Publications

LIFE

Laboratory for Intelligent and Flexible Machine(s)

List of Publications

2023

S. Sapai, Y. Loo Junn, Y. Ding Ze, T. Chee Pin, V.M. Baskaran, S.G. Nurzaman (2023). A deep learning framework for soft robots with synthetic data. Soft Robotics. (link)
Y.X. Teo, Y.S. Chan, S.G. Nurzaman, D. Gouwanda, A.A. Gopalai (2023). Investigation of muscle synergies and their consistency among fresh fruit bunches manual harvesters in a real-life oil palm industry. Int. J. Ind. Ergon., 97, 103499. (link)
Y.S. Chan, Y.X. Teo, D. Gouwanda, S.G. Nurzaman, A.A. Gopalai (2023). Simulation of passive exotendon assistive device for agricultural harvesting task. Phys. Eng. Sci. Med, 1-12. (link)
S.A. Katiyar, L.Y. Lee, F. Iida, S.G. Nurzaman (2023). Energy harvesting for robots with adaptive morphology, Soft Robotics 10(2): 365-379, 2023. (link)
S.G. Nurzaman, J. Hughes, Y. Mengüç (2023). A roundtable discussion with Josie Hughes and Yiğit Mengüç. Robot. Rep. 1(1), 50-56. (link)
S.G. Nurzaman (2023). Challenges and perspectives in scientific publication of robotics as an Interdisciplinary field of study. Robot. Rep. 1(1), 1-4. (link)
O. Ozcan, M. Reis, S.G. Nurzaman (2023). Bio-inspired soft locomotion - Editorial. Front. Robot. AI 10. (link)
T.R. Ling, M.A. Juman, S.G. Nurzaman, C.P. Tan, Shape-invariant indirect hardness estimation for a soft vacuum-actuated graipper with an onboard depth camera" in Proc. IEEE/RSJ Int. Conf. on Soft Robotics (IEEE Robosoft), 2023. (link)
T.S.Y. Min, L.Y. Lee, S.G. Nurzaman, Bayesian optimization of pneumatic soft grippers via reconfigurable modular molds, in Proc. IEEE/RSJ Int. Conf. on Soft Robotics (IEEE Robosoft), 2023. (link)
S. Sapai, J.Y. Loo, Z.Y. Ding, C.P. Tan, R.C. Phan, V.M. Baskaran, S.G. Nurzaman, Cross-domain transfer learning and state inference for soft robots via a semi-supervised sequential variational bayes framework, in Proc. IEEE Int. Conf. on Robotics and Automation (IEEE ICRA), 2023. (link)
Y. Ding Ze, Y. Loo Junn, V.M. Baskaran, S.G. Nurzaman, T. Chee Pin (2023). Knowledge-informed graph neural network for interpretable soft sensor, IEEE Trans. Cybern., Submitted After Revision.
Y. Loo Junn, Y. Ding Ze, V.M. Baskaran, S.G. Nurzaman, T. Chee Pin (2023). Sigma-point Kalman filter with nonlinear unknown input estimation via optimization and data-driven approach for dynamic systems, IEEE Trans. Syst. Man Cybern. Syst., Submitted After Revision.
L.Y. Lee, O.A. Syadiqeen, Z.H. Chin, S.G. Nurzaman (2023). Customizable power grasps from uncrewed aerial vehicles via a soft ’wrapping’ gripper, IEEE ASME Trans. Mechatron., Under Revision.
Y. Loo Junn, Y. Ding Ze, S.G. Nurzaman, C.M. Ting, V.M. Baskaran, T. Chee Pin (2023). Unsupervised cross-domain soft sensor modelling via a deep Bayesian particle flow framework”, IEEE Trans. Cybern., Under Review.

