The following are publications include links to known online versions. Please contact me if you are unable obtain or download a paper. You can also consult the official cybernetics site
[1] R.C.V. Loureiro, D. Valentine, B. Lamperd, C. Collin and W.S. Harwin "Gaming and social interactions in the rehabilitation of brain injuries: a pilot study" Cambridge Workshop on Universal Access and Assistive Technology (2010)
[2] T.A. Smith, R.C.V. Loureiro and W. Harwin "3D Path Planning with Novel Multiple 2D Layered Approach for Complex Human-Robot Interaction" (2009)
[3] K. Nagai, Y. Shiigi, Y. Ikegami, R. Loureiro and W.S. Harwin "Impedance control of redundant drive joints with double actuation" IEEE International Conference on Rehabilitation Robotics doi= 10.1109/ROBOT.2009.5152472 (2009)
[4] S. Madgwick, C. Turner and W.S. Harwin "Adaptation of an Commercially Available Stabilised R/C Helicopter to a Fully Autonomous Surveillance UAV" Bristol International Unmanned Air Vehicle Systems (UAVS) Conference (March 2009) http://www.reading.ac.uk/~shshawin/pubs/MadgwicketalUAV.pdf
[5] R.C.V. Loureiro, B. Lamperd, C. Collin and W.S. Harwin "Reach and grasp therapy: Effects of the Gentle/G System assessing sub-acute stroke whole-arm rehabilitation" IEEE International Conference on Rehabilitation Robotics doi= 10.1109/ICORR.2009.5209509 (2009)
[6] Y. Ikegami, K. Nagai, R.C.V. Loureiro and W.S.; Harwin "Design of Redundant Drive Joint with adjustable stiffness and damping mechanism to improve joint admittance" IEEE International Conference on Rehabilitation Robotics doi= 10.1109/ICORR.2009.5209474 (2009)
[7] W.S. Harwin "Impedance mismatch: Some differences between the way humans and robots control interaction forces" IEEE International Conference on Rehabilitation Robotics doi= 10.1109/ICORR.2009.5209464 (2009)
[8] W. Browne, K. Kawamura, J. Krichmar, W. Harwin and H. Wagatsuma "Cognitive robotics: new insights into robot and human intelligence by reverse engineering brain functions" Robotics and Automation Magazine doi= 10.1109/MRA.2009.933617 (2009)
[9] P.A. Reynolds, T. Newton, M.J. Cox, W. Harwin, B. Elson, M. Woolford, S. Dunne, J. Hindmarsh, B. Robinson, B. Millar, A. Barrow and B. Tse "Methods to teach and evaluate dental clinical skills using Haptics" International Association for Dental Research (IADR) 86th General Session Toronto (2008) http://iadr.confex.com/iadr/2008Toronto/techprogram/abstract_108091.htm
[10] K. Nagai, Y. Ikegami, R. C.V. Loureiro and W. S. Harwin "Proposal of an Admittance Enhanced Redundant Joint Mechanism to Improve Backdrivability" IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2008 doi= 10.1109/AIM.2008.4601712 (2008)
[11] A. Barrow and W. Harwin "High Bandwidth Large Workspace Haptic Interaction: Flying Phantoms" Haptic Interfaces for Virtual Environments and Teleoperator Systems doi= 10.1109/HAPTICS.2008.4479961 (March 2008)It is well understood that for haptic interaction: free motion performance and closed-loop constrained motion performance have conflicting requirements. The difficulties for both conditions are compounded when increased workspace is required as most solutions result in a reduction of achievable impedance and bandwidth. A method of chaining devices together to increase workspace without adverse effect on performance is described and analysed. The method is then applied to a prototype colloquially known as 'The Flying Phantom' and shown to provide high- bandwidth low impedance interaction over the full range of horizontal movement across the front of a human user.
[12] T. A. Smith, A. L. Barrow, R. G. Barrow and W. S. Harwin "A Novel Haptic Interface for Navigation in Large Volume Environments" World Haptics doi= 10.1109/WHC.2007.10 (22-24 March 2007)Haptic interfaces can provide highly realistic interaction with objects within their workspace, but the task of interacting with objects over large areas or volumes is made difficult by the limits of interface travel. This paper details the development of a custom haptic interface for navigating a large virtual environment (a simulated supermarket), and investigation into different control methods which allow for haptic interaction over extremely large workspaces
[13] K. Nagai, Y. Kojima, S. Yonemoto, T. Okubo, R. C.V. Loureiro and W. S. Harwin "Structural Design of an Escort Type Rehabilitation Robot for Post-Stroke Therapies of Upper-Limb" Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics doi= 10.1109/ICORR.2007.4428564 (June 12-15 2007)This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed.,
[14] R. C.V. Loureiro and W. S. Harwin "Reach and Grasp Therapy: Design and Control of a 9-DOF Robotic Neuro-rehabilitation System" Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics pp. 757-763 (June 12-15 2007)
[15] F. Amirabdollahian, R.C.V. Loureiro, C. Collin, W.S. Harwin and G. Johnson "Analysis of the Fugl-Meyer Measures Assessing the Effectiveness of the GENTLE/s Rehabilitation Robotics System Delivering Upper Limb Therapies" Journal of Neuroengineering and Rehabilitation doi= 10.1186/1743-0003-4-4 (February 2007) http://www.jneuroengrehab.com/content/pdf/1743-0003-4-4.pdf Background: Robot-mediated therapies offer entirely new approaches to neurorehabilitation. In this paper we present the results obtained from trialling the GENTLE/S neurorehabilitation system assessed using the upper limb section of the Fugl-Meyer (FM) outcome measure. Methods: We demonstrate the design of our clinical trial and its results analysed using a novel statistical approach based on a multivariate analytical model. This paper provides the rational for using multivariate models in robot-mediated clinical trials and draws conclusions from the clinical data gathered during the GENTLE/S study. Results: The FM outcome measures recorded during the baseline (8 sessions), robot-mediated therapy (9 sessions) and sling-suspension (9 sessions) was analysed using a multiple regression model. The results indicate positive but modest recovery trends favouring both interventions used in GENTLE/S clinical trial. The modest recovery shown occurred at a time late after stroke when changes are not clinically anticipated. Conclusions: This study has applied a new method for analysing clinical data obtained from rehabilitation robotics studies. While the data obtained during the clinical trial is of multivariate nature, having multipoint and progressive nature, the multiple regression model used showed great potential for drawing conclusions from this study. This study has analysed only one of the outcome measures recorded during the trial. An important conclusion to draw from this paper is that this study has shown that the intervention and control phase both caused changes over a period of 9 sessions in comparison to the baseline. This might indicate that use of new challenging and motivational therapies can influence the outcome of therapies at a point when clinical changes are not expected. Further work is required to investigate the effects arising from early intervention, longer exposure and intensity of the therapies. Finally, more function-oriented robot-mediated therapies or sling-suspension therapies are needed to clarify the effects resulting from each intervention for stroke recovery.
