Peer Reviewed Publications

2021 (7)

[#49 | J #12 | PDF]

Gal Gorjup, Lucas Gerez, and Minas Liarokapis, "Leveraging Human Perception in Robot Grasping and Manipulation through Crowdsourcing and Gamification," Frontiers in Robotics and AI, 2021.

[#48 | J #11 | PDF]

Yongje Kwon, Anany Dwivedi, Andrew McDaid, and Minas Liarokapis, "Electromyography-Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality," IEEE Access, 2021.

[#47 | C #37 | ICRA #10 | PDF]

Gal Gorjup, Lucas Gerez, and Minas Liarokapis, "Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification," IEEE International Conference on Robotics and Automation (ICRA), 2021.

[#46 | C #36 | ICRA #9 | PDF]

Jayden Chapman, Gal Gorjup, Anany Dwivedi, Saori Matsunaga, Toshisada Mariyama, Bruce MacDonald, and Minas Liarokapis, "A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables," IEEE International Conference on Robotics and Automation (ICRA), 2021.

[#45 | C #35 | ICRA #8 | PDF]

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," IEEE International Conference on Robotics and Automation (ICRA), 2021.

[#44 | C #34 | ICRA #7 | PDF]

Anany Dwivedi, Dasha Shieff, Amber Turner, and Minas Liarokapis, "A Shared Control Framework for Robotic Telemanipulation Combining Electromyography Based Motion Estimation and Compliance Control," IEEE International Conference on Robotics and Automation (ICRA), 2021.

[#43 | C #33 | ICRA #6 | PDF]

George P. Kontoudis and Minas Liarokapis, "Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition," IEEE International Conference on Robotics and Automation (ICRA), 2021.

2020 (18)

[#42 | J #10 | PDF] Lucas Gerez, Che-Ming Chang, and Minas Liarokapis, "Employing Pneumatic, Telescopic Actuators for the Development of Soft and Hybrid Robotic Grippers," Frontiers in Robotics and AI, 2020.

[#41 | J #9 | PDF]
Lucas Gerez, Geng Gao, Anany Dwivedi, and Minas Liarokapis, "A Hybrid, Wearable Exoskeleton Glove Equipped with Variable Stiffness Joints, Abduction Capabilities, and a Telescopic Thumb," IEEE Access, 2020.

[#40 | J #8 | RA-L #3 \ IROS #11 | PDF]
Geng Gao, Gal Gorjup, Ruobing Yu, Patrick Jarvis, and Minas Liarokapis, "Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands," IEEE Robotics and Automation Letters, 2020.

[#39 | J #7 | PDF]
Gal Gorjup and Minas Liarokapis, "A Low-Cost, Open-Source, Robotic Airship for Education and Research," IEEE Access, 2020.

[#38 | C #32 | PDF]
Lucas Gerez, Che-Ming Chang, and Minas Liarokapis, "A Hybrid, Encompassing, Three-Fingered Robotic Gripper Combining Pneumatic Telescopic Mechanisms and Rigid Claws," IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

[#37 | C #31 | PDF]
Lydia Hingston, Jonathan Mace, Joao Buzzatto, and Minas Liarokapis, "Reconfigurable, Adaptive, Lightweight Grasping Mechanisms for Aerial Robotic Platforms," IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

[#36 | C #30 | PDF]
Joao Buzzato and Minas Liarokapis, "An Agile, Coaxial, Omnidirectional Rotor Module: On the Development of Hybrid, All Terrain Robotic Rotorcrafts," IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

[#35 | C #29 | PDF]
Nathan Elangovan, Geng Gao, Che-Ming Chang, and Minas Liarokapis, "A Modular, Accessible, Affordable Dexterity Test for Evaluating the Grasping and Manipulation Capabilities of Robotic Grippers and Hands," IEEE International Symposium on Safety, Security, and Rescue Robotics, 2020.

[#34 | C #28 | PDF | PDF (Classic IEEE Format)]
Gal Gorjup, George kontoudis, Anany Dwivedi, Geng Gao, Saori Matsunaga, Toshisada Mariyama, Bruce MacDonald, and Minas Liarokapis, "Combining Programming by Demonstration with Path Optimization and Local Replanning to Facilitate the Execution of Assembly Tasks," IEEE International Conference on Systems, Man, and Cybernetics, 2020.

