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Helge A. Wurdemann

Helge A. Würdemann

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affiliation: University College London, UK
affiliation (PhD 2012): King's College London, UK

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2020 – today

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2024
[j22]
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Richard Marques Monteiro, Jialei Shi, Helge A. Wurdemann, Fumiya Iida, Thomas George Thuruthel:
Visuo-dynamic self-modelling of soft robotic systems. Frontiers Robotics AI 11 (2024)
[j21]
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Jialei Shi, Azadeh Shariati, Sara-Adela Abad, Yuanchang Liu, Jian S. Dai, Helge A. Wurdemann:
Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory. Int. J. Robotics Res. 43(3): 354-384 (2024)
[j20]
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Duncan G. Raitt, Mahmud Huseynov, Shervanthi Homer-Vanniasinkam, Helge A. Wurdemann, Sara-Adela Abad:
Soft-Tipped Sensor With Compliance Control for Elasticity Sensing and Palpation. IEEE Trans. Robotics 40: 2430-2441 (2024)
[c49]
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Xingyu Chen, Jialei Shi, Helge A. Wurdemann, Thomas George Thuruthel:
Vision-based Tip Force Estimation on a Soft Continuum Robot. ICRA 2024: 7621-7627
[c48]
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Jialei Shi, Sara-Adela Abad, Arianna Menciassi, Kaspar Althoefer, Helge A. Wurdemann:
Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre Scale. RoboSoft 2024: 157-164
[c47]
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Xiang Long, Luke Beddow, Denis Hadjivelichkov, Andromachi Maria Delfaki, Helge A. Wurdemann, Dimitrios Kanoulas:
Reinforcement Learning-Based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language-Image Learning. SII 2024: 207-212
2023
[j19]
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  - journals/finr/MaldonadoMejiaMDWMPSMC23
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Juan C. Maldonado-Mejía, Marcela Múnera, Camilo Arturo Rodríguez Díaz, Helge A. Wurdemann, Mehran Moazen, Maria José Pontes, Marcelo Eduardo Vieira Segatto, Maxwell E. Monteiro, Carlos A. Cifuentes:
A fabric-based soft hand exoskeleton for assistance: the ExHand Exoskeleton. Frontiers Neurorobotics 17 (2023)
[j18]
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  - journals/firai/DagninoKMWA23
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Giulio Dagnino, Dennis Kundrat, Pedro Moreira, Helge A. Wurdemann, Momen Abayazid:
Editorial: Translational research in medical robotics - challenges and opportunities. Frontiers Robotics AI 10 (2023)
[j17]
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Junke Yao, Giorgia Maria Bosi, Andrea Palombi, Gaetano Burriesci, Helge A. Wurdemann:
Compliant Aortic Annulus Sizing With Different Elliptical Ratios Through a Valvuloplasty Balloon Catheter. IEEE Trans. Biomed. Eng. 70(12): 3469-3479 (2023)
[j16]
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Elijah Almanzor, Fan Ye, Jialei Shi, Thomas George Thuruthel, Helge A. Wurdemann, Fumiya Iida:
Static Shape Control of Soft Continuum Robots Using Deep Visual Inverse Kinematic Models. IEEE Trans. Robotics 39(4): 2973-2988 (2023)
[c46]
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  - conf/embc/MountrisSCW23
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Konstantinos A. Mountris, Richard Schilling, Alicia Casals, Helge A. Wurdemann:
Meshless Simulation of Multi-site Radio Frequency Catheter Ablation through the Fragile Points Method. EMBC 2023: 1-4
[c45]
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Yaxi Wang, Vivek Muthurangu, Helge A. Wurdemann:
Toward Autonomous Pulmonary Artery Catheterization: A Learning-based Robotic Navigation System. EMBC 2023: 1-5
[c44]
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  - conf/i2mtc/KamathamSWM23
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Anne Tryphosa Kamatham, Azadeh Shariati, Helge A. Wurdemann, Biswarup Mukherjee:
A Multiplexed Sonomyography System for Proprioceptive Proportional Control of Biomechatronic Interfaces. I2MTC 2023: 1-6
[c43]
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  - conf/icra/GaozhangSLSW23
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Wenlong Gaozhang, Jialei Shi, Yue Li, Agostino Stilli, Helge A. Wurdemann:
