Publications

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

M. Pierallini; F. Stella; F. Angelini; B. Deutschmann; J. Hughes et al. 

Ieee Robotics And Automation Letters. 2023-10-01. Vol. 8, num. 10, p. 6427-6434. DOI : 10.1109/LRA.2023.3307007.

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4D printing of Metal-Reinforced double network granular hydrogels

M. Hirsch; L. D’Onofrio; Q. Guan; J. Hughes; E. Amstad 

Chemical Engineering Journal. 2023-10-01. Vol. 473, p. 145433. DOI : 10.1016/j.cej.2023.145433.

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Special issue on robotics technology for agriculture

T. Fukao; J. Hughes; K. Hosoda 

Advanced Robotics. 2023-08-03. Vol. 37, num. 15, p. 959-959. DOI : 10.1080/01691864.2023.2241210.

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Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

M. Polzin; J. Hughes 

Advanced Robotics. 2023-07-02. DOI : 10.1080/01691864.2023.2229901.

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How can LLMs transform the robotic design process?

F. Stella; C. Della Santina; J. Hughes 

Nature Machine Intelligence. 2023-06-07. DOI : 10.1038/s42256-023-00669-7.

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Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

M. Polzin; F. Centamori; J. Hughes 

2023-06-02. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 29 – June 2, 2023. DOI : 10.1109/ICRA48891.2023.10160347.

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Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

F. Stella; J. Hughes; D. Rus; C. Della Santina 

Soft Robotics. 2023-05-02. DOI : 10.1089/soro.2022.0025.

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Exploration of the Design of Spiderweb-Inspired Structures for Vibration-Driven Sensing

M. Naderinejad; K. Junge; J. Hughes 

Biomimetics. 2023-03-08. Vol. 8, num. 1, p. 111. DOI : 10.3390/biomimetics8010111.

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Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

N. Obayashi; A. Vicari; K. Junge; K. Shakir; J. Hughes 

Ieee Robotics And Automation Letters. 2023-03-01. Vol. 8, num. 3, p. 1495-1500. DOI : 10.1109/LRA.2023.3240334.

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The science of soft robot design: A review of motivations, methods and enabling technologies

F. Stella; J. Hughes 

Frontiers In Robotics And Ai. 2023-01-18. Vol. 9, p. 1059026. DOI : 10.3389/frobt.2022.1059026.

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Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

F. Stella; Q. Guan; C. Della Santina; J. Hughes 

2023-01-01. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10121939.

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Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

F. Pique; F. Stella; J. Hughes; E. Falotico; C. Della Santina 

2023-01-01. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122116.

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A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

A. Georgopoulou; S. Hamelryckx; K. Junge; L. M. Eckey; S. Rogler et al. 

2023-01-01. IEEE International Conference on Soft Robotics (RoboSoft), Singapore, SINGAPORE, Apr 03-07, 2023. DOI : 10.1109/ROBOSOFT55895.2023.10122054.

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Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization

A. Vicari; N. Obayashi; F. Stella; G. Raynaud; K. Mulleners et al. 

2023. Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023. DOI : 10.1109/RoboSoft55895.2023.10121999.

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Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm

K. Junge; J. Hughes 

Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.

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Leveraging Embodied Intelligence for Dexterous Robotic Manipulators Through Iterative Co-design

K. Junge; J. Hughes 

2022-10-10. International Workshop on Embodied Intelligence, Online, Mars 24-26, 2021. p. 012009. DOI : 10.1088/1757-899X/1261/1/012009.

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Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

C. Bosio; K. Junge; J. Hughes 

Frontiers In Robotics And Ai. 2022-06-23. Vol. 9, p. 878111. DOI : 10.3389/frobt.2022.878111.

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Morphological Sensitivity and Falling Behavior of Paper V-Shapes

T. Howison; J. Hughes; F. Iida 

Artificial Life. 2022-03-16. Vol. 27, num. 3-4, p. 204-219. DOI : 10.1162/artl_a_00340.

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Exploration of Human-Robot Collaboration Methods for Iterative Design Optimization of Paper Airplanes

N. Obayashi; K. Junge; J. Hughes 

2022. International Workshop on Human-Friendly Robotics (HFR), Delft, The Netherlands, September 22-23, 2022. p. 131-145. DOI : 10.1007/978-3-031-22731-8_10.