[#33 | C #27 | PDF | PDF (Classic IEEE Format)]
Yongje Kwon, Anany Dwivedi, and Minas Liarokapis, "Towards Hands Free Interaction with VR Systems Utilizing EMG Based Decoding of Intentions," IEEE International Conference on Systems, Man, and Cybernetics, 2020.

[#32 | C #26 | PDF]
Francesco De Pace, Gal Gorjup, Huidong Bai, Andrea Sanna, and Minas Liarokapis, Mark Billinghurst, "Assessing the Suitability and Effectiveness of Mixed Reality Interfaces for Accurate Robot Teleoperation," ACM Symposium on Virtual Reality Software and Technology (VRST), 2020.

[#31 | C #25 | PDF | IROS #10]
Lucas Gerez, Geng Gao, and Minas Liarokapis, "Laminar Jamming Flexure Joints for the Development of Variable Stiffness Robot Grippers and Hands," IEEE International Conference on Intelligent Robots and Systems (IROS), 2020.

[#30 | C #24 | PDF | IROS #9]
Waris Hasan, Lucas Gerez, and Minas Liarokapis, "Learning and Vision Based Object Identification and Contact Force Estimation with a Hyper-Adaptive Robotic Gripper," IEEE International Conference on Intelligent Robots and Systems (IROS), 2020.

[#29 | C #23 | PDF | IROS #8]
Gal Gorjup, Geng Gao, Anany Dwivedi, and Minas Liarokapis, "Combining Compliance Control, CAD Based Localization, and a Multi-Modal Gripper for Rapid and Robust Programming of Assembly Tasks," IEEE International Conference on Intelligent Robots and Systems (IROS), 2020.

[#28 | C #22 | PDF | ICRA #5]
Anany Dwivedi, Jaime Lara, Leo K. Cheng, Niranchan Paskaranandavadivel, and Minas Liarokapis, "High-Density Electromyography Based Control of Robotic Devices: On the Execution of Dexterous Manipulation Tasks," IEEE International Conference on Robotics and Automation (ICRA), 2020.

[#27 | C #21 | PDF | ICRA #4]
Lucas Gerez, Anany Dwivedi, and Minas Liarokapis, "A Hybrid, Soft Exoskeleton Glove Equipped with a Telescopic Extra Thumb and Abduction Capabilities," IEEE International Conference on Robotics and Automation (ICRA), 2020.

[#26 | C #20 | PDF]
Lucas Gerez and Minas Liarokapis, "A Pneumatically Driven, Disposable, Soft Robotic Gripper Equipped with Retractable, Telescopic Fingers," IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2020.

[#25 | C #19 | PDF]
Jiawei Meng, Lucas Gerez, Jayden Chapman, and Minas Liarokapis, "A Tendon-Driven, Preloaded, Pneumatically Actuated, Soft Robotic Gripper with a Telescopic Palm," IEEE International Conference on Soft Robotics, 2020.

2019 (18)

[#24 | J #6 | PDF]
Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, and Minas Liarokapis, "On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands," Frontiers in Neurorobotics, 2019.

[#23 | J #5 | PDF]
George Kontoudis, Minas Liarokapis, Kyriakos Vamvoudakis, and Tomonari Furukawa, "An Adaptive Actuation Mechanism for Anthropomorphic Robot Hands," Frontiers in Robotics and AI , 2019.

[#22 | J #4 | PDF]
Anany Dwivedi, Yongje Kwon, Andrew McDaid, and Minas Liarokapis, "A Learning Scheme for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions," IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2019

[#21 | J #3 | PDF | RA-L #2 \ IROS #7]
Anany Dwivedi, Lucas Gerez, Waris Hasan, Chi-Hung Yang, and Minas Liarokapis, "A Soft Exoglove Equipped with a Wearable Muscle-Machine Interface Based on Forcemyography and Electromyography," IEEE Robotics and Automation Letters (RA-L), 2019.

[#20 | J #2 | PDF | RA-L #1 \ ICRA #3]
L. Gerez, J. Chen, and M. Liarokapis, "On the Development of Adaptive, Tendon-Driven, Wearable Exo-Gloves for Grasping Capabilities Enhancement," IEEE Robotics and Automation Letters (RA-L), 2019.

[#19 | J #1 | PDF]
M. Liarokapis and A. M. Dollar, "Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands," IEEE Transactions on Automation Science and Engineering (T-ASE), 2019.

