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Journal Publications

1. U Ekong, HK Lam, B Xiao, G Ouyang, H Liu, KY Chan, SH Ling, Classification of epilepsy seizure phase using interval Type-2 fuzzy support vector machines, Neurocomputing, Vol 199, pp 66–76, 2016 ( http://dx.doi.org/10.1016/j.neucom.2016.03.033)
2. T Nanayakkara, A Jiang, M Fernández, H Liu, K Althoefer, J Bimbo, Stable Grip Control on Soft Objects With Time Varying Stiffness, IEEE Transactions on Robotics, 32(3), 626-637, 2016. (Online ISSN: 1941-0468, DOI: 10.1109/TRO.2016.2549545 )
3. Y Noh, H Liu, S Sareh, D Chathuranga, H Wurdemann, K Rhode, K Althoefer, Image-based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization, IEEE Sensors Journal, Vol 16, Issue: 22, pp 7924 – 7932, 2016. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2016.2600671 )
4. Y Noh , J Bimbo, S Sareh, H Wurdemann, J Fraś, D Chathuranga, H Liu, J Housden, K Althoefer, K Rhode, Multi-axis force/torque sensor based on simply-supported beam and optoelectronics, Sensors, Vol 16(11), 1936, 2016, (DOI:10.3390/s16111936)
5. J Bimbo, S Luo, K Althoefer, H Liu, In-hand Object Pose Estimation using Covariance-Based Tactile to Geometry Matching, IEEE Robotics and Automation Letters (RA-L), 1(1), pp 570-577, Jan 2016. (Online ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2517244)
6. C Qiu, P Qi, H Liu, K Althoefer, J.S. Dai, Analysis and Validation of Six-Dimensional Compliance of Ortho-Planar Springs, ASME Journal of Mechanical Design, 138(4), 042301, 2016. (ISSN: 1050-0472, DOI: 10.1115/1.4032580)
7. P Qi, C Qiu, H Liu, J S. Dai, L Seneviratne, K Althoefer, A Novel Continuum Manipulator Design using Serially Connected Double-Layer Planar Springs, IEEE/ASME Transactions on Mechatronics, 21(3), 1281-1292, 2016. (Online ISSN: 1941-014X, DOI: 10.1109/TMECH.2015.2498738 )
8. Y Noh, S Sareh, H Würdemann, H Liu, J Back, J Housden, K Rhode, K Althoefer, Three-axis Fiber-optic Body Force Sensor for Flexible Manipulators, IEEE Sensors Journal, Vol 16 (6), pp:1641-1651, 2016. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2015.2488099 )
9. J Song, Q Jiang, Y Huang, Y Li, Y Jia, X Rong, R Song, H Liu, Research on pressure tactile sensing technology based on fiber Bragg grating array. Photonic Sensors, Vol: 5, Issue 3, pp 263-272, 2015. (Print ISSN:1674-9251, DOI: 10.1007/s13320-015-0260-1)
10. HK Lam, U Ekong, B Xiao, G Ouyang, H Liu, KY Chan, SH Ling, “Variable weight neural networks and their applications on material surface and epilepsy seizure phase classifications”, Neurocomputing, vol.149, 1177-1187, 2015. ( http://dx.doi.org/10.1016/j.neucom.2014.09.011)
11. S Russo, T Ranzani, H Liu, S Nefti-Meziani, K Althoefer, Arianna Menciassi, Soft and Stretchable Sensor using Biocompatible Electrodes and Liquid for Medical Applications, Soft Robotics, 2(4) pp: 146-154, 2015. (ISSN: 2169-5172: DOI:10.1089/soro.2015.0011)
12. S Sareh, Y Noh, M Li, T Ranzani, H Liu, K Althoefer, Macrobend optical sensing for pose measurement in soft robot arms, Smart Materials and Structures, 24(12), 125024, 2015. (Online ISSN: 1361-665X, DOI:10.1088/0964-1726/24/12/125024)
13. M Li, J Konstantinova, E Secco, A Jiang, H Liu, T Nanayakkara, L D. Seneviratne, P Dasgupta, K Althoefer*, H Wurdemann, Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue, Medical & Biological Engineering & Computing, 53(11), pp1177-86, Nov, 2015 (DOI:10.1007/s11517-015-1309-4)
14. S Luo, W Mou, K Althoefer, H Liu, Novel Tactile-SIFT Descriptor for Object Shape Recognition, IEEE Sensors Journal, Vol: 15, Issue: 9, pp 5001 – 5009, 2015. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2015.2432127)
15. H Liu, KC Nguyen, V Perdereau, J Back, J Bimbo, M Godden, LD Seneviratne, K Althoefer, “Finger Contact Sensing and the Application in Dexterous Hand Manipulation”, Autonomous Robots, June 2015, Vol. 39, Issue 1, pp 25-41, 2015. (Print ISSN: 0929-5593, DOI: 10.1007/s10514-015-9425-4)
16. H Xie, H Liu, Y Noh, J Li, S Wang, K Althoefer, “Fiber-Optics based Body Contact Sensor for a Flexible Manipulator”, IEEE Sensors Journal, Vol.15, Issue.6 pp3543-3550, 2015. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2015.2392384)