[16] F. Amirabdollahian, W. S. Harwin and R. C.V. Loureiro "Analysis of the Fugl-Meyer Outcome Measures Assessing the Effectiveness of Robot-Mediated Stroke Therapy" Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics pp. 729-735 (June 12-15 2007)
[17] R. C. V. Loureiro and W. S. Harwin "Design and characterization of a low-profile controllable magneto-rheological fluid based actuator for vibration mitigation" 10th International Conference on New Actuators Bremen Germany Hanseatische Veranstaltungs-GmbH pp. 241-244 (2006)
[18] R.C.V. Loureiro, J.M. Belda-Lois, R. E., J.L. Pons, L. Normie and W.S. Harwin "Upper Limb Tremor Suppression Through Viscous Loading: Design Implementation and Clinical Validation" International Journal of Assistive Robotics and Mechatronics pp. 11-18 (2006) http://www.ijarm.com
[19] R. Loureiro, F. Amirabdollahian and W. Harwin "Lecture Notes in Control and Information Sciences Part VI Robot-Assisted Neurorehabilitation" doi= 10.1007/10946978_22 (August 2006)
[20] R.C.V. Loureiro, M.J. Johnson and W.S. Harwin "Collaborative Tele-rehabilitation: A Strategy for Increasing Engagement" IEEE International Conference on Biomedical Robotics and Biomechatronics doi= 10.1109/BIOROB.2006.1639198 (February 20-22 2006)
[21] P. Kondaxakis, V.F. Ruiz and W.S. Harwin "Suboptimal system recovery from communication loss in a multi-robot localization scenario using EKF algorithms" CLAWAR 2005: Proceedings of the 8th international conference on climbing and walking robots and the support technologies for mobile machines doi= 10.1007/3-540-26415-9_78 (2006)
[22] X. Hong and W.S. Harwin "Finding the point on Bezier curves with the normal vector passing an external point" International Journal of Modelling Identification and Control doi= 10.1504/IJMIC.2006.012620 (2006)
[23] W.S. Harwin, J. Patton and V.R. Edgerton "Challenges and opportunities for robot mediated neurorehabilitation" Proceedings of the IEEE Special issue on medical robotics doi= 10.1109/JPROC.2006.880671 (Sept 2006) http://ieeexplore.ieee.org/iel5/5/36142/01717789.pdf Draft: http://www.reading.ac.uk/~shshawin/pubs/Harwin_Patton_Edgerton_draft_2006.pdf Robot-mediated neurorehabilitation is a rapidly advancing field that seeks to use advances in robotics, virtual realities, and haptic interfaces, coupled with theories in neuroscience and rehabilitation to define new methods for treating neurological injuries such as stroke, spinal cord injury, and traumatic brain injury. The field is nascent and much work is needed to identify efficient hardware, software, and control system designs alongside the most effective methods for delivering treatment in home and hospital settings. This paper identifies the need for robots in neurorehabilitation and identifies important goals that will allow this field to advance.,
[24] Daniel Fortunov, F. Hwang and W. Harwin "Midpoint Perturbation Response in Haptically-Guided Movements" Engineering in Medicine and Biology Society 2006. EMBS '06. 28th Annual International Conference of the IEEE doi= 10.1109/IEMBS.2006.260610 (Aug 2006)This study investigates the human response to impulse perturbations at the midpoint of a haptically-guided straight-line point-to-point movement. Such perturbation response may be used as an assessment tool during robot-mediated neuro-rehabilitation therapy. Subjects show variety in their perturbation responses. Movements with a lower perturbation displacement exhibit high frequency oscillations, indicative of increased joint stiffness. Equally, movements with a high perturbation displacement exhibit lower frequency oscillations with higher amplitude and a longer settling time. Some subjects show unexpected transients during the perturbation impulse, which may be caused by complex joint interactions in the hand and arm.
[25] A. Barrow and W. Harwin "A Dynamic Virtual Environment for Haptic Interaction" Proceedings of Eurohaptics Conference pp. 377-382 (2006) http://www.reading.ac.uk/~shshawin/pubs/f94.pdf We present a rigid-body simulation for multi-contact haptic interaction. The simulation is designed to make use of modern multiprocessor machines and the framework for this is discussed. An existing haptic rendering algorithm is extended to: facilitate simple implementation on a number of object types enable the use of arbitrary objects as haptic cursors and allow multiple object contacts on the same haptic cursor. We also justify the use of hard-constraint based methods for rigid-body dynamics and discuss our implementation.
