Publications


2021

Journal Articles

58.

Yongje Kwon, Anany Dwivedi, Andrew J McDaid, Minas Liarokapis

Electromyography-Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality Journal Article

IEEE Access, 9 , pp. 37297–37310, 2021.

BibTeX | Tags: IEEE-ACCESS

57.

Gal Gorjup, Lucas Gerez, Minas Liarokapis

Leveraging Human Perception in Robot Grasping and Manipulation Through Crowdsourcing and Gamification Journal Article

Frontiers in Robotics and AI, 8 , 2021.

BibTeX | Tags: FRONTIERS-RAI

56.

Nathan Elangovan, Lucas Gerez, Geng Gao, Minas Liarokapis

Improving Robotic Manipulation without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper with Reconfigurable Finger Bases Journal Article

IEEE Access, 2021.

BibTeX | Tags: IEEE-ACCESS

55.

Geng Gao, Che-Ming Chang, Lucas Gerez, Minas Liarokapis

A Pneumatically Driven, Disposable, Soft Robotic Gripper Equipped with Multi-Stage, Retractable, Telescopic Fingers Journal Article

IEEE Transactions on Medical Robotics and Bionics, 2021.

BibTeX | Tags: IEEE-TMRB

54.

Geng Gao, Mojtaba Shahmohammadi, Lucas Gerez, George Kontoudis, Minas Liarokapis

On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands Journal Article

Frontiers in Neurorobotics, pp. 106, 2021.

BibTeX | Tags: FRONTIERS-NEUROROBOTICS

Conference Papers

53.

Jayden Chapman, Gal Gorjup, Anany Dwivedi, Saori Matsunaga, Toshisada Mariyama, Bruce MacDonald, Minas Liarokapis

A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables Conference Paper

IEEE International Conference on Robotics and Automation, 2021.

BibTeX | Tags: IEEE-ICRA

52.

Francesco De Pace, Gal Gorjup, Huidong Bai, Andrea Sanna, Minas Liarokapis, Mark Billinghurst

Leveraging Enhanced Virtual Reality Methods and Environments for Efficient, Intuitive, and Immersive Teleoperation of Robots Conference Paper

IEEE International Conference on Robotics and Automation, 2021.

BibTeX | Tags: IEEE-ICRA

51.

Anany Dwivedi, Dasha Shieff, Amber Turner, Gal Gorjup, Yongje Kwon, Minas Liarokapis

A Shared Control Framework for Robotic Telemanipulation Combining Electromyography Based Motion Estimation and Compliance Control Conference Paper

IEEE International Conference on Robotics and Automation, 2021.

BibTeX | Tags: IEEE-ICRA

50.

Minas Liarokapis, George P Kontoudis

Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition Conference Paper

IEEE International Conference on Robotics and Automation, 2021.

BibTeX | Tags: IEEE-ICRA

49.

Gal Gorjup, Lucas Gerez, Minas Liarokapis

Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification Conference Paper

IEEE International Conference on Robotics and Automation, 2021.

BibTeX | Tags: IEEE-ICRA

Miscellaneous

48.

Minas Liarokapis

Grasping Apparatus and a Vehicle Including a Grasping Apparatus Miscellaneous

2021, (US Patent App. 16/954,163).

BibTeX | Tags: PATENT

2020

Journal Articles

47.

Gal Gorjup, Minas Liarokapis

A Low-Cost, Open-Source, Robotic Airship for Education and Research Journal Article

IEEE Access, 2020.

BibTeX | Tags: IEEE-ACCESS

46.

Geng Gao, Gal Gorjup, Ruobing Yu, Patrick Jarvis, Minas Liarokapis

Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands Journal Article

IEEE Robotics and Automation Letters, 5 (4), pp. 6105–6112, 2020.

Links | BibTeX | Tags: IEEE-RAL

45.

Lucas Gerez, Geng Gao, Anany Dwivedi, Minas Liarokapis

A Hybrid, Wearable Exoskeleton Glove Equipped with Variable Stiffness Joints, Abduction Capabilities, and a Telescopic Thumb Journal Article

IEEE Access, 8 , pp. 173345–173358, 2020.

BibTeX | Tags: IEEE-ACCESS

44.