2022

Julian Kok Ping T, Chee Pin T, Nurzaman SG (2022). An embodied intelligence based biologically inspired strategy for searching a moving target, Artificial Life 28(3): 348-368, . (link)
Ding Ze Y, Loo Junn Y, Nurzaman SG, Chee Pin T, Baskaran VM, (2022). A zero-shot soft sensor modeling approach using adversarial learning for robustness against sensor Fault, IEEE Transactions on Industrial Informatics 19(4): 5891-5901. (link)
Chan YS, Teo YX, Gouwanda D, Gopalai AA, Nurzaman SG, Thannirmalai S (2022). Musculoskeletal modelling and simulation of oil palm fresh fruit bunch harvesting, Scientific Reports 12:8010. (link)
Katiyar SA, Gouwanda D., Iida F., Nurzaman SG (2022). Power efficient adaptive behavior through shape changing elastic robot, Adaptive Behavior, 30(4): 289-305. (link)
Loo Junn Y, Ding Ze Y, Baskaran VM, Nurzaman SG, Chee Pin T. Robust multimodal indirect sensing for soft robots via neural network aided filter-based estimation (2022), Soft Robotics 9(3): 591-612. (link)
C.K. Perera, A.A. Gopalai, D. Gouwanda, S.A. Ahmad, S.G. Nurzaman, “A review on sit-to-walk biomechanics for healthy young and older adults”, in Proc. IEEE-EMBS Int. Conf. on Biomedical Engineering and Sciences (IEEE IECBES), 2022, pp. 17-22. (link)
S.M.H. Sadati, M. Eldiwiny, S.G. Nurzaman, F. Iida, T. Nanayakkara, “Embodied intelligence & morphological computation in soft robotics community: Collaborations, coordination, and perspective”, IOP Conference Series: Materials Science and Engineering, 2022. (link)

2021

Teo YX, Chan YS, Gouwanda D, Gopalai AA, Nurzaman SG, Thannirmalai S (2021). Quantification of muscles activations and joints range of motions during fresh fruit bunch harvesting and loose fruit collection in oil palm plantation, Scientific Reports 11: 15020. (link)
Shahid T, Gouwanda D, Nurzaman SG, Gopalai AA, Kheng TK. Development of an electrooculogram-activated wearable soft Hand exoskeleton. IEEE-EMBS Conference on Biomedical Engineering and Sciences (IECBES), 2021. (link)
Ding Ze Y, Loo Junn Y, Baskaran VM, Nurzaman SG, Chee Pin T (2021). Predictive uncertainty estimation using deep learning for soft robot multimodal sensing, IEEE Robot. Autom. Lett. 6(2): 951-957. (link)
Lee LY, Syadiqeen OA, Chee Pin T, Nurzaman SG (2021). Closed-structure compliant gripper with morphologically optimized multi-material fingertips for aerial grasping, IEEE Robot. Autom. Lett. 6(2): 887-894. (link)

2020

Nurzaman SG, Wang L, Iida F, Lipton J, Floreano D, Rus D (2020). Design optimization of soft robots, IEEE Robot. Autom. Mag. 27 (4): 10-11. (link)
Nurzaman SG, Sadati SMH, Eldiwiny M, Iida F (2020). Soft Robotics: The journey thus far and the challenges ahead, IEEE Robot. Autom. Mag. 27 (4): 75-77. (link)
Lee LY, Lim WM, Pei Lee T, Syadiqeen OA, Nurzaman SG. Understanding the interaction between older adults and soft service robots: Insight from robotics and Technology Acceptance Model, AIS Transactions on Human Computer Interaction (2020), 12(3), 125-145. (link)
Cee Pin T, Nurzaman SG, Loo Junn Y, Ding Ze Y. Indirect sensing in soft robots using observers/filters (2020), IEEE Instrumentation and Measurement Magazine, 23(1), 42-43. (link)