[26] N. Melder and W.S. Harwin "Force Shading and Bump Mapping using the Friction Cone Algorithm" First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems doi= 10.1109/WHC.2005.58 (March 2005) http://ieeexplore.ieee.org/iel5/9655/30512/01407014.pdf Previous work has presented the friction cone algorithm a generalised method to resolve forces on a simulated haptic object when two or more fingers are in contact. Two extensions to the friction cone algorithm are presented: force shading and bump mapping. Force shading removes the discontinuities that are present when transitioning from one face to the next, whilst bump mapping provides a mechanism for rendering haptic textures on polygonal surfaces. Both these extensions can be combined whilst still maintaining the friction cone algorithm’s intrinsicability to simulate arbitrarily complex friction models.,
[27] S. McKnight, N. Melder, A.L. Barrow, W.S. Harwin and J.P. Wann "Perceptual Cues for Orientation in a Two Finger Haptic Grasp Task" First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems doi= 10.1109/WHC.2005.107 (18-20 March 2005) http://ieeexplore.ieee.org/iel5/9655/30512/01407005.pdf Single-point interaction haptic devices do not provide the natural grasp and manipulations found in the real world, as afforded by multi-fingered haptics. The present study investigates a two-fingered grasp manipulation involving rotation with and without force feedback. There were three visual cue conditions: monocular, binocular and projective lighting. Performance metrics of time and positional accuracy were assessed. The results indicate that adding haptics to an object manipulation task increases the positional accuracy but slightly increases the overall time taken.,
[28] R.C.V. Loureiro, J.M. Belda-Lois, E.R. Lima, J.L. Pons, J.J. Sanchez-Lacuesta and W.S. Harwin "Upper Limb Tremor Suppression in ADL Via an Orthosis Incorporating a Controllable Double Viscous Beam Actuator" 9th International Conference on Rehabilitation Robotics doi= 10.1109/ICORR.2005.1501065 (June 28-July 1 2005)
[29] R.C.V. Loureiro, W.S. Harwin, C. Collin and G. Johnson "Technology driven therapy for stroke rehabilitation: A new approach to treatment in the community" Int Journal on disability and human development Freund Publishing House Ltd 4 (3) pp. 169-175 (2005) http://www.freundpublishing.com
[30] R.C.V. Loureiro, K. Nagai, F. Campos and W.S. Harwin "Manageable Machine-Mediated Therapy Systems for Quantitative and Repeatable Neuro-Rehabilitation" IEEE SMC UK-RI Chapter Conference 2005 on Applied Cybernetics pp. 46-51 (2005)
[31] M. Harris, P. J. Kyberd and W. S. Harwin "Design and development of a dextrous manipulator" Transactions of the Institute of Measurement and Control doi= doi:10.1191/0142331205tm139oa (April 2005)
[32] A. Wing and W. Harwin "Rehabilitation engineering" Restoring Neurological Function: putting the neurosciences to work in neurorehabilitation Academy of Medical Sciences pp. 58-59 (March 2004) http://www.acmedsci.ac.uk/p\_neurofunc.pdf
[33] T.G. Supuk, W. Harwin and V. Zanchi "Calculating positions of the finger joints centres of rotations in flexion-extension movements from reflective markers" Proceedings of The 2nd International Symposium on Measurement Analysis and Modeling of Human Functions Genova Italy IMEKO TC 18 pp. 363-366 (June 2004)
[34] M. Seelig, D. Roberts, W. Harwin, O. Otto and R. Wolff "A haptic interface for linked immersive and desktop displays: Maintaining sufficient frame rate for haptic rendering" Proceedings of the 17th International Conference on Parallel and Distributed Computing Systems (PDCS 2004) pp. 478-483 (2004)
[35] S. McKnight, N. Melder, A.L. Barrow, W.S. Harwin and J.P. Wann "Psychophysical Size Discrimination using Multi-fingered Haptic Interfaces " Proceedings of 4th International Conference Eurohaptics 2004 pp. 274-281 (2004) http://www.isrg.reading.ac.uk/common/publications/01774.pdf Abstract. The use of multi-fingered haptic devices can potentially provide users much more realistic interactions in virtual environments compared to single-point contact devices. The usability of multi-fingered devices necessitates the need for an understanding of their performance characteristics. Multiple Phantoms devices were used in psychophysical size discrimination experiments using two and three fingered grasps. The results of these perceptual experiments were found to be comparable to those of singlefinger size discrimination studies as well as results obtained via finger-span methods. The findings imply that multi-fingered haptics can accurately replicate reality for tasks such as these. Additionally our findings indicate that a three-fingered haptic grasp can provide better discrimination than a two fingered grasp.
[36] N. Melder and W.S. Harwin "Extending the friction cone algorithm for arbitrary polygon based haptic objects" Haptic Interfaces for Virtual Environment and Teleoperator Systems 2004 doi= 10.1109/HAPTIC.2004.1287201 (2004) http://ieeexplore.ieee.org/iel5/9655/30512/01407005.pdf
[37] R. C. V. Loureiro, C. F. Collin and W. S. Harwin "Robot aided therapy: challenges ahead for upper limb stroke rehabilitation" Proceedings of 5th International Conference on Disability Virtual Reality and Associated Technologies University of Reading pp. 20-22 (2004)
[38] R. Loureiro, F. Amirabdollahian and W. Harwin "Gentle/S Approach to Robot Assisted Neurorehabilitation" Advances in Rehabilitation Robotics Human-friendly Technologies for Movement Assistance Restoration for People with Disabilities Springer-Verlag ISBN:3-540-21986-2 , Bien, Z., and Stefanov, D. (Eds.) 306 (2004)
[39] P. Kondaxakis, V.F. Ruiz and W.S. Harwin "Compensation of Observability Problem in a Multi-Robot Localization Scenario using CEKF" Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'04) doi= 10.1109/IROS.2004.1389651 (28 Sept- 2 Oct 2004)
[40] V.M. Becerra, C.N.J. Cage, W.S. Harwin and P.M. Sharkey "Hardware retrofit and computed torque control of a Puma 560 Robot updating an industrial manipulator" Control Systems Magazine IEEE doi= 10.1109/MCS.2004.1337867 (Oct 2004)
[41] N. Melder, W. Harwin and P. Sharkey "Translation and rotation of multi-point contacted virtual objects" Proceedings of Eurohaptics Conference pp. 218-227 (2003) http://www.eurohaptics.vision.ee.ethz.ch/2003/01.pdf
