William Harwin
-
+44 (0) 118 378 6792
-
Professor of Interactive & Human Systems
Areas of interest
Professor Harwin is interested in understanding the mathematics and engineering of interacting systems. His general research interests are in haptic interactions, rehabilitation robotics, wearable sensors and dynamic models of animals and cells. Specific interests include haptics in skills training and education, design and stability of exoskeletons, wearable sensors for long term analysis of health, reach and grasps in humans, and mechanodynamics in cells.Postgraduate supervision
Study for a PhD with Professor William Harwin
- The Biomechanics of Cell Structures
Publications
-
Jayasinghe, U.
,
Janko, B.
,
Hwang, F.
ORCID: 0000-0002-3243-3869
,
Harwin, W.
ORCID: 0000-0002-3928-3381
(2023)
Classification of static postures with wearable sensors mounted on loose clothing.
Scientific Reports
, 13
(1).
ISSN:
2045-2322
|
doi:
https://dx.doi.org/10.1038/s41598-022-27306-4
-
Norman, D.
ORCID: 0000-0001-7041-9972
,
Harwin, W.
ORCID: 0000-0002-3928-3381
,
Hwang, F.
ORCID: 0000-0002-3243-3869
(2022)
A distributed approach to haptic simulation.
In:
Pacheco-Gutierrez, S.
,
Cryer, A.
,
Caliskanelli, I.
,
Tugal, H.
,
Skilton, R.
, (eds.)
Towards Autonomous Robotic Systems.
Lecture Notes in Computer Science
, 13546.
Springer
, Cham.
pp.
3-13.
ISSN:
0302-9743
ISBN:
9783031159077
|
doi:
https://dx.doi.org/10.1007/978-3-031-15908-4_1
-
Jayasinghe, U.
,
Hwang, F.
ORCID: 0000-0002-3243-3869
,
Harwin, W.
ORCID: 0000-0002-3928-3381
(2022)
Comparing loose clothing-mounted sensors with body-mounted sensors in the analysis of walking.
Sensors
, 22
(17).
ISSN:
1424-8220
|
doi:
https://dx.doi.org/10.3390/s22176605
-
Armengol, M.
ORCID: 0000-0003-4306-6213
,
Zoulias, I.
,
Gibbons, R.
,
McCarthy, I.
,
Andrews, B.
,
Harwin, W.
,
Holderbaum, W.
(2022)
The effect of functional electrical stimulation-assisted posture-shifting in bone mineral density: case series-pilot study.
Spinal cord series and cases
, 8
(1).
pp
1.
ISSN:
2058-6124
|
doi:
https://dx.doi.org/10.1038/s41394-022-00523-9
-
Wairagkar, M.
,
Villeneuve, E.
,
King, R.
,
Janko, B.
,
Burnett, M.
,
Agarwal, V.
,
Kunkel, D.
,
Ashburn, A.
,
Sherratt, R.
ORCID: 0000-0001-7899-4445
,
Holderbaum, W.
,
Harwin, W.
(2022)
A novel approach for modelling and classifying sit-to-stand kinematics using inertial sensors.
PLoS ONE
, 17
(10).
ISSN:
1932-6203
|
doi:
https://dx.doi.org/10.1371/journal.pone.0264126
- Saracbasi, O. , Harwin, W. , Kondo, T. , Hayashi, Y. (2021) Mutual skill learning and adaptability to others via haptic interaction. Frontiers in Neurorobotics , 15 ISSN: 1662-5218 | doi: https://dx.doi.org/10.3389/fnbot.2021.760132
-
Webb, M.
,
Tracey, M.
,
Harwin, W.
,
Tokatli, O.
,
Hwang, F.
ORCID: 0000-0002-3243-3869
,
Johnson, R.
,
Barrett, N.
ORCID: 0000-0001-9123-1100
,
Jones, C.
ORCID: 0000-0001-7537-1509
(2021)
Haptic-enabled collaborative learning in virtual reality for schools.
