All dataset and codes are shared publically here

2022

  1. Hardman, D., George Thuruthel, T. & Iida, F. Manipulation of free-floating objects using Faraday flows and deep reinforcement learning. Sci Rep 12, 335 (2022). https://doi.org/10.1038/s41598-021-04204-9
  2. Hardman, D., George Thuruthel, T., & Iida, F. Self-Healing Ionic Gelatin/Glycerol Hydrogels for Strain Sensing Applications. NPG Asia Materials https://doi.org/10.17863/CAM.79081
  3. George Thuruthel, T., Gardner, P., & Iida, F. Closing the Control Loop with Time-Variant Embedded Soft Sensors and Recurrent Neural Networks. Soft Robotics https://doi.org/10.17863/CAM.80076
  4. George Thuruthel, T., Bosman, A. W., Hughes, J., & Iida, F. (2021). Soft Self-Healing Fluidic Tactile Sensors with Damage Detection and Localization Abilities.. Sensors (Basel) https://doi.org/10.3390/s21248284
  5. Kashef Tabrizian, S., Sahraeeazartamar, F., Brancart, J., Roels, E., Ferrentino, P., Legrand, J., … Terryn, S. (Accepted/In press). A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots. IEEE Robotics and Automation Letters.
  6. H. Wang, T. G. Thuruthel, K. Gilday, A. Abdulali and F. Iida, “Machine Learning for Soft Robot Sensing and Control: A Tutorial Study,” 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS), 2022, pp. 01-06, doi: 10.1109/ICPS51978.2022.9816932.
  7. A. Georgopoulou, L. M. Eckey, S. Mondal and F. Clemens, “Case study of a rapid prototyping method for optimizing soft gripper structures with integrated piezoresistive sensors,” 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022, pp. 539-544, doi: 10.1109/RoboSoft54090.2022.9762202.
  8. Seppe Terryn, Joost Brancart, Ellen Roels, Robrecht Verhelle, Ali Safaei, Audrey Cuvellier, Bram Vanderborght, and Guy Van Assche, Structure–Property Relationships of Self-Healing Polymer Networks Based on Reversible Diels–Alder Chemistry, Macromolecules 2022 55 (13), 5497-5513, DOI: 10.1021/acs.macromol.2c00434
  9. Roels, E., Terryn, S., Iida, F., Bosman, A. W., Norvez, S., Clemens, F., Van, G., Vanderborght, B., Brancart, J., Processing of Self-Healing Polymers for Soft Robotics. Adv. Mater. 2022, 34, 2104798. https://doi.org/10.1002/adma.202104798
  10. L. Costi, A. Tagliabue, P. Maiolino, F. Clemens and F. Iida, “Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening,” in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 5928-5933, July 2022, doi: 10.1109/LRA.2022.3160590.
  11. Wang, Z., Terryn, S., Legrand, J., Ferrentino, P., Kashef Tabrizian, S., Brancart, J., Roels, E., Van Assche, G., & Vanderborght, B. (2022). Topology optimized multi-material self-healing actuator with reduced out of plane deformation. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5448-5455)
  12. Matteo Lo Preti, Thomas George Thuruthel, Kieran Gilday, Lucia Becca and Fumiya Iida, Mechanical Sensing in Embodied Agents, IOP Conference Series: Materials Science and Engineering, Volume 1261, International Workshop on Embodied Intelligence 24/03/2021 – 26/03/2021, DOI 10.1088/1757-899X/1261/1/012013
  13. Antonia Georgopoulou, Joost Brancart, Seppe Terryn, Anton W. Bosman, Sophie Norvez, Guy Van Assche, Fumiya Iida, Bram Vanderborght, Frank Clemens, Soft self-healing resistive-based sensors inspired by sensory transduction in biological systems, Applied Materials Today, Vol.29, 2022,101638,ISSN 2352-9407, https://doi.org/10.1016/j.apmt.2022.101638
  14. Barbara Mazzolai, Alessio Mondini, Emanuela Del Dottore, Laura Margheri, Federico Carpi, Koichi Suzumori, Matteo Cianchetti, Thomas Speck, Stoyan K Smoukov, Ingo Burgert et al, Roadmap on soft robotics: multifunctionality, adaptability and growth without borders, 2022, Published by IOP Publishing Ltd, Multifunctional Materials, Vol.5, Number 3, DOI 10.1088/2399-7532/ac4c95
  15. Hardman D, George Thuruthel T, Georgopoulou A, Clemens F, Iida F. 3D Printable Soft Sensory Fiber Networks for Robust and Complex Tactile Sensing. Micromachines (Basel). 2022 Sep 17;13(9):1540. doi: 10.3390/mi13091540. PMID: 36144163; PMCID: PMC9502117.
