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Josephine Anna Eleanor Hughes

Cette personne a quitté l’EPFL

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Publications associées (78)

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

Josephine Anna Eleanor Hughes, Kai Christian Junge, Antonia Georgopoulou Papadonikolaki

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

IEEE2023

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Josephine Anna Eleanor Hughes, Nana Obayashi

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

Frontiers Media Sa2023

Morphological Sensitivity and Falling Behavior of Paper V-Shapes

Josephine Anna Eleanor Hughes

Behavioral diversity seen in biological systems is, at the most basic level, driven by interactions between physical materials and their environment. In this context we are interested in falling paper systems, specifically the V-shaped falling paper (VSFP) ...

MIT PRESS2022

Automatic Co-Design of Aerial Robots Using a Graph Grammar

Josephine Anna Eleanor Hughes

Unmanned aerial vehicles (UAVs) have broad applications including disaster response, transportation, photography, and mapping. A significant bottleneck in the development of UAVs is the limited availability of automatic tools for task-specific co-design of ...

IEEE2022

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday, Yi-Shiun Wu

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

IEEE2023

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

Josephine Anna Eleanor Hughes, Kai Christian Junge

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

FRONTIERS MEDIA SA2022

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

Josephine Anna Eleanor Hughes, Kai Christian Junge

In the quest to develop large-area soft sensors, we can look to nature for many examples. Spiderwebs show many fascinating properties that we can seek to understand and replicate in order to develop large-area, soft, and deformable sensing structures. Spid ...

2023

Polynomial Curvature Model for IMU-Based Proprioception in Soft Robotic Manipulators Under External Forces

Josephine Anna Eleanor Hughes, Guanran Pei

Due to its structural flexibility and compliance in motion, the soft manipulator shows significant potential and application prospects in robot-human and environment interaction fields. However, its theoretically infinite degrees of freedom in deformation ...

IEEE2025

Synergy-based robotic quadruped leveraging passivity for natural intelligence and behavioural diversity

Mickaël Melhem Achkar, Josephine Anna Eleanor Hughes, Francesco Stella

Quadrupedal animals show remarkable capabilities in traversing diverse terrains and display a range of behaviours and gait patterns. Achieving similar performance by exploiting the natural dynamics of the system is a key goal for robotics researchers. Here ...

NATURE PORTFOLIO2025

Morphological and Material Programability of a Hall-Effect Based Soft Tactile Sensors

Josephine Anna Eleanor Hughes, Sudong Lee

The different receptors in human skin show not only diversity in the stimuli to which they respond, but also variable sensitivity and directionality. This is often determined by their location or morphology, and can play an important role in filtering or a ...

IEEE2024

Field-evaluated Closed Structure Soft Gripper Enhances the Shelf Life of Harvested Blackberries

Josephine Anna Eleanor Hughes, Kai Christian Junge

Soft robotic grippers are intrinsically delicate while grasping objects, and can rely on mechanical deformation to adapt to different shapes without explicit control. These characteristics are particularly appealing for agriculture, where items of produce ...

Institute of Electrical and Electronics Engineers Inc.2024

Soft robotics for farm to fork: applications in agriculture & farming

Josephine Anna Eleanor Hughes, Kai Christian Junge

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

Iop Publishing Ltd2024

Exploiting passive behaviours for diverse musical playing using the parametric hand

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Creativity and style in music playing originates from constraints and imperfect interactions between instruments and players. Digital and robotic systems have so far been unable to capture this naturalistic playing. Whether as an additional tool for musici ...

2024

Rapid Action Evaluation and Optimization Through Mutual Information Using a Multi-Modal Soft Tactile Sensor

Josephine Anna Eleanor Hughes, Kai Christian Junge, Kieran Daniel Gilday, Germain Philippe Marie Meyer

The extraction of tactile information from an environment depends on the action, sensor design, and the environment itself. This makes identifying an optimal action for a given task, i.e. classification, challenging and typically requires extensive data-ri ...

Institute of Electrical and Electronics Engineers Inc.2024

A democratized bimodal model of research for soft robotics: Integrating slow and fast science

Josephine Anna Eleanor Hughes, Nana Obayashi, Kyle Liam Walker

A shift toward a democratized, bimodal model of research would allow soft robotics to realize its full potential. ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Bio-Inspired Robotic Swallowing Simulator

James Ziadeh, Josephine Anna Eleanor Hughes, Kai Christian Junge

The development of food products that are safe whilst also nutritious and sustainable is a key challenge for the food industry. However, evaluating the safety of food, and in particular swallowing safety, is a fundamental challenge to ensure safety, percep ...

Institute of Electrical and Electronics Engineers Inc.2024

How can LLMs transform the robotic design process?

Josephine Anna Eleanor Hughes, Francesco Stella

NATURE PORTFOLIO2023

Reliable and robust robotic handling of microplates via computer vision and touch feedback

Zhen Xuan Jasper Tan, Francesco Stellacci, Josephine Anna Eleanor Hughes, Vincenzo Scamarcio

Laboratory automation requires reliable and precise handling of microplates, but existing robotic systems often struggle to achieve this, particularly when navigating around the dynamic and variable nature of laboratory environments. This work introduces a ...

FRONTIERS MEDIA SA2025

IMU Based Pose Reconstruction and Closed-loop Control for Soft Robotic Arms

Josephine Anna Eleanor Hughes, Francesco Stella, Guanran Pei, Omar Hani Mokhtar Ahmed Meebed

Soft continuum manipulators are celebrated for their versatility and physical robustness to external forces and perturbations. However, this feature comes at a cost. The many degrees of freedom and compliance pose challenges for accurate pose reconstructio ...

Institute of Electrical and Electronics Engineers Inc.2024

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Josephine Anna Eleanor Hughes

Interest in bioinspired peristaltic pumps has grown in popularity among the scientific community in the last decade thanks to their extreme flexibility and their intrinsic compliance. In this paper, we propose a soft peristaltic pump exploiting ballooning. ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022