Education and Information Technologies
ISSN:
1573-7608
|
doi:
https://dx.doi.org/10.1007/s10639-021-10639-4
- Butcher, G. , Harwin, W. , Jones, C. (2021) An efficient alpha helix model and simulation framework for stationary electrostatic interaction force estimation. Scientific Reports , 11 (1). ISSN: 2045-2322 | doi: https://dx.doi.org/10.1038/s41598-021-88369-3
-
Khan, A.
,
Mellor, S.
,
King, R.
,
Janko, B.
,
Harwin, W.
,
Sherratt, R.
ORCID: 0000-0001-7899-4445
,
Craddock, I.
,
Plotz, T.
(2020)
Generalized and efficient skill assessment from IMU data with applications in gymnastics and medical training.
ACM Transactions on Computing for Healthcare
, 2
(1).
pp.
1-21.
ISSN:
2691-1957
|
doi:
https://dx.doi.org/10.1145/3422168
- Sarwar, W. , Harwin, W. , Janko, B. , Bell, G. (2019) Multi-compliance printing techniques for the fabrication of customisable hand exoskeletons. pp. 488-493. | doi: https://dx.doi.org/10.1109/ICORR.2019.8779371
- Jayasinghe, U. , Harwin, W. , Hwang, F. (2019) Comparing clothing-mounted sensors with wearable sensors for movement analysis and activity classification. Sensors , 20 (1). pp 0. ISSN: 1424-8220 | doi: https://dx.doi.org/10.3390/s20010082
- Webb, M. , Tracey, M. , Harwin, W. , Tokatli, O. , Hwang, F. , Barrett, N. , Jones, C. , Johnson, R. , eds. (2019) An investigation of the impact of haptics for promoting understanding of difficult concepts in cell biology. In: Passey, D. , Bottino, R. , Lewin, C. , Sanchez, E. , (eds.) pp. 197-206.
- Webb, M. , Tracey, M. , Harwin, W. , Tokatli, O. , Hwang, F. , Johnson, R. , Barrett, N. , Jones, C. (2019) Design considerations for haptic-enabled virtual reality simulation for interactive learning of nanoscale science in schools. pp. 56-67.
- Zoulias, I. , Armengol, M. , Poulton, A. , Andrews, B. , Gibbons, R. , Harwin, W. , Holderbaum, W. (2019) Novel instrumented frame for standing exercising of users with complete spinal cord injuries. Scientific Reports , 9 (1). ISSN: 2045-2322 | doi: https://dx.doi.org/10.1038/s41598-019-49237-3
- Sherratt, S. , Janko, B. , Hui, T. , Harwin, W. , Dey, N. , Díaz-Sánchez, D. , Wang, J. , Shi, F. (2019) Task scheduling to constrain peak current consumption in wearable healthcare sensors. Electronics , 8 (7). ISSN: 2079-9292 | doi: https://dx.doi.org/10.3390/electronics8070789 (Special Issue: Low-power Wearable Healthcare Sensors)
- Swaidani, L. , Steele, L. , Harwin, W. (2018) Motor shaft vibrations may have a negative effect on ability to implement a stiff haptic wall. Haptics: Science, Technology, and Applications. Lecture Notes in Computer Science , 10894. Springer pp. 252-263. ISBN: 9783319933986 | doi: https://dx.doi.org/10.1007/978-3-319-93399-3_23
- Ghamari, M. , Villeneuve, E. , Soltanpur, C. , Khangosstar, J. , Janko, B. , Sherratt, R. , Harwin, W. (2018) Detailed examination of a packet collision model for Bluetooth Low Energy advertising mode. IEEE Access , 6 pp. 46066-46073. ISSN: 2169-3536 | doi: https://dx.doi.org/10.1109/ACCESS.2018.2866323
- Harwin, W. (2018) Modelling the air-gap field strength of electric machines to improve performance of haptic mechanisms. pp. 94-105.