[42] M. Manto, M. Topping, M. Soede, J. Danchez-Lacuesta, W. Harwin, J. Pons, J. Williams, S. Skaarup and L. Normie "Dynamically responsive intervention for tremor suppression" IEEE Engineering in Medicine and Biology Magazine doi= 10.1109/MEMB.2003.1213635 (2003)
[43] R. Loureiro, W. Harwin and L. Normie "An Investigation on the Properties of Magneto Rheological Fluids for Assisting Upper Limb Movement Disorders on ADL" In Proceedings of 8th International Conference on Rehabilitation Robotics (ICORR 2003) Published by HWRS-ERC Human-friendly Welfare Robot System Engineering Research Center KAIST Republic of Korea pp. 211-214 (April 2003)
[44] R. Loureiro, W. Harwin and L. Normie "An Investigation on the Properties of Magneto Rheological Fluids for Assisting Upper Limb Movement Disorders on ADL" Special Issue on Rehabilitation Robotics International Journal of Human-friendly Welfare Robotic Systems 4 (1) pp. 7-11 (2003)
[45] R. Loureiro, F. Amirabdollahian, M. Topping, B. Driessen and W. Harwin "Upper Limb Mediated Stroke Therapy - GENTLE/s Approach" Special Issue on Rehabilitation Robotics Journal of Autonomous Robots doi= 10.1023/A:1024436732030 (July 2003)
[46] W. Harwin and M. Hillman "Special section on Robotic assistance in neuro-motor therapy" Robotica 21 (1) pp. 1-44 (2003) http://titles.cambridge.org/journals/journal_toc.asp
[47] W. Harwin and M. Hillman "Introduction to special issue : Robotic assistance in neuro-motor therapy" Robotica doi= 10.1017/S0263574702004575 (2003)
[48] S. Coote, E.K. Stokes, B.T. Murphy and W.S. Harwin "The effect of GENTLE/s robot mediated therapy on upper extremity function post stroke" Proceedings International Conference on Rehabilitation Robotics Korea pp. 59-61 (April 22-25 2003)
[49] F. Amirabdollahian, E. Gradwell, R. Loureiro, C. Collin and W. Harwin "Effects of the Gentle/s Robot Mediated Therapy on the Outcome of Upper Limb Rehabilitation Post-Stroke: Analysis of the Battle Hospital Data." Proceedings of 8th International Conference on Rehabilitation Robotics (ICORR 2003) Published by HWRS-ERC Human-friendly Welfare Robot System Engineering Research Center KAIST Republic of Korea pp. 55-58 (April 2003)
[50] N. Melder and W. Harwin "Improved Rendering for multi-finger manipulation using friction cone based god-objects" Proceedings of Eurohaptics Conference , Dr M. Wright, Ms. A. M. Shillito, Dr. S. Wall (Eds.) pp. 82-85 (2002) http://www.eurohaptics.vision.ee.ethz.ch/2002/melder.pdf
[51] P. Hawkins, J. Smith, S. Alcock, M. Topping, W. Harwin, R. Loureiro, F. Amirabdollahian, J. Brooker, S. Coote, E. Stokes, G. Johnson, P. Mak, C. Collin and B. Driessen "GENTLE/S Project: Design and Ergonomics of a Stroke Rehabilitation System." In Proceedings of 1st Cambridge Workshop on Universal Access and Assistive Technology (CWUAAT) (incorporating 4th Cambridge Workshop on Rehabilitation Robotics) Published by University of Cambridge Cambridge UK March 25 - 27. pp. 85-90 (2002) http://rehab-www.eng.cam.ac.uk/cwuaat/02/15.pdf
[52] F. Amirabdollahian, R. Loureiro and W. Harwin "A Case study on the effects of a haptic interface on human arm movements with implications for rehabilitation robotics" In Proceedings of 1st Cambridge Workshop on Universal Access and Assistive Technology (CWUAAT) (incorporating 4th Cambridge Workshop on Rehabilitation Robotics) Published by University of Cambridge Cambridge UK March 25 - 27 pp. 17-24 (2002) http://rehab-www.eng.cam.ac.uk/cwuaat/02/5.pdf
[53] F. Amirabdollahian, R. Loureiro and W. Harwin "Minimum Jerk Trajectory Control for Rehabilitation and Haptic Applications" Proceedings of the 2002 IEEE International Conference on Robotics and Automation Washington, DC", doi= 10.1109/ROBOT.2002.1014233 (May 2002) http://ieeexplore.ieee.org/iel5/7916/21828/01014233.pdf
[54] S. Wall and W. Harwin "Design of a Multiple Contact Point Haptic Interface" Proceedings of Eurohaptics Conference pp. 146-148 (2001) http://www.eurohaptics.vision.ee.ethz.ch/2001/wall.pdf
[55] S. A. Wall and W. Harwin "Interaction of visual and haptic information in simulated environments" Haptic Human-Computer Interaction , S. Brewster, R. Murray-Smith (Eds.) 2058 pp. 108-117 (2001) http://link.springer.de/link/service/series/0558/bibs/2058/20580108.htm
[56] S.A. Wall and W.S. Harwin "A high bandwidth interface for haptic human computer interaction" Mechatronics. The Science of Intelligent Machines. An International Journal doi= 10.1016/S0957-4158(00)00024-6 (2001)
[57] F. Weber, B. Driessen, G. Bolmsjo, S. Lauria and W. Harwin "State of the Art on Manipulators" Mobile robotics in healthcare IOS Press Amsterdam , N. Katevas (Eds.) 7 pp. 227-252 (2001)
[58] I. Werry, K. Dautenhahn, B. Ogden and W. Harwin "Can Social Interaction Skills Be Taught by a Social Agent? The Role of a Robotic Mediator in Autism Therapy" Proceedings CT2001 The Fourth International Conference on Cognitive Technology: INSTRUMENTS OF MIND Springer-Verlag Lecture Notes in Computer Science subseries Lecture Notes in Artificial Intelligence. (2001) http://homepages.feis.herts.ac.uk/~comqkd/werryspringer2117.pdf
[59] I. Werry, K. Dautenhahn and W. Harwin "Investigating a robot as a therapy partner for children with autism" Assistive technology - added value to the quality of life AAATE'01 IOS Press Amsterdam , C. Marincek et al. (Eds.) 10 pp. 374-378 (2001) http://homepages.feis.herts.ac.uk/~comqkd/aaate01.pdf
[60] I. Werry, K. Dautenhahn and W. Harwin "Evaluating the response of children with autism to a robot" Proceedings of the RESNA 2001 Annual Conference 21 pp. 14-16 (2001) http://homepages.feis.herts.ac.uk/~comqkd/resna01.pdf
[61] F. Wawak, F. Matia, N. Katevas, G. Lacey, F. Matia, S. Lauria and W. Harwin "Mobile Robots Localisation" Mobile robotics in healthcare IOS Press Amsterdam , N. Katevas (Eds.) 7 pp. 315-348 (2001)
[62] T. Rahman, R. Ramanathan, S. Stroud, W. Sample, R. Seliktar, W. Harwin, M. Alexander and M. Scavina "Towards the Control of a Powered Powered Orthosis for People with Muscular Dystrophy " Journal of Engineering in Medicine part H 215 (3) pp. 267-274 (May 2001) http://www.ingentaconnect.com/content/pep/jeim/2001/00000215/00000003/art00002 The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.
