Publications

(last update: June 2025; excludes under review papers)

2025

• Joanna Jones and Dana D. Damian, A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement Applied to Tissue Probes and Implants, IEEE Transactions on Medical Robotics and Bionics (in press) [video]

• Xiao Chen, Sai Tulasi Sri Ranga, Dana D. Damian, and Shuhei Miyashita, Transforming Origami Sculpture for Exhibition at Art Festival, Living Machines Conference (in press), 2025

• MennaAllah Soliman, Frederick Forbes and Dana D. Damian, Yeast-driven and Bioimpedance-sensitive Biohybrid Soft Robots,  Cyborgs and Bionic Systems, 2025, DOI: 10.34133/cbsystems.0233 [pdf][video]

2024

• Kaan Esendag, Mark McAlindon, Daniela Rus, Shuhei Miyashita, Dana D. Damian, A Chemical Reaction Driven Untethered Volume Changing Robotic Capsule for Tissue Dilation, IEEE Transactions on Medical Robotics and Bionics,  6 (4), pp.1300 - 1308, https://doi.org/10.1109/TMRB.2024.3464728 [pdf] [video]

• Marco Pontin and Dana D. Damian, Multimodal Soft Valve Enables Physical Responsiveness for Pre-emptive Resilience of Soft Robots, Science Robotics, 9, eadk9978  https://doi.org/10.1126/scirobotics.adk9978 [video]

• Bella Boyd, Kaan Esendag, Shuhei Miyashita and Dana D. Damian, Development of a Near-Field Wireless Power Transfer System for Controlling Electronic Motors within Capsule Endoscopes, Hamlyn Symposium (accepted)

• Joanna Jones, Marco Pontin, Dana D. Damian, Pulsating Fluidic Sensor for Sensing of Location, Pressure and Contact Area, 2024 IEEE International Conference on Robotics and Automation (ICRA), pp 7672-8 [pdf] [video]

•  Jialun Liu, MennaAllah Soliman, Dana D. Damian, Thermally-activated Biochemically-sustained Reactor for Soft Fluidic Actuation, 2024 IEEE International Conference on Robotics and Automation (ICRA), pp 7665- 71, [pdf] [video]

2023

• Marco Pontin, Dana D. Damian, Data-Driven and Compliance-Based Fault-Tolerance for a Flexible and Extendable Robotic Implant Coupled to a Growing Tissue, IEEE Robotics and Automation Letters, vol 8, nr 4, pp 1943-1950 [link]

• Kaan Esendag, Mark McAlindon, Daniela Rus, Shuhei Miyashita and Dana Damian, Development of an Untethered Inflatable Capsule Robot for Stricture Dilation - a Preliminary Study, Hamlyn Symposium, 2023

•  Saloni Hajare, Frederick Forbes and Dana Damian, Suction Cup Detachment Mechanism based on Fluidic Soft Actuators Strain for In-vivo Applications, Towards Autonomous Robots and Systems (TAROS) 2023, Best Innovation Paper award, finalist for Best Abstract [pdf]

• Seth Roberts,  Jonathan Eyre and Dana Damian, Human Machine Interface for a Pick-and-Place Task Using Extended Reality Devices, Towards Autonomous Robots and Systems (TAROS) 2023

• Ayzen Damian-Miyashita, Dana Damian, X-Power, Amazon, ISBN 978-1399973250 (Children's book)

2022

• Freddy Forbes, Abigail Smith, Dana D. Damian, Characterization of Inflatable Soft Actuator And Tissue Interaction for In Vitro Mechanical Stimulation of Tissue, TAROS 2022, In: Pacheco-Gutierrez, S., Cryer, A., Caliskanelli, I., Tugal, H., Skilton, R. (eds) Towards Autonomous Robotic Systems. TAROS 2022. Lecture Notes in Computer Science(), vol 13546. Springer, Cham. pp 105–113, https://doi.org/10.1007/978-3-031-15908-4_9 [pdf]

