Faculty Profiles - SCHARFF Rob | The Hong Kong University of Science and Technology

Rob SCHARFF

PhD in Design Engineering
Delft University of Technology, 2021

Assistant Professor
Division of Integrative Systems and Design

(852) 3469 2848
scharffrbn@ust.hk
Room 5591D
Personal Web

Google Scholar

eKt8qlMAAAAJ

ORCID

0000-0001-7996-4790

ResearcherID

GBR-5864-2022

Scopus ID

57195200228

Research Interest Publications Projects Teaching Assignment RPG Supervision

Research Interest

Robotics
Soft robotics
Rapid prototyping
Additive manufacturing

Publications

All Years 20 2024 4 2023 1 2022 5 2021 2 2020 3 2019 2 2018 3

2024 4

Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots

Advanced Science, v. 11, (30), August 2024, article number 2400806, p. 1-24
Van Veggel, Stein; Wiertlewski, Michaël; Doubrovski, Eugeni L.; Kooijman, Adrie; Shahabi, Ebrahim; Mazzolai, Barbara; Scharff, Rob Bernardus Nicolaas
Article

Development of a novel variable-curvature soft gripper used for orientating broccoli in the trimming line

Computers and Electronics in Agriculture, v. 225, October 2024, article number 109267
Ye, Yongkai; Han, Chaoyue; Kang, Shuo; Zhao, Jianzhuang; Scharff, Rob Bernardus Nicolaas; Wang, Jun; Du, Dongdong
Article

Modelling of Soft Fiber-Reinforced Bending Actuators Through Transfer Learning from a Machine Learning Algorithm Trained from FEM Data

Sensors and Actuators A: Physical, v. 368, April 2024, article number 115095
Ye, Yongkai; Scharff, Rob; Long, Sifan; Han, Chaoyue; Du, Dongdong
Article

Nondestructive evaluation of harvested cabbage texture quality using 3D scanning technology

Journal of Food Engineering, v. 378, October 2024, article number 112123
Du, Dongdong; Ye, Yongkai; Li, Dongfang; Fan, Jie; Scharff, Rob Bernardus Nicolaas; Wang, Jun; Shan, Fake
Article

2023 1

A Soft Continuum Robotic Arm with a Climbing Plant-Inspired Adaptive Behavior for Minimal Sensing, Actuation, and Control Effort

Advanced Intelligent Systems, November 2023
Naselli, Giovanna A.; Scharff, Rob Bernardus Nicolaas; Thielen, Marc; Visentin, Francesco; Speck, Thomas; Mazzolai, Barbara
Article

2022 5

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Science Robotics, v. 7, (68), July 2022, article number abn4155
De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara
Article

Development of a Soft Robotics Module for Active Control of Sitting Comfort

Micromachines, v. 13, (3), March 2022, article number 477
Roozendaal, Tjark; Verwaal, Martin; Buso, Alice; Scharff, Rob; Song, Yu; Vink, Peter
Article

Framework for Armature-Based 3D Shape Reconstruction of Sensorized Soft Robots in eXtended Reality

Frontiers in Robotics and AI, v. 9, April 2022, article number 810328
Borges, Elvis I.A.; Rieder, Jonas S.I.; Aschenbrenner, Doris; Scharff, Rob
Article

OpenFish: Biomimetic design of a soft robotic fish for high speed locomotion

HardwareX, v. 12, October 2022, article number e00320
van den Berg, Sander C.; Scharff, Rob; Rusák, Zoltán; Wu, Jun
Article

Rapid manufacturing of color-based hemispherical soft tactile fingertips

2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 / IEEE. Piscataway, NJ : IEEE, 2022, p. 896-902, article number 9762136
Scharff, Rob; Boonstra, Dirk-Jan; Willemet, Laurence; Lin, Xi; Wiertlewski, Michaël
Conference paper

2021 2

Sensing and reconstruction of 3-D deformation on pneumatic soft robots

IEEE/ASME Transactions on Mechatronics, v. 26, (4), August 2021, article number 9426391, p. 1877-1885
Scharff, Rob; Fang, Guoxin; Tian, Yingjun; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.
Article

