Dr Minas Liarokapis

DipEng University of Patras, MSc National Kapodistrian University of Athens, PhD National Technical University of Athens


Dr. Liarokapis is a Lecturer in the Department of Mechanical Engineering and director of the New Dexterity research group. Previously, he was a Postdoctoral Associate in the GRAB Lab at Yale University working with Prof. Aaron Dollar. He received a Diploma in Computer Engineering from the University of Patras in 2008, a MSc in Information Technologies in Medicine and Biology from the National Kapodistrian University of Athens in 2010 and a PhD in Mechanical Engineering from the National Technical University of Athens in 2014.

During his postdoctoral training, his research focused on hybrid schemes that combine analytical models, constrained optimization methods and machine learning techniques for simplifying robust grasping, dexterous, in-hand manipulation and haptic object identification using adaptive robot hands. During his PhD studies, he worked under the supervision of Prof. Kostas Kyriakopoulos in the Control Systems Lab and his research focused on EMG-based decoding of human motion and intention for the control of robotic and prosthetic devices in structured and dynamic environments.

He is the founder of the OpenBionics initiative and a co-founder of OpenRobotHardware and HandCorpus.

Research | Current

A New Family of Adaptive Hands
Developing a new family of adaptive, intrinsically-compliant, under-actuated robot hands.

Robust Grasping
Proposing methodologies for executing robust grasping in presence of object pose uncertainties or other environmental uncertainties and disturbances (including aerial grasping).

Dexterous, In-Hand Manipulation
Developing hybrid schemes that combine numerical and learning methods for performing dexterous, in-hand manipulation with simple, adaptive robot hands. 

Single-Grasp, Model-Free Object Identification
Developing haptic object identification methodologies of minimal complexity (e.g., single-grasp, model-free).

Modelling the Post-Contact Behaviour of Adaptive Hands
Modelling the post-contact behaviour of adaptive robot hands.

Soft, Adaptive Exogloves
Analysis, modelling and development of soft, adaptive exogloves for rehabilitation and human augmentation.

Learning Schemes for EMG/EEG Based Interfaces
Formulation of advanced learning schemes for the EMG/EEG based control of robotic and prosthetic devices.

Teleoperation and Telemanipulation
Formulation of advanced teleoperation and telemanipulation schemes for robot arm hand systems.

Evaluating the Dexterity of Human and Robot Hands
Evaluating the dexterity of human and robot hands, deriving appropriate metrics for design optimization.

Reconfigurable Drones for Package Delivery
Developing a new class of reconfigurable drones for package delivery.

Teaching | Current

MECHENG201 - Electronics and Computing for Mechanical Engineers (Role: Lecturer)

Years: 2017


Mechanical engineers need to be familiar with those electronics and software elements that are now vital components of most mechanical products and processes. Introduces sensors and actuators, analogue and digital circuit elements for signal processing, and computing and software programming.

MECHENG736 - Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)

Years: 2017. 2018


Explores principles, methods and techniques of Mechatronics for analyzing, modelling, designing and controlling bioinspired robotic systems and biomechatronic systems. 

Topics: 1) Introduction to Biomechatronics, 2) Biological Signals & Biosensors (e.g., EEG, EMG, ECG, Vision, Sound and haptic sensors etc.), 3) Human Motion Analysis (e.g., gait kinematics and kinetics analysis), 4) Bioinstrumentation (e.g., pneumatic muscles, IPMC, DEA, Hybrid actuators etc.), 5) Human Robot Interaction (e.g., human-robot interaction modelling, antagonistic configurations, direct force control, impedance and assist-as-needed control etc.), 6) Biomechatronic Example #1 (e.g., rehabilitation robots and assistive devices, design optimization, Integration of biosensors and actuators, interfacing issues etc.), 7) Biomechatronic Example #2 (e.g., biorobotic instrumentation, design and analysis of soft-bodied robotics).

