Q. Ma, R. Jiang, K. Althoefer, N. Herzig and H. Godaba, A Low-Cost, Handheld Optical Stiffness Sensor for Minimally Invasive Surgery. Advanced Robotics Research. [Accepted]

D. Saha, D. Ragab, N. Herzig, H. Godaba, Stimuli-responsive electrofluidic nervous system for autonomous soft robots. Advanced Intelligent Systems. , vol. 8, no. 2, e202500954. DOI: https://doi.org/10.1002/aisy.202500954

K.N. Dickwella Widanage, J. Xia, R. Parween, H. Godaba, N. Herzig, R. Glovnea, D. Huang, and Y. Li, Non-repetitive-path Iterative Learning and Control for Human-guided Robotic Operations on Unknown Surfaces. IEEE Transactions on Robotics, vol. 41, pp. 4922-4940, 2025. DOI: https://doi.org/10.1109/TRO.2025.3588453

K.N. Dickwella Widanage, R. Parween, H. Godaba, N. Herzig, R. Glovnea, and Y. Li, Force-Dependent Variable Impedance Controller for Contact-Rich Tasks Under Reference Trajectory Uncertainty. IEEE Control System Letters. DOI: https://doi.org/10.1109/LCSYS.2025.3597334

S-A. Abad, N. Herzig, D. Raitt, M. Koltzenburg, and H. Wurdemann, Bioinspired adaptable multiplanar mechano-vibrotactile haptic system. Nature Communications, vol 15, p7631. DOI: https://doi.org/10.1038/s41467-024-51779-8

 D.H. Nguyen, N. Herzig, and R. Glovnea, Pressure evaluation in highly porous medium hydrodynamic bearings. Proceedings of the Institution of Mechanical Engineers, Part J: Journal of Engineering Tribology. DOI: https://doi.org/10.1177/13506501241253879

L. He, N. Herzig, 3D-Printed Soft Sensors for Adaptive Sensing with Online and Offline Tunable Stiffness. Soft Robotics. DOI: https://doi.org/10.1089/soro.2021.0074 

L. He, N. Herzig, S. De Lusignan, L. Scimeca, P. Maiolino, F. Iida and T. Nanayakkara, An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training. IEEE Transaction on Robotics, vol. 37, no. 4, pp. 1051-1064. DOI: doi.org/10.1109/TRO.2020.304371 

E. Hamid, N. Herzig, S-A. Abad, and T. Nanayakkara, A State-Dependent Damping Method to Reduce Collision Force and Its Variability. IEEE Robotics and Automation Letter, vol. 6, no. 2, pp. 3025-3032. DOI: doi.org/10.1109/LRA.2021.3062307 

N. Herzig, L. He, P. Maiolino, S.-A. Abad and T. Nanayakkara, Conditioned Haptic Perception for 3D localization of Nodules in Soft Tissue Palpation with a Variable Stiffness Probe. Plos One, vol. 15, no. 8, pp. 1-31. DOI: doi.org/10.1371/journal.pone.0237379 

S. Sadati, A. Shiva, N. Herzig, C. Rucker, H. Hauser, I. Walker, C. Bergeles, K. Althoefer, and T. Nanayakkara, Stiffness Imaging with a Continuum Appendage: Real-time Shape and Tip Force Estimation from Base Load Readings. IEEE Robotics and Automation Letter, vol. 5, no. 2, pp. 2824-2831. DOI: doi.org/10.1109/LRA.2020.2972790 

H. Wegiriya, N. Herzig, S.-A. Abad, S.M.Hadi Sadati, and T. Nanayakkara, Stiffness Controllable Multimodal Whisker Sensor Follicle. IEEE Sensors, vol. 20, no. 5, pp. 2320-2328. DOI: doi.org/10.1109/JSEN.2019.2951755 

E. Perez-Guagnelli, J. Jones, A. H. Tokel, N. Herzig, B. Jones, S. Miyashita, and D. D.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. DOI: doi.org/10.1109/TMRB.2020.2970308 

S.-A. Abad, N. Herzig, S.M.H. Sadati, and T. Nanayakkara, The significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bio-inspired Hoof. IEEE Transaction on Robotics, vol. 35, no. 6, pp. 1450-1463. DOI: doi.org/10.1109/TRO.2019.2930864 

S. Akhond, N. Herzig, H. Wegiriya, and T. Nanayakkara, A Method to Guide Local Physical Adaptations in a Robot Based on Phase Portraits. IEEE Access, vol. 7, pp. 78830-78841. DOI: doi.org/10.1109/ACCESS.2019.2923144 

