List of Publications

R. Loureiro, W. Harwin, R. Lamperd and C. Collin, "Evaluation of Reach and Grasp Robot-Assisted Therapy Suggests Similar Functional Recovery Patterns on Proximal and Distal Arm Segments in Sub-Acute Hemiplegia" Neural Systems and Rehabilitation Engineering, IEEE Transactions on (2013) doi: 10.1109/TNSRE.2013.2265263

Rui C. V. Loureiro, William S. Harwin, Kiyoshi Nagai and Michelle Johnson, "Advances in upper limb stroke rehabilitation: a technology push" Medical and Biological Engineering and Computing (2011) doi: 10.1007/s11517-011-0797-0

A. Okamura, C. Basdogan, S. Baillie and W.S. Harwin, "Haptics in Medicine and Clinical Skill Acquisition" IEEE Transactions on Haptics (2011)

B. Janko, C.P. Turner, K.S. Cave-Ayland, M.K. Pittuck, S.O.H. Madgwick and W.S. Harwin, "A multiple robot solution for urban reconnaissance" International Journal of Intelligent Defence Support Systems Inderscience.com (2011) doi: 10.1504/IJIDSS.2011.037808 url: T3grandchallenge_centaur_version.pdf

W. S. Harwin, A. Murgia and E. K. Stokes, "Assessing the effectiveness of robot facilitated neurorehabilitation for relearning motor skills following a stroke" Medical and Biological Engineering and Computing Springer (2011) doi: 10.1007/s11517-011-0799-y url: harwin_murgia_stokes_2011_pp.pdf

A. Murgia, William Harwin, Simant Prakoonwit and Harry Brownlow, "Preliminary observations on the presence of sustained tendon strain and eccentric contractions of the wrist extensors during a common manual task: Implications for lateral epicondylitis" Medical Engineering \& Physics (2010) doi: 10.1016/j.medengphy.2011.02.002 url: file:///home/shshawin/pdfs/harwin/MEP-D-10-00087R3.pdf

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 (2009) doi: 10.1109/MRA.2009.933617

S. Coote, B. Murphy, W. Harwin and E Stokes, "The effect of the GENTLE/s robot-mediated therapy system on arm function after stroke" Clinical Rehabilitation (2008) doi: 10.1177/0269215507085060 url: gentles_cootes2008.pdf abstract:

Abstract: Objective: To evaluate the effect of robot-mediated therapy on arm dysfunction post stroke. Design: A series of single-case studies using a randomized multiple baseline design with ABC or ACB order. Subjects (n = 20) had a baseline length of 8, 9 or 10 data points. They continued measurement during the B — robot-mediated therapy and C — sling suspension phases. Setting: Physiotherapy department, teaching hospital. Subjects: Twenty subjects with varying degrees of motor and sensory deficit completed the study. Subjects attended three times a week, with each phase lasting three weeks. Interventions: In the robot-mediated therapy phase they practised three functional exercises with haptic and visual feedback from the system. In the sling suspension phase they practised three single-plane exercises. Each treatment phase was three weeks long. Main measures: The range of active shoulder flexion, the Fugl-Meyer motor assessment and the Motor Assessment Scale were measured at each visit. Results: Each subject had a varied response to the measurement and intervention phases. The rate of recovery was greater during the robot-mediated therapy phase than in the baseline phase for the majority of subjects. The rate of recovery during the robot-mediated therapy phase was also greater than that during the sling suspension phase for most subjects. Conclusion: The positive treatment effect for both groups suggests that robot-mediated therapy can have a treatment effect greater than the same duration of non-functional exercises. Further studies investigating the optimal duration of treatment in the form of a randomized controlled trial are warranted.

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 (2007) doi: 10.1186/1743-0003-4-4 published url: http://www.jneuroengrehab.com/content/pdf/1743-0003-4-4.pdf abstract:

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.

R.C.V. Loureiro, J.M. Belda-Lois, Rocon 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 (2006)published url: http://www.ijarm.com

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 inderscience.com (2006) doi: 10.1504/IJMIC.2006.012620

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.

