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Josephine Anna Eleanor Hughes

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Related publications (78)

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Mod-VSA: A Modular Variable Stiffness Actuator for Multi-fingered Robotic Hands

Josephine Anna Eleanor Hughes, Kai Christian Junge

Regulating contact forces is crucial for robotic manipulation, but achieving stiffness variation in multi-fingered hands is challenging due to design complexity. This work presents Mod-VSA, a modular variable stiffness actuator for multi-fingered tendon-dr ...

Institute of Electrical and Electronics Engineers Inc.2025

Soft Pneumatic Gripper With Interchangeable Fingertips by Using Reversible Polymers: The GraspBerry, a Raspberry Picking Case Study

Josephine Anna Eleanor Hughes, Kai Christian Junge

Fingerprints primarily enhance grasping by modulating friction, as the surface pattern affects the friction needed for effective grasping and manipulation. A versatile gripper was developed with a more realistic distal phalange inspired by the human index ...

2025

Robotic optimization of powdered beverages leveraging computer vision and Bayesian optimization

Josephine Anna Eleanor Hughes

The growing demand for innovative research in the food industry is driving the adoption of robots in large-scale experimentation, a shift that offers increased precision, repeatability, and efficiency in product manufacturing and evaluation. This paper add ...

2025

Special issue on robotics technology for agriculture

Josephine Anna Eleanor Hughes

TAYLOR & FRANCIS LTD2023

Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation

Josephine Anna Eleanor Hughes, Kai Christian Junge

The impressive capabilities of humans to robustly perform manipulation stems from compliant interactions, enabled by the structure and materials distributed in the hands. We propose that mimicking this spatially distributed compliance in an anthropomorphic ...

Springer Science and Business Media LLC2025

3D printing of self-healing longevous multi-sensory e-skin

Esther Amstad, Josephine Anna Eleanor Hughes, Sudong Lee, Benhui Dai, Francesca Bono

Electrically conductive hydrogels can simulate the sensory capabilities of natural skin, such that they are well-suited for electronic skin. Unfortunately, currently available electronic skin cannot detect multiple stimuli in a selective manner. Inspired b ...

Springer Science and Business Media LLC2025

Non-Contact Manipulation of Objects in Fluid with Soft Robots Through Behavioral Primitives and Finite State Machine

Arnaud Vincent Klipfel, Josephine Anna Eleanor Hughes, Nana Obayashi

Non-contact, fluid-mediated manipulation of objects using underactuated soft robots or structures presents unique control challenges, demanding a nuanced understanding of fluid dynamics and innovative control methods. In this study, we investigate methods ...

Institute of Electrical and Electronics Engineers Inc.2024

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

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Mary Ann Liebert Inc.2022

Simulation and Fabrication of Soft Robots with Embedded Skeletons

Josephine Anna Eleanor Hughes

Institute of Electrical and Electronics Engineers Inc.2022

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

Josephine Anna Eleanor Hughes, Francesco Stella

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

FRONTIERS MEDIA SA2023

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

Josephine Anna Eleanor Hughes, Kai Christian Junge

The role of embodied intelligence (EI) has the potential to overcome current limitations in the fabrication, control, and resulting behavior to create robust and effective dexterous robotic manipulators. To develop hands that truly exploit EI, we must desi ...

IOP Publishing2022

Editorial: AI-powered musical and entertainment robotics

Josephine Anna Eleanor Hughes

FRONTIERS MEDIA SA2025

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

Josephine Anna Eleanor Hughes, Karen Ann J Mulleners, Nana Obayashi, Francesco Stella, Gaétan Irénée Auguste Anatole Armand Raynaud

2023

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

Josephine Anna Eleanor Hughes, Nana Obayashi

2022

Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm

Josephine Anna Eleanor Hughes, Kai Christian Junge

2023

A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms

Josephine Anna Eleanor Hughes, Qinghua Guan

Institute of Electrical and Electronics Engineers (IEEE)2025

Morphological computation-Past, present and future

Josephine Anna Eleanor Hughes

Morphological computation is a design approach used in robotics that proposes the exploitation of morphological features in order to build intelligent robotic systems and improve their performance. This approach is inspired by observations of biological sy ...

CELL PRESS2024

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

Josephine Anna Eleanor Hughes, Francesco Stella

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks ...

IEEE2023