action: What, When, and Where,” Topics in Cognitive Science, vol. 1, no. 2, pp. 353–367, 2009.
[3] C.-M. Huang, S. Andrist, A. Sauppe' and B. Mutlu, “Using gaze patterns to predict task intent in
collaboration”. Frontiers in psychology, vol. 6, p. 1049, 2015.

Other current research interests are in the areas of robot autonomy, soft robotics, modelling of tool-environment interaction dynamics, sensing and neuro-fuzzy-based sensor signal classification with applications in robot-assisted minimally invasive surgery, rehabilitation, assistive technologies and human-robot interactions in the manufacturing environment. Kaspar has authored/co-authored more than 200 peer-reviewed papers and is named inventor on five patent applications.

Publications

Publications of specific relevance to Applied Data Science

2020

Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K and Nanayakkara T (2020). Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings. Ieee Robotics and Automation Letters  vol. 5, (2) 2824-2831. 10.1109/LRA.2020.2972790
Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness. Institute of Electrical and Electronics Engineers (Ieee)  Ieee Robotics and Automation Letters  1-1. 10.1109/lra.2020.2976326
Althoefer K (2020). TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models. Sage Publications  International Journal of Robotics Research  10.1177/0278364919881685

2019

Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and Althoefer K (2019). An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. Front Neurorobot  vol. 13, 34-34. 10.3389/fnbot.2019.00034
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J, Singh D and Rhode K (2019). Analysis of a customized clutch joint designed for the safety management of an ultrasound robot. Applied Sciences (Switzerland)  vol. 9, (9) 10.3390/app9091900
Shiva A, Sadati SMH, Noh Y, Fra J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K (2019). Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robotics  vol. 6, (2) 228-249. 10.1089/soro.2018.0060
Matsuno T, Wang Z, Althoefer K and Hirai S (2019). Adaptive update of reference capacitances in conductive fabric based robotic skin. Ieee Robotics and Automation Letters  vol. 4, (2) 2212-2219. 10.1109/LRA.2019.2901991
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J, Althoefer K, Singh D and Rhode K (2019). Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. J Vis Exp  (143) 10.3791/58811
Althoefer K, Konstantinova J and Zhang K (2019). Preface.

2018

COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T (2018). Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands. Public Library of Science (Plos)  Plos One  10.1371/journal.pone.0208228
ALTHOEFER KA (2018). Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading. Taylor & Francis  Advanced Robotics  10.1080/01691864.2018.1528178
ALTHOEFER KA (2018). Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. Institute of Electrical and Electronics Engineers  Ieee Robotics and Automation Letters  10.1109/LRA.2018.2853801
ALTHOEFER KA (2018). iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Springer Verlag  Autonomous Robots  10.1007/s10514-018-9777-7
ALTHOEFER KA (2018). Real-Time Vision-Based Stiffness Mapping. Mdpi Ag  Sensors  10.3390/s18051347
ALTHOEFER KA (2018). Antagonistic actuation and stiffness control in soft inflatable robots. Nature Reviews Materials  10.1038/s41578-018-0004-0
Sadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T (2018). Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. Ieee Robotics and Automation Letters  vol. 3, (3) 2283-2290. 10.1109/LRA.2018.2805163
Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K and Menciassi A (2018). Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery. International Journal of Medical Robotics and Computer Assisted Surgery  vol. 14, (1) 10.1002/rcs.1875
Stilli A, Althoefer K and Wurdemann HA (2018). Soft robotics. Bio-inspired antagonistic stiffening. Biosystems and Biorobotics  10.1007/978-3-030-01836-8_20