MECHENG730 - Advanced Biomechatronic Systems (Role: Course Coordinator & Director \ Lecturer)

Years: 2017


The advanced version of MECHENG 736.

Postgraduate supervision

PhD Students

Gal Gorjup 
Gaogeng Gao
Ben Chang
Lucas Gerez
Anany Dwivedi
Yongje Kwon
Nathan Elangovan
Naqash Rehmat

ME - Research Students 

Helen Evans
Taru Naug
Varatharajan Srinivasan

MEngSt - Mechanical Engineering Students

Junan Chen
Ashkan Eslamighane
Waris Hasan
Chi-Hung Yang


2015 - 2nd Prize (out of 900+ projects from 50+ countries), Hackaday Prize, Hackaday.

2015 - Robotdalen International Innovation Award, Robotdalen.      

2013 - Thomaidion Award for Scientific Publications.  

2012 - Student Travel Award, IEEE International Conference on Robotics and Automation (ICRA).                      

2012 - Thomaidion Award for Scientific Publications.                                                          

2010 - Thomaidion Award for Scientific Publications.


Postgraduate Studies Advisor, Department of Mechanical Engineering

Part III - Mechatronics, Field Trips Coordinator

Areas of expertise

Robot Grasping and Manipulation
Human-Robot Interaction
Brain Machine Interfaces
Design of Robotic and Bionic Devices
Machine Learning and Pattern Recognition.

Committees/Professional groups/Services

IEEE - Member

IEEE Robotics and Automation Society - Member

ASME - Member

Technical Chamber of Greece - Member


Selected publications and creative works (Research Outputs)

  • Liarokapis, M. V., & Dollar, A. M. (2018). Post-contact, in-hand object motion compensation with adaptive hands. IEEE Transactions on Automation Science and Engineering, 15 (2), 456-467. 10.1109/TASE.2016.2622001
  • Liarokapis, M., Bechlioulis, C. P., Artemiadis, P. K., & Kyriakopoulos, K. J. (2017). Deriving humanlike arm hand system poses. Journal of Mechanisms and Robotics, 9 (1)10.1115/1.4035505
  • Spiers, A. J., Liarokapis, M. V., Calli, B., & Dollar, A. M. (2016). Single-grasp object classification and feature extraction with simple robot hands and tactile sensors. IEEE Transactions on Haptics, 9 (2), 207-220. 10.1109/TOH.2016.2521378
  • Kostakis, V., Latoufis, K., Liarokapis, M., & Bauwens, M. (2016). The convergence of digital commons with local manufacturing from a degrowth perspective: Two illustrative cases. Journal of Cleaner Production10.1016/j.jclepro.2016.09.077
  • Liarokapis, M. V., & Dollar, A. M. (2016). Learning Task-Specific Models for Dexterous, In-Hand Manipulation with Simple, Adaptive Robot Hands. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, SOUTH KOREA. 9 October - 14 October 2016. 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016). (pp. 8).
  • Kontoudis, G. P., Liarokapis, M. V., Zisimatos, A. G., Mavrogiannis, C. I., & Kyriakopoulos, K. J. (2015). Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5857-5862. Hamburg, Germany: IEEE. 10.1109/IROS.2015.7354209
  • Liarokapis, M. V., Calli, B., Spiers, A. J., & Dollar, A. M. (2015). Unplanned, model-free, single grasp object classification with underactuated hands and force sensors. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5073-5080. Hamburg, Germany: IEEE. 10.1109/IROS.2015.7354091
  • Zisimatos, A. G., Liarokapis, M. V., Mavrogiannis, C. I., & Kyriakopoulos, K. J. (2014). Open-source, affordable, modular, light-weight, underactuated robot hands. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3207-3212. Chicago, IL, USA: IEEE. 10.1109/IROS.2014.6943007


Contact details

Alternative contact

Building 401, Room 915

Office hours



Primary office location

New Zealand

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