  16. Thomas George-Thuruthel & Fumiya Iida, Morphological Computation and Control Complexit, IOP Conference Series: Materials Science and Engineering, Vol. 1261, International Workshop on Embodied Intelligence 24/03/2021 – 26/03/2021 Online DOI 10.1088/1757-899X/1261/1/012011
  17. Thuruthel, T.G., & Iida, F. (2022). Multimodel Sensor Fusion for Learning Rich Models for Interacting Soft Robots. ArXiv, abs/2205.04202.
  18. Antonia Georgopoulou and Frank Clemens, Pellet-based fused deposition modeling for the development of soft compliant robotic grippers with integrated sensing elements, Published by IOP Publishing Ltd, Flexible and Printed Electronics, Vol.7, Number 3, DOI 10.1088/2058-8585/ac6f34
  19. Ellen Roels, Seppe Terryn, Joost Brancart, Fatemeh Sahraeeazartamar, Frank Clemens, Guy Van Assche, Bram Vanderborght, Self-healing sensorized soft robots, Materials Today Electronics, Vol.1, 2022, ISSN 2772-9494, https://doi.org/10.1016/j.mtelec.2022.100003.
  20. Luca Scimeca, Fumiya Iida, 2022. “Soft Robotics: A Developmental Approach”, Cognitive Robotics. DOI:10.17863/CAM.66621
  21. Antonia Georgopoulou, Henry Korhonen, Anton W. Bosman et al. Thermoplastic elastomer composite strips with damage detection capabilities for self-healing elastomers, 02 September 2022, PREPRINT (Version 1) available at Research Square [https://doi.org/10.21203/rs.3.rs-2014930/v1] (UNDER REVIEW)
  22. Terryn, S., Hardman, D., Thuruthel, T.G., Roels, E., Sahraeeazartamar, F. and Iida, F. (2022), Learning-Based Damage Recovery for Healable Soft Electronic Skins. Adv. Intell. Syst. 2200115. https://doi.org/10.1002/aisy.202200115
  23. Ferrentino, Pasquale & López Díaz del Campo, Antonio & Terryn, Seppe & Legrand, Julie & Brancart, Joost & Assche, Guy & Vázquez, Ester & Vazquez, Andres & Vanderborght, Bram. (2022). Quasi-static FEA model for a multi-material soft pneumatic actuator in SOFA. IEEE Robotics and Automation Letters. 7. 10.1109/LRA.2022.3183254.
  24. Abdulali, A., Seppe, T., Vanderborgh, B., Iida, F., & Abdulali, A. Data-driven Method for Damage Localization on Soft Robotic Grippers Based on Motion Dynamics. Frontiers in Robotics and AI https://doi.org/10.3389/frobt.2022.1016883

2021

  1. Seppe Terryn, Jakob Langenbach , Ellen Roels, Joost Brancart,Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Antonia Georgopoulou, Thomas George Thuruthel, Ali Safaei, Pasquale Ferrentino, Tutu Sebastian, Sophie Norvez, Fumiya Iida, Anton W. Bosman, François Tournilhac, Frank Clemens, Guy Van Assche, Bram Vanderborght (2021) A review on self-healing materials for soft robotics. ‘Materials Today’ https://doi.org/10.1016/j.mattod.2021.01.009
  2. Thomas George Thuruthel, G. Picardi, F. Iida, C. Laschi and M. Calisti Learning to stop: a unifying principle for legged locomotion in varying environments. Royal Society Publications
  3. D. Hardman, J. Hughes, T. G. Thuruthel, K. Gilday and F. Iida, “3D Printable Sensorized Soft Gelatin Hydrogel for Multi-Material Soft Structures,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5269-5275, July 2021, doi: 10.1109/LRA.2021.3072600. PDF version.
  4. Costi, L., George Thuruthel, T., & Iida, F. Topological Study on the Design of Soft Strain Sensors for Simultaneous Multi-point Contact Localization. RoboSoft 2021. Poster – PDF version.