Lucas Gerez, Che-Ming Chang, Minas Liarokapis

Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers Journal Article

Frontiers in Robotics and AI, 7 , pp. 169, 2020.

BibTeX | Tags: FRONTIERS-RAI

Conference Papers

43.

Jiawei Meng, Lucas Gerez, Jayden Chapman, Minas Liarokapis

A Tendon-Driven, Preloaded, Pneumatically Actuated, Soft Robotic Gripper with a Telescopic Palm Conference Paper

IEEE International Conference on Soft Robotics, 2020.

BibTeX | Tags: IEEE-ROBOSOFT

42.

Anany Dwivedi, Jaime Lara, Leo K Cheng, Niranchan Paskaranandavadivel, Minas Liarokapis

High-Density Electromyography Based Control of Robotic Devices: On the Execution of Dexterous Manipulation Tasks Conference Paper

IEEE International Conference on Robotics and Automation, 2020.

BibTeX | Tags: IEEE-ICRA

41.

Lucas Gerez, Anany Dwivedi, Minas Liarokapis

A Hybrid, Soft Exoskeleton Glove Equipped with a Telescopic Extra Thumb and Abduction Capabilities Conference Paper

IEEE International Conference on Robotics and Automation, 2020.

BibTeX | Tags: IEEE-ICRA

40.

Lucas Gerez, Minas Liarokapis

A Pneumatically Driven, Disposable, Soft Robotic Gripper Equipped with Retractable, Telescopic Fingers Conference Paper

IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2020.

BibTeX | Tags: IEEE-BIOROB

39.

Lucas Gerez, Geng Gao, Minas Liarokapis

Laminar Jamming Flexure Joints for the Development of Variable Stiffness Robot Grippers and Hands Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

BibTeX | Tags: IEEE/RSJ-IROS

38.

Gal Gorjup, Geng Gao, Anany Dwivedi, Minas Liarokapis

Combining Compliance Control, CAD Based Localization, and a Multi-Modal Gripper for Rapid and Robust Programming of Assembly Tasks Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

BibTeX | Tags: IEEE/RSJ-IROS

37.

Waris Hasan, Lucas Gerez, Minas Liarokapis

Model-Free, Vision-Based Object Identification and Contact Force Estimation with a Hyper-Adaptive Robotic Gripper Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

BibTeX | Tags: IEEE/RSJ-IROS

36.

Gal Gorjup, George P Kontoudis, Anany Dwivedi, Geng Gao, Saori Matsunaga, Toshisada Mariyama, Bruce MacDonald, Minas Liarokapis

Combining Programming by Demonstration with Path Optimization and Local Replanning to Facilitate the Execution of Assembly Tasks Conference Paper

IEEE International Conference on Systems, Man, and Cybernetics, 2020.

BibTeX | Tags: IEEE-SMC

35.

Anany Dwivedi, Yongje Kwon, Minas Liarokapis

EMG-Based Decoding of Manipulation Motions in Virtual Reality: Towards Immersive Interfaces Conference Paper

IEEE International Conference on Systems, Man, and Cybernetics, 2020.

BibTeX | Tags: IEEE-SMC

34.

Nathan Elangovan, Geng Gao, Che-Ming Chang, Minas Liarokapis

A Modular, Accessible, Affordable Dexterity Test for Evaluating the Grasping and Manipulation Capabilities of Robotic Grippers and Hands Conference Paper

IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

BibTeX | Tags: IEEE-SSRR

33.

Joao Buzzatto, Minas Liarokapis

An Agile, Coaxial, Omnidirectional Rotor Module: On the Development of Hybrid, All Terrain Robotic Rotorcrafts Conference Paper

IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

BibTeX | Tags: IEEE-SSRR

32.

Francesco De Pace, Gal Gorjup, Huidong Bai, Andrea Sanna, Minas Liarokapis, Mark Billinghurst

Assessing the Suitability and Effectiveness of Mixed Reality Interfaces for Accurate Robot Teleoperation Conference Paper

26th ACM Symposium on Virtual Reality Software and Technology, pp. 1–3, 2020.

BibTeX | Tags: ACM-VRST

31.

Lydia Hingston, Jonathan Mace, Joao Buzzatto, Minas Liarokapis

Reconfigurable, Adaptive, Lightweight Grasping Mechanisms for Aerial Robotic Platforms Conference Paper

IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

BibTeX | Tags: IEEE-SSRR

30.