Biomimetic design of a soft robotic fish for high speed locomotion

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 12413 LNAI, July 2019, p. 366-377
van den Berg, Sander C.; Scharff, Rob; Rusák, Zoltán; Wu, Jun
Conference paper

2020 3

Bonding between silicones and thermoplastics using 3D printed mechanical interlocking

Materials and Design, v. 186, 15 January 2020, article number 108254
Rossing, Lars; Scharff, Rob; Chömpff, Bryan; Wang, Charlie C.L.; Doubrovski, Eugeni L.
Article

Kinematics of Soft Robots by Geometric Computing

IEEE Transactions on Robotics, v. 36, (4), August 2020, article number 9082704, p. 1272-1286
Fang, Guoxin; Matte, Christopher-Denny; Scharff, Rob; Kwok, Tsz-Ho; Wang, Charlie C.L.
Article

Soft Robotic Module for Sensing and Controlling Contact Force

2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 / IEEE. Piscataway, NJ : IEEE, 2020, p. 70-75, article number 9115970
Buso, A.; Scharff, Rob; Doubrovski, E.L.; Wu, Jun; Wang, Charlie C.L.; Vink, Peter
Conference paper

2019 2

Color-Based Proprioception of Soft Actuators Interacting with Objects

IEEE/ASME Transactions on Mechatronics, v. 24, (5), October 2019, article number 8766864, p. 1964-1973
Scharff, Rob; Doornbusch, Rens M.; Doubrovski, Eugeni L.; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.
Article

Reducing out-of-plane deformation of soft robotic actuators for stable grasping

RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics / IEEE. Piscataway, NJ : IEEE, 2019, p. 265-270, article number 8722823
Scharff, Rob; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.
Conference paper

2018 1

Color-Based Sensing of Bending Deformation on Soft Robots

Proceedings - IEEE International Conference on Robotics and Automation / IEEE. Piscataway, NJ : IEEE, 2018, p. 4181-4187, article number 8460521
Scharff, Rob; Doornbusch, Rens M.; Klootwijk, Xander L.; Doshi, Ajinkya A.; Doubrovski, Eugeni L.; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.
Conference paper

2017 2

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Sensors and Actuators A: Physical, v. 263, August 2017, p. 554-562
Khanbareh, H.; de Boom, K.; Schelen, B.; Scharff, Rob; Wang, Charlie C.L.; van der Zwaag, S.; Groen, P.
Article

Towards behavior design of a 3D-printed soft robotic hand

Soft Robotics: Trends, Applications and Challenges - Proceedings of the Soft Robotics Week / edited by Cecilia Laschi, Jonathan Rossiter, Fumiya Iida, Matteo Cianchetti, Laura Margheri. Cham, Switzerland : Springer, 2017, p. 23-29, Book series: Biosystems & Biorobotics (BIOSYSROB, volume 17)
Scharff, Rob; Doubrovski, Eugeni L.; Poelman, Wim A.; Jonker, Pieter P.; Wang, Charlie C.L.; Geraedts, Jo M.P.
Conference paper

Article 4

Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots

Advanced Science, v. 11, (30), August 2024, article number 2400806, p. 1-24
Van Veggel, Stein; Wiertlewski, Michaël; Doubrovski, Eugeni L.; Kooijman, Adrie; Shahabi, Ebrahim; Mazzolai, Barbara; Scharff, Rob Bernardus Nicolaas

Development of a novel variable-curvature soft gripper used for orientating broccoli in the trimming line

Computers and Electronics in Agriculture, v. 225, October 2024, article number 109267
Ye, Yongkai; Han, Chaoyue; Kang, Shuo; Zhao, Jianzhuang; Scharff, Rob Bernardus Nicolaas; Wang, Jun; Du, Dongdong

Modelling of Soft Fiber-Reinforced Bending Actuators Through Transfer Learning from a Machine Learning Algorithm Trained from FEM Data

Sensors and Actuators A: Physical, v. 368, April 2024, article number 115095
Ye, Yongkai; Scharff, Rob; Long, Sifan; Han, Chaoyue; Du, Dongdong

Nondestructive evaluation of harvested cabbage texture quality using 3D scanning technology

Journal of Food Engineering, v. 378, October 2024, article number 112123
Du, Dongdong; Ye, Yongkai; Li, Dongfang; Fan, Jie; Scharff, Rob Bernardus Nicolaas; Wang, Jun; Shan, Fake