2017

Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK and Kwok KW (2017). Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation. Soft Robotics  vol. 4, (4) 324-337. 10.1089/soro.2016.0065
ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). Anchoring like octopus: biologically inspired soft artificial sucker. Royal Society, The  Journal of The Royal Society Interface  vol. 14, (135) 10.1098/rsif.2017.0395
KONSTANTINOVA J, Stilli and Althoefer (2017). Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. Mdpi  Sensors  vol. 17, (10) 10.3390/s17102337
Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). Anchoring like octopus: Biologically inspired soft artificial sucker. Journal of The Royal Society Interface  vol. 14, (135) 10.1098/rsif.2017.0395
Sadati SMH, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T (2017). Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods. Ieee Robotics and Automation Letters  vol. 3, (1) 328-335. 10.1109/LRA.2017.2743100
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K and Nanayakkara T (2017). A geometry deformation model for braided continuum manipulators. Frontiers Robotics Ai  vol. 4, (JUN) 10.3389/frobt.2017.00022
Wang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K and Housden RJ (2017). Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10170 LNCS, 14-23. 10.1007/978-3-319-54057-3_2
Ranasinghe A, Althoefer K, Dasgupta P, Nagar A and Nanayakkara T (2017). Wearable haptic based pattern feedback sleeve system. Advances in Intelligent Systems and Computing  vol. 547, 302-312. 10.1007/978-981-10-3325-4_30
Shao W, Barras J, Althoefer K and Kosmas P (2017). Detecting NQR signals severely polluted by interference. Signal Processing  vol. 138, 256-264. 10.1016/j.sigpro.2017.03.032
Luo S, Zhu L, Althoefer K and Liu H (2017). Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. Neurocomputing  10.1016/j.neucom.2017.03.014
Stilli A, Wurdemann HA and Althoefer K (2017). A Novel Concept for Safe, Stiffness-Controllable Robot Links. Soft Robotics  vol. 4, (1) 16-22. 10.1089/soro.2016.0015
Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and Althoefer K (2017). Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model. Public Library of Science (Plos)  Plos One  10.1371/journal.pone.0172703
Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD, Althoefer K and Dasgupta P (2017). Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery. Med Eng Phys  10.1016/j.medengphy.2017.01.021
KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T (2017). Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs. Public Library of Science (Plos)  Plos One  10.1371/journal.pone.0171706
Sadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K and Nanayakkara T (2017). Mechanics of continuum manipulators, a comparative study of five methods with experiments. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 10454 LNAI, 686-702. 10.1007/978-3-319-64107-2_56

2016

ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ (2016). Embroidered Electromyography: A Systematic Design Guide. Ieee Transactions On Neural Systems and Rehabilitation Engineering  10.1109/TNSRE.2016.2633506
ALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H, Housden J and Rhode K (2016). Multi-axis force/torque sensor based on simply supported beam and optoelectronics. Journal of Sensors Mdpi  10.3390/s16111936
ALTHOEFER KA (2016). Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography. Ieeerobotics&Automationmagazine  10.1109/MRA.2016.2580478
Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T and Althoefer K (2016). Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism. Ieee Trans Biomed Eng  vol. 63, (11) 2425-2435. 10.1109/TBME.2013.2276739
Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and Althoefer K (2016). Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization. Ieee Sensors Journal  vol. 16, (22) 7924-7932. 10.1109/JSEN.2016.2600671
Shiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A, Althoefer K and Wurdemann HA (2016). Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. Ieee Robotics and Automation Letters  vol. 1, (2) 632-637. 10.1109/LRA.2016.2523120
Li M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H and Althoefer K (2016). Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments., Editors: Zhang D. Public Library of Science  Plos One  vol. 11, (6) e0157681-e0157681. 10.1371/journal.pone.0157681
Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M, Menciassi A, Wurdemann H, Noh Y, Althoefer K, Fras J, Glowka J, Nawrat Z, Cassidy G, Walker R and Morino M (2016). Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models. Springer Verlag (Germany)  Surgical Endoscopy: Surgical and Interventional Techniques  10.1007/s00464-016-4967-x
Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD and Althoefer K (2016). A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs. Ieee/Asme Transactions On Mechatronics  vol. 21, (3) 1281-1292. 10.1109/TMECH.2015.2498738
Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K and Bimbo J (2016). Stable Grip Control on Soft Objects With Time-Varying Stiffness. Ieee Transactions On Robotics  vol. 32, (3) 626-637. 10.1109/TRO.2016.2549545
Chen C, Zhang F, Barras J, Althoefer K, Bhunia S and Mandal S (2016). Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy. Ieee/Acm Trans Comput Biol Bioinform  vol. 13, (3) 417-430. 10.1109/TCBB.2015.2511763
Qi P, Liu C, Ataka A, Lam HK and Althoefer K (2016). Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach. Ieee Transactions On Industrial Electronics  vol. 63, (8) 5022-5035. 10.1109/TIE.2016.2554078
Cotugno G, Althoefer K and Nanayakkara T (2016). The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands. Ieee Transactions On Systems, Man, and Cybernetics: Systems  vol. 47, (7) 1061-1070. 10.1109/TSMC.2016.2531679
Qiu C, Qi P, Liu H, Althoefer K and Dai JS (2016). Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs. Journal of Mechanical Design, Transactions of The Asme  vol. 138, (4) 10.1115/1.4032580
Noh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K and Althoefer K (2016). Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators. Ieee Sensors Journal  vol. 16, (6) 1641-1651. 10.1109/JSEN.2015.2488099
Dias J, Althoefer K and Lima PU (2016). Robot Competitions: What Did We Learn? [Competitions]. Ieee Robotics and Automation Magazine  vol. 23, (1) 16-18. 10.1109/MRA.2015.2511678
Ranasinghe A, Sornkarn N, Dasgupta P, Althoefer K, Penders J and Nanayakkara T (2016). Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins. Ieee Transactions On Cybernetics  vol. 46, (2) 568-579. 10.1109/TCYB.2015.2409772
Bimbo J, Luo S, Althoefer K and Liu H (2016). In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching. Ieee Robotics and Automation Letters  vol. 1, (1) 570-577. 10.1109/LRA.2016.2517244