17. J Bimbo, P Kormushev, K Althoefer, H Liu, “Global Estimation of an Object’s Pose Using Tactile Sensing”, Advanced Robotics, vol.29, no.5, 363-374, 2015. (ISSN:1568-5535 (Online), DOI: 10.1080/01691864.2014.1002531)
18. Q Jiang, J Song, F Gao, YB Li, X Rong, H Liu. “Research of robot multidimensional force sensing technology based on fiber Bragg grating”, Journal of Optoelectronics Laser, Vol 25, Issue 11, pp 2123-2129, November 2014.
19. HK Lam, U Ekong, H Liu, B Xiao, H Araujo, SH Ling, KY Chan. “A Study of Neural-Network-Based Classifiers for Material Classification.” Neurocomputing, vol.144, 367-377, 2014. (http://dx.doi.org/10.1016/j.neucom.2014.05.019)
20. M Li, H Liu, A Jiang, LD Seneviratne, P Dasgupta, K Althoefer, H Wurdemann, “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, no. 5, 509-522, 2014. (ISSN: 09544119, DOI:10.1177/0954411914533679)
21. J Li, G Zhang, Y Xing, H Liu, S Wang, “A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms”, Transactions of the ASME, Journal of Mechanisms and Robotics, vol.6, no.3, 031014, 2014. (ISSN: 1942-4302, DOI: 10.1115/1.4027239)
22. X Song, H Liu, K Althoefer, T Nanayakkara, LD Seneviratne, “Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration”, IEEE Transactions on Robotics, vol.30, issue.1, 203 – 219, 2014. (Online ISSN: 1941-0468, DOI:10.1109/TRO.2013.2279630)
23. H Xie, A Jiang, H Wurdemann, H Liu, LD Seneviratne, K Althoefer, “Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor”, IEEE Sensors Journal, vol.14, issue.3, 829 – 838, 2014. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2013.2281591)
24. H Xie, H Liu, LD Seneviratne, K Althoefer, “An Optical Tactile Array Probe Head for Tissue Palpation during Minimally Invasive Surgery”, IEEE Sensors Journal, vol.14, issue.9, 3283 – 3291, 2014. (Online ISSN: 1558-1748, DOI: 10.1109/JSEN.2014.2328182)
25. H Liu, K Sangpradit, M Li, P Dasgupta, K Althoefer, LD Seneviratne, “Inverse Finite Element Modelling for Tissue Parameter Identification using a Rolling Indentation Probe”, Medical & Biological Engineering & Computing, vol.52, no. 1 17-28, 2014. (Print ISSN: 0140-0118, DOI: 10.1007/s11517-013-1118-6)
26. H Wu, H Liu, D Liu, “Two Dimensional Direction Recognition Using Uniaxial Tactile Arrays”, IEEE Sensors Journal, vol.13, issue 12, 4897 – 4903, 2013.  (Online ISSN: 1558-1748, DOI:10.1109/JSEN.2013.2277736)
27. P Puangmali, H Liu, LD Seneviratne, P Dasgupta, K Althoefer, “Miniature 3-axis Distal Force Sensor for Minimally Invasive Surgical Palpation”, IEEE/ASME Transactions on Mechatronics, vol.17 no.4, 646-656, 2012. (Online ISSN: 1941-014X, DOI: 10.1109/TMECH.2011.2116033)
28. H Liu, J Li, X Song, LD Seneviratne, K Althoefer, “Rolling Indentation Probe for Tissue Abnormality Identification during Minimally Invasive Surgery”, IEEE Transactions on Robotics, vol.27, issue.3, 450 – 460, 2011. (Online ISSN: 1941-0468, DOI: 10.1109/TRO.2011.2127210)
29. K Sangpradit, H Liu, P Dasgupta, K Althoefer, LD Seneviratne, “Finite Element Modelling of Soft Tissue Rolling Indentation”, IEEE Transactions on Biomedical Engineering, vol.58, issue.12, 3319 – 3327, 2011. (Online ISSN: 1558-2531, DOI: 10.1109/TBME.2011.2106783) 
30. H Liu, DP Noonan, B Challacombe, P Dasgupta, LD Seneviratne, K Althoefer, “Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery”, IEEE Transactions on Biomedical Engineering, vol.57, issue.2, 404 – 414, 2010. (Online ISSN: 1558-2531, DOI: 10.1109/TBME.2009.2032164)
31. H Liu, P Puangmali, D Zbyszewski, O Elhage, P Dasgupta, JS Dai, LD Seneviratne, K Althoefer, “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, H, vol. 224, no. 6, 751–63, 2010. (ISSN: 0954-4119, DOI:10.1243/09544119JEIM682)
32. D Zbyszewski, B Challacombe, H Liu, LD Seneviratne, P Dasgupta, D Murphy, K Althoefer*, “Air-cushion Force-sensitive Probe for Soft Tissue Investigation during Minimally Invasive Surgery”, Journal of Endourology, vol.23, no. 9, 1421-1424, 2009. (DOI: 10.1089/end.2009.0382)

