Publications

Selected Publications

You can find a full list of my publications on my Google Scholar.

2023

The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes
Digby Chappell, Fernando Bello, Petar Kormushev, and Nicolas Rojas.
IEEE Robotics and Automation Letters (RA-L), to be presented at ICRA 2024. 2023.
Paper | Video

Learning to Grasp Clothing Structural Regions for Garment Manipulation Tasks
Wei Chen, Dongmyoung Lee, Digby Chappell, and Nicolas Rojas.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023.
Paper | Video

Immersive Demonstrations are the Key to Imitation Learning
Kelin Li*, Digby Chappell*, and Nicolas Rojas.
IEEE International Conference on Robotics and Automation (ICRA). 2023.
*equal contribution | Paper | Video

Efficient labelling for efficient deep learning: the benefit of a multiple-image-ranking method to generate high volume training data applied to ventricular slice level classification in cardiac MRI
Sameer Zaman, Kavitha Vimalesvaran, James P. Howard, Digby Chappell, Marta Varela, Nicholas S. Peters, Darrel P. Francis, Anil A. Bharath, Nick W. F. Linton, Graham D. Cole
Journal of Medical Artificial Intelligence (JMAI). 2023.
Paper

2022

Towards Instant Calibration in Myoelectric Prosthetic Hands: A Highly Data-Efficient Controller Based on the Wasserstein Distance (Oral Presentation)
Digby Chappell, Zeyu Yang, Honn Wee Son, Fernsando Bello, Petar Kormushev, and Nicolas Rojas.
IEEE International Conference on Rehabilitation Robotics (ICORR). 2022.
Paper | Video | Presentation

Virtual Reality Pre-Prosthetic Hand Training with Physics Simulation and Robotic Force Interaction
Digby Chappell, Honn Wee Son, Angus B. Clark, Zeyu Yang, Fernando Bello, Petar Kormushev, and Nicolas Rojas.
IEEE Robotics and Automation Letters (RA-L), presented at ICRA 2022. 2022.
Paper | Video | Presentation

Instinctive Real-time sEMG-Based Control of Prosthetic Hand with Reduced Data Acquisition and Embedded Deep Learning Training
Zeyu Yang, Angus B. Clark, Digby Chappell, and Nicolas Rojas
IEEE International Conference on Robotics and Automation (ICRA). 2022.
Paper | Presentation

A Multi-Modal Haptic Armband for Finger-Level Sensory Feedback from a Prosthetic Hand
Alexandre Berkovic, Colin Laganier, Digby Chappell, Thrishantha Nanayakkara, Petar Kormushev, Fernando Bello, and Nicolas Rojas.
EuroHaptics. 2022.
Paper | Presentation

2021

Augmenting loss functions of feedforward neural networks with differential relationships for robot kinematic modelling
Francesco Cursi, Digby Chappell, and Petar Kormushev.
IEEE International Conference on Advanced Robotics (ICAR). 2021.
Paper

Hierarchical decomposed-objective model predictive control for autonomous casualty extraction
Roni Permana Saputra, Nemanja Rakicevic, Digby Chappell, Ke Wang, Petar Kormushev.
IEEE Access. 2021.
Paper | Video | Page

The impact of artificial intelligence on clinical education: perceptions of postgraduate trainee doctors in London (UK) and recommendations for trainers
Maya Banerjee, Daphne Chiew, Keval T Patel, Ieuan Johns, Digby Chappell, Nick Linton, Graham D Cole, Darrel P Francis, Jo Szram, Jack Ross, and Sameer Zaman.
BMC Medical Education. 2021.
Paper

2020

Design and control of SLIDER: An ultra-lightweight, knee-less, low-cost bipedal walking robot.
Ke Wang, David Marsh, Roni Permana Saputra, Digby Chappell, Zhonghe Jiang, Akshay Raut, Bethany Kon, and Petar Kormushev.
IEEE International Conference on Intelligent Robots and Systems (IROS). 2020.
Paper | Video