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Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

F. Stella; Q. Guan; J. Leng; C. Della Santina; J. Hughes 

Robosoft 2023 6th IEEE-RAS International Conference on Soft Robotics, Singapore, April 3-7, 2023.

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Automatic Co-Design of Aerial Robots Using a Graph Grammar

A. Zhao; T. Du; J. Xu; J. Hughes; J. Salazar et al. 

2022-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, JAPAN, Oct 23-27, 2022. p. 11260-11267. DOI : 10.1109/IROS47612.2022.9982013.

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Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

S. Ilic; J. Hughes 

2022. 15th International Workshop on Human-Friendly Robotics (HFR), Delft, Netherlands, Septembre 22-23, 2022. p. 61-73. DOI : 10.1007/978-3-031-22731-8_5.

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Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation

K. Junge; K. Qiu; J. Hughes 

2022. IROS 2022 Kyoto – The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, October 23-27, 2022. DOI : 10.1109/IROS47612.2022.9981310.

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Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

K. Junge; N. Obayashi; F. Stella; C. Della Santina; J. Hughes 

IEEE Robotics and Automation Magazine. 2022. Vol. 29, num. 4, p. 78-91. DOI : 10.1109/MRA.2022.3198821.

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Simulation and Fabrication of Soft Robots with Embedded Skeletons

J. M. Bern; F. Zargarbashi; A. Zhang; J. Hughes; D. Rus 

2022. 2022 International Conference on Robotics and Automation (ICRA). p. 5205–5211. DOI : 10.1109/ICRA46639.2022.9811844.

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Robotic automation and unsupervised cluster assisted modeling for solving the forward and reverse design problem of paper airplanes

N. Obayashi; K. Junge; S. Ilic; J. Hughes 

Scientific Reports. 2022. Vol. 13, num. 1, p. 4212. DOI : 10.1038/s41598-023-31395-0.

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Building a bridge to Robot CoSpace

M. Shimizu; F. P. Aghababa; A. Kabiri; J. Hughes; A. Visser 

2022. 

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A comparison of approaches for including connectivity in systematic conservation planning

J. O. Hanson; J. Vincent; R. Schuster; L. Fahrig; A. Brennan et al. 

Journal of Applied Ecology. 2022. Vol. 59, num. 10, p. 2507-2519. DOI : 10.1111/1365-2664.14251.

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Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

H. Wang; T. Howison; J. Hughes; A. Abdulali; F. Iida 

2022. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). p. 300–305. DOI : 10.1109/RoboSoft54090.2022.9762138.

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An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

F. Stella; N. Obayashi; C. Della Santina; J. Hughes 

IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 11410-11417. DOI : 10.1109/LRA.2022.3192887.

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A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification

J. DelPreto; J. Hughes; M. D’Aria; M. de Fazio; D. Rus 

IEEE Robotics and Automation Letters. 2022. Vol. 7, num. 4, p. 10589-10596. DOI : 10.1109/LRA.2022.3191232.

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Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

K. Gilday; J. Hughes; F. Iida 

Soft Robotics. 2022. DOI : 10.1089/soro.2021.0077.

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Action augmentation of tactile perception for soft-body palpation

L. Scimeca; J. Hughes; P. Maiolino; L. He; T. Nanayakkara et al. 

Soft Robotics. 2022. Vol. 9, num. 2, p. 280–292. DOI : 10.1089/soro.2020.0129.

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Soft Sensorized Physical Twin for Harvesting Raspberries

K. Junge; J. Hughes 

5th International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, April 4-8, 2022.

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Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation

N. Obayashi; C. Bosio; J. Hughes 

2022. 5th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2022), Edinburgh, Scotland, UK, April 4-8, 2022. p. 328-333. DOI : 10.1109/RoboSoft54090.2022.9762148.

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Bridging the divide between ecological forecasts and environmental decision making

K. Bodner; C. Rauen Firkowski; J. R. Bennett; C. Brookson; M. Dietze et al. 

Ecosphere. 2021. Vol. 12, num. 12, p. e03869. DOI : 10.1002/ecs2.3869.

