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Xu, J. (author), Doubrovski, E.L. (author), Ozdemir, Mehmet (author), Geraedts, Jo M.P. (author), Song, Y. (author)Structural electronics has garnered significant attention in the past decade. However, there remains a lack of a systematic approach in designing and manufacturing sensors that leverage both mechanical and electronic properties of materials for different applications. In this paper, we introduce a method for designing piezoresistive force...journal article 2024
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Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant...journal article 2024
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Ha, Xuan Thao (author), Wu, D. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Dankelman, J. (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)In this article, a deep learning method for the shape sensing of continuum robots based on multicore fiber bragg grating (FBG) fiber is introduced. The proposed method, based on an artificial neural network (ANN), differs from traditional approaches, where accurate shape reconstruction requires a tedious characterization of many...journal article 2023
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Ganeshpure, D.A. (author), Soeiro, Thiago B. (author), Gagic, Mladen (author), Ghaffarian Niasar, M. (author), Bauer, P. (author), Vaessen, P.T.M. (author)To test high-voltage (HV) equipment with increasingly complex transients obtained from various power system studies, this article demonstrates a hardware implementation of a medium-voltage (MV) submodule (SM) to be used in a modular multilevel converter (MMC)-based HV arbitrary wave shape generator (AWG). The MV SM is scalable with its own...journal article 2023
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Cai, Z. (author), Wiertlewski, M. (author)The sensation of touching virtual texture and shape can be provided to a touchscreen user by varying the friction force. Despite the saliency of the sensation, this modulated frictional force is purely passive and strictly opposes finger movement. Therefore, it is only possible to create forces along the direction of movement and this...journal article 2023
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Eijkenboom, J. F.A. (author), Tümer, N. (author), Schiphof, D. (author), Oei, E. H. (author), Zadpoor, A.A. (author), Bierma-Zeinstra, S. M.A. (author), van Middelkoop, M. (author)Objective: To examine the association between 3D patellar shape and 1) isolated magnetic resonance imaging (MRI)-based patellofemoral osteoarthritis (PFOA), 2) the morphological features of PFOA, and 3) the clinical symptoms of PFOA. Design: MRI data from 66 women with isolated MRI-based PFOA and 66 age- and BMI-matched healthy women were...journal article 2023
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Culmone, C. (author), Yikilmaz, Semih Fatih (author), Trauzettel, F. (author), Breedveld, P. (author)Conventional medical instruments are not capable of passing through tortuous anatomy as required for natural orifice transluminal endoscopic surgery due to their rigid shaft designs. Nevertheless, developments in minimally invasive surgery are pushing medical devices to become more dexterous. Amongst devices with controllable flexibility, so...review 2023
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Pustina, P. (author), Borja, Pablo (author), Della Santina, C. (author), De Luca, Alessandro (author)Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and...journal article 2023
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Spencer, K. L. (author), Wheatland, J. A. (author), Carr, S. J. (author), Manning, A. J. (author), Bushby, A. J. (author), Gu, C. (author), Botto, L. (author), Lawrence, T. (author)Natural sediment flocs are fragile and highly heterogeneous aggregates of biogenic and minerogenic material typically with high porosity and low density. In aquatic environments dominated by fine, cohesive or mixed sediments they can dominate suspended sediment flux. Consequently, monitoring and modelling the behaviour, transport and...journal article 2022
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Sun, B. (author), Mkhoyan, T. (author), van Kampen, E. (author), De Breuker, R. (author), Wang, Xuerui (author)Morphing structures have acquired much attention in the aerospace community because they enable an aircraft to actively adapt its shape during flight, leading to fewer emissions and fuel consumption. Researchers have designed, manufactured, and tested a morphing wing named SmartX-Alpha, which can actively alleviate loads while achieving the...journal article 2022
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Rist, C.B. (author), Emmerichs, David (author), Enzweiler, Markus (author), Gavrila, D. (author)Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene segmentation network based on local Deep Implicit Functions as a novel learning-based method for scene...journal article 2022
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Qi, Jiaming (author), Ma, Guangfu (author), Zhu, J. (author), Zhou, Peng (author), Lyu, Yueyong (author), Zhang, Haibo (author), Navarro-Alarcon, David (author)The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a...journal article 2022
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Rosi, Emanuele Riccardo (author), Stölzle, Maximilian (author), Solari, Fabio (author), Della Santina, C. (author)The nature of continuum soft robots calls for novel perception solutions, which can provide information on the robot's shape while not substantially modifying their bodies' softness. One way to achieve this goal is to develop innovative and completely deformable sensors. However, these solutions tend to be less reliable than classic sensors for...conference paper 2022
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Mkhoyan, T. (author), Ruland, O.L. (author), De Breuker, R. (author), Wang, Xuerui (author)Inspired by nature, smart morphing technologies enable the aircraft of tomorrow to sense their environment and adapt the shape of their wings in flight to minimize fuel consumption and emissions. A primary challenge on the road to this feature is how to use the knowledge gathered from sensory data to establish an optimal shape adaptively and...journal article 2022
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Hafner, Frank M. (author), Zeller, Matthias (author), Schutera, Mark (author), Abhau, Jochen (author), Kooij, J.F.P. (author)Customization of a convolutional neural network (CNN) to a specific compute platform involves finding an optimal pareto state between computational complexity of the CNN and resulting throughput in operations per second on the compute platform. However, existing inference performance benchmarks compare complete backbones that entail many...conference paper 2022
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Dai, Pengwen (author), Li, Y. (author), Zhang, Hua (author), Li, Jingzhi (author), Cao, Xiaochun (author)Scene text detection has attracted increasing concerns with the rapid development of deep neural networks in recent years. However, existing scene text detectors may overfit on the public datasets due to the limited training data, or generate inaccurate localization for arbitrary-shape scene texts. This paper presents an arbitrary-shape scene...journal article 2021
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Yousefi, Sahar (author), Sokooti, Hessam (author), Elmahdy, Mohamed S. (author), Lips, Irene M. (author), Shalmani, Mohammad T.Manzuri (author), Zinkstok, Roel T. (author), Dankers, Frank J.W.M. (author), Staring, M. (author)Manual or automatic delineation of the esophageal tumor in CT images is known to be very challenging. This is due to the low contrast between the tumor and adjacent tissues, the anatomical variation of the esophagus, as well as the occasional presence of foreign bodies (e.g. feeding tubes). Physicians therefore usually exploit additional...journal article 2021
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Zhou, Peng (author), Zhu, J. (author), Huo, Shengzeng (author), Navarro-Alarcon, David (author)Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e...journal article 2021
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Zhang, F. (author), de Ridder, H. (author), Barla, Pascal (author), Pont, S.C. (author)We previously presented a systematic optics-based canonical approach to test material-lighting interactions in their full natural ecology, combining canonical material and lighting modes. Analyzing the power of the spherical harmonics components of the lighting allowed us to predict the lighting effects on material perception for generic...journal article 2020
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Saikumar, N. (author), Valério, D.P.M.O. (author), Hassan HosseinNia, S. (author)This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a...conference paper 2019
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