Journal Papers
Peripheral control enabled by distributed sensing in an octopus-inspired soft robotic arm for autonomous underwater grasping
Emanuela Del Dottore, Romina Adhami, Ebrahim Shahabi, Emanuele Solfiti, Michele Martini, Stefano Mariani, Alberto Parmiggiani, Alessio Mondini, Edoardo Sinibaldi, and Barbara Mazzolai
Nature Machine Intelligence (2026).
Neural Linear Oscillator Networks and their Application to Soft Robots Model Learning and Control
Jingyue Liu, Ebrahim Shahabi, and Cosimo Della Santina
IEEE Robotics and Automation Letters (2026).
A Learning Based Impedance Control Strategy Implemented on a Soft Prosthetic Wrist in Joint-Space
Shifa Sulaiman, Francesco Schetter, Ebrahim Shahabi, and Fanny Ficuciello
Frontiers in Robotics and AI (2025).
BerryTwist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
Johannes F. Elfferich, Ebrahim Shahabi, Cosimo Della Santina, Dimitra Dodou
IEEE Robotics and Automation Letters (2024).
Solar spectrum light-driven silicone-based fluidic actuators
Ebrahim Shahabi, Majid Shabani, Fabian Meder, Barbara Mazzolai
Advanced Physics Research (2024): 2400005.
Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots
Stein van Veggel, Michaël Wiertlewski, Eugeni L. Doubrovski, Adrie Kooijman, Ebrahim Shahabi, Barbara Mazzolai, Rob B.N. Scharff
Advanced Science (2024): 202400806.
Design of soft pneumatic actuator with two oblique chambers for coupled bending and twisting movements
Ebrahim Shahabi, Behnam Kamare, Francesco Visentin, Alessio Mondini, Barbara Mazzolai
Actuators Journal, Vol. 12. No. 12. MDPI, 2023.
Octopus‐Inspired Suction Cups with Embedded Strain Sensors for Object Recognition
Ebrahim Shahabi, Francesco Visentin, Alessio Mondini, Barbara Mazzolai
Advanced Intelligent Systems (2023): 2200201.
Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg
Ebrahim Shahabi, MirAmin Hosseini
ADMT Journal 9, no. 3 (2017): 1-10.
Conference Papers
Vision-Based Measurement Device for Contact Areas of Soft Manipulators
Ben Cornelisse, Cosimo Della Santina, and Ebrahim Shahabi*
The 9th IEEE-RAS International Conference on Soft Robotics, April 2026.
End-to-End Learning of Soft-Robot Dynamics from Event-Based Camera Streams
Chuhan Zhang*, Jingyue Liu, Ebrahim Shahabi, Wei Pan, and Cosimo Della Santina
The 9th IEEE-RAS International Conference on Soft Robotics, April 2026, pp. 438–445.
3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers
S.J Schouten, Tomas Steenman, Rens Filé, Merlijn Den Hartog, Aimee Sakes, Cosimo Della Santina, Kirsten Lussenburg, Ebrahim Shahabi
The 8th IEEE-RAS International Conference on Soft Robotics (2025).
Understanding preload force for grasping objects with different stiffness using sensorized suction cups
Ebrahim Shahabi, Francesco Visentin, Alessio Mondini, Barbara Mazzolai
The 12th International Conference on Biomimetic and Biohybrid Systems, July 2023.
Design and Testing of 2-Degree-of-Freedom (DOF) Printable Pneumatic Soft Finger
Ebrahim Shahabi, Yu-Ta Yao, Cheng-Hsiu Chuang, Po Ting Lin, Chin-Hsing Kuo
In IFToMM International Symposium on Robotics and Mechatronics, pp. 298-308. Springer, Cham, 2020. (Oral presentation).
Parametrically Modeled DH Table for Soft Robot Kinematics: Case Study for A Soft Gripper
Lin, Po Ting, Ebrahim Shahabi, Kai-An Yang, Yu-Ta Yao, Chin-Hsing Kuo
In IFToMM World Congress on Mechanism and Machine Science, pp. 617-625. Springer, Cham, 2019. (Oral presentation).
Computer Vision-Based Object Recognition and Automatic Pneumatic Soft Gripping
Ebrahim Shahabi, Wei-Hao Lu, Po Ting Lin, Chin-Hsing Kuo
In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 59292, p. V009T12A006. American Society of Mechanical Engineers, 2019. (Oral presentation).
Solving inverse kinematics of a planar dual-backbone continuum robot using neural network
Ebrahim Shahabi, Chin-Hsing Kuo
In European Conference on Mechanism Science, pp. 355-361. Springer, Cham, 2018. (Oral presentation).
Preprints
Collocated Shape Regulation for Soft Robots
Pietro Pustina, Ebrahim Shahabi, Daniel Feliu-Talegon, Alessandro De Luca, and Cosimo Della Santina
arXiv preprint · 2026
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko, Wei Pan, and Cosimo Della Santina
Preprint · 2026
Reconciling distributed compliance with high-performance control in continuum soft robotics
Vito Daniele Perfetta, Daniel Feliu-Talegon, Ebrahim Shahabi, Cosimo Della Santina
Preprint · 2026
SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
Storm de Kam, Ebrahim Shahabi*, and Cosimo Della Santina
Preprint · 2026
TacLight: A Six-Axis Soft Optical Tactile Sensor for Physical and Virtual Interaction
Ebrahim Shahabi, Zhaoting Li, Sonal Santosh Baberwal, Andre van der Kraan, Victor Munoz, Shirley Coyle, Jens Kober, and Cosimo Della Santina
Research Square preprint · 2026
Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
Mariano Ramírez Montero, Ebrahim Shahabi, Giovanni Franzese, Jens Kober, Barbara Mazzolai, Cosimo Della Santina
Preprint · 2024; revised 2025
ReconfiGrip: A Single-Motor Reconfigurable Mechanism for Vision-Guided Soft Grasping
Ebrahim Shahabi*, Job Keijts, Izadyar Tamadon, and Cosimo Della Santina
TechRxiv preprint · 2026
In preparation and under review
Continuous learning of tactile sensors as lightweight alternatives to force-torque sensing in robotics
Víctor Muñoz, Ebrahim Shahabi, Luis Moreno, and Cosimo Della Santina