• Joanna Jones, Dana Damian,  A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 6913 - 6919 [pdf]

• Jialun Liu, Xiao Chen, Quentin Lahondes, Kaan Esendag, Dana Damian, Shuhei Miyashita, Origami Robot Self-folding by Magnetic Induction, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2519 - 2525 [pdf]

• Cameron Duffield, Abigail Florence Smith, Daniela Rus, Dana Damian, Shuhei Miyashita, Wirelessly magnetically actuated robotic implant for tissue regeneration, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp 465 - 471[pdf]

• Marco Pontin, Shuhei Miyashita, Dana D. Damian, Development and Characterization of a Soft Valve for Automatic Fault Isolation in Inflatable Soft Robots, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft),  pp. 62-67, doi: 10.1109/RoboSoft54090.2022.9762134

• Jarrett Ten, Quentin Lahondes, Shuhei Miyashita, Dana Damian,  Development and Control of a Robotic Simulator for Peristaltic Motion, Hamlyn Symposium

• Eduardo Perez Guagnelli, Joanna Jones, Dana D. Damian, Hyperelastic Membrane Actuators: Analysis of Toroidal and Helical Multifunctional Configurations, Journal of Cyborg and Bionic Systems, vol. 2022, Article ID 9786864, 12 pages, 2022. https://doi.org/10.34133/2022/9786864 [pdf]

2021

• Eduardo R. Perez-Guagnelli and Dana D. Damian, Deflected vs Pre-shaped Soft Pneumatic Actuators: A Design and Performance Analysis Towards Reliable Soft Robots, Soft Robotics [pdf]

• Abigail F. Smith, Jeerawan Thanarak, Marco Pontin, Nicola H. Green, and Dana D. Damian, Design and Development of a Robotic Bioreactor for In Vitro Tissue Engineering, IEEE International Conference on Robotics and Automation 2021, pp. 12428-12434, [pdf][video]

• Nicolas Herzig, Joanna Jones, Eduardo Perez-Guagnelli, and Dana D. Damian, Model and Validation of a Highly Extensible and Tough Actuator based on a Ballooning Membrane, IEEE International Conference on Robotics and Automation 2021, pp. 11961-11967 [pdf] [video]

• Dana D. Damian, Shuhei Miyashita, Ayzen Damian-Miyashita, The Ingestible Origami Roboti, children picture book, Amazon, ASIN ‏B08ZHQSG2D, 2921 [link] [video]

• Jeerawan Thanarak, Abigail Smith, Dana D. Damian, Frederik Claeyssens, Nicola Green,  Optimising mechanical stimulation of human dermal fibroblasts to enhance collagen production via an in-house bioreactor, Biomedical Engineering Conference, 2021

• Eduardo R. Perez-Guagnelli, Peter Mitrev, Dana D. Damian, Configurable Soft Tool for Mechanotherapy Based Tissue Repair, Child Health Tech Conference, 2021

2020

• Mohamed Atwya, Can Kavak, Elodie Alisse, YanQiang Liu, and Dana Damian, Flexible and Expandable Robot for Tissue Therapies – Modeling and Design, IEEE Trans on Biomedical Engineering, 68(2):568-578 [pdf]

• Joanna Jones, Zachary Gillett, Eduardo Perez-Guagnelli, Dana D. Damian, Resistance Tuning of Soft Strain Sensor based on Ionic Liquid Concentration and Volume Changes, Springer Nature, A. Mohammad et al. (Eds.): TAROS 2020, LNAI 12228, pp 49-52, 2020 [pdf]

• Marco Pontin and Dana D. Damian, A physical soft tissue growth simulator for implantable robotic devices, IEEE Transactions on Medical Robotics and Bionics, 2 (4). pp. 553-556 [pdf]

• Jeerawan Thanarak, Dana Damian, Frederik Claeyssens, Nicola Green, Optimising the mechanical stimulation regime to enhance collagen production from 3D cultures of human dermal fibroblasts, Tissue Engineering and Regenerative Medicine International Society (TERMIS) Conference, (accepted)