Characterisation of Antagonistically Actuated, Stiffness-Controllable Joint-Link Units for Cobots. ICRA 2023: 655-661
[c42]
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  - conf/robosoft/ChaillouSKFWD23
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Paul Chaillou, Jialei Shi, Alexandre Kruszewski, Isabelle Fournier, Helge A. Wurdemann, Christian Duriez:
Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots. RoboSoft 2023: 1-8
[c41]
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Jialei Shi, Wenlong Gaozhang, Hanyu Jin, Ge Shi, Helge A. Wurdemann:
Characterisation and control platform for pneumatically driven soft robots: Design and applications. RoboSoft 2023: 1-8
[c40]
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Ge Shi, Azadeh Shariati, Jialei Shi, Nicolas Herzig, Sara-Adela Abad, Helge A. Wurdemann:
Modelling the inflation of an elastic membrane with a load. RoboSoft 2023: 1-8
2022
[j15]
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  - journals/pieee/KwokWAMA22
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Ka-Wai Kwok, Helge A. Wurdemann, Alberto Arezzo, Arianna Menciassi, Kaspar Althoefer:
Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook. Proc. IEEE 110(7): 871-892 (2022)
[c39]
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  - conf/biorob/ArcoRMMWC22
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Laura De Arco, Orion Ramos, Marcela C. Múnera, Mehran Moazen, Helge A. Wurdemann, Carlos A. Cifuentes:
The PrHand: Functional Assessment of an Underactuated Soft-Robotic Prosthetic Hand. BioRob 2022: 1-6
[c38]
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Junke Yao, Giorgia Maria Bosi, Gaetano Burriesci, Helge A. Wurdemann:
Computational Analysis of Balloon Catheter Behaviour at Variable Inflation Levels. EMBC 2022: 3015-3019
[c37]
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Jialei Shi, Wenlong Gaozhang, Helge A. Wurdemann:
Design and Characterisation of Cross-sectional Geometries for Soft Robotic Manipulators with Fibre-reinforced Chambers. RoboSoft 2022: 125-131
[i2]
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  - journals/corr/abs-2208-05306
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Konstantinos A. Mountris, Mingjing Li, Richard Schilling, Leiting Dong, Satya N. Atluri, Alicia Casals, Helge A. Wurdemann:
An Explicit Total Lagrangian Fragile Points Method for Finite Deformation of Hyperelastic Materials. CoRR abs/2208.05306 (2022)
2021
[j14]
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  - journals/firai/LiCHCCSYXXW21
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Min Li, Jiazhou Chen, Guoying He, Lei Cui, Chaoyang Chen, Emanuele Lindo Secco, Wei Yao, Jun Xie, Guanghua Xu, Helge A. Wurdemann:
Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation. Frontiers Robotics AI 8: 602091 (2021)
[j13]
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  - journals/ijon/KastleAKW21
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Jan Luca Kästle, Bani Anvari, Jakub Król, Helge A. Wurdemann:
Correlation between Situational Awareness and EEG signals. Neurocomputing 432: 70-79 (2021)
[j12]
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Jesús M. Gómez de Gabriel, Helge A. Wurdemann:
Adaptive Underactuated Finger With Active Rolling Surface. IEEE Robotics Autom. Lett. 6(4): 8253-8260 (2021)
[c36]
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Jialei Shi, Julio C. Frantz, Azadeh Shariati, Ali Shiva, Jian S. Dai, Daniel Martins, Helge A. Wurdemann:
Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator. ICRA 2021: 11938-11944
[c35]
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  - conf/iros/ShariatiSSW21
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Azadeh Shariati, Jialei Shi, Sarah K. Spurgeon, Helge A. Wurdemann:
Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator. IROS 2021: 661-667
[c34]
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  - conf/iros/BeddowWK21
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Luke Beddow, Helge A. Wurdemann, Dimitrios Kanoulas:
A Caging Inspired Gripper using Flexible Fingers and a Movable Palm. IROS 2021: 7195-7200
2020
[j11]
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  - journals/ral/GandariasWSGGW20
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Juan M. Gandarias, Yongjing Wang, Agostino Stilli, Alfonso J. García-Cerezo, Jesús M. Gómez de Gabriel, Helge A. Wurdemann:
Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots. IEEE Robotics Autom. Lett. 5(2): 1772-1779 (2020)
[j10]
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  - journals/toh/ShiPOLHVHWPLABC20
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Ge Shi, Emanuele Peperoni, Calogero Maria Oddo, Min Li, Joseph Hardwicke, Matthew Venus, Shervanthi Homer-Vanniasinkam, Helge A. Wurdemann, Andrea Palombi, Zara Lim, Anna Astolfi, Andrea Burani, Silvia Campagnini, Federica G. C. Loizzo, Matteo Lo Preti, Alessandro Marin Vargas:
Fluidic Haptic Interface for Mechano-Tactile Feedback. IEEE Trans. Haptics 13(1): 204-210 (2020)
[c33]
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  - conf/iros/0004ACLW20
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Jan Peters, Bani Anvari, Cheng Chen, Zara Lim, Helge A. Wurdemann:
Hybrid fluidic actuation for a foam-based soft actuator. IROS 2020: 8701-8708
[c32]
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  - conf/iros/AnvariW20
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Bani Anvari, Helge A. Wurdemann:
Modelling social interaction between humans and service robots in large public spaces. IROS 2020: 11189-11196

2010 – 2019

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2019
[c31]
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Ali Shafti, Ahmad Ataka, Beatriz Urbistondo Lazpita, Ali Shiva, Helge A. Würdemann, Kaspar Althoefer:
Real-time Robot-assisted Ergonomics. ICRA 2019: 1975-1981
[c30]
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  - conf/icra/PalombiBGMHBW19
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Andrea Palombi, Giorgia Maria Bosi, Sara Di Giuseppe, Elena De Momi, Shervanthi Homer-Vanniasinkam, Gaetano Burriesci, Helge A. Wurdemann:
Sizing the aortic annulus with a robotised, commercially available soft balloon catheter: in vitro study on idealised phantoms. ICRA 2019: 6230-6236
[c29]
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Jan Peters, Erin Nolan, Mats Wiese, Mark A. Miodownik, Sarah K. Spurgeon, Alberto Arezzo, Annika Raatz, Helge A. Wurdemann:
Actuation and stiffening in fluid-driven soft robots using low-melting-point material. IROS 2019: 4692-4698
[c28]
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  - conf/taros/AtakaSKWA19
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Ahmad Ataka, Agostino Stilli, Jelizaveta Konstantinova, Helge A. Wurdemann, Kaspar Althoefer:
Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. TAROS (1) 2019: 52-64
2018
[j9]
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Angela Faragasso, João Bimbo, Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer, Hajime Asama:
Real-Time Vision-Based Stiffness Mapping. Sensors 18(5): 1347 (2018)
[c27]
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  - conf/icra/MuraiHSDMW18
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Estevan H. Murai, Shervanthi Homer-Vanniasinkam, Pierre G. Silveira, Jian S. Dai, Daniel Martins, Helge A. Wurdemann:
Towards a Modular Suturing Catheter for Minimally Invasive Vascular Surgery. ICRA 2018: 44-49
[c26]
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Jan Fras, Yohan Noh, Mateusz Macias, Helge A. Würdemann, Kaspar Althoefer:
Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator. ICRA 2018: 1583-1588
[c25]
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Agostino Stilli, Efstathios Kolokotronis, Jan Fras, Ahmad Ataka, Kaspar Althoefer, Helge A. Wurdemann:
Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. IROS 2018: 6959-6964
[c24]
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Agostino Stilli, Arianna Cremoni, Matteo Bianchi, Alessandro Ridolfi, Filippo Gerii, Federica Vannetti, Helge A. Wurdemann, Benedetto Allotta, Kaspar Althoefer:
AirExGlove - A novel pneumatic exoskeleton glove for adaptive hand rehabilitation in post-stroke patients. RoboSoft 2018: 579-584
[p2]
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Agostino Stilli, Kaspar Althoefer, Helge A. Wurdemann:
Soft Robotics. Bio-inspired Antagonistic Stiffening. Developing Support Technologies 2018: 207-214
[i1]
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Ali Shafti, Ahmad Ataka, Beatriz Urbistondo Lazpita, Ali Shiva, Helge A. Wurdemann, Kaspar Althoefer:
Real-time Robot-assisted Ergonomics. CoRR abs/1805.06270 (2018)
2017
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Agostino Stilli, Luca Grattarola, Hauke Feldmann, Helge A. Wurdemann, Kaspar Althoefer:
Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators. ICRA 2017: 4971-4976
[c22]
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Jan Fras, Yohan Noh, Helge A. Wurdemann, Kaspar Althoefer:
Soft fluidic rotary actuator with improved actuation properties. IROS 2017: 5610-5615
2016
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Ali Shiva, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni, Matteo Cianchetti, Arianna Menciassi, Kaspar Althoefer, Helge A. Wurdemann:
Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. IEEE Robotics Autom. Lett. 1(2): 632-637 (2016)
[j7]
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Yohan Noh, João Bimbo, Sina Sareh, Helge A. Würdemann, Jan Fras, Damith Suresh Chathuranga, Hongbin Liu, Richard James Housden, Kaspar Althoefer, Kawal S. Rhode:
Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics. Sensors 16(11): 1936 (2016)
[c21]
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Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge A. Wurdemann, Prokar Dasgupta, Kaspar Althoefer:
Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. BioRob 2016: 600-605
[c20]
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Ali Shafti, Beatriz Urbistondo Lazpita, Oussama Elhage, Helge A. Wurdemann, Kaspar Althoefer:
Analysis of comfort and ergonomics for clinical work environments. EMBC 2016: 1894-1897
[c19]
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Yohan Noh, João Bimbo, Agostino Stilli, Helge A. Wurdemann, Hongbin Liu, Richard James Housden, Kawal S. Rhode, Kaspar Althoefer:
A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam. IROS 2016: 202-207
[c18]
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Lukas Lindenroth, Junghwan Back, Adrian Schoisengeier, Yohan Noh, Helge A. Wurdemann, Kaspar Althoefer, Hongbin Liu:
Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. IROS 2016: 2458-2463
[c17]
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Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge A. Wurdemann, Hongbin Liu, Kaspar Althoefer:
Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments. IROS 2016: 2827-2832
2015
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Min Li, Jelizaveta Konstantinova, Emanuele Lindo Secco, Allen Jiang, Hongbin Liu, D. P. Thrishantha Nanayakkara, Lakmal D. Seneviratne, Prokar Dasgupta, Kaspar Althoefer, Helge A. Wurdemann:
Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue. Medical Biol. Eng. Comput. 53(11): 1177-1186 (2015)
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Christian Deters, Hak-Keung Lam, Emanuele Lindo Secco, Helge A. Wurdemann, Lakmal D. Seneviratne, Kaspar Althoefer:
Accurate Bolt Tightening Using Model-Free Fuzzy Control for Wind Turbine Hub Bearing Assembly. IEEE Trans. Control. Syst. Technol. 23(1): 1-12 (2015)
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Emanuele Lindo Secco, Atulya Nagar, Christian Deters, Helge A. Wurdemann, Hak-Keung Lam, Kaspar Althoefer:
A Neural Network Clamping Force Model for Bolt Tightening of Wind Turbine Hubs. CIT/IUCC/DASC/PICom 2015: 288-296
[c15]
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Ali Shafti, Federica Andorno, Nicola Marchese, Simone Arolfo, Abdullatif Aydin, Oussama Elhage, Yohan Noh, Helge A. Würdemann, Alberto Arezzo, Prokar Dasgupta, Kaspar Althoefer:
Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery. EMBC 2015: 4861-4864
[c14]
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  - conf/embc/WurdemannSSNFCL15
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Helge A. Wurdemann, Sina Sareh, Ali Shafti, Yohan Noh, Angela Faragasso, Damith Suresh Chathuranga, Hongbin Liu, Shinichi Hirai, Kaspar Althoefer:
Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. EMBC 2015: 8026-8029
[c13]
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Helge A. Würdemann, Agostino Stilli, Kaspar Althoefer:
Lecture Notes in Computer Science: An Antagonistic Actuation Technique for Simultaneous Stiffness and Position Control. ICIRA (3) 2015: 164-174
[c12]
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Farahnaz Maghooa, Agostino Stilli, Yohan Noh, Kaspar Althoefer, Helge A. Wurdemann:
Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle. ICRA 2015: 2556-2561
[c11]
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Sina Sareh, Yohan Noh, Tommaso Ranzani, Helge A. Wurdemann, Hongbin Liu, Kaspar Althoefer:
