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Yohan Noh

10 accepted papers

2023

Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Aya Mutaz Zeidan, Zhouyang Xu, Christopher E. Mower, Honglei Wu, Quentin Walker, Oyinkansola Ayoade +7
ICRA 2023poster

Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue w…

Cited by 4Source ↗Scholar ↗
2021

Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging

James Housden, Shuangyi Wang, Xianqiang Bao, Jia Zheng, Emily Skelton, Jacqueline Matthew +5
RA-L 2021

Standardized acquisitions and diagnoses using robots and AI would potentially increase the general usability and reliability of medical ultrasound. Working towards this prospect, this paper presents the recent developments of a standardized acquisition workflow using a novel dual-probe ultrasound ro

Cited by 28Source ↗Scholar ↗
2019

A2-piece six-axis force/torque sensor capable of measuring loads applied to tools of complex shapes

Yohan Noh, Lukas Lindenroth, Shuangyi Wang, Richard James Housden, Anne-Sophie van Wingerden, Wanlin Li +1
IROS 2019poster

Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize…

Cited by 16Source ↗Scholar ↗
2018

Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator

Jan Fras, Yohan Noh, Mateusz Macias, Helge Wurdemann, Kaspar Althoefer
ICRA 2018poster

Many modern roboticists take inspiration from biology to create novel robotic structures, including those that are modeled after the octopus. This paper advances this trend by creating soft robots modeling the complex motion patterns of octopus tentacles employing a bio-mimetic approach. The propose…

Cited by 66Source ↗Scholar ↗
2016

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam

Yohan Noh, Joao Bimbo, Agostino Stilli, Helge Wurdemann, Hongbin Liu, James Housden +2
IROS 2016poster

This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes u…

Cited by 7Source ↗Scholar ↗
2016

A soft three axis force sensor useful for robot grippers

Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, Shinichi Hirai
IROS 2016poster

A novel three axis force sensor, based on magnetic flux measurements, was used in the fingers of a gripper. The force sensor uses three Hall Effect sensors orthogonally placed at the base of a hemisphere made of silicon rubber. A neodymium permanent magnet was inside the hemisphere. When a force was…

Cited by 21Source ↗Scholar ↗
2016

Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator

Lukas Lindenroth, Junghwan Back, Adrian Schoisengeier, Yohan Noh, Helge Würdemann, Kaspar Althoefer +1
IROS 2016poster

This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipul…

Cited by 45Source ↗Scholar ↗
2016

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Ali Shiva, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni +4
RA-L 2016

There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to contr

Cited by 186Source ↗Scholar ↗
2015

Robust real time material classification algorithm using soft three axis tactile sensor: Evaluation of the algorithm

Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, Shinichi Hirai
IROS 2015poster

Materials and textures identification is a desired ability for robots. Developing such systems require tactile sensors that have enough sensitivity and spatial resolution, and the computational intelligence to meaningfully interpret sensor data. This paper introduces a texture classification algorit…

Cited by 34Source ↗Scholar ↗
2015

Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle

Farahnaz Maghooa, Agostino Stilli, Yohan Noh, Kaspar Althoefer, Helge A Wurdemann
ICRA 2015poster

This paper proposes a soft, inflatable manipulator that is antagonistically actuated by tendons and pneumatics. The combination of the two actuation mechanisms in this antagonistic robot structure is inspired by the octopus which uses its longitudinal and transversal muscles to steer, elongate, shri…

Cited by 139Source ↗Scholar ↗