Publications and patents

PhD Thesis: Design, fabrication and stiffening of soft pneumatic robots,
J Fras
QMUL 2023
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A penis-inspired soft actuator,
J Fras, K Althoefer
ICRA 2023
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Instant soft robot: A simple recipe for quick and easy manufacturing,
J Fras, J. Glowka, K Althoefer
IEEE International Conference on Soft Robotics (RoboSoft), 2020
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Soft fiber-reinforced pneumatic actuator design and fabrication: Towards robust, soft robotic systems,
J Fras, K Althoefer
TAROS 2019
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Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation,
A Shiva, S.M. H Sadati, Y Noh, J Fras, A Ataka, H Würdemann, ...
Soft Robotics, 2019

Dynamic Modeling of Fiber-Reinforced Soft Manipulator: A Visco-Hyperelastic Material-Based Continuum Mechanics Approach,
SM Mustaza, Y Elsayed, C Lekakou, C Saaj, J Fras
Soft Robotics, 2019

Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination,
J Fras, K Althoefer
IROS 2018
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Bio-inspired octopus robot based on novel soft fluidic actuator,
J Fras, Y Noh, M Macias, H Wurdemann, K Althoefer
ICRA 2018
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Fluidical bending actuator designed for soft octopus robot tentacle,
J Fras, Y Noh, M Macias, K Althoefer
RoboSoft 2018
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Soft Manipulator Actuation Module – with Reinforced Chambers,
J Fras, M Macias, J Czarnowski, M Brancadoro, A Menciassi, J Glowka
Chapter #3, Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery, The STIFF-FLOP Approach, 2018

Modelling and Position Control of the Soft Manipulator,
J Fras, M Macias, J Czarnowski, J Glowka
Chapter #10, Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery, The STIFF-FLOP Approach, 2018

New STIFF-FLOP module construction idea for improved actuation and sensing,
J Fras, J Czarnowski, M Macias, J Glowka, M Cianchetti, A Menciassi
ICRA 2015
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Static modeling of multisection soft continuum manipulator for stiff-flop project
J Fras, J Czarnowski, M Macias, J Glowka
Automation 2014
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Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models
A Arezzo, Y Mintz, ME Allaix, S Arolfo, M Bonino, G Gerboni, ...

Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics
Y Noh, J Bimbo, S Sareh, H Wurdemann, J Fras, DS Chathuranga, H Liu, ...

Soft Flexible Gripper Design, Characterization and Application
J Fras, M Macias, F Czubaczynski, P Salek, J Glowka
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Visual Marker Based Shape Recognition System for Continuum Manipulators
J Fras, S Tabaka, J Czarnowski
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Soft fluidic rotary actuator with improved actuation properties
J Fras, Y Noh, HA Wurdemann, K Althoefer
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Depth-Map-Based Shape Recognition of Soft Continuum Manipulator Body
J Fras
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Contact force sensor for flexible manipulators for MIS (minimally invasive surgery)
P Gawenda, Y Noh, J Fras, S Han, S Wang, R Housden, K Althoefer, ...

Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery
Haider Abidi, Giada Gerboni, Margherita Brancadoro, Jan Fras, ...