A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing. IROS 2015: 2336-2341
[c10]
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Angela Faragasso, Agostino Stilli, João Bimbo, Helge A. Wurdemann, Kaspar Althoefer:
Multi-axis stiffness sensing device for medical palpation. IROS 2015: 2711-2716
2014
[j4]
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Rainer Müller, Leenhard Hörauf, Matthias Vette, Javier Lopez San Martin, Aitor Alzaga, Jörg Hohmann, Kaspar Althoefer, Helge A. Würdemann:
Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. Prod. Eng. 8(6): 755-764 (2014)
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Hak-Keung Lam, Hongyi Li, Christian Deters, Emanuele Lindo Secco, Helge A. Wurdemann, Kaspar Althoefer:
Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching. IEEE Trans. Ind. Electron. 61(2): 956-968 (2014)
[c9]
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Yohan Noh, Emanuele Lindo Secco, Sina Sareh, Helge A. Würdemann, Angela Faragasso, Junghwan Back, Hongbin Liu, Elizabeth Sklar, Kaspar Althoefer:
A continuum body force sensor designed for flexible surgical robotics devices. EMBC 2014: 3711-3714
[c8]
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Angela Faragasso, Agostino Stilli, João Bimbo, Yohan Noh, Hongbin Liu, D. P. Thrishantha Nanayakkara, Prokar Dasgupta, Helge A. Wurdemann, Kaspar Althoefer:
Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS. EMBC 2014: 6517-6520
[c7]
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Angela Faragasso, João Bimbo, Yohan Noh, Allen Jiang, Sina Sareh, Hongbin Liu, D. P. Thrishantha Nanayakkara, Helge A. Wurdemann, Kaspar Althoefer:
Novel uniaxial force sensor based on visual information for minimally invasive surgery. ICRA 2014: 1405-1410
[c6]
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Sina Sareh, Allen Jiang, Angela Faragasso, Yohan Noh, D. P. Thrishantha Nanayakkara, Prokar Dasgupta, Lakmal D. Seneviratne, Helge A. Wurdemann, Kaspar Althoefer:
Bio-inspired tactile sensor sleeve for surgical soft manipulators. ICRA 2014: 1454-1459
[c5]
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Helge A. Wurdemann, Vahid Aminzadeh, Jian S. Dai:
Statistical identification and macroscopic transitional model between disorder and order. ICRA 2014: 4147-4152
[c4]
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Yohan Noh, Sina Sareh, Jungwhan Back, Helge A. Wurdemann, Tommaso Ranzani, Emanuele Lindo Secco, Angela Faragasso, Hongbin Liu, Kaspar Althoefer:
A three-axial body force sensor for flexible manipulators. ICRA 2014: 6388-6393
[c3]
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Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer:
Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. IROS 2014: 2476-2481
[p1]
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Guowu Wei, Franck Stephan, Vahid Aminzadeh, Helge A. Würdemann, Rich Walker, Jian S. Dai, Grigore Gogu:
DEXDEB - Application of DEXtrous Robotic Hands for DEBoning Operation. Technology Transfer Experiments from the ECHORD Project 2014: 217-235
2013
[c2]
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  - conf/icra/DetersSWLSA13
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Christian Deters, Emanuele Lindo Secco, Helge A. Wurdemann, Hak-Keung Lam, Lakmal D. Seneviratne, Kaspar Althoefer:
Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs. ICRA 2013: 270-276
2011
[c1]
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  - conf/robio/WurdemannACD11
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Helge A. Wurdemann, Vahid Aminzadeh, Lei Cui, Jian S. Dai:
Feature extraction of non-uniform food products using RGB and RGB-D data combined with shape models. ROBIO 2011: 1652-1657
2010
[j2]
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  - journals/irob/AminzadehWDRP10
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Vahid Aminzadeh, Helge A. Wurdemann, Jian S. Dai, John Reed, Graham Purnell:
A new algorithm for pick-and-place operation. Ind. Robot 37(6): 527-531 (2010)
[j1]
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  - journals/irob/WurdemannADRP10
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Helge A. Wurdemann, Vahid Aminzadeh, Jian S. Dai, John Reed, Graham Purnell:
Introducing a new 3D ordering process for discrete food products using food categorisation. Ind. Robot 37(6): 562-570 (2010)

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