  5. T. G. Thuruthel, J. Hughes, A. Georgopoulou, F. Clemens and F. Iida, “Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2099-2105, April 2021, doi: 10.1109/LRA.2021.3061399. PDF version.
  6. Safaei, A.; Terryn, S.; Vanderborght, B.; Van Assche, G.; Brancart, J. The Influence of the Furan and Maleimide Stoichiometry on the Thermoreversible Diels–Alder Network Polymerization. Polymers 2021, 13, 2522. https://doi.org/10.3390/polym13152522
  7. Georgopoulou, A.; Bosman, A.W.; Brancart, J.; Vanderborght, B.; Clemens, F. Supramolecular Self-Healing Sensor Fiber Composites for Damage Detection in Piezoresistive Electronic Skin for Soft Robots. Polymers 2021, 13, 2983. https://doi.org/10.3390/polym13172983
  8. Lipase-Catalyzed EpoxyAcid Addition and Transesterification : from Model Molecule Studies to Network Build-Up C. Bakkali-Hassani, Q.-A. Poutrel, J. Langenbach, S. Chappuis, J.J. Blaker, M. Gresil, F. Tournilhac Biomacromolecules, asap, DOI:10.1021/acs.biomac.1c00820
  9. Ferrentino, P., Kashef Tabrizian, S., Brancart, J., Van Assche, G., Vanderborght, B., & Terryn, S. (2021). FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots. IEEE Robotics and Automation Magazine.
  10. Terryn S, Langenbach J, Roels E, Brancart J, Bakkali-Hassani C, Poutrel Q-A, Georgopoulou A, George-Thuruthel T., Safaei A, Ferrentino P., Sebastian T, Norvez S, Iida F, Bosman A, Tournilhac F, Clemens F, Van Assche G, Vanderborght B, A review on self-healing polymers for soft robotics, Materials Today, Volume 47, 2021, https://doi.org/10.1016/j.mattod.2021.01.009.
  11. Roels, E., Terryn, S., Iida, F., Bosman, Anton W., Norvez, S., Clemens, F., Van Assche, G., Vanderborght, B., Brancart, J., Processing of Self-Healing Polymers for Soft Robotics, Advanced Materials, https://doi.org/10.1002/adma.202104798
  12. Georgopoulou Antonia, Vanderborght Bram, Clemens Frank, Fabrication of a soft robotic gripper with integrated strain sensing elements using multi-material additive manufacturing, Frontiers in Robotics and AI, VOLUME 8, 2021, https://doi.org/10.3389/frobt.2021.615991
  13. Kanokporn Tangthana-umrung, Quentin Arthur Poutrel, and Matthieu Gresil, Epoxy Homopolymerization as a Tool to Tune the Thermo-Mechanical Properties and Fracture Toughness of Vitrimers Macromolecules 2021 54 (18), 8393-8406, doi:10.1021/acs.macromol.1c00861
  14. Jakob Langenbach, Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Antonia Georgopoulou, Frank Clemens, François Tournilhac, and Sophie Norvez, Adhesion and Stiffness Matching in Epoxy-Vitrimers/Strain Sensor Fiber Laminates, ACS Applied Polymer Materials, doi: 10.1021/acsapm.1c01648
  15. Bakkali-Hassani C, Poutrel QA, Langenbach J, Chappuis S, Blaker JJ, Gresil M, Tournilhac F. Lipase-Catalyzed Epoxy-Acid Addition and Transesterification: from Model Molecule Studies to Network Build-Up. Biomacromolecules. 2021 Nov 8;22(11):4544-4551. doi: 10.1021/acs.biomac.1c00820.
  16. F. Clemens, M. Melnykowycz, F. Bär, D. Goldenstein and A. Georgopoulou, “2D Printing of Piezoresistive Auxetic Silicone Sensor Structures,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2541-2546, April 2021, doi: 10.1109/LRA.2021.3062000.