2015

Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A (2015). Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications. Soft Robotics  vol. 2, (4) 146-154. 10.1089/soro.2015.0011
Sareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K (2015). Macrobend optical sensing for pose measurement in soft robot arms. Smart Materials and Structures  vol. 24, (12) 10.1088/0964-1726/24/12/125024
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; A study for monoclinic TNT. Solid State Nuclear Magnetic Resonance  vol. 71, 41-54. 10.1016/j.ssnmr.2015.10.004
Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). 14N NQR, relaxation and molecular dynamics of the explosive TNT. Solid State Nuclear Magnetic Resonance  vol. 71, 61-66. 10.1016/j.ssnmr.2015.09.009
Luo S, Mou W, Althoefer K and Liu H (2015). Novel Tactile-SIFT Descriptor for Object Shape Recognition. Ieee Sensors Journal  vol. 15, (9) 5001-5009. 10.1109/JSEN.2015.2432127
Wang S, Housden J, Singh D, Althoefer K and Rhode K (2015). Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound. Wiley: 12 Months  International Journal of Medical Robotics and Computer Assisted Surgery  vol. 12, (3) 342-354. 10.1002/rcs.1691
Ranasinghe A, Dasgupta P, Althoefer K and Nanayakkara T (2015). Identification of haptic based guiding using hard reins. Plos One  vol. 10, (7) 10.1371/journal.pone.0132020
Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and Althoefer K (2015). Finger contact sensing and the application in dexterous hand manipulation. Autonomous Robots  vol. 39, (1) 25-41. 10.1007/s10514-015-9425-4
Xie H, Liu H, Noh Y, Li J, Wang S and Althoefer K (2015). A fiber-optics-based body contact sensor for a flexible manipulator. Ieee Sensors Journal  vol. 15, (6) 3543-3550. 10.1109/JSEN.2015.2392384
Li M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann HA (2015). Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue. Medical and Biological Engineering and Computing  vol. 53, (11) 1177-1186. 10.1007/s11517-015-1309-4
Kyriakidou G, Jakobsson A, Althoefer K and Barras J (2015). Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy. Analytical Chemistry  vol. 87, (7) 3806-3811. 10.1021/ac5044658
Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2015). Modeling and optimizing output characteristics of intensity modulated optical fiber-based displacement sensors. Ieee Transactions On Instrumentation and Measurement  vol. 64, (3) 758-767. 10.1109/TIM.2014.2347694
Bimbo J, Kormushev P, Althoefer K and Liu H (2015). Global estimation of an objects pose using tactile sensing. Advanced Robotics  vol. 29, (5) 363-374. 10.1080/01691864.2014.1002531
Deters C, Lam HK, Secco EL, Wurdemann HA, Seneviratne LD and Althoefer K (2015). Accurate bolt tightening using model-free fuzzy control for wind turbine hub bearing assembly. Ieee Transactions On Control Systems Technology  vol. 23, (1) 1-12. 10.1109/TCST.2014.2309854