- Tokatli, O. , Tracey, M. , Hwang, F. , Barrett, N. , Jones, C. , Johnson, R. , Webb, M. , Harwin, W. (2018) A classroom deployment of a haptic system for learning cell biology. (Published in Lecture Notes in Computer Science, volumes 10893 and 10894)
- Stack, E. , Agarwal, V. , King, R. , Burnett, M. , Tahavori, F. , Janko, B. , Harwin, W. , Ashburn, A. , Kunkel, D. (2018) Identifying balance impairments in people with Parkinson's disease using video and wearable sensors. Gait & posture , 62 pp. 321-326. ISSN: 1879-2219 | doi: https://dx.doi.org/10.1016/j.gaitpost.2018.03.047
- Goto, T. , Dobashi, H. , Yoshikawa, T. , Loureiro, R. , Harwin, W. , Miyamura, Y. , Nagai, K. (2017) Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance. pp. 646-651. | doi: https://dx.doi.org/10.1109/ICORR.2017.8009321
- Tahavori, F. , Stack, E. , Agarwal, V. , Burnett, M. , Ashburn, A. , Hoseinitabatabaei, S. , Harwin, W. (2017) Physical activity recognition of elderly people and people with parkinson's (PwP) during standard mobility tests using wearable sensors. | doi: https://dx.doi.org/10.1109/ISC2.2017.8090858 (ISBN 9781538625248)
- Arora, H. , Sherratt, R. , Janko, B. , Harwin, W. (2017) Experimental validation of the recovery effect in batteries for wearable sensors and healthcare devices discovering the existence of hidden time constants. The Journal of Engineering , 2017 (10). pp. 548-556. ISSN: 2051-3305 | doi: https://dx.doi.org/10.1049/joe.2017.0303
- Webb, M. , Tracey, M. , Harwin, W. , Tokatli, O. , Hwang, F. , Johnson, R. , Barrett, N. , Jones, C. (2017) The potential for haptic-enabled interaction to support collaborative learning in school biology. In: Resta, P. and Smith, S. , (eds.) Proceedings of Society for Information Technology & Teacher Education International Conference 2017. Association for the Advancement of Computing in Education (AACE) , Chesapeake VA. pp. 927-935. ISBN: 9781939797278
- King, R. , Villeneuve, E. , White, R. , Sherratt, R. , Holderbaum, W. , Harwin, W. (2017) Application of data fusion techniques and technologies for wearable health monitoring. Medical Engineering & Physics , 42 pp. 1-12. ISSN: 1350-4533 | doi: https://dx.doi.org/10.1016/j.medengphy.2016.12.011
- Villeneuve, E. , Harwin, W. , Holderbaum, W. , Janko, B. , Sherratt, R. (2017) Reconstruction of angular kinematics from wrist-worn inertial sensor data for smart home healthcare. IEEE Access , 5 pp. 2351-2363. ISSN: 2169-3536 | doi: https://dx.doi.org/10.1109/ACCESS.2016.2640559
- Sherratt, R. , Janko, B. , Hui, T. , Harwin, W. , Diaz-Sanchez, D. (2017) Dictionary memory based software architecture for distributed bluetooth low energy host controllers enabling high coverage in consumer residential healthcare environments. | doi: https://dx.doi.org/10.1109/ICCE.2017.7889373
- Arora, H. , Sherratt, R. , Janko, B. , Harwin, W. (2017) Analysis of recovery effect in supercapacitors for wearable devices. | doi: https://dx.doi.org/10.1109/ICCE.2017.7889322
- Andrews, B. , Shippen, J. , Armengol, M. , Gibbons, R. , Holderbaum, W. , Harwin, W. (2016) A design method for FES bone health therapy in SCI. European journal of translational myology , 26 (4). pp. 297-300. ISSN: 2037-7452 | doi: https://dx.doi.org/10.4081/ejtm.2016.6419
- Zoulias, I. , Harwin, W. , Hayashi, Y. , Nasuto, S. (2016) Milliseconds matter: temporal order of visuo-tactile stimulation affects the ownership of a virtual hand. Springer International Publishing , Cham. pp. 479-489.