N. Herzig, P. Maiolino, F. Iida and T. Nanayakkara, A Variable Stiffness Robotic Probe for Soft Tissue Palpation. IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1168-1175. DOI: doi.org/10.1109/LRA.2018.2793961 

N. Herzig, R. Moreau, T. Redarce, F. Abry, and X. Brun, Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot. Control Engineering Practice, vol.73, pp. 26-39. DOI: doi.org/10.10/j.conengprac.2017.12.007 

Xiangyu Guo, S.-A. Abad Guaman, Liang He, W. Liu, N. Herzig Breast Palpation Simulator with Independent Size and Stiffness Control Using a Tri-Layer Pneumatic Nodule. Toward Autonomous Robotic Systems, 2026. [Accepted]

N. Ye, N. Sowaruth, H. Godaba, E. Rendon-Morales, N. Herzig, Magnetic Sensing for Position Measurement in Ballooning Membrane Actuators. International Conference of the IEEE Advanced Intelligent Mechatronics, 2026. [Accepted]

N. Sowaruth, N. Herzig, Feedforward Pressure-Regulated Position Control of Soft Ballooning Actuators Using a Modified Prandtl–Ishlinskii Model. IEEE International Conference on Robotics and Automation, 2026. [accepted]

B. Fletcher, R. Glovnea, N. Herzig, Variable Stiffness Multi-joint Mechanism: Design, Model and Validation. IEEE International Conference on Control, Mechatronics and Automation (ICCMA), 2024.

D.H. Nguyen, N. Herzig, R. Glovnea, Journal bearing analysis with soft, porous lubrication. International Conference on Tribology, 2024.

J. Xia, K.N. Dickwella Widanage, R. Zhang, R. Parween, H., N. Herzig, R. Glovnea, D. Huang, Y. Li, Human-robot Collaboration for Unknown Flexible Surface Exploration and Treatment Based on Mesh Iterative Learning Control. IEEE International Conference on Intelligent Robot and Systems, 2023, pp. 7923-7930, DOI: https://doi.org/10.1109/IROS55552.2023.10341612

G. Shi, A. Shariati, J. Shi, N. Herzig, S.A. Abad and H.A. Wurdemann, Modelling the inflation of an elastic membrane with a load, IEEE International Conference on Soft Robotics (RoboSoft), 2023, pp. 1-8, DOI: doi.org/10.1109/RoboSoft55895.2023.10121959.

N. Herzig, J. Jones, E. Perez-Guagnelli, and Dana D. Damian, Model and Validation of a Highly Extensible and Tough Actuator based on a Ballooning Membrane. International Conference on Robotics and Automation, 2021, pp. 11961-11967. DOI: doi.org/10.1109/ICRA48506.2021.9561091 

Liang He, Nicolas Herzig, Simon de Lusignan, and Thrishantha Nanayakkara, Granular Jamming Based Controllable Organ Design for Abdominal Palpation. Engineering in Medicine and Biology Society. Annual International Conference of the IEEE, 2018, pp. 2154-2157. DOI: doi.org/10.1109/EMBC.2018.8512709 

N. Herzig, R. Moreau, A. Lelevé, and M. T. Pham, Stiffness Control of Pneumatic Actuators to Simulate Human Behavior on Medical Haptic Simulators. Advanced Intelligent Mechatronics, International Conference of the IEEE, p1591-1597. DOI: doi.org/10.1109/AIM.2016.7576997 

P.-J. Alès, N. Herzig A. Lelevé, R. Moreau, and C. Bauer, 3D Haptic Rendering of Tissues for Epidural Needle Insertion using an Electro-Pneumatic 7 Degrees of Freedom Device. Intelligent Robot and Systems, 2016. Annual International Conference of the IEEE/RSJ, 2016, pp. 5175-5180. DOI: doi.org/10.1109/IROS.2016.7759760 

N. Herzig, R. Moreau, T. Redarce, F. Abry, and X. Brun, Nonlinear Position and Closed Loop Stiffness Control for a Pneumatic Actuated Haptic Interface: the BirthSIM. Intelligent Robot and Systems, 2015. Annual International Conference of the IEEE/RSJ, 2015, p1612-1618. DOI: doi.org/10.1109/IROS.2015.7353583 

N. Herzig, R. Moreau, and T. Redarce, A New Design for the BirthSIM Simulator to improve realism. Engineering in Medicine and Biology Society, 2014. Annual International Conference of the IEEE, 2014, p2065-2068. DOI: doi.org/10.1109/EMBC.2014.6944022