[63] R. Loureiro, F. Amirabdollahian, B. Driessen and W. Harwin "A novel method for computing natural path for robot assisted movements in synthetic worlds" Assistive technology - added value to the quality of life AAATE'01 IOS Press Amsterdam , C. Marincek et al. (Eds.) 10 pp. 262-267 (2001)
[64] R. Loureiro, F. Amirabdollahian, S. Cootes, E. Stokes and W. Harwin "Using Haptics Technology to Deliver Motivational Therapies in Stroke Patients: Concepts and Initial Pilot Studies" Proceedings of Eurohaptics Conference pp. 1-6 (2001) http://www.eurohaptics.vision.ee.ethz.ch/2001/loureiro.pdf
[65] N.I. Katevas, W. Harwin, H. Heck, M.J. Aldon, U. Borgolte, G.Lacey, E. Peruchon and A. Prentza "Mobile robotics and automation in healthcare and rehabilitation" Mobile robotics in healthcare IOS Press Amsterdam , N. Katevas (Eds.) 7 pp. 73-100 (2001)
[66] W. Harwin, R. Loureiro, F. Amirabdollahian, M. Taylor, G. Johnson, E. Stokes, S. Coote, M. Topping, C. Collin, S. Tamparis, J. Kontoulis, M.Munih, P. Hawkins and B. Driessen "The Gentle/s project: a new method for delivering neuro-rehabilitation" Assistive technology - added value to the quality of life AAATE'01 IOS Press Amsterdam , C. Marincek et al. (Eds.) 10 pp. 36-41 (2001)
[67] F. Amirabdollahian, R. Loureiro, B. Driessen and W. Harwin "Error correction movement for machine assisted stroke rehabilitation" Integration of Assistive Technology in the Information Age: ICORR 2001 IOS Press Amsterdam , M. Mokhtari (Eds.) 9 pp. 60-65 (2001)
[68] B. Driessen, G. Bolmsjo, W. Harwin and F. Weber "Manipulator control architectures" Mobile robotics in healthcare IOS Press Amsterdam , N. Katevas (Eds.) 7 pp. 253-268 (2001)
[69] S.A. Wall and W.S. Harwin "Interaction of visual and haptic information in simulated environments" Proc. 1st Workshop on haptic human computer interactions pp. 39-44 (31 August - 1st September 2000) http://www.dcs.gla.ac.uk/~steven/docs/wall-harwin%20haptichci.pdf
[70] S.A. Wall and W.S. Harwin "Effect of Physical Bandwidth on Perception of Virtual Gratings" International Mechanical Engineering Congress and Exposition Division (Symposium on Haptic Interfaces for Virtual Environments and Teleoperators) pp. 1033-1039 (November 5-10 2000) http://www.dcs.gla.ac.uk/~steven/docs/Effects%20of%20Physical%20Bandwidth..pdf
[71] S.A. Wall and W.S. Harwin "Quantification of the effects of haptic feedback during motor skills tasks in a simulated environment" Proc. 2nd PHANToM Users Research Symposium , S. Huber and M. Harders (Eds.) pp. 61-69 (July 6th-7th 2000) http://www.dcs.gla.ac.uk/~steven/docs/wall%20purs2000.pdf
[72] I. Werry, K. Dautenhahn and W. Harwin "Challenges in Rehabilitation Robotics: A Mobile Robot as a Teaching Tool for Children with Autism" Proc. International Workshop Recent Advances in Mobile Robots (June 29th 2000)
[73] S. Lauria, G.T. Foster, W.S. Harwin and O. Habert "Two Aspects of Multiple Mobile Robots: A Parallel Architecture and an Autonomous Navigation Strategy" Managing Interactions in Smart Environments MANSE99 Springer-Verlag pp. 131-142 (2000)
[74] S.A. Wall and W.S. Harwin "Modelling of surface identifying characteristics using fourier series" Proc. ASME Dynamic Systems and Control Division (Symposium on Haptic Interfaces for Virtual Environments and Teleoperators) 67 pp. 65-71 (November 1999) http://www.dcs.gla.ac.uk/~steven/docs/fourier.PDF
[75] P.A. Prokopiou, S.G.Tzafestas and W.S. Harwin "Variable-Time-Delays-Robust Telemanipulation Through Master State Prediction" IEEE/ASME International Conference on Advanced Intelligent Mechatronics doi= 10.1109/AIM.1999.803183 (Sept. 19 - 23 1999)
[76] P.A. Prokopiou, W.S. Harwin and S.G. Tzafestas "A Novel Scheme for Human-Friendly and Time Delays Robust Neuropredictive Teleoperation" Journal of Intelligent and Robotic Systems doi= 10.1023/A:1008126212102 (August 1999)
[77] P.A. Prokopiou, W.S. Harwin and S.G. Tzafestas "Enhancement of a telemanipulator design with a human arm model" In : Progress in System and Robot Analysis and Control Design Springer Berlin/London , S.G. Tzafestas and G. Schmidt (Eds.) pp. 445-456 (1999)
[78] P.A. Prokopiou, W.S. Harwin and S.G. Tzafestas "Exploiting a Human arm model for fast intuatuve and time-delay-robust telemanipulation" Advances in Manufacturing: Decision control and information technology Springer , Spyros G. Tzafestas (Eds.) pp. 255-266 (1999)
[79] M. Ouerfelli, V. Kumar and W.S. Harwin "Kinematic Modeling of Head-Neck Movements" IEEE Transactions of Systems Man and Cybernetics Part A: Systems and Humans doi= 10.1109/3468.798064 (1999)The main objective is to generate kinematic models for the head and neck movements, The motivation comes from our study of individuals with, quadriplegia and the need to design rehabilitation aiding devices such as robots and teletheses that can be controlled by head-neck movements, It is then necessary to develop mathematical models for the head and neck movements, Two identification methods have been applied to study the kinematics of head-neck movements of able-body as well as neck-injured subjects, In particular, sagittal plane movements are well modeled by a planar two-revolute-joint linkage. In fact, the motion in joint space seems to indicate that sagittal plane movements may be classified as a single DOF motion. Finally, a spatial three-revolute-joint system has peen employed to model three-dimensional head-neck movements."