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 (2005)published url: http://www.freundpublishing.com

Martin Harris, Peter J. Kyberd and William S. Harwin, "Design and development of a dextrous manipulator" Transactions of the Institute of Measurement and Control (2005) doi: 10.1191/0142331205tm139oa

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 (2004) doi: 10.1109/MCS.2004.1337867

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 (2003) doi: 10.1109/MEMB.2003.1213635

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 (2003)

R. Loureiro, F. Amirabdollahian, M. Topping, B. Driessen and W. Harwin, "Upper Limb Mediated Stroke Therapy - {GENTLE/s} Approach" Special Issue on Rehabilitation Robotics, Autonomous Robots (2003) doi: 10.1023/A:1024436732030

W. Harwin and M. Hillman, "Introduction to special issue : Robotic assistance in neuro-motor therapy" Robotica (2003) doi: 10.1017/S0263574702004575

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 Pergamon/Elsevier (2001) doi: 10.1016/S0957-4158(00)00024-6

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.

M. Ouerfelli, V. Kumar and W. S. Harwin, "Methods for Kinematic Modeling of Biological and Robotic Systems" Medical Engineering and Physics Elsevier Press (2000)

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 (1999) doi: 10.1023/A:1008126212102

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 (1999) doi: 10.1109/3468.798064 url: harwin/00798064.pdf abstract:

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.

W.S. Harwin, "Robots with a gentle touch: advances in assistive robotics and prosthetics" Technology and Health care IOS Press NL (1999)

W.S. Harwin, L.O. Leiber, G.P.G. Austwick and C. Dislis, "Design and clinical potential of programmable mechanical impedance" Robotica (1998) doi: 10.1017/S026357479800068X

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 (1998)published url: www.ijvr.org

S. Chen, T. Rahman and W. Harwin, "Performance Statistics of a Head-Operated Force-Reflecting Rehabilitation Robot System." IEEE Transactions on Rehabilitation Engineering (1998) doi: 10.1109/86.736155

W.S. Harwin, R.G. Gosine, Z. Kazi, D.S. Lees and J.L. Dallaway, "A comparison of rehabilitation robotics languages and software" Robotica (1997) doi: 10.1017/S0263574797000179 published url: Robotica1997.pdf

Tariq Rahman, Sean Stroud, Rungun Ramanathan, Michael Alexander, Rami Seliktar and William Harwin, "Task priorities and design for an arm orthosis" Technology and Disability Elsevier/Ingenta (1996)

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 (1996) doi: 10.1145/230798.230804 url: acm96.pdf published url: http://202.114.9.17/xnsj/01OO004L.pdf

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 (1995) doi: 10.1109/86.481974

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 (1995)published url: asme95.pdf

William S Harwin, Tariq Rahman and Richard A Foulds, "A review of design issues in rehabilitation robotics with reference to North American research" Rehabilitation Engineering, IEEE Transactions on IEEE (1995) doi: 10.1109/86.372887

David M. Roy, Marilyn Panayi, Richard Foulds, Roman Erenshteyn, William Harwin and Robert Fawcus, "The Enhancement of Interaction for People with Severe Speech Impairment through the Computer Recognition of Gestures and Manipulation" Presence (1994)published url: http://www.mitpressjournals.org/loi/pres

W.S. Harwin and R.D. Jackson, "Analysis of Intentional Head Gestures to Assist Computer Access by Physically Disabled People" Journal of Biomedical Engineering (1990)

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 (1989)

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 I.E.E.E. (1988) doi: 10.1109/10.1350

Conference publications

Abdelkareem Bedri and William Harwin, "Enhancing haptic representation for 2D objects" Computing, Electrical and Electronics Engineering (ICCEEE), 2013 International Conference on (2013) doi: 10.1109/ICCEEE.2013.6633991 url: 6633991

Yoshikatsu Hayashi, Kiyoshi Nagai, Koji Ito, Slawek J. Nasuto, Rui C.V. Loureiro and William S. Harwin, "Reconstruction of Brain-Body Loop by Using Integrated EEG driven Escort Robot System for Stroke Patients" BioRob2012 (2012)

R J White and W S Harwin, "Haptics visualisation of scientific data for visually impaired users" International Conference on Disability, Virtual Reality and Associated Technologies (2012)

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 Springer, London (2010) doi: 10.1007/978-1-84996-166-0_21 url: Loureiro2010Wii.pdf abstract:

Physical rehabilitation of brain injuries and strokes is a time consuming and costly process. Over the past decade several studies have emerged looking at the use of highly sophisticated technologies, such as robotics and virtual reality, to tap into the needs of clinicians and patients. While such technologies can be a valuable tool to facilitate intensive movement practice in a motivating and engaging environment, the success of therapy also depends on self-administered therapy beyond hospital stay. With the emergence of low cost gaming consoles such as the Nintendo Wii, new opportunities arise for home-therapy paradigms centred on social interactions and values, which could reduce the sense of isolation and other depression related complications. In this paper we examine the potential, user acceptance and usability of an unmodified Nintendo Wii gaming console as a low cost treatment alternative to complement current rehabilitation programmes.