2014

Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and Althoefer K (2014). Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments. Mechatronics  vol. 24, (8) 1092-1100. 10.1016/j.mechatronics.2014.07.004
Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K (2014). Multi-fingered haptic palpation using pneumatic feedback actuators. Sensors and Actuators, a: Physical  vol. 218, 132-141. 10.1016/j.sna.2014.08.003
Jiang A, Ranzani T, Gerboni G, Lekstutyte L, Althoefer K, Dasgupta P and Nanayakkara T (2014). Robotic Granular Jamming: Does the Membrane Matter? Soft Robotics  vol. 1, (3) 192-201. 10.1089/soro.2014.0002
Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A (2014). Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach. Soft Robotics  vol. 1, (2) 122-131. 10.1089/soro.2014.0001
Xie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD and Althoefer K (2014). Magnetic resonance-compatible tactile force sensor using fiber optics and vision sensor. Ieee Sensors Journal  vol. 14, (3) 829-838. 10.1109/JSEN.2013.2281591
Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P and Althoefer K (2014). Novel force sensing approach employing prismatic-tip optical fiber inside an orthoplanar spring structure. Ieee/Asme Transactions On Mechatronics  vol. 19, (1) 121-130. 10.1109/TMECH.2012.2222906
Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K and Würdemann H (2014). Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. Production Engineering  vol. 8, (6) 755-764. 10.1007/s11740-014-0557-8
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD (2014). Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. Medical and Biological Engineering and Computing  vol. 52, (1) 17-28. 10.1007/s11517-013-1118-6
Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K (2014). Control design for interval type-2 fuzzy systems under imperfect premise matching. Ieee Transactions On Industrial Electronics  vol. 61, (2) 956-968. 10.1109/TIE.2013.2253064
Song X, Liu H, Althoefer K, Nanayakkara T and Seneviratne LD (2014). Efficient break-away friction ratio and slip prediction based on haptic surface exploration. Ieee Transactions On Robotics  vol. 30, (1) 203-219. 10.1109/TRO.2013.2279630
Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann H (2014). Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review. Proceedings of The Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 228, (5) 509-522. 10.1177/0954411914533679
Karim R, Ma YL, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K#38223#, Rinaldi CA, Razavi R, O'Neill MD, Schaeftter T and Rhode KS (2014). Surface flattening of the human left atrium and proof-of-concept clinical applications. Computerized Medical Imaging and Graphics  vol. 38, (4) 251-266. 10.1016/j.compmedimag.2014.01.004
Althoefer K (2014). MRI-safe robots. Why are they not yet routinely used? Bju International  vol. 113, (6) 975-976. 10.1111/bju.12706
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA and Althoefer K (2014). Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Materials and Structures  vol. 23, (9) 10.1088/0964-1726/23/9/095007
Konstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K and Nanayakkara T (2014). Behavioral characteristics of manual palpation to localize hard nodules in soft tissues. Ieee Transactions On Biomedical Engineering  vol. 61, (6) 1651-1659. 10.1109/TBME.2013.2296877
Xie H, Liu H, Seneviratne LD and Althoefer K (2014). An optical tactile array probe head for tissue palpation during minimally invasive surgery. Ieee Sensors Journal  vol. 14, (9) 3283-3291. 10.1109/JSEN.2014.2328182
Konstantinova J, Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2014). Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review. Ieee Sensors Journal  vol. 14, (8) 2490-2501. 10.1109/JSEN.2014.2325794
Rowe MD, Smith JAS, Barras J and Althoefer K (2014). Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions. Nato Science For Peace and Security Series B: Physics and Biophysics  35-43. 10.1007/978-94-007-7265-6-3