  17. Georgopoulou A, Egloff L, Vanderborght B, Clemens F. A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing. Engineering Proceedings. 2021; 6(1):11. https://doi.org/10.3390/I3S2021Dresden-10097
  18. Georgopoulou A, Michel S, Clemens F. Sensorized Robotic Skin Based on Piezoresistive Sensor Fiber Composites Produced with Injection Molding of Liquid Silicone. Polymers. 2021; 13(8):1226. https://doi.org/10.3390/polym13081226
  19. Georgopoulou Antonia, Vanderborght Bram, Clemens Frank, Fabrication of a soft robotic gripper with integrated strain sensing elements using multi-material additive manufacturing, Frontiers in Robotics and AI, Volume 8, 2021, https://doi.org/10.3389/frobt.2021.615991
  20. Hughes Josie, Scimeca Luca, Maiolino Perla, Iida Fumiya, Online Morphological Adaptation for Tactile Sensing Augmentation, Frontiers in Robotics and AI, Vol. 8, 2021, https://www.frontiersin.org/articles/10.3389/frobt.2021.665030, DOI=10.3389/frobt.2021.665030, ISSN=2296-9144
  21. Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Jakob Langenbach, Sélène Chappuis, Jonny J. Blaker, Matthieu Gresil, and François Tournilhac,Lipase-Catalyzed Epoxy–Acid Addition and Transesterification: from Model Molecule Studies to Network Build-Up, Biomacromolecules 2021 22 (11), 4544-4551DOI: 10.1021/acs.biomac.1c00820
  22. Seppe Terryn, Jakob Langenbach, Ellen Roels, Joost Brancart, Camille Bakkali-Hassani, Quentin-Arthur Poutrel, Antonia Georgopoulou, Thomas George Thuruthel, Ali Safaei, Pasquale Ferrentino, Tutu Sebastian, Sophie Norvez, Fumiya Iida, Anton W. Bosman, François Tournilhac, Frank Clemens, Guy Van Assche, Bram Vanderborght, A review on self-healing polymers for soft robotics, Materials Today, Vol. 47, 2021, Pages 187-205, ISSN 1369-7021, https://doi.org/10.1016/j.mattod.2021.01.009.

2020

  1. Roels, E., Terryn, S., Brancart, J., Verhelle, R., Van Assche, G., & Vanderborght, B. (2020). Additive Manufacturing for Self-Healing Soft Robots. Soft Robotics.
  2. Shih, B., Shah, D., Li, J.,  Thuruthel,  T.  G., Iida, F., Park, Y.  L., Bao,  Z.,Kramer, R., & Tolley, M. T. (2019).  Electronic Skins and Machine Learning for Intelligent Soft Robots. Science Robotics 
  3. Thuruthel, T. G., Gilday K., & Iida, F. (2020). Drift-Free Latent Space Representation for Soft Strain Sensors. IEEE International Conference on Soft Robotics. 
  4. Terryn, S.; Roels, E.; Brancart, J.; Assche, G.V.; Vanderborght, B. Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds. Actuators 2020, 9, 34.
  5. George Thuruthel, T., Hughes, J., & Iida, F. Joint Entropy-based Morphology Optimization of Soft Strain SensorNetworks for Functional Robustness. IEEE Sensors Journal
  6. Georgopoulou A. and Clemens F. (2020) Piezoresistive Elastomer-Based Composite Strain Sensors and Their Applications. ACS Applied Electronic Materials, 2, 7, 1826–1842.
  7. Georgopoulou A., Sebastian T., Clemens F. (2020) Thermoplastic elastomer composite filaments for strain sensing applications extruded with a fused deposition modelling 3D printer. Flexible and Printed Electronics, 5, 035002
  8. Georgopoulou A., Kummerlöwe C., Clemens F. (2020) Effect of the Elastomer Matrix on Thermoplastic Elastomer-Based Strain Sensor Fiber Composites. Sensors, 20(8), 2399 
  9. George Thuruthel T, Renda F and Iida F (2020) First-Order Dynamic Modeling and Control of Soft Robots. Front. Robot. AI 7:95. doi: 10.3389/frobt.2020.00095
  10. Quentin-Arthur Poutrel, Jonny J. Blaker, Constantinos Soutis, François Tournilhac and Matthieu Gresil (2020) Dicarboxylic acid-epoxy vitrimers: influence of the off-stoichiometric acid content on cure reactions and thermo-mechanical properties. Polymer Chemistry, 11, 33, 5289-5398.