T. A. Smith, R. C. V. Loureiro and W. Harwin, "3D Path Planning with Novel Multiple 2D Layered Approach for Complex Human-Robot Interaction" IEEE International Symposium on Computational Intelligence in Robotics and Automation (2009)

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 (2009) doi: 10.1109/ROBOT.2009.5152472

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 (2009) url: MadgwicketalUAV2009.pdf

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 (2009) doi: 10.1109/ICORR.2009.5209509

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 (2009) doi: 10.1109/ICORR.2009.5209474

W.S. Harwin, "Impedance mismatch: Some differences between the way humans and robots control interaction forces" IEEE International Conference on Rehabilitation Robotics (2009) doi: 10.1109/ICORR.2009.5209464

In this paper, we will demonstrate how force feedback, motion-parallax, and stereoscopic vision can enhance the opportunities for learning in the context of dentistry. A dental training workstation prototype has been developed intended for use by dental students in their introductory course to preparing a tooth cavity. The multimodal feedback from haptics, motion tracking cameras, computer generated sound and graphics are being exploited to provide 'near-realistic' learning experiences. Whilst the empirical evidence provided is preliminary, we describe the potential of multimodal interaction via these technologies for enhancing dental-clinical skills.

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)published url: http://iadr.confex.com/iadr/2008Toronto/techprogram/abstract_108091.htm

Kiyoshi Nagai, Yosuke Ikegami, Rui C.V. Loureiro and William S. Harwin, "Proposal of an Admittance Enhanced Redundant Joint Mechanism to Improve Backdrivability" IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (2008) doi: 10.1109/AIM.2008.4601712

Jonathan Padilla San Diego, Alastair Barrow, Margaret Cox and William Harwin, "PHANTOM prototype: exploring the potential for learning with multimodal features in dentistry" Proceedings of the 10th international conference on Multimodal interfaces ACM (2008) doi: 10.1145/1452392.1452434 published url: http://doi.acm.org/10.1145/1452392.1452434

Alastair Barrow and William Harwin, "High Bandwidth, Large Workspace Haptic Interaction: Flying Phantoms" Haptic Interfaces for Virtual Environments and Teleoperator Systems (2008) doi: 10.1109/HAPTICS.2008.4479961 abstract:

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.

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 IEEE (2007) doi: 10.1109/WHC.2007.10 abstract:

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

Kiyoshi Nagai, Yoshimasa Kojima, Shinya Yonemoto, Takashi Okubo, Rui C. V. Loureiro and William 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 (2007) doi: 10.1109/ICORR.2007.4428564 abstract:

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.

Rui C.V. Loureiro and William 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 (2007)

Farshid Amirabdollahian, William S. Harwin and Rui 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 (2007)

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 (2006)

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 (2006) doi: 10.1109/BIOROB.2006.1639198

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 Springer (2006) doi: 10.1007/3-540-26415-9_78

Daniel Fortunov, Faustina 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 (2006) doi: 10.1109/IEMBS.2006.260610 url: embs2006/04463068.pdf abstract:

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.

A. Barrow and W. Harwin, "A Dynamic Virtual Environment for Haptic Interaction" Proceedings of Eurohaptics Conference (2006) url: Barrow_EH2006.pdf abstract:

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.

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.

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 IEEE (2005) doi: 10.1109/WHC.2005.107 published url: http://ieeexplore.ieee.org/iel5/9655/30512/01407005.pdf abstract:

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.

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 IEEE (2005) doi: 10.1109/ICORR.2005.1501065

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 (2005)

T. Grujic 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 (2004) url: Supuk2004.pdf

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) (2004)

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 (2004)published url: http://www.eurohaptics.vision.ee.ethz.ch/2004/97f.pdf abstract:

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.