2013

Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2013). Air-float palpation probe for tissue abnormality identification during minimally invasive surgery. Ieee Transactions On Biomedical Engineering  vol. 60, (10) 2735-2744. 10.1109/TBME.2013.2264287
Barras J, Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D and Assi S (2013). Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines. Tropical Medicine & International Health  vol. 18, 21-21.
Taylor JG, Cutsuridis V, Hartley M, Althoefer K and Nanayakkara T (2013). Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics. Cognitive Computation  vol. 5, (3) 340-354. 10.1007/s12559-013-9208-1
Barras J, Murnane D, Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G and Smith JAS (2013). Nitrogen-14 nuclear quadrupole resonance spectroscopy: A promising analytical methodology for medicines authentication and counterfeit antimalarial analysis. Analytical Chemistry  vol. 85, (5) 2746-2753. 10.1021/ac303267v
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T and Althoefer K (2013). Triaxial catheter-tip force sensor for MRI-guided cardiac procedures. Ieee/Asme Transactions On Mechatronics  vol. 18, (1) 386-396. 10.1109/TMECH.2011.2181405

2012

Li J, Liu H, Althoefer K and Seneviratne LD (2012). A stiffness probe based on force and vision sensing for soft tissue diagnosis. Proceedings of The Annual International Conference of The Ieee Engineering in Medicine and Biology Society, Embs  944-947. 10.1109/EMBC.2012.6346088
Barras J, Althoefer K, Rowe MD, Poplett IJ and Smith JAS (2012). The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy. Applied Magnetic Resonance  vol. 43, (4) 511-529. 10.1007/s00723-012-0320-2
Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA and Smith JAS (2012). Variable-pitch rectangular cross-section radiofrequency coils for the nitrogen-14 nuclear quadrupole resonance investigation of sealed medicines packets. Analytical Chemistry  vol. 84, (21) 8970-8972. 10.1021/ac3015643
Yao W, Schaeffter T, Seneviratne L and Althoefer K (2012). Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization. Journal of Medical Devices, Transactions of The Asme  vol. 6, (4) 10.1115/1.4007281
Zirjakova J, Althoefer K, Dasgupta P and Nanayakkara T (2012). PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT. Journal of Endourology  vol. 26, A20-A21.
Li M, Dasgupta P, Seneviratne LD and Althoefer K (2012). SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY. Journal of Endourology  vol. 26, A48-A48.
Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2012). GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES. Journal of Endourology  vol. 26, A403-A404.
Sargeant R, Seneviratne LD and Althoefer K (2012). A 2-axis optical force-torque fingertip sensor for dexterous grasping using linear polarizers. Ieee Transactions On Instrumentation and Measurement  vol. 61, (12) 3363-3377. 10.1109/TIM.2012.2210456
Puangmali P, Liu H, Seneviratne LD, Dasgupta P and Althoefer K (2012). Miniature 3-axis distal force sensor for minimally invasive surgical palpation. Ieee/Asme Transactions On Mechatronics  vol. 17, (4) 646-656. 10.1109/TMECH.2011.2116033
Lara B, Seneviratne LD and Althoefer K (2012). Automated screw insertion monitoring using neural networks: A computational intelligence approach to assembly in manufacturing. Computational Intelligence and Its Applications: Evolutionary Computation, Fuzzy Logic, Neural Network and Support Vector Machin  10.1142/9781848166929_0008

2011

Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and Althoefer K (2011). 14N quadrupole resonance and 1H T1 dispersion in the explosive RDX. Journal of Magnetic Resonance  vol. 213, (1) 98-106. 10.1016/j.jmr.2011.09.011
Sangpradit K, Liu H, Dasgupta P, Althoefer K and Seneviratne LD (2011). Finite-element modeling of soft tissue rolling indentation. Ieee Transactions On Biomedical Engineering  vol. 58, (12 PART 1) 3319-3327. 10.1109/TBME.2011.2106783
Yousef H, Boukallel M and Althoefer K (2011). Tactile sensing for dexterous in-hand manipulation in robotics - A review. Sensors and Actuators, a: Physical  vol. 167, (2) 171-187. 10.1016/j.sna.2011.02.038
Liu H, Li J, Song X, Seneviratne LD and Althoefer K (2011). Rolling indentation probe for tissue abnormality identification during minimally invasive surgery. Ieee Transactions On Robotics  vol. 27, (3) 450-460. 10.1109/TRO.2011.2127210
Polygerinos P, Seneviratne LD and Althoefer K (2011). Modeling of light intensity-modulated fiber-optic displacement sensors. Ieee Transactions On Instrumentation and Measurement  vol. 60, (4) 1408-1415. 10.1109/TIM.2010.2085270
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2011). MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures. Ieee Transactions On Biomedical Engineering  vol. 58, (3 PART 1) 721-726. 10.1109/TBME.2010.2095853
Song X, Seneviratne LD and Althoefer K (2011). A Kalman filter-integrated optical flow method for velocity sensing of mobile robots. Ieee/Asme Transactions On Mechatronics  vol. 16, (3) 551-563. 10.1109/TMECH.2010.2046421

