Publications de Kai Christian Junge

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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 ...

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 ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

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 ...

Robotic fruit harvesting requires dexterity to handle delicate crops and development relying upon field testing possible only during the harvesting season. Here we focus on raspberry crops, and explore how the research methodology of harvesting robots can ...

Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this is the pain and reflex system which both minimizes damage through involuntary reflex ac- tions and also s ...

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 ...

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating bi ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Kai Christian Junge

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Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

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

Experimental assessment, design, and control of compliance in dexterous robotic hands

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

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

Lab2Field transfer of a robotic raspberry harvester enabled by a soft sensorized physical twin

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

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

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

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

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

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

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

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

Bio-Inspired Robotic Swallowing Simulator

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

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

Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation

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

Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm