Publications from members of the Healthcare Biorobotics Lab at the University of Oxford

2024

Liu, Chenying, Liang He, Sihan Wang, Albert Williams, Zhong You, and Perla Maiolino. "Exploring Kinematic Bifurcations and Hinge Compliance for In‐Hand Manipulation: How Could Thick‐Panel Origami Contribute?." Advanced Intelligent Systems (2024): 2300691.

Dragu, Codrutza-Maria, Alessandro Albini, Liang He, and Perla Maiolino. "Improving the Loading and Sensing Performance of a Soft Actuator Using an Internal Spine." In 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), pp. 623-628. IEEE, 2024.

Wang, Sihan, Peizhi Zhang, Liang He, and Perla Maiolino. "Toward Onboard Proportional Control of Multi-Chamber Soft Pneumatic Robots: A Magnetorheological Elastomer Valve Array." Soft Robotics (2024).

Yao, Yao, Liang He, and Perla Maiolino. "SPADA: A Toolbox of Designing Soft Pneumatic Actuators for Shape Matching Based on Surrogate Modeling." Robotics Reports 2, no. 1 (2024): 1-14.

2023

Wang, Sihan, Liang He, Yao Yao, Chenying Liu, and Perla Maiolino. "A Toolbox for Designing 3D‐Printing‐Ready Pneumatic Circuits for Controlling Soft Robots." Advanced Intelligent Systems 5, no. 12 (2023): 2300394.

Liang He and Perla Maiolino. "Embodied Active Tactile Perception." In IOP Conference Series: Materials Science and Engineering, vol. 1292, no. 1, p. 012007. IOP Publishing (2023).

Zhong, Fengyu, Liang He, Amy Zavatsky, and Perla Maiolino. "A Sensor Placement Benchmarking Method with Principal Component Analysis." IEEE Transactions on Instrumentation and Measurement (2023).

Liang He, Sihan Wang, and Perla Maiolino. "Rubber‐Like Soft Lattice Structure for Anti‐Ballooning in Fluidic Elastic Soft Robots." Advanced Engineering Materials 25, no. 16 (2023): 2300534.

Olugbade, Temitayo, Liang He, Perla Maiolino, Dirk Heylen, and Nadia Bianchi-Berthouze. "Touch Technology in Affective Human–, Robot–, and Virtual–Human Interactions: A Survey." Proceedings of the IEEE (2023).

Yao, Yao, Yuwen Chen, Liang He, and Perla Maiolino. "Design Optimization for Bellow Soft Pneumatic Actuators in Shape-Matching." In 2023 IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-7. IEEE, 2023.

Shorthose, Oliver, Alessandro Albini, Luca Scimeca, Liang He, and Perla Maiolino. "EDAMS: An Encoder-Decoder Architecture for Multi-grasp Soft Sensing Object Recognition." In 2023 IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-7. IEEE, 2023.

Wang, Sihan, Liang He, Alessandro Albini, Peizhi Zhang, and Perla Maiolino. "A Magnetorheological Elastomer‐Based Proportional Valve for Soft Pneumatic Actuators." Advanced Intelligent Systems 5, no. 1 (2023): 2200238.

2022

Liang He, Nicolas Herzig, Thrishantha Nanayakkara, and Perla Maiolino. "3D-Printed Soft Sensors for Adaptive Sensing with Online and Offline Tunable Stiffness." Soft Robotics 9, no. 6 (2022): 1062-1073.

Leong, Florence, Chow Yin Lai, Siamak Farajzadeh Khosroshahi, Liang He, Simon de Lusignan, Thrishantha Nanayakkara, and Mazdak Ghajari. "A surrogate model based on a finite element model of abdomen for real-time visualisation of tissue stress during physical examination training." Bioengineering 9, no. 11 (2022): 687.

Liang He, Perla Maiolino, Florence Leong, Thilina Dulantha Lalitharatne, Simon De Lusignan, Mazdak Ghajari, Fumiya Iida, and Thrishantha Nanayakkara. "Robotic simulators for tissue examination training with multimodal sensory feedback." IEEE Reviews in Biomedical Engineering 16 (2022): 514-529.