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Soft self-healing fluidic tactile sensors with damage detection and localization abilities

T. George Thuruthel; A. W. Bosman; J. Hughes; F. Iida 

Sensors. 2021. Vol. 21, num. 24, p. 8284. DOI : 10.3390/s21248284.

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Online morphological adaptation for tactile sensing augmentation

J. Hughes; L. Scimeca; P. Maiolino; F. Iida 

Frontiers in Robotics and AI. 2021. Vol. 8. DOI : 10.3389/frobt.2021.665030.

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Reality-assisted evolution of soft robots through large-scale physical experimentation: a review

T. Howison; S. Hauser; J. Hughes; F. Iida 

Artificial Life. 2021. Vol. 26, num. 4, p. 484–506. DOI : 10.1162/artl_a_00330.

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Jamming joints for stiffness and posture control with an anthropomorphic hand

K. Gilday; J. Hughes; F. Iida 

2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 134–140. DOI : 10.1109/RoboSoft51838.2021.9479352.

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Detangling hair using feedback-driven robotic brushing

J. Hughes; T. Plumb-Reyes; N. Charles; L. Mahadevan; D. Rus 

2021. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). p. 487–494. DOI : 10.1109/RoboSoft51838.2021.9479221.

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3D printable sensorized soft gelatin hydrogel for multi-material soft structures

D. Hardman; J. Hughes; T. G. Thuruthel; K. Gilday; F. Iida 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 5269–5275. DOI : 10.1109/LRA.2021.3072600.

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Underwater soft robot modeling and control with differentiable simulation

T. Du; J. Hughes; S. Wah; W. Matusik; D. Rus 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 3, p. 4994–5001. DOI : 10.1109/LRA.2021.3070305.

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Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation

T. G. Thuruthel; J. Hughes; A. Georgopoulou; F. Clemens; F. Iida 

IEEE Robotics and Automation Letters. 2021. Vol. 6, num. 2, p. 2099–2105. DOI : 10.1109/LRA.2021.3061399.

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Closed-Loop Robotic Cooking of Scrambled Eggs with a Salinity-based ‘Taste’Sensor

G. Sochacki; J. Hughes; S. Hauser; F. Iida 

2021. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), ELECTR NETWORK, SEP 27-OCT 01, 2021. p. 594–600. DOI : 10.1109/IROS51168.2021.9636750.

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Wrist-driven passive grasping: interaction-based trajectory adaption with a compliant anthropomorphic hand

K. Gilday; J. Hughes; F. Iida 

Bioinspiration & Biomimetics. 2021. Vol. 16, num. 2, p. 26024. DOI : 10.1088/1748-3190/abe345.

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Sensing soft robot shape using imus: An experimental investigation

J. Hughes; F. Stella; C. D. Santina; D. Rus 

2021. International Symposium on Experimental Robotics. p. 543–552. DOI : 10.1007/978-3-030-71151-1_48.

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Morphologically programming the interactions of V-shaped falling papers

T. Howison; J. Hughes; F. Iida 

2020. ALIFE 2020: The 2020 Conference on Artificial Life. p. 359–366. DOI : 10.1162/isal_a_00306.

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Extensible High Force Manipulator For Complex Exploration

J. Hughes; C. D. Santina; D. Rus 

2020. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 733-739. DOI : 10.1109/RoboSoft48309.2020.9116024.

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Mechanically programmable, degradable & ingestible soft actuators

J. Hughes; D. Rus 

2020. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 836–843. DOI : 10.1109/RoboSoft48309.2020.9116001.

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Sensorized phantom for characterizing large area deformation of soft bodies for medical applications

J. Hughes; P. Maiolino; T. Nanayakkara; F. Iida 

2020. 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, JUL 15, 2020. p. 278–284. DOI : 10.1109/RoboSoft48309.2020.9115971.

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Improving robotic cooking using batch bayesian optimization

K. Junge; J. Hughes; T. G. Thuruthel; F. Iida 

IEEE Robotics and Automation Letters. 2020. Vol. 5, num. 2, p. 760–765. DOI : 10.1109/LRA.2020.2965418.