2010

Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD (2010). Force sensing in medical robotics. Mechatronics in Action: Case Studies in Mechatronics - Applications and Education  10.1007/978-1-84996-080-9_10
Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2010). MRI-compatible fiber-optic force sensors for catheterization procedures. Ieee Sensors Journal  vol. 10, (10) 1598-1608. 10.1109/JSEN.2010.2043732
Zbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P and Murphy D (2010). A comparative study between an improved novel air-cushion sensor and a wheeled probe for minimally invasive surgery. Journal of Endourology  vol. 24, (7) 1155-1159. 10.1089/end.2010.0131
Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L and Althoefer K (2010). An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery. Proceedings of The Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 224, (6) 751-763. 10.1243/09544119JEIM682
Al-Milli S, Seneviratne LD and Althoefer K (2010). Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain. Journal of Terramechanics  vol. 47, (3) 151-160. 10.1016/j.jterra.2010.02.001
Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD and Althoefer K (2010). Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN). Journal of Magnetic Resonance  vol. 204, (1) 139-144. 10.1016/j.jmr.2010.02.019
Puangmali P, Althoefer K and Seneviratne LD (2010). Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors. Ieee Transactions On Instrumentation and Measurement  vol. 59, (2) 283-291. 10.1109/TIM.2009.2023147
Liu H, Seneviratne LD, Althoefer K, Noonan DP, Challacombe BJ and Dasgupta P (2010). Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery. Ieee Transactions On Biomedical Engineering  vol. 57, (2) 404-414. 10.1109/TBME.2009.2032164

2009

Polygerinos P, Schaeffter T, Seneviratne L and Althoefer K (2009). A fibre-optic catheter-tip force sensor with MRI compatibility: A feasibility study. Proceedings of The 31st Annual International Conference of The Ieee Engineering in Medicine and Biology Society: Engineering The  1501-1504. 10.1109/IEMBS.2009.5334163
Song ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH (2009). Slip parameter estimation of a single wheel using a non-linear observer. Robotica  vol. 27, (6) 801-811. 10.1017/S0263574708005146
Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D and Althoefer K (2009). Air-cushion force-sensitive probe for soft tissue investigation during minimally invasive surgery. Journal of Endourology  vol. 23, (9) 1421-1424. 10.1089/end.2009.0382
Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L and Dasgupta P (2009). The science behind haptics in robotic urological surgery. Bju International  vol. 104, (4) 433-434. 10.1111/j.1464-410X.2009.08521.x
Tate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES and Wren SAC (2009). Quantitative 35Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese. Analytical Chemistry  vol. 81, (13) 5574-5576. 10.1021/ac900656e
Althoefer K, Tan CP, Zweiri YH and Seneviratne LD (2009). Hybrid soil parameter easurement and estimation scheme for excavation automation. Ieee Transactions On Instrumentation and Measurement  vol. 58, (10) 3633-3641. 10.1109/TIM.2009.2018699
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Al-Milli S and Althoefer K (2009). The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain. International Journal of Modelling, Identification and Control  vol. 6, (1) 40-50. 10.1504/IJMIC.2009.023529

