Publications by Kieran Daniel Gilday

Embodied manipulation with past and future morphologies through an open parametric hand design

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power, and robustness. Across the paleontological record and animal kingdom, we see a wide range of alternat ...

American Association for the Advancement of Science (AAAS)2025

Behaviour Range Optimization of the Dexterous Robotic Open Parametric Hand

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Embodied intelligence could grant soft, robotic manipulators with increased performance in adaptability and dexterity. However, we currently have a lack of tools for the forward design of finger behaviours with high-dimensional morphology. We take an open- ...

IEEE2025

Exploiting passive behaviours for diverse musical playing using the parametric hand

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Creativity and style in music playing originates from constraints and imperfect interactions between instruments and players. Digital and robotic systems have so far been unable to capture this naturalistic playing. Whether as an additional tool for musici ...

2024

Learning Motion Reconstruction from Demonstration via Multi-Modal Soft Tactile Sensing

Josephine Anna Eleanor Hughes, Kai Christian Junge, Kieran Daniel Gilday

Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propo ...

Institute of Electrical and Electronics Engineers Inc.2024

Rapid Action Evaluation and Optimization Through Mutual Information Using a Multi-Modal Soft Tactile Sensor

Josephine Anna Eleanor Hughes, Kai Christian Junge, Kieran Daniel Gilday

The extraction of tactile information from an environment depends on the action, sensor design, and the environment itself. This makes identifying an optimal action for a given task, i.e. classification, challenging and typically requires extensive data-ri ...

Institute of Electrical and Electronics Engineers Inc.2024

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday, Yi-Shiun Wu

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

IEEE2023

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Mary Ann Liebert Inc.2022