 

Conference Publications

1. J Back, Guokai Zhang, S Wang, H Liu, Surgical Gripper with Embedded Soft Tactile Array for NOTES, Workshop on Computer/Robot Assisted Surgery, Pisa, 12 September, 2016

2. J Back, R Karim, K Rhode, H Liu, Catheter Contact Force Estimation from Shape Detection using a Real-Time Cosserat Rod Model, MEIbioeng 16 (the UK national conference of Biomedical Engineering, Medical Engineering and Bioengineering researchers), 6 September 2016. (MEIbioeng16 Poster Prize)

3. J Back, L Lindenroth, R Karim, K Althoefer, K Rhode, H Liu, New Kinematic Multi-Section Model for Catheter Contact Force Estimation and Steering, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2122-2127, Oct. 2016. (IROS2016 ABB Best Student Paper Finalist Award)

4. L Lindenroth, J Back, A Schoisengeier, Y Noh, H Wurdemann, K Althoefer, H Liu, Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2458-2463, Oct. 2016.

5. Y Noh, J Bimbo, A Stilli, H Wurdemann, H Liu, J Housden, K Rhode, K Althoefer, A New Miniaturised Multi-Axis Force/Torque Sensors based on Optoelectronic Technology and Simply-Supported Beam, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 202-207, Oct. 2016.

