Fumiya Iida
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View article: A minimalistic walking fish robot twin based on the single actuator wave-like mechanism
A minimalistic walking fish robot twin based on the single actuator wave-like mechanism Open
Understanding terrestrial locomotion in walking fish species can unlock new insights into vertebrate evolution and inspire versatile robotic systems capable of traversing diverse environments. We introduce a novel, single-actuator continuu…
View article: Scalable mobile swarm network for reservoir computing using gaussian kernel density estimation
Scalable mobile swarm network for reservoir computing using gaussian kernel density estimation Open
Swarm intelligence results from a collective behaviour of swarm network, which harnesses distributed and simple rules of swarm systems to address complex problems without a central controller. One potential approach to transform such swarm…
View article: Co-design is powerful and not free
Co-design is powerful and not free Open
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neura…
View article: Enhancing Electrical Impedance Based Deformation Sensing with Dielectric Current Guide
Enhancing Electrical Impedance Based Deformation Sensing with Dielectric Current Guide Open
Sensing the deformation of soft robots is vital for effective control and interaction with the environment. Electrical impedance tomography (EIT) enables such sensing by monitoring changes in conductivity, but its sensitivity is often high…
View article: Soft robotics: what’s next in bioinspired design and applications of soft robots?
Soft robotics: what’s next in bioinspired design and applications of soft robots? Open
The field of soft robotics has shown unprecedented growth in research efforts, scientific achievements, and technological advancements. Bioinspiration and biomimetics have played an instrumental role in the birth and growth of soft robotic…
View article: Automated Benchmarking of Variable‐Property Soft Robotic Fingertips to Enable Task‐Optimized Sensor Selection
Automated Benchmarking of Variable‐Property Soft Robotic Fingertips to Enable Task‐Optimized Sensor Selection Open
Tactile fingertips are a vital component of biological dexterity, where they convey information from the environment through our sensory systems. Similarly, sensorized robotic fingertips are needed to unlock robotic dexterity, versatility,…
View article: Soft Shear Sensing of Robotic Twisting Tasks Using Reduced-Order Conductivity Modeling
Soft Shear Sensing of Robotic Twisting Tasks Using Reduced-Order Conductivity Modeling Open
Much as the information generated by our fingertips is used for fine-scale grasping and manipulation, closed-loop dexterous robotic manipulation requires rich tactile information to be generated by artificial fingertip sensors. In particul…
View article: Enhancing traffic dynamics-induced machine learning through heterogeneous driving policies
Enhancing traffic dynamics-induced machine learning through heterogeneous driving policies Open
Transportation systems demand substantial computational resources to support diverse intelligent applications involving vast numbers of mobile agents at the network edge. Existing approaches, such as mobile edge computing, merely redistrib…
View article: Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design
Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design Open
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary significa…
View article: Developing a Sensory Representation of an Artificial Body Part
Developing a Sensory Representation of an Artificial Body Part Open
Somatosensory feedback is essential for motor control, yet artificial limbs are thought to lack such feedback. We investigated how the body and brain gather informative sensory signals from a wearable augmentation interface (a robotic digi…
View article: Auditory-Tactile Congruence for Synthesis of Adaptive Pain Expressions in RoboPatients
Auditory-Tactile Congruence for Synthesis of Adaptive Pain Expressions in RoboPatients Open
Misdiagnosis can lead to delayed treatments and harm. Robotic patients offer a controlled way to train and evaluate clinicians in rare, subtle, or complex cases, reducing diagnostic errors. We present RoboPatient, a medical robotic simulat…
View article: Palpation Alters Auditory Pain Expressions with Gender-Specific Variations in Robopatients
Palpation Alters Auditory Pain Expressions with Gender-Specific Variations in Robopatients Open
Diagnostic errors remain a major cause of preventable deaths, particularly in resource-limited regions. Medical training simulators, including robopatients, play a vital role in reducing these errors by mimicking real patients for procedur…
View article: Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems
Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems Open
Artificial musculoskeletal systems mimic mammalian biomechanics using antagonistic muscles and rigid skeletons. They offer benefits such as adjustable stiffness, back-drivability, and muscle failure tolerance but are difficult to model and…
View article: Reservoir controllers design though robot-reservoir timescale alignment
Reservoir controllers design though robot-reservoir timescale alignment Open
Natural behavior emerging in nonlinear dynamical systems enables reservoir computers to control underactuated robots by approximating their inverse dynamics. Unlike other model-free approaches, the reservoir controllers are sample-efficien…
View article: The Morphology-Control Trade-Off: Insights into Soft Robotic Efficiency
The Morphology-Control Trade-Off: Insights into Soft Robotic Efficiency Open
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…
View article: Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors
Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors Open
Reliable proprioception and feedback from soft sensors are crucial for enabling soft robots to function intelligently in real-world environments. Nevertheless, soft sensors are fragile and are susceptible to various damage sources in such …
View article: Local Colour Control on a Soft Continuum Robot by Bending Embedded Optical Fibre Dissipation Sensor Pairs
Local Colour Control on a Soft Continuum Robot by Bending Embedded Optical Fibre Dissipation Sensor Pairs Open
Colour as an information carrier widely exists in nature for camouflage and signalling, inspiring recent interest in bio-inspired colour-changing materials. This study introduces an optical fibre dissipation sensor pair integrated into a s…
View article: Evaluation of The Stochasticity in The Collective Bernoulli-ball System as A Physical Reservoir Computer
Evaluation of The Stochasticity in The Collective Bernoulli-ball System as A Physical Reservoir Computer Open
Reservoir computing is a type of machine learning approach that uses a fixed, randomly generated dynamic system called a reservoir to process input data for prediction and classification tasks. The performance of a reservoir computer is hi…
View article: Emotional Alignment for Human-Robot Cooperation in Musical Tasks
Emotional Alignment for Human-Robot Cooperation in Musical Tasks Open
Current artificial intelligence (AI) studies have witnessed the widespread use of large language models (LLMs), significantly impacting human-machine interaction (HMI) by endowing machines with emotional subtleties. Despite the efficacy of…
View article: Embodied Intelligence in Additive Manufacturing
Embodied Intelligence in Additive Manufacturing Open
Embodied intelligence reflects the ability of an agent to interact with its environment through its body to gain intelligence and autonomy. Such a concept has become popular in recent years for the design of robotic systems. This paper gen…
View article: Embodiment, Socially Intelligent Behaviour and Proactive Robots
Embodiment, Socially Intelligent Behaviour and Proactive Robots Open
There is growing consensus among robotics experts that integrating concepts from social intelligence and embodiment can significantly enhance robot design. Humans have evolved to perform and survive in a world characterised by rapid change…
View article: Multiple Musical Skills Framework for Robotic Musicianship
Multiple Musical Skills Framework for Robotic Musicianship Open
Why are musical robots distinguishable from humans? What makes them sound less ‘musical’ or ‘human’? The many variables and high complexity of music make it difficult to answer this question. This paper sets out to formalise the many tasks…
View article: Embodied Intelligence in Transportation Systems: Road Network Computing
Embodied Intelligence in Transportation Systems: Road Network Computing Open
This paper studied the concept of embodied intelligence within transportation systems, focusing on the interactions between purposefully designed physical structures and their dynamic environmental contexts. By drawing inspiration from the…
View article: Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design
Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design Open
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide ra…