2008

Hutangkabodee S, Zweiri Y, Seneviratne L and Althoefer K (2008). Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction. International Journal of Advanced Robotic Systems  vol. 5, (4) 425-432.
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (2008). Wheel/tissue force interaction: a new concept for soft tissue diagnosis during MIS. Conference Proceedings : ... Annual International Conference of The Ieee Engineering in Medicine and Biology Society. Ieee Engin  5556-5559. 10.1109/IEMBS.2008.4650473
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K (2008). Robust detection of stochastic nuclear quadrupole resonance signals. Ieee Transactions On Signal Processing  vol. 56, (9) 4221-4229. 10.1109/TSP.2008.923809
Althoefer K, Lara B, Zweiri YH and Seneviratne LD (2008). Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks. Proceedings of The Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 222, (6) 1081-1095. 10.1243/09544062JMES546
Song ZB, Zweiri YH, Seneviratne LD and Althoefer K (2008). Non-linear observer for slip estimation of tracked vehicles. Proceedings of The Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering  vol. 222, (4) 515-533. 10.1243/09544070JAUTO452
Al-Ja'Afreh T, Zweiri Y, Seneviratne L and Althoefer K#38223# (2008). A new soft-tissue indentation model for estimating circular indenter 'force-displacement' characteristics. Proceedings of The Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine  vol. 222, (5) 805-815. 10.1243/09544119JEIM319
Puangmali P, Althoefer K, Seneviratne LD, Murphy D and Dasgupta P (2008). State-of-the-art in force and tactile sensing for minimally invasive surgery. Ieee Sensors Journal  vol. 8, (4) 371-380. 10.1109/JSEN.2008.917481
Song Z-B, Zweiri YH, Seneviratne LD and Althoefer K (2008). Non-linear observer for slip estimation of tracked vehicles. Proceedings of The Institution of Mechanical Engineers Part D-Journal of Automobile Engineering  vol. 222, (D4) 515-533. 10.1243/09544070JAUTO452
Al-Ja'afreh TM, Zweiri YH, Seneviratne LD and Althoefer K#38223# (2008). Modelling soft tissue-mechatronic tool interactions during indentation. International Journal of Modelling, Identification and Control  vol. 4, (4) 337-347. 10.1504/IJMIC.2008.021474

2007

Gomez F, Althoefer K and Seneviratne LD (2007). An ultrasonic profiling method for the inspection of tubular structures. Computer-Aided Civil and Infrastructure Engineering  vol. 22, (6) 400-418. 10.1111/j.1467-8667.2007.00496.x
Murphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L and Dasgupta P (2007). Equipment and technology in robotics. Archivos Espanoles De Urologia  vol. 60, (4) 349-355. 10.4321/s0004-06142007000400004
Somasundaram SD, Jakobsson A, Smith JAS and Althoefer K (2007). Exploiting spin echo decay in the detection of nuclear quadrupole resonance signals. Ieee Transactions On Geoscience and Remote Sensing  vol. 45, (4) 925-933. 10.1109/TGRS.2006.890413
Duran O, Althoefer K and Seneviratne LD (2007). Automated pipe defect detection and categorization using caniera/laser-based profiler and artificial neural network. Ieee Transactions On Automation Science and Engineering  vol. 4, (1) 118-126. 10.1109/TASE.2006.873225

2006

Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. Springer Tracts in Advanced Robotics  vol. 25, 517-528. 10.1007/11736592_43
Zweiri YH, Seneviratne LD and Althoefer K (2006). Modelling of closed-chain manipulators on an excavator vehicle. Mathematical and Computer Modelling of Dynamical Systems  vol. 12, (4) 329-345. 10.1080/13873950500067007
Gomez F, Althoefer K and Seneviratne LD (2006). Simulation of ultrasound imaging inside fully charged pipes. Automation in Construction  vol. 15, (3) 355-364. 10.1016/j.autcon.2005.07.001

2005

Zweiri YH, Seneviratne LD and Althoefer K (2005). Stability analysis of a three-term backpropagation algorithm. Neural Networks  vol. 18, (10) 1341-1347. 10.1016/j.neunet.2005.04.007
Khawaja K, Seneviratne L and Althoefer K (2005). Wheel-tooling gap measurement system for Conform™ extrusion machinery based on a capacitive sensor. Journal of Manufacturing Science and Engineering, Transactions of The Asme  vol. 127, (2) 394-401. 10.1115/1.1870004
Tan CP, Zweiri YH, Althoefer K and Seneviratne LD (2005). Online soil parameter estimation scheme based on Newton-Raphson method for autonomous excavation. Ieee/Asme Transactions On Mechatronics  vol. 10, (2) 221-229. 10.1109/TMECH.2005.844706
Althoefer K, Lara B and Seneviratne LD (2005). Monitoring of self-tapping screw fastenings using artificial neural networks. Journal of Manufacturing Science and Engineering, Transactions of The Asme  vol. 127, (1) 236-245. 10.1115/1.1831286