  11. Georgopoulou A, Egloff L, Vanderborght B, Clemens F. A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing. Actuators. 2021; 10(5):102. https://doi.org/10.3390/act10050102
  12. S. Terryn, J. Brancart, E. Roels, G. Van Assche and B. Vanderborght, “Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network,” in IEEE Robotics & Automation Magazine, vol. 27, no. 4, pp. 44-55, Dec. 2020, doi: 10.1109/MRA.2020.3024275.
  13. Antonia Georgopoulou, Silvain Michel, Bram Vanderborght, Frank Clemens, Piezoresistive sensor fiber composites based on silicone elastomers for the monitoring of the position of a robot arm, Sensors and Actuators A: Physical, Volume 318, 2021, https://doi.org/10.1016/j.sna.2020.112433.
  14. Antonia Georgopoulou, Frank Clemens, Piezoresistive Elastomer-Based Composite Strain Sensors and Their Applications, ACS Applied Electronic Materials 2020 2 (7), 1826-1842, https://doi.org/10.1021/acsaelm.0c00278
  15. Georgopoulou, Antonia & Sebastian, Tutu & Clemens, Frank. (2020). Thermoplastic elastomer composite filaments for strain sensing applications extruded with an FDM 3D printer. Flexible and Printed Electronics. 5. 10.1088/2058-8585/ab9a22, DOI:10.1088/2058-8585/ab9a22
  16. Georgopoulou A, Kummerlöwe C, Clemens F. Effect of the Elastomer Matrix on Thermoplastic Elastomer-Based Strain Sensor Fiber Composites. Sensors. 2020; 20(8):2399. https://doi.org/10.3390/s20082399
  17. George Thuruthel Thomas, Renda Federico, Iida Fumiya, First-Order Dynamic Modeling and Control of Soft Robots, Frontiers in Robotics and AI, Volume 7, 2020, https://doi.org/10.3389/frobt.2020.00095

Previous Publications

  1. Terryn, S., Brancart, J., Lefeber, D., Van Assche, G. and Vanderborght, B., 2017. Self-healing soft pneumatic robots. Science Robotics, 2(9), p.eaan4268.
  2. Roels, E., Terryn, S., Brancart, J., Van Assche, G., & Vanderborght, B. (2019, April). A Multi-Material Self-Healing Soft Gripper. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) (pp. 316-321). IEEE.
  3. Denissen, W., Droesbeke, M., Nicolaÿ, R., Leibler, L., Winne, J.M. and Du Prez, F.E., 2017. Chemical control of the viscoelastic properties of vinylogous urethane vitrimers. Nature communications, 8, p.14857.
  4. Hughes, Josie, and Fumiya Iida. “Tactile sensing applied to the universal gripper using conductive thermoplastic elastomer.” Soft robotics 5.5 (2018): 512-526.
  5. Cordier, P., Tournilhac, F., Soulié-Ziakovic, C. and Leibler, L., 2008. Self-healing and thermoreversible rubber from supramolecular assembly. Nature, 451(7181), p.977.
  6. Montarnal, D., Capelot, M., Tournilhac, F. and Leibler, L., 2011. Silica-like malleable materials from permanent organic networks. Science, 334(6058), pp.965-968.
  7. Culha, U., Nurzaman, S., Clemens, F. and Iida, F., 2014. SVAS3: strain vector aided sensorization of soft structures. Sensors, 14(7), pp.12748-12770.
  8. Mattmann, C., Clemens, F. and Tröster, G., 2008. Sensor for measuring strain in textile. Sensors, 8(6), pp.3719-3732.
  9. Clemens, F.J., Koll, B., Graule, T., Watras, T., Binkowski, M., Mattmann, C. and Silveira, I., 2013. Development of piezoresistive fiber sensors, based on carbon black filled thermoplastic elastomer compounds, for textile application. In Advances in Science and Technology (Vol. 80, pp. 7-13). Trans Tech Publications.
  10. Terryn, S., Mathijssen, G., Brancart, J., Lefeber, D., Van Assche, G., & Vanderborght, B. (2015). Development of a self-healing soft pneumatic actuator: A first concept. Bioinspiration & biomimetics, 10(4), 046007.
  11. Terryn, S., Mathijssen, G., Brancart, J., Verstraten, T., Van Assche, G., & Vanderborght, B. (2016). Toward self-healing actuators: A preliminary concept. IEEE Transactions on Robotics, 32(3), 736-743.