• Eduardo Perez Guagnelli, Joanna Jones, Hamdi Tokel, Nicolas Herzig, Bryn Jones, Shuhei Miyashita, Dana Damian, Characterization, Simulation and Control of a Soft Helical Pneumatic Implantable Robot for Tissue Regeneration, IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 1, pp. 94-103, 2020 [pdf]

• Lavanya Balasubramanian, Tom Wray, Dana Damian, Fault Tolerant Control in Shape-Changing Internal Robots, IEEE International Conference on Robotics and Automation (ICRA), 2020, pp 5502-5508, IEEE ICRA 2020 Best Paper in Medical Robotics Award [pdf]

• Haruna Iwasaki, Flavien Lefevre, Dana Damian, Eiji Iwase, Shuhei Miyashita, Autonomous and Reversible Adhesion using Elastomeric Suction Cups for In-vivo Medical Treatments, IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 2015-2022 [pdf]

• Haruna Iwasaki, Flavien Lefevre, Dana Damian, Eiji Iwase, Shuhei Miyashita, Autonomous and Reversible Adhesion using Elastomeric Suction Cups for In-vivo Medical Treatments, IEEE International Conference on Robotics and Automation (ICRA), 2020, in press

2019

• • Dana D. Damian, Regenerative Robotics, Birth Defects Research, Open Access

  • Eduardo Roberto Perez Guagnelli, Joanna Jones, Dana D. Damian, Evaluation of a Soft Helical Actuator Performance with Hard and Soft Attachments for Tissue Regeneration, Hamlyn Symposium 

2018

• Dana D. Damian, Karl Price, Slava Arabagi, Ignacio Berra, Zurab Machaidze, Sunil Manjila, Shogo Shimada, Assunta Fabozzo, Gustavo Arnal, David Van Story, Jeffrey D. Goldsmith, Agoston T. Agoston, Chunwoo Kim, Russell Jennings, Peter D. Ngo, Michael Manfredi, Pierre E. Dupont (2018) In vivo tissue regeneration with robotic implants, Science Robotics 3, eaaq0018 [link]

• Eduardo Roberto Perez Guagnelli, Sarunas Nejus (co-first author),  Jian Yu, Shuhei Miyashita, YanQiang Liu and Dana D. Damian (2018) Axially and Radially Expandable Modular Helical Soft Actuator for Robotic Implantables, 2018 IEEE International Conference on Robotics and Automation (ICRA) , pp. 4297-4304 [pdf]

• Alexis du Plessis d'Argentré, Samuel Robert Perry, Yoshitaka Iwata, Haruna Iwasaki, Eiji Iwase, Assunta Fabozzo, Iain Will, Daniela Rus, Dana D. Damian, Shuhei Miyashita (2018) Programmable Medicine: Autonomous, Ingestible, Deployable Patch and Plug for Stomach Ulcer Therapy, 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1511-1518 [pdf] 

• H. Afaq, A. Grytsan, D. Damian, P. Watton, In-silico modelling of oesophageal tissue for treatment of long gap oesophageal atresia, Virtual Physiological Human conference (VPH)

2017

• • Dana D. Damian, Marco Fischer, Alejandro Hernandez-Arieta, and Rolf Pfeifer (2017) The role of quantitative information about slip and grip force in prosthetic grasp stability, Advanced Robotics [Open Access]

  • Alexander Thorn, Dorukhan Afacan (first co-author), Emily Ingham, Can Kavak, Shuhei Miyashita, Dana D. Damian (2017) Stretchable actuators with varying stiffness, 2017 Towards Autonomous Robotic Systems (TAROS) Conference, Springer LNCS Vol.10454, pp. 343-355

  • Ingham E., Miyashita S., Damian D.D., Elastomeric Spring Actuator Using Nylon Wires (2017) Towards Autonomous Robotic Systems (TAROS) Conference 