[80] W.S. Harwin and S.A. Wall "Mechatronic Design of a High Frequency Probe for Haptic Interaction" Proc. 6th International Conference on Mechatronics and Machine Vision in Practice Middle Eastern Technical University pp. 111-118 (1-3 Sept 1999) http://www.dcs.gla.ac.uk/~steven/docs/High%20frequency%20probe.pdf
[81] W.S. Harwin and S.A. Wall "Modelling human dynamics in-situ for rehabilitation and therapy robots" ICORR'99 Board of Trustees of Stanford University , H.F. Machiel Van der Loos (Eds.) pp. 170-176 (1-2 July 1999)
[82] W.S. Harwin "Robots with a gentle touch: advances in assistive robotics and prosthetics" Biomechatronics Institute for Biomedical Technology pp. 95-99 (1999)
[83] W.S. Harwin "Technology challenges in rehabilitation robotics" Proceedings Workshop on rehabiltation robotics pp. 67-72 (October 1999)
[84] W.S. Harwin "Robots with a gentle touch: advances in assistive robotics and prosthetics" Technology and Health care IOS Press NL 7 (6) pp. 411-417 (1999)
[85] M. Cooper, D. Keating, W. Harwin and K. Dautenhahn "Robots in the Classroom - Tools for Accessible Education" Assistive Technology on the Threshold of the New Millennium IOS Press , Christian Buhler and Harry Knops (Eds.) 6 pp. 448-452 (November 1999) homepages.feis.herts.ac.uk/~comqkd/sirsfin.ps
[86] I. Sussemilch and W.S. Harwin "Design of an active arm support for assisting arm movements" Progress in system and robot analysis and control and information technology Springer-Verlag pp. 435-444 (1998 )
[87] I. Sussemilch and W.S. Harwin "Design of an active arm support for assisting arm movements" Euriscon Third European robotics intelligent systems and control conference NTUA Athens (1998 )
[88] P.A. Prokopiou, W.S. Harwin and S.G. Tzafestas "Fast intuitive and time-delay-robust telemanipulator designs using a human arm model" 6th international symposium on intelligent robotic systems (SIRS'98) pp. 7-16. (July 1998)
[89] W.S. Harwin, L.O. Leiber, G.P.G. Austwick and C. Dislis "Design and clinical potential of programmable mechanical impedance" Robotica doi= 10.1017/S026357479800068X (September 1998 )
[90] W.S. Harwin, H. Hu, D.P. Stinchcombe and G.T. Foster "An agent based hospital delivery system" Mobinet/santorini workshop (1998)
[91] G.T. Foster, D.E.N. Wenn, F. O'Hart and W.S. Harwin "Generating virtual environments to allow increased access to the built environment" International Journal of Virtual Reality 3 (4) pp. 12-20 (1998) www.ijvr.org
[92] S. Chen, T. Rahman and W. Harwin "Performance Statistics of a Head-Operated Force-Reflecting Rehabilitation Robot System. " IEEE Transactions on Rehabilitation Engineering doi= 10.1109/86.736155 (December 1998) http://www.cyber.rdg.ac.uk/people/W.Harwin/pubs1/ieeere97chen.ps
[93] S. Chen, T. Rahman, R. Foulds, E. Heredia and W. Harwin "A Virtual Headstick for People with Spinal Cord Injuries. " Robotica doi= 10.1017/S0263574798000654 (September 1998 ) http://www.cyber.reading.ac.uk/W.Harwin/pubs1/robotica98.ps
[94] W.S. Harwin, R.G. Gosine, Z. Kazi, D.S. Lees and J.L. Dallaway "A comparison of rehabilitation robotics languages and software" Robotica doi= 10.1017/S0263574797000179 (1997) Robotica1997.pdf
[95] W.S. Harwin "Niche product design: a new model for assistive technologies" Improving the quality of life for the european citizen IOS Press , I.P. Porrero and E. Ballabio (Eds.) 4 pp. 449-452 (1997)
[96] W.S. Harwin "Theoretical Considerations for the Design of Simple Teleoperators and Powered Orthoses", " ICORR97: Proceedings of the international conference on rehabilitation robotics pp. 47-50 (1997) icorr97.pdf
[97] W.S. Harwin "Design and control of a compliant mobile arm support for assisting arm movements" Advancement of Assistive Technology , G. Anogisnskis, C. Buhler and M. Soede, IOS Press (Eds.) 3 pp. 320-325 (1997) aaate97.pdf
[98] T. Rahman, S. Stroud, R. Ramanathan, M. Alexander, R. Seliktar and W. Harwin "Task priorities and design for an arm orthosis" Technology and Disability Elsevier/Ingenta 5 pp. 197-203 (1996)
[99] T. Rahman, W.S. Harwin and R. Foulds "Electronic Aids and Robotics" Atlas of orthoses and assistive devices Mosby , Bertram Goldberg and John D. Hsu (Eds.) pp. 669-675 (1996)
[100] R. Mahoney, James Fee Jr. and W. Harwin "Design activity in the consumer innovation laboratory" In proceedings of RESNA Resnapress pp. 151-153 (1996)
[101] V. Jayachandran, T. Rahman, M. Salganicoff, E. Heredia and W. Harwin "Calibration of closed loop controllers for setting impedances in force-reflecting systems" Proceedings of the Dynamic Systems and Control Division (Nov 1996)
[102] W.S. Harwin and T. Rahman "Analysis of force-reflecting telerobotic systems for rehabilitation applications" Proceedings of the 1st European Conference on Disability Virtual Reality and Associated Technologies pp. 171-178 (1996) telerob96.pdf
[103] W.S. Harwin and R. Foulds "An overview of rehabilitation engineering research at the University of Delaware Applied Science and Engineering Dept." Proceedings of the 1st European Conference on Disability Virtual Reality and Associated Technologies pp. 221-226 (1996)
[104] R. Bajcsy, V. Kumar, W.S. Harwin and P. Harker "Rapid Design and Prototyping of Customised Rehabilitation Aids" Communications of the ACM: Special Section on Computers in Manufacturing doi= 10.1145/230798.230804 (February 1996)
[105] M. T. Beitler, W. S. Harwin and R. M. Mahoney "Virtual prototyping of rehabilitation aids" In proceedings of RESNA pp. 360-362 (1996)
[106] P. Wellman, V. Krovi, V. Kumar and W.S. Harwin "Design of a Wheelchair with Legs for People with Motor Disabilities" IEEE Transactions on Rehabilitation Engineering doi= 10.1109/86.481974 (December 1995)
