Josephine Anna Eleanor Hughes

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Advances in soft sensors coupled with machine learning are enabling increasingly capable wearable systems. Since hand motion in particular can convey useful information for developing intuitive interfaces, glove-based systems can have a significant impact ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

The design of wings is crucial for tailless Flapping-wing robots (FWRs), as these robots rely exclusively on their wings for lift generation and body control. However, the current methodology for wing design primarily depends on the experience and heuristi ...

Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be done to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understo ...

Robotic locomotion has shown substantial advancements, yet robots still lack the versatility and agility shown by animals navigating complex terrains. This limits their applicability in complex environments where they could be highly beneficial. Unlike exi ...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...

Natural musculoskeletal systems combine soft tissues and rigid structures to achieve diverse mechanical behaviors that are both adaptive and precise. Inspired by these systems, we propose a programming method for designing bioinspired soft-rigid robotic st ...

The morphology and structure play a crucial role in shaping the behavior and functionality of both biological and robotic systems. In this work, we are inspired by morphogenesis, a fundamental biological process that encompasses the emergence of organs and ...

In nature, aquatic animals leverage the interaction between their soft bodies and surrounding fluid to achieve efficient locomotion; for animals with multiple limbs, this requires careful coordination among the limbs. The octopus, with its tentacles and fl ...

Although often regarded a childhood toy, the design of paper airplanes is subtly complex. The design space and mapping from geometry to distance flown is highly nonlinear and probabilistic where a single airplane design exhibits a multitude of trajectory f ...

Recent developments in soft actuation demand for resilient, responsive materials with locally varying compositions that are sufficiently stiff to exhibit significant actuation forces. Hydrogels are inherently responsive to certain stimuli. Yet, they typica ...

Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits, adaptability is pa ...

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

The critical micelle concentration (CMC) is the key characterization of surfactants. To date, no method can yield sequential CMC measurements in an automated fashion. This work introduces SIMO (smart integrator for manual operations), a novel robotic platf ...

To develop engineered systems with enhanced functionality, improving their design is essential. Robots and humans each have specialized competence advantageous to design. Robots excel in terms of fabrication reliability and observation of trends in data wh ...

Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propo ...

Embodied intelligence could grant soft, robotic manipulators with increased performance in adaptability and dexterity. However, we currently have a lack of tools for the forward design of finger behaviours with high-dimensional morphology. We take an open- ...

Josephine Anna Eleanor Hughes

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

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Enhancing Lift and Dynamic Stability Through Morphological Optimization of Wings for Tailless Flapping-Wing Robots

Action augmentation of tactile perception for soft-body palpation

Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

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

Lattice Structure Musculoskeletal Robots: Harnessing Programmable Geometric Topology and Anisotropy

Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination

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

4D printing of Metal-Reinforced double network granular hydrogels

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects [Survey]

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

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

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Robot-Assisted Measurement of the Critical Micelle Concentration

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

Learning Motion Reconstruction from Demonstration via Multi-Modal Soft Tactile Sensing

Behaviour Range Optimization of the Dexterous Robotic Open Parametric Hand