Lucas Gerez, Che-Ming Chang, Minas Liarokapis

A Hybrid, Encompassing, Three-Fingered Robotic Gripper Combining Pneumatic Telescopic Mechanisms and Rigid Claws Conference Paper

IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

BibTeX | Tags: IEEE-SSRR

2019

Journal Articles

29.

Minas Liarokapis, Aaron M Dollar

Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands Journal Article

IEEE Transactions on Automation Science and Engineering, 2019.

BibTeX | Tags: IEEE-TASE

28.

Lucas Gerez, Junan Chen, Minas Liarokapis

On the Development of Adaptive, Tendon-Driven, Wearable Exo-Gloves for Grasping Capabilities Enhancement Journal Article

IEEE Robotics and Automation Letters, 2019.

BibTeX | Tags: IEEE-RAL

27.

George P Kontoudis, Minas Liarokapis, Kyriakos G Vamvoudakis, Tomonari Furukawa

An Adaptive Actuation Mechanism for Anthropomorphic Robot Hands Journal Article

Frontiers in Robotics and AI, 6 , pp. 47, 2019.

BibTeX | Tags: FRONTIERS-RAI

26.

Anany Dwivedi, Lucas Gerez, Waris Hasan, Chi-Hung Yang, Minas Liarokapis

A Soft Exoglove Equipped with a Wearable Muscle-Machine Interface Based on Forcemyography and Electromyography Journal Article

IEEE Robotics and Automation Letters, 4 (4), pp. 3240–3246, 2019.

BibTeX | Tags: IEEE-RAL

25.

Anany Dwivedi, Yongje Kwon, Andrew J McDaid, Minas Liarokapis

A Learning Scheme for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions Journal Article

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27 (10), pp. 2205–2215, 2019.

BibTeX | Tags: IEEE-TNSRE

24.

Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, Minas Liarokapis

On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands Journal Article

Frontiers in neurorobotics, 13 , pp. 91, 2019.

BibTeX | Tags: FRONTIERS-NEUROROBOTICS

Book Chapters

23.

Philipp Beckerle, Steffen Willwacher, Minas Liarokapis, Matthew P Bowers, Marko B Popovic

Prosthetic Limbs Book Chapter

Biomechatronics, pp. 235, Academic Press, 2019.

BibTeX | Tags: BOOK-CHAPTER

22.

Minas Liarokapis, Kathleen A Lamkin-Kennard, Marko B Popovic

Biomechatronics: A New Dawn Book Chapter

Biomechatronics, Elsevier, 2019.

BibTeX | Tags: BOOK-CHAPTER

Conference Papers

21.

Tom Bewley, Minas Liarokapis

On the Combination of Gamification and Crowd Computation in Industrial Automation and Robotics Applications Conference Paper

IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: IEEE-ICRA

20.

Geng Gao, Anany Dwivedi, Nathan Elangovan, Yige Cao, Lucy Young, Minas Liarokapis

The New Dexterity Adaptive, Humanlike Robot Hand Conference Paper

IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: IEEE-ICRA, VIDEO

19.

Geng Gao, Lucas Gerez, Minas Liarokapis

Adaptive, Tendon-Driven, Affordable Prostheses for Partial Hand Amputations: On Body-Powered and Motor Driven Implementations Conference Paper

41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019.

BibTeX | Tags: IEEE-EMBC

18.

George P Kontoudis, Minas Liarokapis, Kyriakos G Vamvoudakis

A Compliant, Underactuated Finger for Anthropomorphic Hands Conference Paper

IEEE International Conference on Rehabilitation Robotics (ICORR), 2019.

BibTeX | Tags: IEEE-ICORR

17.

Anany Dwivedi, Gal Gorjup, Yongje Kwon, Minas Liarokapis

Combining Electromyography and Fiducial Marker Based Tracking for Intuitive Telemanipulation with a Robot Arm Hand System Conference Paper

IEEE International Conference on Robot and Human Interactive Communication, 2019.

BibTeX | Tags: IEEE-ROMAN

16.

Lucas Gerez, Minas Liarokapis

An Underactuated, Tendon-Driven, Wearable Exo-Glove With a Four-Output Differential Mechanism Conference Paper

41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019.