[107] M. Salganicoff, V. Jayachandran, D. Pino, T. Rahman, R. Mahoney, S. Chen, V. Kumar, W. Harwin and J.G. Gonzalez "A Virtual Headstick Rehabilitation Robot System" IEEE Internat. Conf. on Systems Man and Cybernetics doi= 10.1109/ICSMC.1995.538143 (October 1995) http://www.cyber.rdg.ac.uk/people/W.Harwin/pubs1/smc95.ps
[108] T. Rahman, R. Ramanathan, R. Seliktar and W. Harwin "A Simple Technique to Passively Gravity-Balance Articulated Mechanisms" Transactions of the ASME Journal of Mechanisms Design 117 (4) pp. 655-658 (December 1995) asme95.pdf
[109] V. Kumar, R. Bajcsy and W.S. Harwin "Rapid Design and Prototyping of Customised Rehabilitation Aids" Proc. 7th International Symposium on Robotics Research (October 1995)
[110] V. Jayachandran, D. Pino, M. Salganicoff, W. Harwin, T. Rahman and S. Chen "A Virtual Headstick Interface for a Master-Slave Rehabilitation Robot System " RESNA International (June 1995)
[111] S. Jayanthi, W. Harwin, M. Keefe and V. Kumar "Application of stereolithography in the fabrication of rehabilitation aids" Solid Freeform Fabrication Proceedings U. Texas at Austin pp. 270-277 (Sept 1995)
[112] W.S. Harwin "A summary of the ICORR94 Discussion Groups on Safety Assessment Consumer Issues amd Human-Machine Interface" , Applied Science and Engineering Laboratories Tech. report ROB9507 (1995)
[113] D. M. Roy, M. Panayi, R. Foulds, R. Erenshteyn, W. Harwin and R. Fawcus "The Enhancement of Interaction for People with Severe Speech Impairment through the Computer Recognition of Gestures and Manipulation" Presence 3 (3) pp. 227-235 (1994) http://www.mitpressjournals.org/loi/pres
[114] W. Harwin, R. Khatchadourian and T. Rahman "A technique for robotic assisted transfer for people with motor difficulties" IROS International conference on intelligent robots and systems doi= 10.1109/IROS.1994.407632 (Sept. 1994)
[115] M. Ouerfelli, W.S. Harwin and V. Kumar "A Pneumatic Actuation System for a Wheelchair-Mounted Robot Arm" Proc. (RESNA) 15th Annual Conference Resna Press Arlington Virginia USA pp. 100-102 (1992)
[116] M. Salganicoff, T. Rahman, R. Mahoney, D. Pino, V. Jayachandran, V. Kumar, S. Chen and W.S. Harwin "Head-Controlled Assistive Telerobot with Extended Physiological Proprioception Capability" SPIE Internat. Symp. on Intelligent Systems and Advanced Manufacturing Conf. on Telemanipulator and Telepresence Technologies (October 1995 ) http://www.cyber.reading.ac.uk/W.Harwin/pubs1/spie95.ps
[117] T. Rahman, W. Harwin, S. Chen, R. Mahoney, R. Glass and D. Pino "Rehabilitation Robot Control with Enhanced Sensory Feedback" In Proceedings of The Fourth International Conference on Rehabilitation Robotics Wilmington DE. (June 1994)
KEY NEEDS REPAIR (NEEDS) NOT FOUND[118] R. Mahoney, T. Rahman, S. Chen, W. Harwin, R. Glass and D. Pino "Control Issues for a Head-Controlled Bilateral Teleoperation System for People with Severe Spinal Cord Injury" RI/SME Fifth World Congress on Robotics Research Cambridge MA. (September 1994)
[1] W. Harwin, S. Stroud, R. Ramanathan, T. Rahman and R. Seliktar "Analysis and design of an arm orthosis for individuals with muscular dystrophy"" Proceedings of the RESNA 95 Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 517-519 (June 1995)
[2] W. Harwin, T. Rahman and R. Foulds "A Review of Design Issues in Rehabilitation Robotics with Reference to North American Research" IEEE Journal on Rehabilitation Engineering doi= 10.1109/86.372887 (March 1995)
[3] C. A. Stanger, C. Anglin, W. S. Harwin and D. P. Romilly "Devices for Assistive Manipulation: A Summary of User Task Priorities" IEEE Journal on Rehabilitation Engineering doi= 10.1109/86.340872 (December 1994)
[4] T. Rahman, W. Harwin, S. Chen, R. Glass R. Mahoney and D. Pino "Rehabilitation Robot Control with Enhanced Sensory Feedback" Fourth International Conference on Rehabilitation Robotics Applied Science and Engineering Laboratories pp. 43-48 (1994)
[5] M. Ouerfelli, W. Harwin and V. Kumar "Identification of open and closed kinematic chains with applications to biomechanics" Proceedings of the Fourth International Conference on Rehabilitation Robotics Applied Science and Engineering Laboratories pp. 183-187 (June 1994)
[6] M. Ouerfelli, W. Harwin and V. Kumar "Identification of Open and Closed Kinematic Chains with applications to Biomechanics" Proceedings of the Thirteenth Southern Biomedical Engineering Conference , Jafar Vossoughi (Eds.) pp. 498-501 (April 1994)
[7] V. Krovi, P. Wellman, V. Kumar and W. Harwin "Design of a walking wheelchair for the motor disabled" Fourth International Conference on Rehabilitation Robotics Applied Science and Engineering Laboratories pp. 125-131 (1994)
[8] R. Khatchadourian, T. Rahman and W.S. Harwin "A technique for robotic assisted transfer for people with motor difficulties" Proceedings of the international conference on intelligent robotics and systems (IROS) doi= 10.1109/IROS.1994.407632 (September 1994 )
[9] W. Harwin, R. Foulds, T. Rahman and R. Mahoney "The rehabilitaton robotics program at the Applied Science and Engineering Laboratories" Fourth International Conference on Rehabilitation Robotics Applied Science and Engineering Laboratories pp. 223-227 (1994)
[10] W. Harwin and R. Foulds "Mechatronics teaching at the University of Delaware" Proceedings of the Workshop on Mechatronics Education pp. 39-43 (July 21-23 1994)
[11] S. Chen, W. Harwin and T. Rahman "The Application of Discrete-Time Adaptive Impedance Control to Rehabilitation Robot Manipulators" IEEE International Conference on Robotics and Automation doi= 10.1109/ROBOT.1994.351414 (May 1994)
[12] "Fourth International Conference on Rehabilitation Robotics" Applied Science and Engineering Laboratories , D. C. Bacon and T. Rahman and W. S. Harwin (Eds.) (June 1994)
[13] M. Ouerfelli, V. Kumar and W. Harwin "Inexpensive pneumatic manipulator for rehabilitation robotics" IEEE International Conference on Robotics and Automation doi= 10.1109/ROBOT.1993.292050 (May 1993)