6. A Ataka, P Qi, A Shiva, A Shafti, H Wurdemann, H Liu, K Althoefer, Real-Time Pose Estimation and Obstacle Avoidance for Multi-Segment Continuum Manipulator in Dynamic Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2827-2832, Oct. 2016.

7. S Luo, W Mou, K Althoefer, H Liu, Iterative Closest Labeled Point for Tactile Object Shape Recognition, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 3137-3142, Oct. 2016.

8. A Schoisengeier, L Lindenroth, J Back, C Qiu, Y Noh, K Althoefer, JS Dai, H Liu, Design of a Flexible Force-Sensing Platform for Medical Ultrasound Probes, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp 278-283, June 26-29, 2016, Singapore (Electronic ISBN: 978-1-5090-3287-7, DOI: 10.1109/BIOROB.2016.7523638)

9. J. Back, Y. Noh, J. Li, S. Wang, K. Althoefer, H Liu, Soft Tactile Array Sensor for Tactile Sensing during Minimally Invasive Surgery, The 9th Hamlyn Symposium on Medical Robotics, pp 92-93, June 2016.

10. L. Lindenroth, K. Althoefer, K. Rhode, H Liu, Design and Control of a Soft Robotic Endoscope for Surgical Interventions utilizing Hydraulic Actuation, The 9th Hamlyn Symposium on Medical Robotics, pp 88-89, June 2016.

11. A Ataka, P Qi, H Liu, K Althoefer, Real-Time Planner for Multi-Segment Continuum Manipulator in Dynamic Environment, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp 4080-4085, Stockholm, Sweden. (Electronic ISBN: 978-1-4673-8026-3, DOI: 10.1109/ICRA.2016.7487598)

12. J Back, P Dasgupta, L Seneviratne, K Althoefer, H Liu, Feasibility Study- Novel Optical Soft Tactile Array Sensing for Minimally Invasive Surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 1528-1533, 2015 (Electronic ISBN: 978-1-4799-9994-1, DOI: 10.1109/IROS.2015.7353570)

13. J Back, T Manwell, R Karim, K Rhode, K Althoefer, H Liu, Catheter Contact Force Estimation from Shape Detection using a Real-Time Cosserat Rod Model, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2037-2042, 2015. (Electronic ISBN: 978-1-4799-9994-1, DOI: 10.1109/IROS.2015.7353647)

14. J Bimbo, K Althoefer, H Liu, Object Pose Estimation Using Tactile to Geometric Covariance Matching, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 4739, 2015

15. S Sareh, Y Noh, T Ranzani, H Wurdemann, H Liu, K Althoefer, A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2236-2241, 09/2015 (Electronic ISBN: 978-1-4799-9994-1, DOI: 10.1109/IROS.2015.7353692)

16. S Luo, W Mou, K Althoefer, H Liu, “Localizing the Object Contact through Matching Tactile Features with Visual Map”, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp 3903 - 3908, 2015. (Print ISSN: 1050-4729, DOI:10.1109/ICRA.2015.7139743)

17. S Luo, W Mou, M Li, K Althoefer, H Liu, “Rotation and Translation Invariant Object Recognition with a Tactile Sensor”, IEEE Conference on Sensors, pp.1030 – 1033, 2014. (Print ISSN: 1930-0395, DOI: 10.1109/ICSENS.2014.6985179)

18. J Back, J Bimbo, Y Noh, LD Seneviratne, K Althoefer, H Liu, “Control a Contact Sensing Finger for Surface Haptic Exploration”, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.2736-2741, 2014. (Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2014.6907251)

19. Y Noh, S Sareh, J Back, H Würdemann, T Ranzani, E Secco, A Faragasso, H Liu, K Althoefer, “A Three-Axial Body Force Sensor for Flexible Manipulators”, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.6388-6393, 2014. (Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2014.6907802)

20. A Faragasso, J Bimbo, Y Noh, A Jiang, S Sareh, H Liu, T Nanayakkara, H Wurdemann, K Althoefer, “Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery”, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.1405-1410, 2014 ( Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2014.6907036)

21. T Manwell, T Vítek, T Ranzani, A Menciassi, K Althoefer, H Liu, “Elastic Mesh Braided Worm Robot for Locomotive Endoscopy”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14), pp.848-851, Chicago, 2014. (Print ISSN: 1094-687X, DOI: 10.1109/EMBC.2014.6943724).

