Journal Articles


  • Sakes A., Lageweg M., Starkenburg R.I.B., Sontakke S., Breedveld P., Spronck J.W. (2022) Crossing Total Occlusions using a Hydraulic Pressure Wave: Design of the Wave Catheter. Frontiers in Medical Technology, section Cardiovascular Medtech.
  • Lussenburg K., Scali M., Sakes A., and Breedveld P. (2022) 3D printed miniaturized medical devices: exploring accuracy and functionality. Frontiers in Medical Technology.
  • Bloemberg J., Kortman, V. G., Sakes A. (2022). Development of a Soft Suction Cup for Tissue Stabilization during Percutaneous Prostate Interventions. International Engineering in Medicine and Biology Conference (EMBC), July 11-15, Glasgow, United Kingdom.
  • den Daas, M., van Beek, F.E., & Kuling, I.A. (2022). Haptic Feedback for Wrist Angle Adjustment. In: International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp. 164-170. Springer, Cham.
  • van Beek, F.E., Bisschop, Q., Gijsbertse, K., de Vries, P.S., & Kuling, I.A. (2022). A Comparison of Haptic and Auditory Feedback as a Warning Signal for Slip in Tele-Operation Scenarios. In: International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, pp. 101-109. Springer, Cham.
  • Caasenbrood, B.J., van Beek, F.E., Chu, H.K., & Kuling, I.A. (2022). A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft, pp. 217-223. IEEE
  • van den Boogaart, L.M., Langowski, J.K.A., & Amador, G.J. (2022) Studying stickiness: Methods, trade-offs, and perspectives in measuring reversible biological adhesion and friction. Biomimetics, Vol. 7, No. 3, 134.


  • Culmone C., Lussenburg K.M., Alkemade J., Smit G., Sakes A., and Breedveld P. (2021) Fully 3D Printed Steerable Instrument for Minimally Invasive Surgery. Materials. Vol. 14, No. 24, pp. 7910.
  • De Kater E.P., Sakes A., and Breedveld P. (2021). Design of a Flexible Bio-Inspired Tissue Transportation System. Frontiers in Bioengineering and Biotechnology. 
  • Amador, G.J., van Dijk, D., Kieffer, R., Aubin-Tam, M.E., & Tam, D. (2021) Hydrodynamic shear dissipation and transmission in lipid bilayers. Proceedings of the National Academy of Sciences, Vol. 118, No. 21, e2100156118.
  • Göttler, C., Amador, G.J., van de Kamp, T., Zuber, M., Boehler, L., Siegwart, R., & Sitti, M. (2021) Fluid Mechanics and Rheology of the Jumping Spider Body Fluid. Soft Matter.
  • Lussenburg, K., Sakes, A., and Breedveld, P. (2021) Design of Non-Assembly Mechanisms: A State-of-the-Art Review. Additive Manufacturing. Vol. 39.
  • Sharma, P., Saggiomo, V., Van Der Doef, V., Kamperman, M., & Dijksman, J.A. (2021) Hooked on mushrooms: Preparation and mechanics of a bioinspired soft probabilistic fastener. Biointerphases, Vol. 16, No. 1, 011002.


  • Langowski, J.K.A., Sharma, P., Leylavi Shoushtari, A. (2020) In the soft grip of nature. Science Robotics, Vol. 5, eabd9120. 10.1126/scirobotics.abd9120. Click here for full text.
  • Langowski, J.K.A., Dodou, D., van Assenbergh, P. & van Leeuwen, J.L. (2020) Design of tree-frog-inspired adhesives. Integrative and Comparative Biology, Vol. 60, 906–918. 10.1093/icb/icaa037.
  • Sakes, A., van de Steeg, I., de Kater, E.P., Posthoorn, P., Scali, M., and Breedveld P. (2020) Development of a Novel Wasp-Inspired Friction-Based Tissue Transportation Device. Frontiers in Bioengineering and Biotechnology.
  • Voesenek, C.J., Li, G., Muijres, F.T., & van Leeuwen, J.L. (2020) Experimental-numerical method for calculating bending moments in swimming fish shows that fish larvae control undulatory swimming with simple actuation. PLoS Biology, Vol. 18, No.7, e3000462.


  • Langowski, J.K.A., Singla, S., Nyarko, A., Schipper, H., van den Berg, F.T., Kaur, S., Astley, H.C., Gussekloo, S.W.S., Dhinojwala, A. & van Leeuwen, J.L. (2019) Comparative and functional analysis of the digital mucus glands and secretions of tree frogs. Frontiers in Zoology. Vol. 16, No. 19. 10.1186/s12983-019-0315-z.
  • van Assenbergh, P., Fokker, M., Langowski, J.K.A., van Esch, J., Kamperman, M. & Dodou, D. (2019) Pull-off and friction forces of micropatterned elastomers on soft substrates: the effects of pattern length scale and stiffness. Beilstein Journal of Nanotechnology. Vol. 10, 79–94. 10.3762/bjnano.10.8.
  • Langowski, J.K.A., Rummenie, A., Pieters, R.P., Kovalev, A., Gorb, S.N. & van Leeuwen, J.L. (2019) Estimating the maximum attachment performance of tree frogs on rough substrates. Bioinspiration & Biomimetics. Vol. 14, 025001. 10.1088/1748-3190/aafc37.
  • Sakes A., Grandia L., Lether R., Steenstra L., Valentijn M.C., Breedveld P., and Spronck J.W. (2019) Flexible Impulse Transfer using a Newton’s Cradle Inspired Catheter: A Feasibility Study. Medical Engineering & Physics.
  • Ali, A., Sakes, A., Arkenbout, E.A., Henselmans, P.W.J., Starkenburg, R.I.B., Szili-Torok, T., and Breedveld, P. (2019) Catheter steering in interventional cardiology: Mechanical analysis and novel solution. Journal of Engineering in Medicine. Vol. 233, No. 12.
  • Veale, A. J. , Staman, K. , & van der Kooij, H. (2019) Realizing soft high torque actuators for complete assistance wearable robots. Biosystems and Biorobotics (pp. 39-43). Vol. 22).
  • Lin, X., & Wiertlewski, M. (2019). Sensing the Frictional State of a Robotic Skin via Subtractive Color Mixing. IEEE Robotics and Automation Letters. (Best paper award from the Special Issue on Soft Haptics).