- Villeneuve, E. , Harwin, W. , Holderbaum, W. , Sherratt, R. , White, R. (2016) Signal quality and compactness of a dual-accelerometer system for gyro-free human motion analysis. IEEE Sensors Journal , 16 (16). pp. 6261-6269. ISSN: 1530-437X | doi: https://dx.doi.org/10.1109/JSEN.2016.2582262
- Ghamari, A. , Janko, B. , Sherratt, S. , Harwin, W. , Piechockic, R. , Soltanpur, C. (2016) A survey on wireless body area networks for eHealthcare systems in residential environments. Sensors , 16 (6). ISSN: 1424-8220 | doi: https://dx.doi.org/10.3390/s16060831
- Barrow, A. and Harwin, W. (2016) Design and analysis of a haptic device design for large and fast movements. Machines , 4 (1). ISSN: 2075-1702 | doi: https://dx.doi.org/10.3390/machines4010008
- Tse, B. , Barrow, A. , Quinn, B. , Harwin, W. (2015) A smoothed particle hydrodynamics algorithm for haptic rendering of dental filling materials. pp. 321-326. | doi: https://dx.doi.org/10.1109/WHC.2015.7177732
- Jarman, R. , Janko, B. , Harwin, W. (2015) Current over-stressing small DC motors to evaluate performance limits of electromechanical actuators for haptic applications. pp. 171-176. | doi: https://dx.doi.org/10.1109/WHC.2015.7177709
- Gómez-de-Gabriel, J. and Harwin, W. (2015) Evaluation of sensor configurations for robotic surgical instruments. Sensors , 15 (10). pp. 27341-27358. ISSN: 1424-8220 | doi: https://dx.doi.org/10.3390/s151027341
- Ghamari, A. , Arora, H. , Sherratt, R. , Harwin, W. (2015) Comparison of low-power wireless communication technologies for wearable health-monitoring applications. pp. 1-6. | doi: https://dx.doi.org/10.1109/I4CT.2015.7219525
- Nagai, K. , Goto, T. , Shimizu, T. , Dobashi, H. , Ito, K. , Hayashi, Y. , Loureiro, R. , Nasuto, S. , Harwin, W. (2015) Feasibility study on EEG driven robotic system to realize efficient stroke rehabilitation. pp. 199-204. | doi: https://dx.doi.org/10.1109/ICORR.2015.7281199
- Zoulias, I. , Hayashi, Y. , Harwin, W. , Nasuto, S. (2015) Low-cost HMD and EEG: using visual stimulation by the Oculus Rift® to detect stronger ERDs induced by motion imagery.
- Oguntosin, V. , Harwin, W. , Kawamura, S. , Nasuto, S. , Hayashi, Y. (2015) Development of a wearable assistive soft robotic device for elbow rehabilitation. pp. 747-752.
- Harwin, W. and Barrow, A. (2013) Multi-finger grasps in a dynamic environment. Springer Series on Touch and Haptic Systems Springer pp. 5-30. ISBN: 9781447152033
- Nagai, K. , Hayashi, Y. , Ito, K. , Loureiro, R. , Nasuto, S. , Harwin, W. (2013) Proposal of a floating mechanism based on magnetic levitation method toward EEG-driven robotic system.