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 (2004)

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 (2004)

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) (2004) doi: 10.1109/IROS.2004.1389651

N. Melder, W. Harwin and P. Sharkey, "Translation and rotation of multi-point contacted virtual objects" Proceedings of Eurohaptics Conference (2003)published url: http://www.eurohaptics.vision.ee.ethz.ch/2003/01.pdf

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, (2003)

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 (2003)

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 (2003)

N. Melder and W. Harwin, "Improved Rendering for multi-finger manipulation using friction cone based god-objects" Proceedings of Eurohaptics Conference (2002)published url: http://www.eurohaptics.vision.ee.ethz.ch/2002/melder.pdf

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. (2002)published url: http://rehab-www.eng.cam.ac.uk/cwuaat/02/15.pdf

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 (2002) doi: 10.1109/ROBOT.2002.1014233 published url: http://ieeexplore.ieee.org/iel5/7916/21828/01014233.pdf

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 (2002)published url: http://rehab-www.eng.cam.ac.uk/cwuaat/02/5.pdf

Iain Werry, Kerstin Dautenhahn, Bernard Ogden and William 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)published url: http://homepages.feis.herts.ac.uk/~comqkd/werryspringer2117.pdf

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 (2001)published url: http://homepages.feis.herts.ac.uk/~comqkd/aaate01.pdf

I. Werry, K. Dautenhahn and W. Harwin, "Evaluating the response of children with autism to a robot" Proceedings of the RESNA 2001 Annual Conference (2001)published url: http://homepages.feis.herts.ac.uk/~comqkd/resna01.pdf

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 (2001)

R. Loureiro, F. Amirabdollahian, S. Coote, E. Stokes and W. Harwin, "Using Haptics Technology to Deliver Motivational Therapies in Stroke Patients: Concepts and Initial Pilot Studies" Proceedings of Eurohaptics Conference (2001)published url: http://www.eurohaptics.vision.ee.ethz.ch/2001/loureiro.pdf

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 (2001)

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 (2001)

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, (2000)

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 Trinity College Dublin/Springer-Verlag (2000)

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) (1999) url: Wall1999fourier.pdf published url: http://www.dcs.gla.ac.uk/~steven/docs/fourier.PDF

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 (1999) doi: 10.1109/AIM.1999.803183

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 (1999)

W.S.Harwin and S.A. Wall, "Modelling human dynamics in-situ for rehabilitation and therapy robots" IPEM Bioengineering workshop (1999)

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 (1999)

W.S. Harwin, "Robots with a gentle touch: advances in assistive robotics and prosthetics" Biomechatronics Institute for Biomedical Technology (1999)

W.S. Harwin, "Technology challenges in rehabilitation robotics" Proceedings Workshop on rehabiltation robotics (1999)

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 (1999)published url: homepages.feis.herts.ac.uk/~comqkd/sirsfin.ps

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)

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) (1998)

W.S. Harwin, H. Hu, D.P. Stinchcombe and G.T. Foster, "An agent based hospital delivery system" Mobinet/santorini workshop (1998)

W.S. Harwin, "Niche product design: a new model for assistive technologies" Improving the quality of life for the european citizen IOS Press (1998) url: Harwin98Niche.pdf

V. Kumar, R. Bajcsy, D. Metaxas, W. Harwin and R. Mahoney, "Rapid Prototyping of Rehabilitation Aids for the Physically Disabled " NSF Design and Manufacturing Grantees Conference (1997)

W.S. Harwin, "Theoretical Considerations for the Design of Simple Teleoperators and Powered Orthoses" ICORR97: Proceedings of the international conference on rehabilitation robotics (1997) url: teleoperators1997.pdf

W.S. Harwin, "Design and control of a compliant mobile arm support for assisting arm movements" Advancement of Assistive Technology (1997)published url: aaate97.pdf

Richard Mahoney, James Fee Jr. and William Harwin, "Design activity in the consumer innovation laboratory" In proceedings of RESNA Resnapress (1996)

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 (1996)

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 (1996)published url: telerob96.pdf

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 (1996)

Matthew T. Beitler, William S. Harwin and Richard M. Mahoney, "Virtual prototyping of rehabilitation aids" In proceedings of RESNA (1996)

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 (1995)published url: http://www.cyber.reading.ac.uk/W.Harwin/pubs1/spie95.ps

