K
Kaspar Althoefer
Researcher at Queen Mary University of London
Publications - 454
Citations - 10977
Kaspar Althoefer is an academic researcher from Queen Mary University of London. The author has contributed to research in topics: Robot & Haptic technology. The author has an hindex of 46, co-authored 429 publications receiving 8872 citations. Previous affiliations of Kaspar Althoefer include King's College London & University of London.
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Journal ArticleDOI
Tactile sensing for dexterous in-hand manipulation in robotics-A review
TL;DR: This paper reviews the state-of-the-art in force and tactile sensing technologies that can be suitable within the specific context of dexterous in-hand manipulation and provides a review of models describing human hand activity and movements.
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State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery
TL;DR: This paper reviews the state-of-the-art in force and tactile sensing technologies applied in minimally invasive surgery and discusses several sensing strategies including displacement-based, current- based, pressure-Based, resistive-based , capacitive-based), piezoelectric-based.
Journal ArticleDOI
Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching
TL;DR: An IT2 Takagi-Sugeno (T-S) fuzzy model is employed to represent the dynamics of nonlinear systems of which the parameter uncertainties are captured by IT2 membership functions characterized by the lower and upper membership functions.
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Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation
TL;DR: A specially designed miniature 3-axis distal force sensor that can be used to perform tissue palpation, measuring tissue interaction forces at the tip of a surgical instrument is proposed.
Proceedings ArticleDOI
Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
TL;DR: The design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter is presented, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators.