All dataset and codes are shared publically here
2022
- 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
- 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
- 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
- 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
- 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.
- 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.
- 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.
- 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
- 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
- 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.
- 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)
- 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
- 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
- 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
- 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.
- 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
- Thuruthel, T.G., & Iida, F. (2022). Multimodel Sensor Fusion for Learning Rich Models for Interacting Soft Robots. ArXiv, abs/2205.04202.
- 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
- 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.
- Luca Scimeca, Fumiya Iida, 2022. “Soft Robotics: A Developmental Approach”, Cognitive Robotics. DOI:10.17863/CAM.66621
- 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)
- 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
- 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.
- 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
- Terryn, Seppe & Brancart, Joost & Roels, Ellen & Verhelle, Robrecht & Safaei, Ali & Cuvellier, Audrey & Vanderborght, Bram & Assche, Guy. (2022). Structure–Property Relationships of Self-Healing Polymer Networks Based on Reversible Diels–Alder Chemistry. Macromolecules. 55. 10.1021/acs.macromol.2c00434.
- Camille Bakkali-Hassani, Jakob Langenbach, Quentin-Arthur Poutrel, Paolo Edera, Sophie Norvez, Matthieu Gresil, François Tournilhac, Epoxy Vitrimer-Like Materials by Lipase-Catalyzed Network Formation and Exchange Reactions <- article under review
- Jakob Langenbach, Camille Bakkali-Hassania, Quentin-Arthur Poutrel, Antonia Georgoupoulou, Frank Clemens, François Tournilhac, Sophie Norvez, Self-healing vitrimer composites for soft robotics, Proceedings of the 20th European Conference on Composite Materials <- article awaiting publication
2021
- 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
- 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
- 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.
- 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.
- 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.
- 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
- 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
- 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
- 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.
- 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.
- 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
- 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
- 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
- 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.
- 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.
- 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
- 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
- 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, Vol. 8, 2021, https://doi.org/10.3389/frobt.2021.615991
- Hughes Josie, Scimeca Luca, Maiolino Perla, Iida Fumiya, Online Morphological Adaptation for Tactile Sensing Augmentation, Frontiers in Robotics and AI, Vol. 8, 2021, DOI=10.3389/frobt.2021.665030, ISSN=2296-9144
- 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
- George Thuruthel Thomas, Falotico Egidio, Beccai Lucia, Iida Fumiya, Editorial: Machine Learning Techniques for Soft Robotics, Frontiers in Robotics and AI, vol.8, 2021, DOI=10.3389/frobt.2021.726774, ISSN=2296-9144
- P. Ferrentino, S. K. Tabrizian, J. Brancart, G. V. Assche, B. Vanderborght and S. Terryn, FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots, in IEEE Robotics & Automation Magazine, vol. 29, no. 3, pp. 78-88, Sept. 2022, doi: 10.1109/MRA.2021.3132803.
2020
- Roels, E., Terryn, S., Brancart, J., Verhelle, R., Van Assche, G., & Vanderborght, B. (2020). Additive Manufacturing for Self-Healing Soft Robots. Soft Robotics.
- 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
- Thuruthel, T. G., Gilday K., & Iida, F. (2020). Drift-Free Latent Space Representation for Soft Strain Sensors. IEEE International Conference on Soft Robotics.
- 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.
- George Thuruthel, T., Hughes, J., & Iida, F. Joint Entropy-based Morphology Optimization of Soft Strain SensorNetworks for Functional Robustness. IEEE Sensors Journal
- Georgopoulou A. and Clemens F. (2020) Piezoresistive Elastomer-Based Composite Strain Sensors and Their Applications. ACS Applied Electronic Materials, 2, 7, 1826–1842.
- 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
- Georgopoulou A., Kummerlöwe C., Clemens F. (2020) Effect of the Elastomer Matrix on Thermoplastic Elastomer-Based Strain Sensor Fiber Composites. Sensors, 20(8), 2399
- 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
- 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.
- 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
- 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.
- 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.
- 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
- 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
- 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
- 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
- Terryn, S., Brancart, J., Lefeber, D., Van Assche, G. and Vanderborght, B., 2017. Self-healing soft pneumatic robots. Science Robotics, 2(9), p.eaan4268.
- 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.
- 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.
- Hughes, Josie, and Fumiya Iida. “Tactile sensing applied to the universal gripper using conductive thermoplastic elastomer.” Soft robotics 5.5 (2018): 512-526.
- Cordier, P., Tournilhac, F., Soulié-Ziakovic, C. and Leibler, L., 2008. Self-healing and thermoreversible rubber from supramolecular assembly. Nature, 451(7181), p.977.
- Montarnal, D., Capelot, M., Tournilhac, F. and Leibler, L., 2011. Silica-like malleable materials from permanent organic networks. Science, 334(6058), pp.965-968.
- Culha, U., Nurzaman, S., Clemens, F. and Iida, F., 2014. SVAS3: strain vector aided sensorization of soft structures. Sensors, 14(7), pp.12748-12770.
- Mattmann, C., Clemens, F. and Tröster, G., 2008. Sensor for measuring strain in textile. Sensors, 8(6), pp.3719-3732.
- 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.
- 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.
- 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.