Article 1

A Soft Continuum Robotic Arm with a Climbing Plant-Inspired Adaptive Behavior for Minimal Sensing, Actuation, and Control Effort

Advanced Intelligent Systems, November 2023
Naselli, Giovanna A.; Scharff, Rob Bernardus Nicolaas; Thielen, Marc; Visentin, Francesco; Speck, Thomas; Mazzolai, Barbara

Article 4

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Science Robotics, v. 7, (68), July 2022, article number abn4155
De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara

Development of a Soft Robotics Module for Active Control of Sitting Comfort

Micromachines, v. 13, (3), March 2022, article number 477
Roozendaal, Tjark; Verwaal, Martin; Buso, Alice; Scharff, Rob; Song, Yu; Vink, Peter

Framework for Armature-Based 3D Shape Reconstruction of Sensorized Soft Robots in eXtended Reality

Frontiers in Robotics and AI, v. 9, April 2022, article number 810328
Borges, Elvis I.A.; Rieder, Jonas S.I.; Aschenbrenner, Doris; Scharff, Rob

OpenFish: Biomimetic design of a soft robotic fish for high speed locomotion

HardwareX, v. 12, October 2022, article number e00320
van den Berg, Sander C.; Scharff, Rob; Rusák, Zoltán; Wu, Jun

Conference paper 1

Rapid manufacturing of color-based hemispherical soft tactile fingertips

2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 / IEEE. Piscataway, NJ : IEEE, 2022, p. 896-902, article number 9762136
Scharff, Rob; Boonstra, Dirk-Jan; Willemet, Laurence; Lin, Xi; Wiertlewski, Michaël

Article 1

Sensing and reconstruction of 3-D deformation on pneumatic soft robots

IEEE/ASME Transactions on Mechatronics, v. 26, (4), August 2021, article number 9426391, p. 1877-1885
Scharff, Rob; Fang, Guoxin; Tian, Yingjun; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.

Conference paper 1

Biomimetic design of a soft robotic fish for high speed locomotion

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 12413 LNAI, July 2019, p. 366-377
van den Berg, Sander C.; Scharff, Rob; Rusák, Zoltán; Wu, Jun

Article 2

Bonding between silicones and thermoplastics using 3D printed mechanical interlocking

Materials and Design, v. 186, 15 January 2020, article number 108254
Rossing, Lars; Scharff, Rob; Chömpff, Bryan; Wang, Charlie C.L.; Doubrovski, Eugeni L.

Kinematics of Soft Robots by Geometric Computing

IEEE Transactions on Robotics, v. 36, (4), August 2020, article number 9082704, p. 1272-1286
Fang, Guoxin; Matte, Christopher-Denny; Scharff, Rob; Kwok, Tsz-Ho; Wang, Charlie C.L.

Conference paper 1

Soft Robotic Module for Sensing and Controlling Contact Force

2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 / IEEE. Piscataway, NJ : IEEE, 2020, p. 70-75, article number 9115970
Buso, A.; Scharff, Rob; Doubrovski, E.L.; Wu, Jun; Wang, Charlie C.L.; Vink, Peter

Article 1

Color-Based Proprioception of Soft Actuators Interacting with Objects

IEEE/ASME Transactions on Mechatronics, v. 24, (5), October 2019, article number 8766864, p. 1964-1973
Scharff, Rob; Doornbusch, Rens M.; Doubrovski, Eugeni L.; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.

Conference paper 1

Reducing out-of-plane deformation of soft robotic actuators for stable grasping

RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics / IEEE. Piscataway, NJ : IEEE, 2019, p. 265-270, article number 8722823
Scharff, Rob; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.

Conference paper 1

Color-Based Sensing of Bending Deformation on Soft Robots

Proceedings - IEEE International Conference on Robotics and Automation / IEEE. Piscataway, NJ : IEEE, 2018, p. 4181-4187, article number 8460521
Scharff, Rob; Doornbusch, Rens M.; Klootwijk, Xander L.; Doshi, Ajinkya A.; Doubrovski, Eugeni L.; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.

