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Hosam Alagi - IEEE Xplore Author Profile
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Hosam Alagi

Publications
17
Citations
301
Publications by Year
20132025
Co-Authors:
Show All Co-Authors (54)
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Hosam Alagi

Affiliation

Proxception GmbH, Karlsruhe, Germany
Institute for Robotics and Autonomous Systems (IRAS)
University of Applied Sciences Karlsruhe
Karlsruhe, Germany

Publication Topics

Biography

Hosam Alagi received the M.Sc. degree in electrical engineering and information technology from the Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany, in 2015, with a specialization in system-on-chip.,Since August 2015, he has been a part of the Research Team with the Intelligent Process Automation and Robotics Laboratory (IPR), KIT. Focusing on safe and intuitive human–robot interaction, he develops multimodal perception hardware and evaluates methods that allow robots to perceive their near environment. Within the scope of the Ph.D. studies, sensors and sensor applications are being implemented, addressing both industrial and domestic domains.(Based on document published on 1 March 2023).
Publications
17
Citations
301
Publications by Year
20132025
Co-Authors:
Show All Co-Authors (54)
Author's Published Works

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Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications

Carolina Silva-Plata;Carlos Rosel;Barnabas Gavin Cangan;Hosam Alagi;Björn Hein;Robert K. Katzschmann;Rubén Fernández;Yosra Mojtahedi;Stefan Escaida Navarro

IEEE Robotics and Automation Letters
Year: 2025 | Volume: 10, Issue: 5 | Journal Article |
In this letter, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furthermore, the implementation of the capacitive touch technology presented here is selectively sensiti...Show More

Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications

Carolina Silva-Plata;Carlos Rosel;Barnabas Gavin Cangan;Hosam Alagi;Björn Hein;Robert K. Katzschmann;Rubén Fernández;Yosra Mojtahedi;Stefan Escaida Navarro

Year: 2025 | Volume: 10, Issue: 5 | Journal Article |

Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study

Hosam Alagi;Nikola Fischer;Kai Behrends;Iris Ftirst-Walter;Jürgen Becker;Michael Beigl;Franziska Mathis-Ullrich;Björn Hein

2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Year: 2024 | Conference Paper |
Reliable interaction force sensing between an exoskeleton and the human body is crucial for personalized support and efficient control. Poor donning and disturbances during movement lead to lower force measurement quality and thus to unfavorable use. In this work, we present an active smart human-robot interface by utilizing compliant actuator-sensor units (CASUs) that can be worn over clothing. T...Show More

Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study

Hosam Alagi;Nikola Fischer;Kai Behrends;Iris Ftirst-Walter;Jürgen Becker;Michael Beigl;Franziska Mathis-Ullrich;Björn Hein

Year: 2024 | Conference Paper |

A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton Interfaces

Nikola Fischer;Hosam Alagi;Michael Beigl;Björn Hein;Franziska Mathis-Ullrich

2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)
Year: 2023 | Conference Paper |
Robotic lightweight-exoskeletons show great potential to enhance human motion capabilities for the disabled, elderly, and healthy. Active human-robotic interfaces with integrated actuation and sensing allow high quality measurements and an optimal fit when worn. We present a compact Compliant Actuator-Sensor Unit (CASU) that can be embedded in most interfaces. Based on shape memory alloy strips in...Show More

A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton Interfaces

Nikola Fischer;Hosam Alagi;Michael Beigl;Björn Hein;Franziska Mathis-Ullrich

Year: 2023 | Conference Paper |

Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

Mohammad Alshawabkeh;Hosam Alagi;Stefan Escaida Navarro;Christian Duriez;Björn Hein;Hubert Zangl;Lisa-Marie Faller

IEEE Transactions on Instrumentation and Measurement
Year: 2023 | Volume: 72 | Journal Article |
Cited by: Papers (28)
Soft robotics are considered one of the most promising approaches toward fully collaborative robotic devices. Soft robotic systems are intrinsically safe due to their compliant nature. Using additive fabrication for the development of soft capacitive sensors enables high flexibility and individualization capabilities in terms of design and material properties. In this work, we outline the sensoriz...Show More

Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

Mohammad Alshawabkeh;Hosam Alagi;Stefan Escaida Navarro;Christian Duriez;Björn Hein;Hubert Zangl;Lisa-Marie Faller

Year: 2023 | Volume: 72 | Journal Article |

Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Hosam Alagi;Serkan Ergun;Yitao Ding;Tom P. Huck;Ulrike Thomas;Hubert Zangl;Björn Hein