[#18 | C #18 | PDF]
George Kontoudis, Minas Liarokapis, Kyriakos G. Vamvoudakis, "An Adaptive, Humanlike Robot Hand with Selective Interdigitation: Towards Robust Grasping and Dexterous, In-Hand Manipulation," IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, 2019.

[#17 | C #17 | PDF]
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," IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, 2019.

[#16 | C #16 | PDF]
Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, and Minas Liarokapis, "Unconventional Uses of Structural Compliance in Adaptive Hands," IEEE International Conference on Robot and Human Interactive Communication (ROMAN), New Delhi, India, 2019.

[#15 | C #15 | PDF]
Anany Dwivedi, Gal Gorjup, Yongje Kwon, and Minas Liarokapis, "Combining Electromyography and Fiducial Marker Based Tracking for Intuitive Telemanipulation with a Robot Arm Hand System," IEEE International Conference on Robot and Human Interactive Communication (ROMAN), New Delhi, India, 2019.

[#14 | C #14 | PDF | IROS #6]
Gal Gorjup, Anany Dwivedi, Nathan Elangovan, and Minas Liarokapis, "An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

[#13 | C #13 | PDF | IROS #5]
Andrew John McLaren, Zak Fitzgerald, Geng Gao, and Minas Liarokapis, "A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

[#12 | C #12 | PDF | IROS #4]
Lucas Gerez, Geng Gao, and Minas Liarokapis, "Employing Magnets to Improve the Force Exertion Capabilities of Adaptive Robot Hands in Precision Grasps," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

[#11 | C #11 | PDF]
L. Gerez and M. Liarokapis, "An Underactuated, Tendon-Driven, Wearable Exo-Glove With a Four-Output Differential Mechanism," 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, 2019.

[#10 | C #10 | PDF]
G. Gao, L. Gerez, and M. Liarokapis, "Adaptive, Tendon-Driven, Affordable Prostheses for Partial Hand Amputations: On Body-powered and Motor Driven Implementations," 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, 2019.

[#9 | C #9 | PDF]
G. Kontoudis, M. Liarokapis, and K. Vamvoudakis, "A Compliant, Underactuated Finger for Anthropomorphic Hands," IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019.

[#8 | C #8 | PDF | ICRA #2]
G. Gao, A. Dwivedi, N. Elangovan, Y. Cao, L. Young, and M. Liarokapis, "The New Dexterity Adaptive, Humanlike Robot Hand," IEEE International Conference on Robotics and Automation (ICRA), 2019.

[#7 | C #7 | PDF | ICRA #1]
T. Bewley and M. Liarokapis, "On the Combination of Gamification and Crowd Computation in Industrial Automation and Robotics Applications," IEEE International Conference on Robotics and Automation (ICRA), 2019.

2018 (4)

[#6 | C #6 | PDF | IROS #3]
Zak Flintoff, Bruno Johnston, and Minas Liarokapis, "Single-Grasp, Model-Free Object Classification using a Hyper-Adaptive Hand, Google Soli, and Tactile Sensors," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.

[#5 | C #5 | PDF]
Anany Dwivedi, Yongje Kwon, Andrew J. McDaid, and Minas Liarokapis, "EMG Based Decoding of Object Motion in Dexterous, In-Hand Manipulation Tasks," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, Netherlands, 2018.

[#4 | C #4 | PDF]
Lucas Gerez and Minas Liarokapis, "A Compact Ratchet Clutch Mechanism for Fine Tendon Termination and Adjustment," IEEE International Conference on Advanced Intelligent Mechatronics, Auckland, New Zealand, 2018.

[#3 | C #3 | PDF | EMBC #1]
Yongje Kwon, Anany Dwivedi, Andrew J. McDaid, and Minas Liarokapis, "On Muscle Selection for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions," 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, 2018.

2017 (2)

[#2 | C #1 | PDF | IROS #2]
Minas V. Liarokapis and Aaron M. Dollar, "Deriving Dexterous, In-Hand Manipulation Primitives for Adaptive Robot Hands," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

[#1 | C #2 | PDF | IROS #1]
Minas V. Liarokapis and Aaron M. Dollar, "Learning the Post-Contact Reconfiguration of the Hand Object System for Adaptive Grasping Mechanisms," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.