22. A Faragasso, A Stilli, J Bimbo, Y Noh, H Liu, T Nanayakkara, P Dasgupta, H Wurdemann, K Althoefer, “Endoscopic Add-on Stiffness Probe for Real-time Soft Surface Characterisation in MIS”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14), pp.6517-6520, 2014. ( Print ISSN: 1094-687X, DOI: 10.1109/EMBC.2014.6945121).

23. Y Noh, E Secco, S Sareh, H Wurdemann, A Faragasso, J Back, H Liu, E Sklar, K Althoefer, “A Continuum Body Force Sensor Designed for Flexible Surgical Robotics Devices”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14), pp.3711-3714, 2014. ( Print ISSN: 1094-687X,  DOI: 10.1109/EMBC.2014.6944429)

24. P Qi, C Qiu, H Liu, JS Dai, LD Seneviratne, K Althoefer, “A Novel Continuum-Style Robot with Multilayer Compliant Modules”, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp.3175-3180, 2014.(Print ISSN: 2153-0858, DOI: 10.1109/IROS.2014.6943002)

25. P Qi, H Liu, LD Seneviratne, K Althoefer, “Towards Kinematic Modeling of A Multi-DOF Tendon Driven Robotic Catheter”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14), pp.3009-3012, 2014. (Print ISSN: 1094-687X, DOI: 10.1109/EMBC.2014.6944256),

26. R Karim, A Ataollahi, S Wang, J Back, H Liu, R Razavi, K Althoefer, T Schaeffter, K Rhode*, “Robotic Image-guidance of an MR-compatible Catheter for Left Atrium Ablation with Flattened Maps for Procedure Planning”, The Hamlyn Symposium on Medical Robotics, p.37, 2014.

27. C Qiu, P Qi, H Liu, K Althoefer, JS Dai, “Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator”, In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. V05AT08A036-V05AT08A036, 2014.

28. J Bimbo, LD Seneviratne, K Althoefer, H Liu, “Combining Touch and Vision for the Estimation of an Object’s Pose during Manipulation”, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4021-4026, 2013. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2013.6696931)

29. H Xie, H Liu, S Luo, LD Seneviratne, K Althoefer, “Fiber Optics Tactile Array Probe for Tissue Palpation during Minimally Invasive Surgery”, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2539-2544, 2013. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2013.6696714)

30. TC Searle, K Althoefer, LD Seneviratne, H Liu, “An Optical Curvature Sensor for Flexible Manipulators”, 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 4400-4405, 2013. (Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2013.6631203)

31. J Li, H Liu, K Althoefer, LD Seneviratne, “A Stiffness Probe Based on Force and Vision Sensing for Soft Tissue Diagnosis”, Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp.944-947, 2012. (Print ISSN: 1094-687X, DOI: 10.1109/EMBC.2012.6346088)

32. M Li, H Liu, J Li, LD Seneviratne, K Althoefer, “Tissue Stiffness Simulation and Abnormality Localization Using Pseudo-Haptic Feedback”, 2012 IEEE International Conference on Robotics and Automation (ICRA), pp.5359-5364. 2012. (Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2012.6225143)

33. T Nanayakkara, K Byl, H Liu, X Song, T Villabona, “Dominant Sources of Variability in Passive Walking”, 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 1003-1010, 2012. (Print ISSN: 1050-4729 DOI: 10.1109/ICRA.2012.6224839)