2019

Lee LY, Hossen IS, Syadiqeen OA, Pei Lee T, Chee Pin T, Nurzaman SG. Knowing what older adults want: A soft service robot in object retrieval tasks (2019), Age and Ageing, Vol 48. (link)
Katiyar SA, Iida F, Nurzaman SG. Energy harvesting in soft robot locomotion with complex dynamics. IEEE Int. Conf. on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2019. (link)
Lee LY, Nurzaman SG, Chee Pin T. Design and analysis of a gripper with interchangeable soft fingers for ungrounded mobile robots. IEEE Int. Conf. on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2019. (link)
Loo Junn Y, Kah Chun K, Chee Pin T, Nurzaman SG. Nonlinear system identiﬁcation and state estimation in a pneumatic based soft robot. IEEE Int. Conf. on Control Technology and Applications (IEEE CCTA), 2019. (link)
Loo Junn Y, , Chee Pin T, Nurzaman SG. H-infinity based Extended Kalman Filter for state estimation in highly nonlinear soft robotic system. American Control Conf. (ACC), 2019. (link)

2018

Shahid T, Gouwanda D, Nurzaman SG, Gopalai AA (2018) Moving toward soft robotics: A decade review of the design of hand exoskeletons. Biomimetics 3(3): 17. (link)
Katiyar SA, Kandasamy G, Kutalunga E, Mustafizur M, Iida F, Nurzaman SG. Morphological adaptation in an energy efficient vibration-based robot. IEEE Int. Conf. on Robotics and Automation (IEEE ICRA), 2018, pp. 1575-1582. (link)
Katiyar SA, Chuwa SH, Iida F, Nurzaman SG (2018). Energy harvesting in an energy efficient compliant legged robot with shape adaptation ability. IEEE ICRA Workshop on Self-healing, Growing and Evolving Soft Robots. (link)

2017

Wang L, Nurzaman SG, Iida F (2017) Soft material robotics. Boston-Delft, Now Publisher. (link)
Ooi JHT, Tan CP, Nurzaman SG, Ng Ky (2017). A sliding mode observer for infinitely unobservable descriptor systems, IEEE Transactions on Automatic Control 62(7): 3580-3587. (link)

2016

Iida F (co-ﬁrst author), Nurzaman SG (co-ﬁrst author) (2016) Adaptation of sensor morphology: An integrative view of perception from biologically inspired robotics perspective. Interface Focus, 6(4): 1-17. (link)
Iida F, Nurzaman SG, Laschi C, Floreano D, Wood R, Rosendo A (2016). Soft robotics and morphological computation: From the guest editors, IEEE Robot. Autom. Mag. 23 (3): 28-29. (link)
Iida F., Wang L., Brodbeck L., Leach D., Nurzaman S., Culha U. (2016) The solving by building approach based on thermoplastic adhesives. In: Inaba M., Corke P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. (link)

2015

Nurzaman SG, Yu X, Kim Y, Iida F (2015) Goal directed multimodal locomotion through coupling between mechanical and attractor selection dynamics. Bioinspiration & Biomimetics, 10: 025004. (link)
Kim Y, Nurzaman SG, Iida F, Fukushima E. A self organization approach to goal directed multimodal locomotion based on attractor selection mechanism. IEEE Int. Conf. on Robotics and Automation (IEEE ICRA), 2015, pp. 5061-5066. (link)
Khoo BH, Nurzaman SG, Tan CY, Liang YK (2015). A jamming gripper based solution for sausages packing in food industry. IEEE ICRA Workshop on Soft Robotics: Actuation, Integration and Application.

