Van Anh Ho — accepted AI-conference papers

2025

A Distributed Multi-Modal Sensing Approach for Human Activity Recognition in Real-Time Human-Robot Collaboration

Valerio Belcamino, Nhat Dinh Minh Le, Quan Khanh Luu, Alessandro Carfì, Van Anh Ho, Fulvio Mastrogiovanni

RA-L 2025

Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with Inertial Measurement Units and a vision-based tactile sensor to

Cited by 1 Source ↗Scholar ↗

2025

Compliance Control with Dynamic and Self-Sensing Hydraulic Artificial Muscles for Wearable Assistive Devices

Bibhu Sharma, Emanuele Nicotra, James Davies, Chi Cong Nguyen, Phuoc Thien Phan, Adrienne Ji +7

ICRA 2025

While wearable robots that utilize intrinsically soft materials for actuation offer enhanced safety and biological compatibility, the challenges of sensing and control significantly affect their performance. The control problem in such systems is inherently complex, and the inclusion of 'softness' i

Cited by 1 Source ↗Scholar ↗

2025

Vi2TaP: A Cross-Polarization Based Mechanism for Perception Transition in Tactile-Proximity Sensing With Applications to Soft Grippers

Nhan Huu Nguyen, Nhat Dinh Minh Le, Quan Khanh Luu, Tuan Tai Nguyen, Van Anh Ho

RA-L 2025

Vision-based soft sensors have emerged as a promising solution for multi-modal sensory systems. Rather than relying on complex integrations of numerous specialized sensors, these devices are advantageous in achieving multiple perceptual capabilities with a single device. However, the unsolved bottle

Cited by 4 Source ↗Scholar ↗

2024

A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization

Emanuele Nicotra, Chi Cong Nguyen, James Davies, Phuoc Thien Phan, Trung Thien Hoang, Bibhu Sharma +7

ICRA 2024poster

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of…

Cited by 0 Source ↗Scholar ↗

2024

TacLink-Integrated Robot Arm toward Safe Human-Robot Interaction

Quan Khanh Luu, Alessandro Albini, Perla Maiolino, Van Anh Ho

IROS 2024poster

Recent developments in vision-based tactile sensing offer a simple means to enable robots to perceive touch interactions. However, existing sensors are primarily designed for small-scale applications like robotic hands, lacking research on their integration for large-sized robot bodies that can be l…

Cited by 2 Source ↗Scholar ↗

2023

A Flexible 3D Force Sensor with In-Situ Tunable Sensitivity

James Davies, Mai Thanh Thai, Trung Thien Hoang, Chi Cong Nguyen, Phuoc Thien Phan, Kefan Zhu +6

ICRA 2023poster

Following biology's lead, soft robotics has emerged as a perfect candidate for actuation within complex environments. While soft actuation has been developed intensively over the last few decades, soft sensing has so far slowed to catch up. A largely unresearched area is the change of the soft mater…

Cited by 0 Source ↗Scholar ↗

2023

A Handheld Hydraulic Cardiac Catheter with Omnidirectional Manipulator and Touch Sensing

Chi Cong Nguyen, James Davies, Mai Thanh Thai, Trung Thien Hoang, Phuoc Thien Phan, Kefan Zhu +6

ICRA 2023poster

Atrial fibrillation (AF) is mostly treated via robotic catheter-based cardiac ablation procedures. Over the last few decades, cables or tendon mechanisms are at the core of available cardiac catheters. Despite advances, the use of cables often results in considerable force loss, nonlinear hysteresis…

Cited by 1 Source ↗Scholar ↗

2023

Morphology-Changeable Soft Pads Facilitate Locomotion in Wet Conditions

Duy Dang Nguyen, Nhan Huu Nguyen, Van Anh Ho

RA-L 2023

Stable robot walking requires effective gait planning and control. The mechanical properties of contact between feet and ground are important factors in this process. In this paper, we propose and test a design for a robot foot that houses soft pads, which adapt to facilitate locomotion on wet and d

Cited by 3 Source ↗Scholar ↗

2023

ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of Objects

Son Tien Bui, Van Anh Ho

RSS 2023poster

Robotics hand/grippers nowadays are not limited within manufacturing lines; instead, widely utilized in cluttered environments, such as restaurants, farms, and warehouses. In such scenarios, they need to deal with high uncertainty of the grasped objects’ shapes, postures, surfaces, and material prop…

Cited by 10 Source ↗PDF ↗Scholar ↗

2022

An Agile Bicycle-like Robot for Complex Steel Structure Inspection

Son Thanh Nguyen, Hai Nguyen, Son Tien Bui, Van Anh Ho, Trung Dung Ngo, Hung Manh La

ICRA 2022poster

This paper presents a simple but compact design of a bicycle-like robot for inspecting complex-shaped ferromagnetic structures. The design concept for versatile locomotion relies on two independently steered magnetic wheels formed in a bicycle-like configuration, allowing the robot to possess multi-…

Cited by 17 Source ↗Scholar ↗

2022

Self-morphing Soft Parallel-and-coplanar Electroadhesive Grippers Based on Laser-scribed Graphene Oxide Electrodes

Jianglong Guo, Djen Kuhnel, Qiukai Qi, Chaoqun Xiang, Van Anh Ho, Charl Faul +1

IROS 2022poster

Electroadhesion is a versatile and controllable adhesion mechanism that has been used extensively in robotics. Soft electroadhesion embodies electrostatic adhesion in soft materials and is required for shape-adaptive and safe grasping of curved objects and delicate materials. In this work, we presen…

