MOTION - Morphological Computation of Perception and Action
Lead Research Organisation:
UNIVERSITY OF CAMBRIDGE
Department Name: Engineering
Abstract
Abstracts are not currently available in GtR for all funded research. This is normally because the abstract was not required at the time of proposal submission, but may be because it included sensitive information such as personal details.
People |
ORCID iD |
| Fumiya Iida (Principal Investigator) |
Publications
Costi L
(2022)
Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening
in IEEE Robotics and Automation Letters
Costi L
(2021)
Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing.
in Frontiers in robotics and AI
Costi L
(2022)
Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput
in IEEE Transactions on Medical Robotics and Bionics
He L
(2021)
An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training
in IEEE Transactions on Robotics
He L
(2023)
Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback.
in IEEE reviews in biomedical engineering
Herzig N
(2018)
A Variable Stiffness Robotic Probe for Soft Tissue Palpation
in IEEE Robotics and Automation Letters
Howison T
(2019)
Physics driven behavioural clustering of free-falling paper shapes.
in PloS one
Howison T
(2019)
Physics driven behavioural clustering of free-falling paper shapes.
Hughes J
(2018)
An anthropomorphic soft skeleton hand exploiting conditional models for piano playing
in Science Robotics
| Description | We have conducted the initial experiments on the use of Electrically Conductive Thermoplastic Elastomer to test the basic feasibility as the sensor for robotic palpation. The performances of material behaviours are acceptable and it should be applicable for the application we are aiming to develop. We have systematically analysed the performance of sensors which led to a few publications. Experiments with practitioners gave us a lot of feedback mostly practical which will be reflected in our future work. In addition, we have developed a technology to precisely replicate soft-rigid hybrid structures of human skeletal model by using a Multi-material 3D Printer. This technique can be used to analyse the mechanical dynamics of human hands, which is essential to understand the dynamic interactions of human doctors and patients during palpation. This can be used afterwards for the development of robotic palpation. The learning framework for tactile based robotic diagnosis has been developed and published in several Journal Papers, which led to multiple research funding proposals as well as the exploitation in industry applications. |
| Exploitation Route | The developed research platforms were published in open-access publications and generated data are available for others for further research. The analysis methods developed in this project were also published and publicly available for being exploited for other data-oriented research projects involving complex tactile sensor information and interactions, and beyond. The findings have been the resources to discuss being exploited for commercial applications, as well as further research funding proposals. The outcome of this projects were used to engage general public for outreaching activities, and more generally in our website and youtube channel. |
| Sectors | Digital/Communication/Information Technologies (including Software) Electronics Healthcare |
| URL | http://birlab.org/ |
| Description | The soft sensing technologies we are developing can be potentially used for business development. Soft sensors are of general interest for healthcare devices, wearable systems, and other industrial applications. As the technologies are also economically affordable, they can be exploited as educational tool kits of certain subjects. We have achieved a few first publications based on this technologies in major robotics journals such as Robotics and Automation Letters and Soft Robotics. We have also started experimenting the developed technologies with practitioners. The outcome of this project were presented in many invited talks of the researchers of this project, and initiated the discussions of interdisciplinary collaborations, some of which have started in the last years. |
| Sector | Digital/Communication/Information Technologies (including Software),Education,Electronics,Healthcare |
| Impact Types | Societal Economic |
| Description | Rustat Conference on The Future of Work - Jesus College, Cambridge |
| Geographic Reach | National |
| Policy Influence Type | Implementation circular/rapid advice/letter to e.g. Ministry of Health |
| Impact | This event was a round-table discussion on the topic of Future of Jobs among the interdisciplinary experts including technologists, business development, policy makers, lawyers, economists, and philosophers. The outcome was documented as a written report. |
| Description | Collaborative exploration of next generations of soft robot integration |
| Amount | £20,500 (GBP) |
| Funding ID | 83259 |
| Organisation | The Leverhulme Trust |
| Sector | Charity/Non Profit |
| Country | United Kingdom |
| Start | 05/2019 |
| End | 08/2019 |
| Description | EPSRC Capital Investment Fund through UK RAS Network |
| Amount | £6,500,000 (GBP) |
| Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
| Sector | Public |
| Country | United Kingdom |
| Start | |
| End | 03/2017 |
| Description | International Workshop on Embodied Intelligence |
| Amount | £22,159 (GBP) |
| Funding ID | EP/T033142/1 |
| Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
| Sector | Public |
| Country | United Kingdom |
| Start | 01/2021 |
| End | 03/2021 |