2014 and before

Culha U, Nurzaman SG, Clemens F, Iida F (2014) SVAS3: Strain vector aided sensorization of soft structures. Sensors 14(7):12748-12770. (link)
Nurzaman SG, Yu X, Kim Y, Iida F (2014). Guided self-organization in a dynamic embodied system based on attractor selection mechanism. Entropy 16(5):2592-2610. (link)
Nurzaman SG, Iida F, Margheri L, Laschi C (2014) Soft robotics on the move: scientiﬁc networks, activities and future challenges. Soft Robotics 1(2):154-158. (link)
Yu X, Nurzaman SG, Culha U, Iida F (2014) Soft robotics education. Soft Robotics 1(3):202-212. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Shirai K, Koizumi S, Iida F, Ishiguro H. (2014) Morphological computation: A perspective based on bacterial movement. In: Hauser H, Fuchslin RM, Pfeifer R (eds) Opinions and Outlooks on Morphological Computation. (link)
Culha U, Wani U, Nurzaman SG, Clemens F, Iida F. Motion pattern discrimination for soft robots with morphologically ﬂexible sensors. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IEEE IROS), 2014, pp. 567-574. (link)
Culha U, Nurzaman SG, Clemens F, Iida F (2014). Sensorization of soft structures with guidance of strain vectors. The 1st Robosoft Coordination Action plenary meeting.
Yu X, Nurzaman SG, Culha U, Iida F (2014). Soft robotics education: From concept to implementation. The 1st Robosoft Coordination Action plenary meeting.
Brodbeck L, Wang L, Nurzaman SG, Leach D, Culha U, Reusser D, Iida F (2014). Physically adaptive robots exploiting thermoplasticity and adhesion. The 1st Robosoft Coordination Action plenary meeting.
Nurzaman SG, Culha U, Brodbeck L, Wang L, Iida F (2013) Active sensing system with in-situ adjustable sensor morphology. PLoS ONE 8(12): e84090. (link)
Nurzaman SG, Iida F, Laschi C, Ishiguro A, Wood R (2013) Soft robotics: Technical Committee spotlight. IEEE Robot Autom Mag 20(3): 24-95. (link)
Nurzaman SG, Culha U, Brodbeck L, Wang L, Iida F (2013). Morphologically ﬂexible active sensing system based on thermoplastic adheseive material. Int’l Workshop on Soft Robotics and Morphological Comp.
Nurzaman SG, Iida F, Laschi C, Ishiguro A, Iida F (2013). Activities of the Soft Robotics IEEE Technical Committee. Int’l Workshop on Soft Robotics and Morphological Comp.
Otake M, Nurzaman SG, Iida F (2012) Embodied cognition in psychological therapy. Journal of Cognitive Science 13: 431-452. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Shirai K, Koizumi S, Ishiguro H (2012) Bacteria inspired underactuated mobile robot based on a biological ﬂuctuation. Adaptive Behavior 20(4): 225-236. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Koizumi S, Ishiguro H (2011) From Levy to Brownian: A computational model based on biological ﬂuctuation. PLoS ONE 6(2): e16168. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Koizumi S, Ishiguro H (2011) ‘Yuragi‘ based adaptive mobile robot search with and without gradient sensing: From bacterial chemotaxis to Levy walk. Advanced Robotics, 25(16): 2019-2037. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Shirai K, Koizumi S, Ishiguro H. Biological ﬂuctuation based control framework for a bacteria inspired underactuated swimming robot. Proc. of the 2nd Int. Conf. on Morphological Comp. (ICMC), 2011, pp. 67-69.
Nurzaman SG, Matsumoto Y, Nakamura Y, Shirai K, Koizumi S, Ishiguro H. An adaptive switching behavior between Levy and Brownian random search in a mobile robot based on biological ﬂuctuation. Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IEEE IROS), 2010, pp. 1927-1934. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Koizumi S, Ishiguro H. Biologically inspired adaptive mobile robot search with and without gradient sensing. Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IEEE IROS), 2009, pp. 142-147. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Koizumi S, Ishiguro H. ‘Yuragi‘ based adaptive searching behavior in mobile robot: From bacterial chemotaxis to Levy walk. Proc. of the IEEE Conf. on Robotics and Biomimetics (IEEE ROBIO), 2009, pp. 806-811. (link)
Nurzaman SG, Matsumoto Y, Nakamura Y, Koizumi S, Ishiguro H. Attractor selection based biologically inspired navigation system. Proc. of the 39th Int. Symp. on Robotics (ISR), 2008, pp. 837-842. (link)