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Josephine Anna Eleanor Hughes

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Publications associées (78)

How can LLMs transform the robotic design process?

Josephine Anna Eleanor Hughes, Francesco Stella

NATURE PORTFOLIO2023

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

Simulation and Fabrication of Soft Robots with Embedded Skeletons

Josephine Anna Eleanor Hughes, Fatemeh Zargarbashi

Institute of Electrical and Electronics Engineers Inc.2022

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

A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification

Josephine Anna Eleanor Hughes

Advances in soft sensors coupled with machine learning are enabling increasingly capable wearable systems. Since hand motion in particular can convey useful information for developing intuitive interfaces, glove-based systems can have a significant impact ...

Institute of Electrical and Electronics Engineers Inc.2022

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

Josephine Anna Eleanor Hughes, Kai Christian Junge, Carlo Bosio

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

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

Robotic automation and unsupervised cluster assisted modeling for solving the forward and reverse design problem of paper airplanes

Nana Obayashi, Josephine Anna Eleanor Hughes, Stefan Ilic, Kai Christian Junge

Although often regarded a childhood toy, the design of paper airplanes is subtly complex. The design space and mapping from geometry to distance flown is highly nonlinear and probabilistic where a single airplane design exhibits a multitude of trajectory f ...

Nature Research2022

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

Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

Josephine Anna Eleanor Hughes, Stefan Ilic

Using robotics to automate complex manipulation tasks such as cooking could offer significant advantages. Robotics could offer improved throughput, provide assistance for those that lack the required mobility or allow for creative robotic chefs. Generating ...

SPRINGER INTERNATIONAL PUBLISHING AG2022

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

Nana Obayashi, Josephine Anna Eleanor Hughes, Kai Christian Junge

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 ...

Springer2022

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

Nana Obayashi, Josephine Anna Eleanor Hughes, Carlo Bosio

2022

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

Nana Obayashi, Josephine Anna Eleanor Hughes, Francesco Stella

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...

Institute of Electrical and Electronics Engineers Inc.2022

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

Nana Obayashi, Josephine Anna Eleanor Hughes, Kai Christian Junge, Francesco Stella

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 ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

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

Josephine Anna Eleanor Hughes, Kai Christian Junge

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 ...

2022

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

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

Josephine Anna Eleanor Hughes

The expressive piano playing generally requires a delicate control over the keystroke by considering passive dynamics of the hand and piano keyboard. It becomes even more challenging when the passive properties change during the performance. In this paper, ...

Institute of Electrical and Electronics Engineers Inc.2022

Action augmentation of tactile perception for soft-body palpation

Josephine Anna Eleanor Hughes

Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be done to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understo ...

Mary Ann Liebert Inc.2022

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