[14] D. L. Jaffe, W. S. Harwin and J. E. Harkins "The Development of a Third Generation Fingerspelling Hand" Proceedings of the RESNA 16th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 161-163 (June 1993)
[15] S.S. Stroud and W.S. Harwin "A Pneumatic Powered Extendable Mouthstick Prototype" Proceedings of the RESNA 15th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 319-321 (June 1992)
[16] T. Rahmin and W. Harwin "Bilateral Control in Teleoperation of a Rehabilitation Robot" Telemanipulator Technology SPIE - The International Society for Optical Engineering , Hari Das (Eds.) 1833 pp. 20-27 (1992)
[17] M. Ouerfelli, W. Harwin and V. Kumar "A Pneumatic Actuation System for a Wheelchair-Mounted Robot Arm" Proceedings of the RESNA 15th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 331-333 (1992)
[18] W. Harwin and T. Rahman "Safe Software in Rehabilitation Mechatronic and Robotics Design" Proceedings of the RESNA 15th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 100-102 (June 1992)
[19] W.S. Harwin "Computer Recognition of the Unconstrained and Intentional Head Gestures of Physically Disabled People" Ph.D. thesis BLDSC number: D061932, classmark PhD 16929, Cambridge University (July 1991)
[1] W.S. Harwin and R.D. Jackson "Computer Recognition of Head Gestures in Cerebral Palsy" Proceedings of the RESNA 13th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 257-258 (June 1990)
[2] W.S. Harwin and R.D. Jackson "Analysis of Intentional Head Gestures to Assist Computer Access by Physically Disabled People" Journal of Biomedical Engineering 12 pp. 193-198 (May 1990)
[3] R.G. Gosine and R.D. Jackson W.S. Harwin "Robots in educational and vocational applications for the severely physically disabled" IEE Colloquium on High-Tech Help for the Handicapped pp. 7/1 - 7/3 (2 Apr 1990) http://ieeexplore.ieee.org/iel3/1884/4804/00189949.pdf An approach to controlling robots has been developed which forms the basis of an interactive robotic workstation for use in educational and vocational settings by severely physically disabled individuals. In such settings the intelligence of the disabled person is supplemented with the manipulative power of a robot in order to carry out activities such as block play cooking science experiments and mixed manual/robot assembly and inspection. This approach is in sharp contrast with mainstream robotics research and practice where the emphasis is on removing the human involvement in manual activities.
[4] R.G. Gosine and R.D. Jackson W.S. Harwin "An interactive robot workstation for applications in rehabilitation" IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications' Proceedings doi= 10.1109/IROS.1990.262522 (3-6 July 1990)
[5] R.G. Gosine, W.S. Harwin and R.D. Jackson "Development and Application of a Task-Level Robot Control Language" International Conference of Rehabilitation Robotics pp. 97-120 (June 1990)
[6] R.G. Gosine, W.S. Harwin, R.D. Jackson and D. Scott "Vocational assessment and placement: an application for an interactive robot workstation" Proceedings of the RESNA 13th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 293-294 (June 1990)
[7] W.S. Harwin, R.G. Gosine and R.D. Jackson "Algorithms for gesture recognition" Proceedings of the European Conference for the Advancement of Rehabilitation Technology (November 1990)
[8] R.D. Jackson, W.S. Harwin and R.G. Gosine "Proceedings of the Cambridge Workshop on Rehabilitation Robotics" , Cambridge University Tech. report CUED/B-elect/TR78 (April 1989)
[9] R.G. Gosine, W.S. Harwin and R.D. Jackson "Applications of the CURL programming environment" Proceedings of the RESNA 12th Annual Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA pp. 192-193 (June 1989)
[10] R.G. Gosine, W.S. Harwin, L.J. Furby and R.D. Jackson "An intelligent end-effector for a rehabilitation robot" Journal of Medical Engineering and Technology 13 (1/2) pp. 37-43 (January/April 1989)
[11] W.S. Harwin and R.D. Jackson "A Simple Mathematical Analysis of Head Movement" Proc. of the 3rd International Conference on Rehabilitation Technology (1988)
[12] W.S. Harwin, A. Ginige and R.D. Jackson "A Robot Workstation for use in Education of the Physically Handicapped" IEEE Transactions on Biomedical Engineering doi= 10.1109/10.1350 (February 1988)
[13] R.G. Gosine, W.S. Harwin and R.D. Jackson "CURL : A Programming environment for a rehabiliatation robot" Proc. of the 1st International Workshop on Medical and Healthcare Robotics (June 1988)
[14] W.S. Harwin "Hidden Markov Models for gesture recognition" , Cambridge University Tech. report CUED/B-elect/TR75 (1987)
[15] W.S. Harwin, A. Ginige and R.D. Jackson "A Potential Application in Early Education and a Possible Role for a Vision System in a Workstation Based Robotic Aid for Physically Disabled" 37 Interactive Robotic Aids - One Option for Independent Living: An International Perspective World Rehabilitation Fund Inc. , Richard Foulds (Eds.) pp. 18-23 (June 1986)
[16] A. Ginige, W.S. Harwin and R.D. Jackson "A Finite State Machine to Detect Markers" 2nd International Conference on Image Processing I.E.E. (June 1986)
[17] W.S. Harwin and R.D. Jackson "Towards voice control of robotic aids for disabled" Proc. of the 8th Annual Conference on Rehabilitation Technology Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA (June 1985)
[18] W.S. Harwin and B.A. Andrews "An online multichannel electromagnetic goniometer for measuring hand movements" Proc. of the 2nd International Conference on Rehabilitation Engineering combined with the 7th Annual Resna Conference Resna Press 1700 North Moore Street Suite 1540 Arlington Virginia USA (June 1984)
[19] W.S. Harwin "Hand kinematic measurements using magnetic fields: A feasibility study" M.Sc. thesis University of Strathclyde (September 1983)
Last modified
Fri, 4 Dec 2009 ----