| Description | RoboPatient - Robot assisted learning of constrained haptic information gain |
| Amount | £388,632 (GBP) |
| Funding ID | EP/T00519X/1 |
| Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
| Sector | Public |
| Country | United Kingdom |
| Start | 08/2019 |
| End | 12/2023 |
| Description | Self-Healing Soft Robotics |
| Amount | € 2,950,446 (EUR) |
| Funding ID | Grant Agreement ID: 828818 |
| Organisation | European Commission H2020 |
| Sector | Public |
| Country | Belgium |
| Start | 05/2019 |
| End | 05/2022 |
| Description | Soft, Self-responsive, Smart MAterials for RoboTs |
| Amount | € 3,978,529 (EUR) |
| Funding ID | EC Contract No: 860108 |
| Organisation | Marie Curie |
| Sector | Charity/Non Profit |
| Country | United Kingdom |
| Start | 03/2020 |
| End | 02/2024 |
| Title | pneumatically actuated sensorized phantom |
| Description | pneumatically actuated sensorized phantom allow the users to examine existence of hard nodules etc while recording a data. |
| Type Of Material | Physiological assessment or outcome measure |
| Year Produced | 2018 |
| Provided To Others? | No |
| Impact | practitioners did not have opportunity to systematically assess their skills of palpation. |
| Title | Data from: Elasticity improves handgrip performance and user experience during visuomotor control |
| Description | Passive rehabilitation devices, providing motivation and feedback, potentially offer an automated and low-cost therapy method, and can be used as simple human-machine interfaces. Here, we ask whether there is any advantage for a hand-training device to be elastic, as opposed to rigid, in terms of performance and preference. To address this question, we have developed a highly sensitive and portable digital handgrip, promoting independent and repetitive rehabilitation of grasp function based around a novel elastic force and position sensing structure. A usability study was performed on 66 healthy subjects to assess the effect of elastic versus rigid handgrip control during various visuomotor tracking tasks. The results indicate that, for tasks relying either on feedforward or on feedback control, novice users perform significantly better with the elastic handgrip, compared with the rigid equivalent (11% relative improvement, 9-14% mean range; p < 0.01). Furthermore, there was a threefold increase in the number of subjects who preferred elastic compared with rigid handgrip interaction. Our results suggest that device compliance is an important design consideration for grip training devices. |
| Type Of Material | Database/Collection of data |
| Year Produced | 2017 |
| Provided To Others? | Yes |
| URL | https://datadryad.org/stash/dataset/doi:10.5061/dryad.m68q0 |
| Description | Collaboration with Dr Thrish Nanayakkara and Prof Etienne Burdet of Imperial College. Prof Simon de Lusignan of Surrey University. |
| Organisation | Imperial College London |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | Organization of joint workshop and preparation of technologies presented. |
| Collaborator Contribution | Organization of joint workshop and preparation of technologies presented. |
| Impact | Joint workshop with practitioners at University of Surrey to test the developed technologies. |
| Start Year | 2016 |
| Description | Collaboration with Dr Thrish Nanayakkara and Prof Etienne Burdet of Imperial College. Prof Simon de Lusignan of Surrey University. |
| Organisation | University of Surrey |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | Organization of joint workshop and preparation of technologies presented. |
| Collaborator Contribution | Organization of joint workshop and preparation of technologies presented. |
| Impact | Joint workshop with practitioners at University of Surrey to test the developed technologies. |
| Start Year | 2016 |
| Description | Collaborations with Prof Perla Maiolino at Oxford University |
| Organisation | University of Oxford |
| Department | Oxford Hub |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | Experimental research and collaborative publications based on the sensor technologies of the partner. |
| Collaborator Contribution | Provide the technological expertise in tactile sensing and data analysis for the experimental research and publications. |
| Impact | Model-Free Soft-Structure Reconstruction for Proprioception Using Tactile Arrays. L Scimeca, J Hughes, P Maiolino, F Iida. IEEE Robotics and Automation Letters 4 (3), 2479-248, 2019 |
| Start Year | 2019 |
| Description | Prof Kohei Nakajima visit to Cambridge January-March 2019 |
| Organisation | University of Tokyo |
| Country | Japan |
| Sector | Academic/University |
| PI Contribution | Research collaboration with Prof Nakajima for co-supervision of students as well as co-publication of technical papers. |
| Collaborator Contribution | Based on the theoretical physics background of Prof Nakajima, we have established unique experimental research collaborations on the analysis of unconventional robot dynamics. |
| Impact | Collaborations are still in progress and the outcome needs to come in the near future. |
| Start Year | 2019 |
| Description | UK-RAS Network Strategic Task Group on Soft Robotics |
| Organisation | Imperial College London |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | We co-develop a academic-industry network of soft robotics researchers and end users. |
| Collaborator Contribution | We co-develop a academic-industry network of soft robotics researchers and end users. |
| Impact | We have organized two workshops with the stake holders in 2020, to discuss the current issues of the field and actions to be taken. Each workshop attracted 20-30 participants both from academia and industry. |