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
A robot must comply with very restrictive safety standards in close human-robot collaboration applications. These standards limit the robot's performance because of speed reductions to avoid potentially large forces exerted on humans during collisions. On-robot capacitive proximity sensors (CPS) can serve as a solution to allow higher speeds and thus better productivity. They allow early reactive ...Show More

Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Hosam Alagi;Serkan Ergun;Yitao Ding;Tom P. Huck;Ulrike Thomas;Hubert Zangl;Björn Hein

Year: 2022 | Conference Paper |

Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Christian Marzi;Hosam Alagi;Olivia Rau;Jochen Hampe;Jan Gerrit Korvink;Björn Hein;Franziska Mathis-Ullrich

2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localization of a flexible instrument inside a hollow organ. The method is evaluated by exemplary integration...Show More

Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Christian Marzi;Hosam Alagi;Olivia Rau;Jochen Hampe;Jan Gerrit Korvink;Björn Hein;Franziska Mathis-Ullrich

Year: 2022 | Conference Paper |

Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

Mohammad Alshawabkeh;Hosam Alagi;Stefan Escaida Navarro;Christian Duriez;Björn Hein;Lisa-Marie Faller

2022 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
Year: 2022 | Conference Paper |
Cited by: Papers (4)
Soft robotics are considered one of the most promising approaches towards fully collaborative robotic devices. Soft robotic systems are intrinsically safe due to their compliant nature. Using additive fabrication for the development of soft capacitive sensors, enables high flexibility and individualization capabilities in terms of design and material properties. In this work, we outline the sensor...Show More

Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

Mohammad Alshawabkeh;Hosam Alagi;Stefan Escaida Navarro;Christian Duriez;Björn Hein;Lisa-Marie Faller

Year: 2022 | Conference Paper |

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Stefan Escaida Navarro;Stephan Mühlbacher-Karrer;Hosam Alagi;Hubert Zangl;Keisuke Koyama;Björn Hein;Christian Duriez;Joshua R. Smith

IEEE Transactions on Robotics
Year: 2022 | Volume: 38, Issue: 3 | Journal Article |
Cited by: Papers (81)
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey article, we cover the developments of this field from the early days up to the present, with a focus...Show More

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Stefan Escaida Navarro;Stephan Mühlbacher-Karrer;Hosam Alagi;Hubert Zangl;Keisuke Koyama;Björn Hein;Christian Duriez;Joshua R. Smith

Year: 2022 | Volume: 38, Issue: 3 | Journal Article |

A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

Serkan Ergun;Yitao Ding;Hosam Alagi;Christian Schöffmann;Barnaba Ubezio;Gergely Soti;Michael Rathmair;Stephan Mühlbacher-Karrer;Ulrike Thomas;Björn Hein;Michael Hofbaur;Hubert Zangl

2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (9)
During the co-presence of human workers and robots, measures are required to avoid injuries from undesired contacts. Capacitive Proximity Sensors (CPSs) offer a cost-effective solution to cover the entire robot manipulator with fast close-range perception for HRC tasks, closing the perception gap between tactile detection and mid-range perception. CPSs do not suffer from occlusion and compared to ...Show More

A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

Serkan Ergun;Yitao Ding;Hosam Alagi;Christian Schöffmann;Barnaba Ubezio;Gergely Soti;Michael Rathmair;Stephan Mühlbacher-Karrer;Ulrike Thomas;Björn Hein;Michael Hofbaur;Hubert Zangl

Year: 2021 | Conference Paper |

Grasp Detection for Robot to Human Handovers Using Capacitive Sensors

Ilshat Mamaev;David Kretsch;Hosam Alagi;Björn Hein

2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
As it happens, despite yet unmatched by robots perception and motor skills humans drop objects during handover because of false grasp detection and early release. Accordingly, the fluent robot-human handover is still an open challenge. This paper presents an approach to a natural robot to human handover using Capacitive Proximity Sensor (CPS) for robust grasp detection and release trigger. We prop...Show More

Grasp Detection for Robot to Human Handovers Using Capacitive Sensors

Ilshat Mamaev;David Kretsch;Hosam Alagi;Björn Hein

Year: 2021 | Conference Paper |

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Stefan Escaida Navarro;Steven Nagels;Hosam Alagi;Lisa-Marie Faller;Olivier Goury;Thor Morales-Bieze;Hubert Zangl;Björn Hein;Raf Ramakers;Wim Deferme;Gang Zheng;Christian Duriez

IEEE Robotics and Automation Letters
Year: 2020 | Volume: 5, Issue: 4 | Journal Article |
Cited by: Papers (58)
In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact’s location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two ...Show More