BibTeX | Tags: IEEE-EMBC

15.

Gal Gorjup, Anany Dwivedi, Nathan Elangovan, Minas Liarokapis

An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019.

BibTeX | Tags: IEEE/RSJ-IROS

14.

Andrew McLaren, Zak Fitzgerald, Geng Gao, Minas Liarokapis

A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019.

BibTeX | Tags: IEEE/RSJ-IROS

13.

George P Kontoudis, Minas Liarokapis, Kyriakos G Vamvoudakis

An Adaptive, Humanlike Robot Hand with Selective Interdigitation: Towards Robust Grasping and Dexterous, In-Hand Manipulation Conference Paper

IEEE-RAS International Conference on Humanoid Robots, 2019.

BibTeX | Tags: IEEE-HUMANOIDS

12.

Lucas Gerez, Geng Gao, Minas Liarokapis

Employing Magnets to Improve the Force Exertion Capabilities of Adaptive Robot Hands in Precision Grasps Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7630–7635, IEEE 2019.

BibTeX | Tags: IEEE/RSJ-IROS

11.

Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, Minas Liarokapis

Unconventional Uses of Structural Compliance in Adaptive Hands Conference Paper

28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 1–7, IEEE 2019.

BibTeX | Tags: IEEE-ROMAN

10.

Nathan Elangovan, Anany Dwivedi, Lucas Gerez, Che-Ming Chang, Minas Liarokapis

Employing IMU and ArUco Marker Based Tracking to Decode the Contact Forces Exerted by Adaptive Hands Conference Paper

IEEE-RAS International Conference on Humanoid Robots, 2019.

BibTeX | Tags: IEEE-HUMANOIDS

2018

Journal Articles

9.

Vasilis Kostakis, Kostas Latoufis, Minas Liarokapis, Michel Bauwens

The Convergence of Digital Commons with Local Manufacturing from a Degrowth Perspective: Two Illustrative Cases Journal Article

Journal of Cleaner Production, 197 , pp. 1684–1693, 2018.

BibTeX | Tags: CLEANER-PRODUCTION

8.

Minas Liarokapis, Aaron M Dollar

Post-Contact, In-Hand Object Motion Compensation with Adaptive Hands Journal Article

IEEE Transactions on Automation Science and Engineering, 2018.

BibTeX | Tags: IEEE-TASE

Conference Papers

7.

Yongje Kwon, Anany Dwivedi, Andrew J McDaid, Minas Liarokapis

On Muscle Selection for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions Conference Paper

40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2018.

BibTeX | Tags: IEEE-EMBC

6.

Anany Dwivedi, Yongje Kwon, Andrew J McDaid, Minas Liarokapis

EMG Based Decoding of Object Motion in Dexterous, In-Hand Manipulation Tasks Conference Paper

7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2018.

BibTeX | Tags: IEEE-BIOROB

5.

Zak Flintoff, Bruno Johnston, Minas Liarokapis

Single-Grasp, Model-Free Object Classification using a Hyper-Adaptive Hand, Google Soli, and Tactile Sensors Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

BibTeX | Tags: IEEE/RSJ-IROS

4.

Lucas Gerez, Minas Liarokapis

A Compact Ratchet Clutch Mechanism for Fine Tendon Termination and Adjustment Conference Paper

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1390–1395, IEEE 2018.

BibTeX | Tags: IEEE/ASME-AIM

2017

Conference Papers

3.

Minas Liarokapis, Aaron M Dollar

Learning the Post-Contact Reconfiguration of the Hand Object System for Adaptive Grasping Mechanisms Conference Paper

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.

BibTeX | Tags: IEEE/RSJ-IROS

2.

Minas Liarokapis, Aaron M Dollar

Deriving Dexterous, In-Hand Manipulation Primitives for Adaptive Robot Hands Conference Paper

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1951–1958, IEEE 2017.

BibTeX | Tags: IEEE/RSJ-IROS

2016

Journal Articles

1.

Yongqiang Huang, Matteo Bianchi, Minas Liarokapis, Yu Sun

Recent Data Sets on Object Manipulation: A Survey Journal Article

Big Data, 4 (4), pp. 197–216, 2016.

BibTeX | Tags: BIG-DATA