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Josephine Anna Eleanor Hughes

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Publications associées (78)

Robot-Assisted Measurement of the Critical Micelle Concentration

Francesco Stellacci, Josephine Anna Eleanor Hughes

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 ...

WILEY2025

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

Nana Obayashi, Josephine Anna Eleanor Hughes

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

AMER ASSOC ADVANCEMENT SCIENCE2025

Behaviour Range Optimization of the Dexterous Robotic Open Parametric Hand

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

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- ...

IEEE2025

Improving the Fluency of Robot-Human Interaction Through Embodied Expression of Emotion via Foundation Models

Nana Obayashi, Yi-Shiun Wu, Josephine Anna Eleanor Hughes

Fluent human-robot interactions are essential for robots to be accepted and used in social scenarios including education, healthcare, or entertainment. Foundation models and Large Language Models (LLMs) in particular facilitate natural generation of text i ...

Springer Nature2025

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

Josephine Anna Eleanor Hughes, Qinghua Guan

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 ...

2025

Editorial: AI-powered musical and entertainment robotics

Josephine Anna Eleanor Hughes

FRONTIERS MEDIA SA2025

An optical/electronic artificial skin extends the robotic sense to molecular sensing

Josephine Anna Eleanor Hughes

Artificial skins are essential for bridging sensory gaps between robots and environments, enabling natural and intuitive interactions. While artificial skins can sense stimuli like pressure and stretchability, their capabilities need to be expanded into ch ...

2025

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

Josephine Anna Eleanor Hughes

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 ...

2025

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

Josephine Anna Eleanor Hughes, Francesco Stella

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

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

Into the ice: Exploration and data capturing in glacial moulins by a tethered robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin

Glacial moulins (cylindrical meltwater drainage shafts) provide valuable insights into glacier dynamics, but are inaccessible and hazardous environments for humans to study. Exploring them using passive sensor probes has revealed their complex geometry, wh ...

Wiley2024

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

Nana Obayashi, Josephine Anna Eleanor Hughes

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

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

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the succ ...

Institute of Electrical and Electronics Engineers Inc.2024

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

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

Josephine Anna Eleanor Hughes, Kai Christian Junge, Kieran Daniel Gilday

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 ...

Institute of Electrical and Electronics Engineers Inc.2024

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 Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Josephine Anna Eleanor Hughes, Francesco Stella

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

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

Josephine Anna Eleanor Hughes

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 ...

Mary Ann Liebert, Inc2024

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

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