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Stefan Escaida Navarro;Steven Nagels;Hosam Alagi;Lisa-Marie Faller;Olivier Goury;Thor Morales-Bieze;Hubert Zangl;Björn Hein;Raf Ramakers;Wim Deferme;Gang Zheng;Christian Duriez

Year: 2020 | Volume: 5, Issue: 4 | Journal Article |

Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Hosam Alagi;Stefan Escaida Navarro;Jan Hergenhan;Selma Musić;Björn Hein

2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
Year: 2020 | Conference Paper |
Cited by: Papers (4)
In this paper, we show our novel teleoperation system that mediates proximity perception at the slave system as tactile information to the user. We have equipped a robot’s end-effector with a capacitive proximity sensor array. Based on the proximity information, tactile feedback is generated for the user via a tactile display. Thus, the user can feel some of an object’s features through his finger...Show More

Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Hosam Alagi;Stefan Escaida Navarro;Jan Hergenhan;Selma Musić;Björn Hein

Year: 2020 | Conference Paper |

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution

Hosam Alagi;Alexander Heiligl;Stefan Escaida Navarro;Torsten Kroegerl;Björn Hein

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Cited by: Papers (18)
In this paper we present an approach for material recognition using capacitive tactile and proximity sensors. By variating the spatial resolution and the exciter frequency during the measurement in mutual capacitive mode, information about the dielectrical properties of different objects was captured and provided as data frames. For material recognition an artificial neural network was set up and ...Show More

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution

Hosam Alagi;Alexander Heiligl;Stefan Escaida Navarro;Torsten Kroegerl;Björn Hein

Year: 2018 | Conference Paper |

A versatile and modular capacitive tactile proximity sensor

Hosam Alagi;Stefan Escaida Navarro;Michael Mende;Björn Hein

2016 IEEE Haptics Symposium (HAPTICS)
Year: 2016 | Conference Paper |
Cited by: Papers (33)
In this work we discuss the design and realization of a novel capacitive tactile proximity sensor (CTPS) with applications in robotics and consumer-electronics. The current concept is an advancement with respect to a previous design developed at our lab. Experience in the development of applications based on the old sensor, such as manipulation and safe HRI, helped determining the requirements. Th...Show More

A versatile and modular capacitive tactile proximity sensor

Hosam Alagi;Stefan Escaida Navarro;Michael Mende;Björn Hein

Year: 2016 | Conference Paper |

Biomimetic tactile sensor based on Fiber Bragg Gratings for tumor detection — Prototype and results

Christoph Ledermann;Hosam Alagi;Heinz Woern;Rebekka Schirren;Silvano Reiser

2014 IEEE International Symposium on Medical Measurements and Applications (MeMeA)
Year: 2014 | Conference Paper |
Cited by: Papers (12)
Robot assisted minimally invasive surgery features many advantages, such as augmented reality or more comfort for the surgeon during the operation. On the downside, the surgeon loses all aspects of haptic perception from the operation situ. Tactile sensors are necessary to restore some of the haptic perception. In this paper, a tactile sensor is presented that mimics the human finger and is based ...Show More

Biomimetic tactile sensor based on Fiber Bragg Gratings for tumor detection — Prototype and results

Christoph Ledermann;Hosam Alagi;Heinz Woern;Rebekka Schirren;Silvano Reiser

Year: 2014 | Conference Paper |

Prototype of a haptic display for the evaluation of sensible haptic feedback in remote palpation

Jan Hergenhan;Hosam Alagi;Heinz Wörn;Michael Uhl;Rebekka Schirren;Silvano Reiser

2014 IEEE International Symposium on Medical Measurements and Applications (MeMeA)
Year: 2014 | Conference Paper |
Cited by: Papers (7)
Robot-assisted minimally invasive surgery generally forbids an important diagnostic tool in medicine: palpation. There are various approaches to re-establish the haptic feedback for the surgeon, including tactile displays and haptic input devices. We present a novel haptic display that features seven pins mounted on compression springs that can be pre-loaded with servo motors. The pins have a stro...Show More

Prototype of a haptic display for the evaluation of sensible haptic feedback in remote palpation

Jan Hergenhan;Hosam Alagi;Heinz Wörn;Michael Uhl;Rebekka Schirren;Silvano Reiser

Year: 2014 | Conference Paper |

Tactile proximity sensors for robotic applications

Dirk Göger;Hosam Alagi;Heinz Wörn

2013 IEEE International Conference on Industrial Technology (ICIT)
Year: 2013 | Conference Paper |
Cited by: Papers (37)
In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human-interaction is still a challenging t...Show More

Tactile proximity sensors for robotic applications

Dirk Göger;Hosam Alagi;Heinz Wörn

Year: 2013 | Conference Paper |

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