2016

• • Alboul L., Damian D.D., Aitken J.M. (2016) Towards Autonomous Robotic Systems, Preceedings of the 17th Annual Conference, Springer LNAI 9716 Series Editors, Lecture Notes in Computer Science

  • Shuhei Miyashita, Steven Guitron, Kazuhiro Yoshida, Shuguang Li, Dana D. Damian, and Daniela Rus (2016) Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds, IEEE International Conference on Robotics and Automation (ICRA), pp. 909-916 [pdf]

2015

• Pete Shull and Dana D. Damian (2015) Haptic Wearables as Sensory Replacement, Sensory Augmentation and Trainer for Sensory Impairments – A Review, J. of Neuroeng and Rehab, 12:59 [Open Access] 

• Dana D. Damian, Taylor Newton, Rolf Pfeifer, and Allison M. Okamura (2015) Artificial tactile sensing of position and slip speed by exploiting geometrical features, IEEE Transactions on Mechatronics, 20:1, pp. 263-274 (10.1109/TMECH.2014.2321680) [pdf]

• Damian D.D., Arabagi S., and Dupont P. (2015) Design and testing of robotic implant for esophageal atresia for in vivo animal experiments, Hamlyn Symposium, London, UK [pdf]

• Damian D.D., Arabagi S., and Dupont P. (2015) Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia, Innovation, Design, and Emerging Alliances in Surgery (IDEAS) Symposium, Boston, USA

2014

• • Dana D. Damian, Shuhei Miyashita, Atsushi Aoyama, Dominique Cadosch, William PoTing, Michael Ammann, and Rolf Pfeifer (2014) Automated Physiological Recovery of Avocado Plants for Plant-based Adaptive Machines, Adaptive Behavior, 22:2, pp. 109-122 [link] [pdf] 

  • Federico Fries, Shuhei Miyashita, Daniela Rus, Rolf Pfeifer and Dana D. Damian (2014) Electromagnetically Driven Elastic Actuator, IEEE International Conference on Robotics and Biomimetics, pp. 309-314, [pdf] best conference paper award

• • Dana D. Damian, Slava Arabagi, Assunta Fabozzo, Peter Ngo, Russell Jennings, Michael Manfredi, and Pierre E. Dupont (2014) Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia, IEEE International Conference on Robotics and Automation (ICRA), pp. 786-792 [pdf]

  • Damian D.D., Arabagi S., Fabozzo A., Ngo P., Jennings R., Manfredi M., and Dupont P. (2014) Robotic Implant to Apply Tissue Traction Forces in the Treatment of Esophageal Atresia, Boston Children’s Hospital Innovators, Boston, USA

2013

• • Dana D. Damian, Peter Roberts (co-first author), Wanliang Shan, Tong Lu, and Carmel Majidi (2013) Soft-Matter Capacitive Sensor for Measuring Shear and Pressure Deformation, IEEE International Conference on Robotics and Automation (ICRA), pp. 3514-3519 [pdf]

  • Federico Fries, Shuhei Miyashita, and Dana D. Damian, Soft core electromagnet, Workshop on Soft Robotics and Morphological Computation, 2013, Monte Verita, Switzerland

2012

• • Dana D. Damian, Alejandro Hernandez Arieta, Harold Roberto Martinez Salazar and  Rolf Pfeifer (2012) Slip Speed Feedback  for Grip Force Control, IEEE Transactions on Biomedical Engineering, 59:8, pp. 2200 - 2210, [pdf]

  • Dana D. Damian, Marvin Ludersdorfer, Yeongmi Kim, Alejandro Hernandez Arieta, Rolf Pfeifer and Allison Okamura (2012) Wearable Haptic Device for Cutaneous Force and Slip Feedback, IEEE International Conference on Robotics and Automation (ICRA) , pp 1038-1043 [pdf]

  • Wanliang Shan, Tong Lu, Peter Roberts, Dana D. Damian and Carmel Majidi, Fabrication of All-Soft Shear Sensors, ASME International Mechanical Engineering Congress and Exposition, 2012, Texas, USA