2003

Zweiri YH, Seneviratne LD and Althoefer K (2003). Modelling and control of an unmanned excavator vehicle. Proceedings of The Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering  vol. 217, (4) 259-274. 10.1243/095965103322260386
Duran O, Althoefer K and Seneviratne LD (2003). Pipe inspection using a laser-based transducer and automated analysis techniques. Ieee/Asme Transactions On Mechatronics  vol. 8, (3) 401-409. 10.1109/TMECH.2003.816809

2002

Duran O, Althoefer K and Seneviratne LD (2002). State of the art in sensor technologies for sewer inspection. Ieee Sensors Journal  vol. 2, (2) 73-81. 10.1109/JSEN.2002.1000245
Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K (2002). A comparison of dynamic models of various complexity for diesel engines. Mathematical and Computer Modelling of Dynamical Systems  vol. 8, (3) 273-289. 10.1076/mcmd.8.3.273.14100

2001

Seneviratne LD, Ngemoh FA, Earles SWE and Althoefer KA (2001). Theoretical modelling of the self-tapping screw fastening process. Proceedings of The Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 215, (2) 135-154. 10.1243/0954406011520562
Althoefer K, Krekelberg B, Husmeier D and Seneviratne L (2001). Reinforcement learning in a rule-based navigator for robotic manipulators. Neurocomputing  vol. 37, (1-4) 51-70. 10.1016/S0925-2312(00)00307-6

2000

Althoefer K, Seneviratne LD and Shields R (2000). Mechatronic strategies for torque control of electric powered screwdrivers. Proceedings of The Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science  vol. 214, (12) 1485-1500. 10.1243/0954406001523434

1998

Husmeier D and Althoefer K (1998). Modelling conditional probabilities with network committees: how overfitting can be useful. Neural Network World  vol. 8, (4) 417-439.
Althoefer K, Seneviratne LD, Zavlangas P and Krekelberg B (1998). Fuzzy navigation for robotic manipulators. International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems  vol. 6, (2) 179-188. 10.1142/S0218488598000161

1996

Althofer K and Fraser DA (1996). Fuzzy obstacle avoidance for robotic manipulators. Neural Network World  vol. 6, (2) 133-142.

1995

Althöfer K, Fraser DA and Bugmann G (1995). Rapid path planning for robotic manipulators using a nemulated resistive grid. Electronics Letters  vol. 31, (22) 1960-1961. 10.1049/el:19951313

Grants

Grants of specific relevance to Applied Data Science
National Centre for Nuclear Robotics (NCNR)
Stolkin R, Taylor CJ, Montazeri A, Giuliani M, Richardson TS, Althoefer KA, Scott TB, Farkhatdinov I, Hansard ME, Pipe AG, Leonardis AXC, Cavallaro AA, Stone R, Richards AG, Mistry MN, Peer A, Mcdonald-Maier KD, Melhuish C, Herrmann G, Jamone L, Poslad S, Hanheide MA, Neumann G and Malkin R
£11,588,430 Engineering and Physical Sciences Research Council (01-10-2017 - 31-03-2021)
Summary
Computer-guided imaging systems for prenatal screening and comprehensive diagnosis of fetal abnormalities
Althoefer KA, Razavi RS, Hajnal JV, Penney GP, Rhode KS, Rutherford MA and Schaeffter TR
£9,989,585 Wellcome Trust (01-03-2014 - 28-02-2021)
Summary


SQUIRREL
Althoefer KA
£1,109,438 European Commission (01-02-2014 - 31-01-2018)
Summary
FourByThree
Althoefer KA
EUR6,859,722 H2020-EU.2.1.5.1. - Technologies for Factories of the Future (01-12-2014 - 30-11-2017)
Summary
AQUAREOS (Advanced QUAdrupole Resonance-based Explosives Ordnance Scanner):
Althoefer KA
£269,409 FABW - Find a Better Way (01-12-2014 - 30-11-2016)
Summary
STIFF-FLOP
Althoefer KA
European Commission (01-01-2012 - 31-12-2015)
Summary