Article 1

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Sensors and Actuators A: Physical, v. 263, August 2017, p. 554-562
Khanbareh, H.; de Boom, K.; Schelen, B.; Scharff, Rob; Wang, Charlie C.L.; van der Zwaag, S.; Groen, P.

Conference paper 1

Towards behavior design of a 3D-printed soft robotic hand

Soft Robotics: Trends, Applications and Challenges - Proceedings of the Soft Robotics Week / edited by Cecilia Laschi, Jonathan Rossiter, Fumiya Iida, Matteo Cianchetti, Laura Margheri. Cham, Switzerland : Springer, 2017, p. 23-29, Book series: Biosystems & Biorobotics (BIOSYSROB, volume 17)
Scharff, Rob; Doubrovski, Eugeni L.; Poelman, Wim A.; Jonker, Pieter P.; Wang, Charlie C.L.; Geraedts, Jo M.P.

2018 1

Color-Based Sensing of Bending Deformation on Soft Robots

Proceedings - IEEE International Conference on Robotics and Automation / IEEE. Piscataway, NJ : IEEE, 2018, p. 4181-4187, article number 8460521
Scharff, Rob; Doornbusch, Rens M.; Klootwijk, Xander L.; Doshi, Ajinkya A.; Doubrovski, Eugeni L.; Wu, Jun; Geraedts, Jo M.P.; Wang, Charlie C.L.
Conference paper

2017 2

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Sensors and Actuators A: Physical, v. 263, August 2017, p. 554-562
Khanbareh, H.; de Boom, K.; Schelen, B.; Scharff, Rob; Wang, Charlie C.L.; van der Zwaag, S.; Groen, P.
Article

Towards behavior design of a 3D-printed soft robotic hand

Soft Robotics: Trends, Applications and Challenges - Proceedings of the Soft Robotics Week / edited by Cecilia Laschi, Jonathan Rossiter, Fumiya Iida, Matteo Cianchetti, Laura Margheri. Cham, Switzerland : Springer, 2017, p. 23-29, Book series: Biosystems & Biorobotics (BIOSYSROB, volume 17)
Scharff, Rob; Doubrovski, Eugeni L.; Poelman, Wim A.; Jonker, Pieter P.; Wang, Charlie C.L.; Geraedts, Jo M.P.
Conference paper

Teaching Assignment

2024-25 Fall 2 2023-24 Summer 1 2023-24 Spring 2 2023-24 Winter 0 2023-24 Fall 2 2022-23 Summer 0

ISDN6830C	Soft Robotics
UROP1100N	Undergraduate Research Opportunities Series 1

UROP1000

Undergraduate Research Opportunities

ISDN2400	Physical Prototyping
ISDN6660E	Integrative Systems and Design Seminar

ISDN4000R	Introduction to Soft Robotics
ISDN6660D	Integrative Systems and Design Seminar

No Teaching Assignments

Research Postgraduate (RPG) Supervision

From January 2021 to December 2024 (As of 21 November 2024)

Current RPGs

Doctor of Philosophy

CHAN, Ming Chun
Integrative Systems and Design
LUO, Yucheng
Integrative Systems and Design

Master of Philosophy

LIANG, Yuchen
Integrative Systems and Design
VAN DIPTEN, Sweder Gijsbert
Integrative Systems and Design

Projects

From January 2022 to December 2024

All Projects 1

No Projects.
A Novel Soft Robotic Fish as a Platform for Non-Disturbing Seafloor Surveying

一種新穎的軟體機器魚作為非干擾海底勘測的平臺 Leading

Hong Kong Offshore Liquefied Natural Gas Terminal
Project Team (HKUST)
SCHARFF Rob (Lead)

SONG Shenghui

YEUNG Sai Kit
2023 -

Research Interest

Publications

2024 4

2023 1

2022 5

2021 2

2020 3

2019 2

2018 1

2017 2

Article 4

Article 1

Article 4

Conference paper 1

Article 1

Conference paper 1

Article 2

Conference paper 1

Article 1

Conference paper 1

Conference paper 1

Article 1

Conference paper 1

2018 1

2017 2

Teaching Assignment

Research Postgraduate (RPG) Supervision

From January 2021 to December 2024 (As of 21 November 2024)

Current RPGs

Projects

From January 2022 to December 2024

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