Cited by 0 Source ↗Scholar ↗

2021

Tactile Compensation for Artificial Whiskered Sensor System Under Critical Change in Morphology

Nhan Huu Nguyen, Van Anh Ho

RA-L 2021

In this letter, we describe a novel design soft whiskersensor system that compensates for tactile deficiency in events of change in sensor morphology upon being broken, torn, or trimmed. A fiber-reinforced air chamber at the sensor root is coupled with a strain gauge, and compressor. The strain gaug

Cited by 6 Source ↗Scholar ↗

2021

Wet Adhesion of Soft Curved Interfaces With Micro Pattern

Pho Van Nguyen, Van Anh Ho

RA-L 2021

Previous research reveals that a flat micropatterned soft pad, which mimics the structure of tree-frog's toes, increases adhesion when gripping an object in a wet environment. However, soft interfaces may change shape to adapt to curved environments, therefore, it is necessary to clarify the mechani

Cited by 11 Source ↗Scholar ↗

2020

Wet Adhesion of Micro-patterned Interfaces for Stable Grasping of Deformable Objects

Pho Van Nguyen, Quan Khanh Luu, Yuzuru Takamura, Van Anh Ho

IROS 2020poster

Stable grip of wet, deformable objects is a challenging task for robotic grasping and manipulation, especially for food products' handling. The wet, slippery interfaces between the object and robotic fingers may require larger gripping force, resulting in higher risk of damaging the grasped object.…

Cited by 23 Source ↗Scholar ↗

2020

Wrinkled Soft Sensor With Variable Afferent Morphology: Case of Bending Actuation

Qiukai Qi, Van Anh Ho

RA-L 2020

The sensor morphology is of great importance, especially for tactile sensors that mainly transduce physical contacts to perceivable signals for further processing by the central system. Sensors with various morphology can result in different signal thus potentially influencing perception. Most previ

Cited by 15 Source ↗Scholar ↗

2019

Grasping Interface With Wet Adhesion and Patterned Morphology: Case of Thin Shell

Pho Van Nguyen, Van Anh Ho

RA-L 2019

In this letter, we present an analytical method for studying the role of the micropatterned morphology of soft fingers with wet adhesion in grasping a deformable thin shell. This letter originated from a project on a robotic platform for autonomous attachment and removal of a soft contact lens in a

Cited by 26 Source ↗Scholar ↗

2019

Theoretical Foundation for Design of Friction-Tunable Soft Finger With Wrinkle's Morphology

Hiep Xuan Trinh, Van Anh Ho, Koji Shibuya

RA-L 2019

We present a theoretical model for the design of a soft-fingered robotic hand/gripper with a friction-tunable function based on the idea of active wrinkles on its surface. Inspired by the formation of wrinkles on the human finger in a wet environment, our robotic finger is integrated with a pneumati

Cited by 14 Source ↗Scholar ↗

2019

Wrinkled Soft Sensor With Variable Afferent Morphology

Qiukai Qi, Shinichi Hirai, Van Anh Ho

RA-L 2019

There is an increasing interest in morphological computation due to its advantages in exploring underlying mechanism of soft robotics, especially in tactile sensing. This letter introduces the idea of variable afferent network morphology (VANmorph) for describing the phenomenon that morphology chang

Cited by 8 Source ↗Scholar ↗

2017

Design and Analysis of a Soft-Fingered Hand With Contact Feedback

Van Anh Ho, Shinichi Hirai

RA-L 2017

This paper presents a novel approach to the fabrication of a soft robotic hand with contact feedback for grasping delicate objects. Each finger has a multilayered structure, consisting of a main structure and sensing elements. The main structure includes a softer layer much thicker than a stiffer la

Cited by 48 Source ↗Scholar ↗

2017

Grasping by wrapping: Mechanical design and evaluation

Van Anh Ho

IROS 2017poster

This paper presents an analysis of the design and operation of a non-articulated robotic hand, inspired by the multilayered structure. The hand is made of a non-stretchable thin film, the two ends of which are attached to a soft substrate, forming an enclosed wrinkled shape. When the substrate is el…

Cited by 6 Source ↗Scholar ↗

2017

Morphological computation in tactile sensing: The role of wrinkle

Van Anh Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, Koji Shibuya

ICRA 2017poster

This paper presents a new approach for active tactile sensation that utilizes soft morphological computation. This work is inspired by human finger's wet-induced wrinkles, which appear after a long time soaking in water, and has been indicated as an efficient means for enhancement of gripping in wet…

Cited by 9 Source ↗Scholar ↗

2016

Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon

Van Anh Ho, Hisayoshi Honda, Shinichi Hirai

RA-L 2016

Human-in-the-loop task involving soft contact has become common in robotic manipulation research, especially in tele-operation and robotic surgery. Soft contact in this task may include a soft-fingered robot hand gripping a rock, or robotic control of forceps to pick up a tissue sample. In these sce

Cited by 7 Source ↗Scholar ↗

2016

Fabric interface with proximity and tactile sensation for human-robot interaction

Van Anh Ho, Shinichi Hirai, Koki Naraki

IROS 2016poster

Human-in-the-loop task involving soft contact has become common in robotic application, especially in physical human-robot interaction. In this task, it is required that robot would sense interactions with human by touching, as well as assess possibility of human approaching by proximity sensation.…

Cited by 27 Source ↗Scholar ↗