Yao, Yao, Liang He, and Perla Maiolino. "A simulation-based toolbox to expedite the digital design of bellow soft pneumatic actuators." In 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), pp. 29-34. IEEE, 2022.

Ouyang, Wenye, Liang He, Alessandro Albini, and Perla Maiolino. "A Modular Soft Robotic Arm with Embedded Tactile Sensors for Proprioception." In 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), pp. 919-924. IEEE, 2022.

Scimeca, Luca, Josie Hughes, Perla Maiolino, Liang He, Thrishantha Nanayakkara, and Fumiya Iida. "Action augmentation of tactile perception for soft-body palpation." Soft robotics 9, no. 2 (2022): 280-292.

Shorthose, Oliver, Alessandro Albini, Liang He, and Perla Maiolino. "Design of a 3D-printed soft robotic hand with integrated distributed tactile sensing." IEEE Robotics and Automation Letters 7, no. 2 (2022): 3945-3952.

Wang, Sihan, Liang He, and Perla Maiolino. "A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing." IEEE Robotics and Automation Letters 7, no. 2 (2022): 3412-3418.

2021

Wang, Sihan, Liang He, and Perla Maiolino. "Design and characterization of a 3D-printed pneumatically-driven bistable valve with tunable characteristics." IEEE Robotics and Automation Letters 7, no. 1 (2021): 112-119.

Liang He, Xinyang Tan, Koichi Suzumori, and Thrishantha Nanayakkara. "A method to 3D print a programmable continuum actuator with single material using internal constraint." Sensors and Actuators A: Physical 324 (2021): 112674.

Shorthose, Oliver, Liang He, Alessandro Albini, and Perla Maiolino. "Design of a multimaterial 3d-printed soft actuator with bi-directional variable stiffness." In Annual Conference Towards Autonomous Robotic Systems, pp. 238-248. Cham: Springer International Publishing, 2021.

Liang He, Florence Leong, Thilina Dulantha Lalitharatne, Simon de Lusignan, and Thrishantha Nanayakkara. "A haptic mouse design with stiffening muscle layer for simulating guarding in abdominal palpation training." In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12588-12594. IEEE, 2021.

Lalitharatne, Thilina Dulantha, Yongxuan Tan, Liang He, Florence Leong, Nejra Van Zalk, Simon de Lusignan, Fumiya Iida, and Thrishantha Nanayakkara. "Morphface: A hybrid morphable face for a robopatient." IEEE Robotics and Automation Letters 6, no. 2 (2021): 643-650.

2020

Liang He, Nicolas Herzig, Simon de Lusignan, Luca Scimeca, Perla Maiolino, Fumiya Iida, and Thrishantha Nanayakkara. "An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training." IEEE Transactions on Robotics 37, no. 4 (2020): 1051-1064.

Lalitharatne, Thilina Dulantha, Yongxuan Tan, Florence Leong, Liang He, Nejra Van Zalk, Simon De Lusignan, Fumiya Iida, and Thrishantha Nanayakkara. "Facial expression rendering in medical training simulators: Current status and future directions." IEEE Access 8 (2020): 215874-215891.

Herzig, Nicolas, Liang He, Perla Maiolino, Sara-Adela Abad, and Thrishantha Nanayakkara. "Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe." PloS one 15, no. 8 (2020): e0237379.

Tan, Xinyang, Liang He, Jiangang Cao, Wei Chen, and Thrishantha Nanayakkara. "A soft pressure sensor skin for hand and wrist orthoses." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2192-2199.

Lu, Qiujie, Liang He, Thrishantha Nanayakkara, and Nicolas Rojas. "Precise in-hand manipulation of soft objects using soft fingertips with tactile sensing and active deformation." In 2020 3rd IEEE international conference on soft robotics (RoboSoft), pp. 52-57. IEEE, 2020.

Liang He, Qiujie Lu, Sara-Adela Abad, Nicolas Rojas, and Thrishantha Nanayakkara. "Soft fingertips with tactile sensing and active deformation for robust grasping of delicate objects." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2714-2721.