William Harwin

see also Digital note book and blackboard

Haptics in Surgery (MSc in Surgical Technologies)

• Lecture Notes
• Videos and references
• background some Haptic devices

Manipulator dynamics and Haptics : Haptic perception and rendering

• Module description
• Thril lab videos
• Haptic perception and rendering
• Haptic devices
• Haptic rendering (pdf)

Mechatronics

• Module description
• celebrity patents
• Mechatronics assignment 2010

Cybernetics and its applications:

Robotics

• Module description
• Some suggested reading
• Additional course notes
  • Lecture 1 A field guide to common robots
  • Lecture 2 Anatomy
  • Lecture 3 Kinematics and control
  • Lecture 4 Brains and stuff
  • Lecture 5 Society, cooperation and evolution
  • Lecture 6 Haptics
  • Lecture 7 Rehabilitation
• Braitenberg vehicles
• paper robot

Control of systems

• Module description
• additional notes

Biomedical Engineering

• Module description
• Additional course notes (journals and books etc)
• journals and books used in this course

Virtual anatomy

• Course notes for virtual anatomy

Meng Project

• By design web page

Digital Notes

• From the digital notes of W.S. Harwin
• State Space equations, the important stuff [pdf]
• Routh-Hurwitz stability [pdf]
• Notes on the Kalman filter [pdf]

Notes on Denavit and Hartenberg parameters

• dh pictures