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 (1995) doi: 10.1109/ICSMC.1995.538143

V. Kumar, R. Bajcsy and W.S. Harwin, "Rapid Design and Prototyping of Customised Rehabilitation Aids" Proc. 7th International Symposium on Robotics Research (1995)

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 (1995)

Suresh Jayanthi, William Harwin, Michael Keefe and Vijay Kumar, "Application of stereolithography in the fabrication of rehabilitation aids" Solid Freeform Fabrication Proceedings U. Texas at Austin (1995)

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. (1994)

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. (1994)

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 IEEE/RSJ (1994) doi: 10.1109/IROS.1994.407632

Judith E. Harkins, Elizabeth Korres, Norman S. Williams, William Harwin and David L. Jaffe, "Evaluation of a robotic fingerspelling hand" Proceedings of the RESNA '94 Annual Conference RESNA press (web.resna.org), Arlington, Virginia, USA (1994) url: fingerspellinghand94.pdf

Joseph Wunderlich, Shoupu Chen, D. Pino, Tariq Rahman and William S. Harwin, "Software architecture for a kinematically dissimilar master-slave telethesis for exploring rehabilitation applications" Proc. SPIE: Telemanipulator Technology and Space Telerobotics (1993) doi: 10.1117/12.164926 abstract:

A person with limited arm and hand function could benefit from technology based on teleoperation principles, particularly where the mechanism provides proprioceptive-like information to the operator giving an idea of the forces encountered in the environment and the positions of the slave robot. A test-bed system is being prepared to evaluate the potential for adapting telemanipulator technology to the needs of people with high level spinal cord injury. This test-bed uses a kinematically dissimilar master and slave pair and will be adaptable to a variety of disabilities. The master will be head controlled and when combined with auxiliary functions will provide the degrees of freedom necessary to attempt any task. In the simplest case, this mapping could be direct, with the slave amplifying the person's movements and forces. It is unrealistic however to expect that the operator will have the range of head movement required for accurate operation of the slave over the full workspace. Neither is it likely that the person will be able to achieve simultaneous and independent control of the 6 or more degrees of freedom required to move the slave. Thus a set of more general mappings must be available that can be chosen to relate to the intrinsic coordinates of the task. The software structure to implement the control of this master-slave system is based on two IBM PC computers linked via an ethernet.

David L Jaffe, William S Harwin and Judith E. Harkins, "The development of a third generation fingerspelling hand" 16th Annual RESNA Conference RESNA press (1993) url: fingerspellinghand94.pdf

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 (1992)

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 (1990)

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 (1990)published url: http://ieeexplore.ieee.org/iel3/1884/4804/00189949.pdf abstract:

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.

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 IROS '90 (1990) doi: 10.1109/IROS.1990.262522

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 (1990)

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 (1990)

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 (1990)

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 (1989)

W.S. Harwin and R.D. Jackson, "A Simple Mathematical Analysis of Head Movement" Proc. of the 3rd International Conference on Rehabilitation Technology (1988)

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 (1988)

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. (1986)

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 (1985)

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 (1984)

Other publications

A. Wing and W. Harwin, "Rehabilitation engineering" Restoring Neurological Function: putting the neurosciences to work in neurorehabilitation Academy of Medical Sciences (2004)published url: http://www.acmedsci.ac.uk/p\_neurofunc.pdf

F. Weber, B. Driessen, G. Bolmsjo, S. Lauria and W. Harwin, "State of the Art on Manipulators" Mobile robotics in healthcare IOS Press, Amsterdam (2001)

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 (2001)

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 (2001)

B. Driessen, G. Bolmsjo, W. Harwin and F. Weber, "Manipulator control architectures" Mobile robotics in healthcare IOS Press, Amsterdam (2001)

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 (1999)

Rui Loureiro, Farshid Amirabdollahian and William Harwin, "Lecture Notes in Control and Information Sciences Part VI Robot-Assisted Neurorehabilitation" Springer Berlin / Heidelberg (2006) doi: 10.1007/10946978_22

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 (1998)

T. Rahman, W.S. Harwin and R. Foulds, "Electronic Aids and Robotics" Atlas of orthoses and assistive devices Mosby (1996)

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. (1986)

List of Publications

Journal publications

Conference publications

Other publications