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Joint entropy-based morphology optimization of soft strain sensor networks for functional robustness

T. G. Thuruthel; J. Hughes; F. Iida 

IEEE Sensors Journal. 2020. Vol. 20, num. 18, p. 10801–10810. DOI : 10.1109/JSEN.2020.2995237.

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Sensorization of a continuum body gripper for high force and delicate object grasping

J. Hughes; S. Li; D. Rus 

2020. 2020 IEEE International Conference on Robotics and Automation (ICRA), ELECTR NETWORK, MAY 31-JUN 15, 2020. p. 6913–6919. DOI : 10.1109/ICRA40945.2020.9196603.

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Large-scale automated investigation of free-falling paper shapes via iterative physical experimentation

T. Howison; J. Hughes; F. Iida 

Nature Machine Intelligence. 2020. Vol. 2, num. 1, p. 68–75. DOI : 10.1038/s42256-019-0135-z.

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Flexible, adaptive industrial assembly: driving innovation through competition

J. Hughes; K. Gilday; L. Scimeca; S. Garg; F. Iida 

Intelligent Service Robotics. 2020. Vol. 13, num. 1, p. 169–178. DOI : 10.1007/s11370-019-00292-9.

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Real World Bayesian Optimization Using Robots to Clean Liquid Spills

I. Voysey; J. Hughes; T. G. Thuruthel; K. Gilday; F. Iida 

2020. Annual Conference Towards Autonomous Robotic Systems. p. 196–208. DOI : 10.1007/978-3-030-63486-5_22.

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A field-tested robotic harvesting system for iceberg lettuce

S. Birrell; J. Hughes; J. Y. Cai; F. Iida 

Journal of Field Robotics. 2020. Vol. 37, num. 2, p. 225–245. DOI : 10.1002/rob.21888.

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A Simple, Inexpensive, Wearable Glove with Hybrid Resistive-Pressure Sensors for Computational Sensing, Proprioception, and Task Identification

J. Hughes; A. Spielberg; M. Chounlakone; G. Chang; W. Matusik et al. 

Advanced Intelligent Systems. 2020. Vol. 2, num. 6, p. 2000002. DOI : 10.1002/aisy.202000002.

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Bio-inspired soft robotic systems: Exploiting environmental interactions using embodied mechanics and sensory coordination

J. A. E. Hughes 

University of Cambridge, 2019. 

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A proposal on more advanced Robot Rescue Simulation challenges for Robotics Education

J. Hughes; F. P. Aghababa; A. Kabiri; M. Shimizu; A. Visser 

2019. 

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Gel-Based Soft Interfaces for Fastener Manipulation in Robotic Agile Assembly

K. Gilday; J. Hughes; F. Iida 

2019. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, SOUTH KOREA, APR 14-18, 2019. p. 155–160. DOI : 10.1109/ROBOSOFT.2019.8722738.

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Model-free soft-structure reconstruction for proprioception using tactile arrays

L. Scimeca; J. Hughes; P. Maiolino; F. Iida 

IEEE Robotics and Automation Letters. 2019. Vol. 4, num. 3, p. 2479–2484. DOI : 10.1109/LRA.2019.2906548.

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A review of robot rescue simulation platforms for robotics education

J. Hughes; M. Shimizu; A. Visser 

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). 2019. Vol. 11531, p. 86–98. DOI : 10.1007/978-3-030-35699-6_7.

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Multi-functional soft strain sensors for wearable physiological monitoring

J. Hughes; F. Iida 

Sensors. 2018. Vol. 18, num. 11, p. 3822. DOI : 10.3390/s18113822.

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Physics driven behavioural clustering of free-falling paper shapes

T. Howison; J. Hughes; F. Giardina; F. Iida 

PloS one. 2018. Vol. 14, num. 6, p. e0217997. DOI : 10.1371/journal.pone.0217997.

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Tack and deformation based sensorised gripping using conductive hot melt adhesive

J. Hughes; F. Iida 

2018. 1st IEEE-RAS International Conference on Soft Robotics (RoboSoft), Livorno, ITALY, APR 24-28, 2018. p. 553–558. DOI : 10.1109/ROBOSOFT.2018.8405384.