2011

• • Marvin Ludersdorfer, Dana D. Damian, Alejandro Hernandez Arieta, Rolf Pfeifer and Allison Okamura (2011) Force Feedback via Shaped Contacts, International Conference on Morphological Computation (ICMC) 

  • Dana D. Damian, Alejandro Hernandez Arieta and Allison M. Okamura (2011)  Design and Evaluation of a Multi-Modal Haptic Skin Stimulation Apparatus, International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp 3455-3458 [pdf]

• • Dominique Cadosch,  PoTing Huang, Dana D. Damian, Shuhei Miyashita, Atsushi Aoyama, Michael Ammann and Rolf Pfeifer (2011) Attempt on Plant Machine Interface. Working Towards Self-monitoring Plant Systems, IEEE International Conference on Systems, Man, and Cybernetics, pp. 791-796  [pdf]

2010

• • Alejandro Hernandez‐Arieta, Dana D. Damian (2010) Body awareness in prosthetic hands, Advances in Therapeutic Engineering, Editors Wenwei Yu, Subhagata Chattopadhyay, Teik-Cheng Lim, U. Rajendra Acharya, CRC Press, pp 183-198

  • Dana D. Damian, Harold Martinez, Konstantinos Dermitzakis, Alejandro Hernandez Arieta and Rolf Pfeifer (2010) Artificial Ridged Skin for Slippage Speed Detection in Prosthetic Hand Applications, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 904-909 [pdf] 

  • Dominique Cadosch, Mathias Boeller, Michael Ammann, Dana D. Damian, Shuhei Miyashita and Rolf Pfeifer (2010) Attempt Towards the Cyborg-Plant. Robotic Response to Water Stress in Avocados, International Conference on Cognitive Systems (CogSys), Zurich, Switzerland

  • Dana D. Damian and Konstantinos Dermitzakis (2010) Morphological design for a prosthetic hand: bone curvature and ridged skin, International Conference on Cognitive Systems (CogSys), Zurich, Switzerland

2009

• • Dana D. Damian, Alejandro Hernandez-Arieta, Max Lungarella and Rolf Pfeifer (2009) An Automated Metrics Set for Mutual Adaptation between Human and Robotic Device, International Conference on Rehabilitation Robotics (ICORR), Kyoto, Japan, pp. 139-147 [pdf] 

  • Dana D. Damian, Markus Cadonau, Konstantinos Dermitzakis and Alejandro Hernandez-Arieta (2009) Grip Stabilization of a Robot Hand through a Ridged Artificial Skin, Workshop on Tactile Sensing, IEEE-RAS International Conference on Humanoids, Paris, France

2008 and older:

• • Alejandro Hernandez-Arieta, Konstantinos Dermitzakis, Dana D. Damian, Max Lungarella and Rolf Pfeifer (2008) Sensory-motor coupling in rehabilitation robotics. Handbook of Service Robotics, I-Tech Education and Publishing, pp. 21-36 [pdf]

  • Dan Ciresan, Dana Damian (2006) Preserving Topological Information in the Windowed Hough Transform for Rectangle Extraction, DAGM-Symposium, Berlin, Germany, pp. 172-181

Patents:

• Daniela Rus, Shuhei Miyashita and Dana Damian, Origami Robots, Systems, and Methods of treatment, 2019, US patent No. 10470799.

• Pierre Dupont, Dana D. Damian, Slava Arabagi, Ali Ataollahi and Assunta Fabozzo, Methods and Apparatuses for Applying Tensile Force to Tissue, 2014, U.S. Application No.: US 14/725,715 

Theses:

• Dana D. Damian (2012)  Efficient and Comprehensive Haptic Information for Grasp Control in Upper-Limb Prosthetics, PhD Thesis, (Summa cum Laude)

• Dana D. Damian (2007) Human Emotion Recognition using Body Modality Analysis,University of Amsterdam, Diploma Thesis, (honors)