34. X Song, H Liu, J Bimbo, K Althoefer, LD Seneviratne, “A Novel Dynamic Slip Prediction and Compensation Approach based on Haptic Surface Exploration”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4511-4516, 2012. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2012.6385897)

35. H Liu, X Song, J Bimbo, LD Seneviratne, K Althoefer, “Surface Material Recognition Through Haptic Exploration Using an Intelligent Contact Sensing Finger”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.52-57, 2012. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2012.6385815),

36. A Jiang, J Bimbo, S Goulder, H Liu, X Song, P Dasgupta, K Althoefer, T Nanayakkara, “Adaptive Grip Control on an Uncertain Object”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1161-1166, 2012. (Print ISSN: 2153-0858,  DOI: 10.1109/IROS.2012.6385922)

37. X Song, H Liu, J Bimbo, K Althoefer, LD Seneviratne, “Object Surface Classification Based on Friction Properties for Intelligent Robotic Hands”, In 2012 World Automation Congress (WAC), pp. 1-5, 2012. (Print ISSN: 2154-4824)

38. J Li, H Liu, K Althoefer, LD Seneviratne, “A Stiffness Probe for Soft Tissue Abnormality Identification during Laparoscopic Surgery.” In 2012 World Automation Congress (WAC), pp. 1-6, 2012. (Print ISSN: 2154-4824)

39. H Liu, J Greco, X Song, J Bimbo, LD Seneviratne, K Althoefer, “Tactile Image Based Contact Shape Recognition Using Neural Network”, 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pp. 138-143, 2012. (Best Paper Finalist Award) (Print ISBN: 978-1-4673-2510-3, DOI: 10.1109/MFI.2012.6343036)

40. J Bimbo, S Rodriguez-Jimenez, H Liu, X Song, N Burrus, LD Senerivatne, M Abderrahim, K Althoefer, “Object Pose Estimation and Tracking by Fusing Visual and Tactile Information”, 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pp. 65-70, 2012. (Print ISBN: 978-1-4673-2510-3, DOI: 10.1109/MFI.2012.6343019)

41. R Sargeant, H Liu, LD Seneviratne, K Althoefer, “An Optical Multi-Axial Force/Torque Sensor for Dexterous Grasping and Manipulation”, 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pp. 144-149, 2012.  (Print ISBN: 978-1-4673-2510-3, DOI: 10.1109/MFI.2012.6343043)

42. H Liu, X Song, T Nanayakkara, LD Seneviratne, K Althoefer, “A Computationally Fast Algorithm for Local Contact Shape and Pose Classification Using a Tactile Array Sensor”, 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 1410-1415, 2012. (Print ISSN: 1050-4729, DOI: 10.1109/ICRA.2012.6224872).

43. H Liu, J Li, Q Poon, LD Seneviratne, K Althoefer, “Miniaturized Force Indentation-depth Sensor for Tissue Abnormality Identification”, 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 3654–3659, May 2010. (Print ISSN: 1050-4729, DOI: 10.1109/ROBOT.2010.5509440)

44. K. Sangpradit, H Liu, LD Seneviratne, K Althoefer, “Tissue Identification Using Inverse Finite Element Analysis of Rolling Indentation”, 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 1250–1255, Kobe, Japan, 2009. ( Print ISSN: 1050-4729, DOI: 10.1109/ROBOT.2009.5152644)

45. H Liu, O Elhage, P Dasgupta, B Challacombe, D Murphy, LD Seneviratne, K Althoefer, “A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery.” ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR), pp. 417-422, 2009. (Print ISBN: 978-88-89007-37-2)

46. D Zbyszewski, H Liu, P Puangmali, K Althoefer, C Nunes, LD Seneviratne, B Challacombe, D Murphy, P Dasgupta, “Wheel/Tissue Force Interaction: A New Concept for Soft Tissue Diagnosis during MIS.” 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 5556-5559, 2008. (Print ISSN: 1094-687X,  DOI: 10.1109/IEMBS.2008.4650473),