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Achieving robotically peeled lettuce

J. Hughes; L. Scimeca; I. Ifrim; P. Maiolino; F. Iida 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 4, p. 4337–4342. DOI : 10.1109/LRA.2018.2855043.

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Achieving flexible assembly using autonomous robotic systems

K. Gilday; J. Hughes; F. Iida 

2018. 2018 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, SPAIN, OCT 01-05, 2018. p. 1–9. DOI : 10.1109/IROS.2018.8593852.

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Tactile sensing applied to the universal gripper using conductive thermoplastic elastomer

J. Hughes; F. Iida 

Soft Robotics. 2018. Vol. 5, num. 5, p. 512–526. DOI : 10.1089/soro.2017.0089.

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Data Synthesization for Classification in Autonomous Robotic Grasping System Using ‘Catalogue’-Style Images

M. Cheah; J. Hughes; F. Iida 

2018. Annual Conference Towards Autonomous Robotic Systems. p. 40–51. DOI : 10.1007/978-3-319-96728-8_4.

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Localized differential sensing of soft deformable surfaces

J. Hughes; F. Iida 

2017. 2017 IEEE International Conference on Robotics and Automation (ICRA). p. 4959–4964. DOI : 10.1109/ICRA.2017.7989576.

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3D printed sensorized soft robotic manipulator design

J. Hughes; F. Iida 

2017. 18th Annual Conference on Towards Autonomous Robotics (TAROS), Univ Surrey, Guildford, ENGLAND, JUL 19-21, 2017. p. 627–636. DOI : 10.1007/978-3-319-64107-2_51.

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Real-world, real-time robotic grasping with convolutional neural networks

J. Watson; J. Hughes; F. Iida 

2017. 18th Annual Conference on Towards Autonomous Robotics (TAROS), Univ Surrey, Guildford, ENGLAND, JUL 19-21, 2017. p. 617–626. DOI : 10.1007/978-3-319-64107-2_50.

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Design principles for soft-rigid hybrid manipulators

U. Culha; J. Hughes; A. Rosendo; F. Giardina; F. Iida 

2017. Soft Robotics Week – Trends, Applications and Challenges, Livorno, ITALY, APR 25-30, 2016. p. 87–94. DOI : 10.1007/978-3-319-46460-2_11.

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How to measure the impacts of antibiotic resistance and antibiotic development on empiric therapy: new composite indices

J. S. Hughes; A. Hurford; R. L. Finley; D. M. Patrick; J. Wu et al. 

BMJ open. 2016. Vol. 6, num. 12, p. e012040. DOI : 10.1136/bmjopen-2016-012040.

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Soft manipulators and grippers: a review

J. Hughes; U. Culha; F. Giardina; F. Guenther; A. Rosendo et al. 

Frontiers in Robotics and AI. 2016. Vol. 3, p. 69. DOI : 10.3389/frobt.2016.00069.

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News and Views: Soft Solutions for Hard Problems [Society News]

A. Rosendo; J. Hughes; F. Giardina; F. Iida 

IEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 3, p. 125–127. DOI : 10.1109/MRA.2016.2588118.

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Robotic rescue simulation for computing teaching in the UK: A case study

J. Hughes 

2016. 2016 IEEE Global Engineering Education Conference (EDUCON), Abu Dhabi, U ARAB EMIRATES, APR 10-13, 2016. p. 1051–1055. DOI : 10.1109/EDUCON.2016.7474683.

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Effects of forest spatial structure on insect outbreaks: insights from a host-parasitoid model

J. S. Hughes; C. A. Cobbold; K. Haynes; G. Dwyer 

The American Naturalist. 2015. Vol. 185, num. 5, p. E130–E152. DOI : 10.1086/680860.

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Development of wireless sensor network using bluetooth low energy (BLE) for construction noise monitoring

J. Hughes; J. Yan; K. Soga 

International Journal of Smart Sensing and Intelligent Systems. 2015. Vol. 8, num. 2, p. 1379–1405. DOI : 10.21307/ijssis-2017-811.

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