| Start Year | 2020 |
| Description | UK-RAS Network Strategic Task Group on Soft Robotics |
| Organisation | University of Bristol |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | We co-develop a academic-industry network of soft robotics researchers and end users. |
| Collaborator Contribution | We co-develop a academic-industry network of soft robotics researchers and end users. |
| Impact | We have organized two workshops with the stake holders in 2020, to discuss the current issues of the field and actions to be taken. Each workshop attracted 20-30 participants both from academia and industry. |
| Start Year | 2020 |
| Title | Electrically Conductive Thermoplastic Elastomer for robotic tactile perception |
| Description | Electrically conductive thermoplastic elastomer is a class of elastomer that contains conductive compound for variable resistivity. As the base material is deformable, it can be used for variable resistive strain sensors to measure deformation and forces exerted to the material. We have developed this material customisable for the purpose of robotic tactile perception. |
| Type Of Technology | New/Improved Technique/Technology |
| Year Produced | 2017 |
| Impact | Because this technology is both flexible in applicability and economical affordability, we are able to implement to variations of robotic applications. In particular we are planning to make use of this technology for the application of robotic palpation that is the main demonstrator of MOTION project. |
| Title | Multi-material 3D printing of human hand skeleton |
| Description | Multi-material 3D printer Stratasys Connect3 Objet500 was used to produce soft-rigid hybrid structure to mimic human skeletal dynamics. The produced soft skeletal structures were used to test interaction with the complex environment, such as dynamic force interactions with piano. |
| Type Of Technology | New/Improved Technique/Technology |
| Year Produced | 2018 |
| Impact | This method can be used to analyse systematically musculoskeletal dynamics of human body for both robotics and biomedical purposes. |
| URL | http://robotics.sciencemag.org/content/3/25/eaau3098/tab-article-info |
| Description | ARM Conference |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | Regional |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited plenary talk at the ARM Conference in Cambridge UK, December 15, 2016. The talk content was biologically inspired soft robotics, that includes some of the research outcome we obtained so far. |
| Year(s) Of Engagement Activity | 2016 |
| Description | BT Public Webinar |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Industry/Business |
| Results and Impact | I was invited to give a seminar for BT Public Engagement Team to introduce Soft Robotics Research. |
| Year(s) Of Engagement Activity | 2020 |
| Description | Experiments with practitioners |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Professional Practitioners |
| Results and Impact | Experiments of the developed technologies with practitioners to have feedback. |
| Year(s) Of Engagement Activity | 2018 |
| Description | ICRA2020 BPIL Talk |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Other audiences |
| Results and Impact | I gave an invited talk at Brain Inspired Perception Interaction and Learning Workshop held in the context of International Conference of Robotics and Automation (ICRA2020). |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://brain-pil.github.io/icra2020/ |
| Description | International Conference of Embodied Intelligence 2022 |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Other audiences |
| Results and Impact | Online free conference to invite world-leading researchers in the field of Embodied Intelligence |
| Year(s) Of Engagement Activity | 2022 |
| URL | https://embodied-intelligence.org |
| Description | Invited Seminar at Nanjing University of Science and Technology |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | Local |
| Primary Audience | Postgraduate students |
| Results and Impact | I was invited to give a seminar talk at Nanjing University of Science and Technology. |
| Year(s) Of Engagement Activity | 2020 |
| Description | Invited Talk at ICRA2020 Self-Assembly Workshop |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Other audiences |
| Results and Impact | I gave a talk at Self-Assembling and Reconfigurable Systems - ICRA Workshop 2020 |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://softsystemsgroup.com/2020/05/30/self-assembling-and-reconfigurable-systems-icra-workshop-202... |
| Description | Invited Talk at IROS2020 RoPat Workshop |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Other audiences |
| Results and Impact | I gave an invited talk at IROS2020 RoPat Workshop |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://www.imperial.ac.uk/morph-lab/events/ropat20-iros-workshop/ |
| Description | Invited Talk at IROS2020 Workshop on Application-Driven Soft Robotic Systems: Translational Challenges |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Other audiences |
| Results and Impact | I gave an invited talk at IROS2020 Workshop on Application-Driven Soft Robotic Systems: Translational Challenges |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://ori.ox.ac.uk/labs/srl/iros2020/ |
| Description | Invited lecture at the IROS2021 Workshop on Self-Healing Soft Robotics |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited lecture at the IROS2021 Workshop on Self-Healing Soft Robotics |
| Year(s) Of Engagement Activity | 2021 |