47. H Liu, DP Noonan, K Althoefer, LD Seneviratne, “Rolling Mechanical Imaging: A Novel Approach for Soft Tissue Modelling and Identification during Minimally Invasive Surgery”, 2008 IEEE International Conference on Robotics and Automation (ICRA), pp. 846-850, Pasadena, CA, 2008. (Print ISSN: 1050-4729, DOI: 10.1109/ROBOT.2008.4543310)

48. P Puangmali, H Liu, K Althoefer, LD Seneviratne, “Optical Fiber Sensor for Soft Tissue Investigation during Minimally Invasive Surgery”, 2008 IEEE International Conference on Robotics and Automation (ICRA), pp. 2934-2939, Pasadena, CA, 2008. (Print ISSN: 1050-4729, DOI: 10.1109/ROBOT.2008.4543655)

49. K Althoefer, D Zbyszewski, H Liu, P Puangmali, LD Seneviratne, B Challacombe, P Dasgupta, D Murphy, “Air-Cushion Force Sensitive Probe for Soft Tissue Investigation during Minimally Invasive Surgery”, IEEE Conference on Sensors, pp. 41-46, Lecce, Italy, 2008. (Print ISSN: 1930-0395, DOI: 10.1109/ICSENS.2008.4716568)

50. H Liu, DP Noonan, Y Zweiri, K Althoefer, LD Seneviratne, “The Development of Nonlinear Viscoelastic Model for the Application of Soft Tissue Identification”, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 208-213, San Diego, USA, 2007. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2007.4399336)

51. H Liu, P Puangmali, K Althoefer, LD Seneviratne, “Experimental Study of Soft Tissue Recovery Using Optical Fiber Probe”, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 516-521, San Diego, USA, 2007. (Print ISSN: 2153-0858, DOI: 10.1109/IROS.2007.4399376)

52. DP Noonan, H Liu, Y Zweiri, K Althoefer, LD Seneviratne, “A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery”, 2007 IEEE International Conference on Robotics and Automation (ICRA), pp.208-213, Italy, 2007. (Print ISSN: 1050-4729, DOI: 10.1109/ROBOT.2007.363862)

 

Book Chapter

1. J Back, R Karim, Y Noh, K Rhode, K Althoefer, H Liu, Tension Sensing for a Linear Actuated Catheter Robot, Intelligent Robotics and Applications, Vol 9245 of the series Lecture Notes in Computer Science pp 472-482, Springer. August 2015. (ICIRA Best Student Paper Finalist Award) (ISBN 978-3-319-22876-1)

2. T Manwell, A Jupp, K Althoefer, H Liu, Surface Classification for Crawling Peristaltic Worm Robot, Intelligent Robotics and Applications, Vol 9245 of the series Lecture Notes in Computer Science, pp 175-184, Springer. August 2015. (ISBN 978-3-319-22876-1)

3. S Luo, X Liu, K Althoefer, H Liu, Tactile Object Recognition with Semi-Supervised Learning, Intelligent Robotics and Applications, Vol 9245 of the series Lecture Notes in Computer Science, pp 15-26, Springer. August 2015. (ISBN 978-3-319-22876-1)

4. H Liu, X Song, J Bimbo, K Althoefer, LD Senerivatne, “Intelligent Fingertip Sensing for Contact Information Identification”, In Advances in Reconfigurable Mechanisms and Robots I, pp. 599-608. Springer London, 2012. (Print ISBN: 978-1-4471-4140-2, DOI: 10.1007/978-1-4471-4141-9_54)

5. K Althoefer, H Liu, P Puangmali, D Zbyszewski, D Noonan, L D. Seneviratne. “Force sensing in medical robotics.” In Mechatronics in Action, pp. 157-172. Springer London, 2010.  (ISBN 978-1-84996-080-9)