| Description | Invited lecture at the Seasonal School on Rehabilitation and Assistive Technologies based on Soft Robotics |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Postgraduate students |
| Results and Impact | Invited lecture at the Seasonal School on Rehabilitation and Assistive Technologies based on Soft Robotics |
| Year(s) Of Engagement Activity | 2021 |
| Description | Invited lecture at the Solvay Workshop on Mechanics of slender structures in physics, biology and engineering, Brussels Belgium, 27-29 August 2018. |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited lecture was given at the Solvay Workshop on Mechanics of slender structures in physics, biology and engineering, Brussels Belgium, 27-29 August 2018. Approximately 60-80 participants with interdisciplinary background attended the workshop. |
| Year(s) Of Engagement Activity | 2018 |
| URL | http://www.solvayinstitutes.be/event/workshop/mechanics_2018/mechanics_2018.html |
| Description | Invited lecture at the Summer School on Soft Manipulation. Munich Germany, 17-21 July 2017. |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Postgraduate students |
| Results and Impact | Invited lecture was given at the Summer School on Soft Manipulation. Munich Germany, 17-21 July 2017. Approximately 80 students have participated in the summer school to learn various projects on soft manipulation. |
| Year(s) Of Engagement Activity | 2017 |
| URL | http://soma-project.eu/index.php/events2 |
| Description | Invited seminar at Bilkent University |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited seminar at Bilkent University on the topic of bi-inspired soft robotics |
| Year(s) Of Engagement Activity | 2018 |
| Description | Invited seminar at Keele University |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited seminar at Keele University about the topic of bio-inspired soft robotics |
| Year(s) Of Engagement Activity | 2018 |
| Description | Invited seminar talk at Leeds University, Robotics Network, Leeds UK, February 6, 2019. |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Postgraduate students |
| Results and Impact | Invited seminar talk was given at Leeds University, Robotics Network, Leeds UK, February 6, 2019. Approximately 100 students and researchers have attended the talk followed by discussions. |
| Year(s) Of Engagement Activity | 2019 |
| Description | Invited seminar talk at University of Edinburgh, Centre of Robotics, Edinburgh UK, January 14, 2019. |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Postgraduate students |
| Results and Impact | Invited seminar talk was given at University of Edinburgh, Centre of Robotics, Edinburgh UK, January 14, 2019. A large audience approximately 100 students (both postgrad and undergrad) attended the lecture followed by discussions. |
| Year(s) Of Engagement Activity | 2018 |
| Description | Keynote lecture at IEEE International Conference on Soft Robotics |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | One of the 10 keynote lectures was given in an international conference with participants ca. 300 |
| Year(s) Of Engagement Activity | 2019 |
| URL | http://www.robosoft2019.org |
| Description | Lab Visit (Max Planc Stuttgart) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Postgraduate students |
| Results and Impact | Invited lecture at Max Planc Institute, Dept Physical Intelligent Systems, Stuttgart, Germany, September 2016. The lecture covers the topics of biologically inspired robotics including the ongoing research challenges in the MOTION project, to discuss the implications and further collaborations with researchers and students. |
| Year(s) Of Engagement Activity | 2016 |
| Description | Plenary Talk at TAROS 2020 Conference |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Postgraduate students |
| Results and Impact | I gave a plenary lecture at the TAROS conference about the topic of Soft Robotics. |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://www.nottingham.ac.uk/conference/fac-eng/taros/index.aspx |
| Description | Plenary talk at the Great Bay Area Conference on Robotics and Artificial Intelligence, Shenzhen China, 6-7 December 2018. |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Plenary talk was given at the Great Bay Area Conference on Robotics and Artificial Intelligence, Shenzhen China, 6-7 December 2018. Introduction of this project was given to the large audience of AI and Robotics researchers. |
| Year(s) Of Engagement Activity | 2018 |
| URL | http://www.gbas-sziur.com/index.html |
| Description | SMART Project Training Event Lecture |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Postgraduate students |
| Results and Impact | I geve an introductory lecture of soft sensing in the training event for EU H2020 Innovative Training Network Project. |
| Year(s) Of Engagement Activity | 2020 |
| URL | http://www.smartitn.eu/training-events/ |
| Description | Seminar Talk at Tohoku University Japan |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | Local |
| Primary Audience | Professional Practitioners |
| Results and Impact | The invited seminar lecture covered the research topics achieved in my group in the recent years, attracted ca. 150 audience |
| Year(s) Of Engagement Activity | 2019 |
| Description | UK-RAS Conference Plenary Talk |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Postgraduate students |
| Results and Impact | I gave a plenary talk at the UK RAS Conference, for mostly academic researchers and students in Robotics. |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://www.ukras.org/publications/ras-proceedings/UKRAS20/ |