- Loureiro, R. , Harwin, W. , Lamperd, R. , Collin, C. (2013) Evaluation of reach and grasp robot-assisted therapy suggests similar functional recovery patterns on proximal and distal arm segments in sub-acute hemiplegia. IEEE Transactions on Neural Systems and Rehabilitation Engineering , 22 (3). pp. 593-602. ISSN: 1534-4320 | doi: https://dx.doi.org/10.1109/TNSRE.2013.2265263
- Madgwick, S. , Harrison, A. , Sharkey, P. , Vaidyanathan, R. , Harwin, W. (2013) Measuring motion with kinematically redundant accelerometer arrays: theory, simulation and implementation. Mechatronics , 23 (5). pp. 518-529. ISSN: 0957-4158 | doi: https://dx.doi.org/10.1016/j.mechatronics.2013.04.003
- Hayashi, Y. , Nagai, K. , Ito, K. , Nasuto, S. , Loureiro, R. , Harwin, W. (2013) Analysis of EEG signal to detect motor command generation towards stroke rehabilitation. In: Pons, J. , Torricelli, D. , Pajaro, M. , (eds.) Converging Clinical and Engineering Research on Neurorehabilitation. Biosystems and Biorobotics Springer (1). pp. 569-573. ISBN: 9783642345456 | doi: https://dx.doi.org/10.1007/978-3-642-34546-3_92 (Proceedings of ICNR 2012, the International Conference on NeuroRehabilitation)
- Hayashi, Y. , Nagai, K. , Ito, K. , Nasuto, S. , Loureiro, R. , Harwin, W. (2012) A feasible study of EEG-driven assistive robotic system for stroke rehabilitation. IEEE pp. 1733-1739. | doi: https://dx.doi.org/10.1109/BioRob.2012.6290919
- Mitchell, R. , Harwin, W. , Cadenas Medina, O. , Guy, C. , Gong, A. , Potter, B. , Warwick, K. , eds. (2012) Cybernetics, Circuits and Computing. Pearson , Harlow. pp 499. ISBN: 9781780160672
- Okamura,, A. , Basdogan,, C. , Baillie,, S. , Harwin, W. (2011) Haptics in medicine and clinical skill acquisition. IEEE Transactions on Haptics , 4 (3). pp. 153-154. ISSN: 1939-1412
- Murgia, A. , Harwin, W. , Prakoonwit, S. , Brownlow, H. (2011) 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 , 33 (6). pp. 793-797. ISSN: 1350-4533 | doi: https://dx.doi.org/10.1016/j.medengphy.2011.02.002
- Harwin, W. , Murgia, A. , Stokes, E. (2011) Assessing the effectiveness of robot facilitated neurorehabilitation for relearning motor skills following a stroke. Medical and Biological Engineering and Computing , 49 (10). pp. 1093-1102. ISSN: 1741-0444 | doi: https://dx.doi.org/10.1007/s11517-011-0799-y (special issue, 'Trends in Rehabilitation Robotics')
- Loureiro, R. , Harwin, W. , Nagai, K. , Johnson, M. (2011) Advances in upper limb stroke rehabilitation: a technology push. Medical and Biological Engineering and Computing , 49 (10). pp. 1103-1118. ISSN: 1741-0444 | doi: https://dx.doi.org/10.1007/s11517-011-0797-0 (special issue 'Trends in rehabilitation robotics')
- Janko, B. , Turner, C. , Cave-Ayland, K. , Pittuck, M. , Madgwick, S. , Harwin, W. (2011) A multiple robot solution for urban reconnaissance. International Journal of Intelligent Defence Support Systems , 4 (1). pp. 70-86. ISSN: 1755-1595 | doi: https://dx.doi.org/10.1504/IJIDSS.2011.037808
- Tse, B. , Harwin, W. , Barrow, A. , Quinn, B. , San Diego, J. , Cox, M. (2010) Design and development of a haptic dental training system - hapTEL. Lecture Notes in Computer Science , 6192/2010 pp. 101-108. ISSN: 0302-9743 | doi: https://dx.doi.org/10.1007/978-3-642-14075-4_15
- Loureiro, R. , Valentine, D. , Lamperd, B. , Collin, C. , Harwin, W. (2010) Gaming and social interactions in the rehabilitation of brain injuries: a pilot study. Springer, London pp. 219-228. | doi: DOI:10.1007/978-1-84996-166-0
- Browne, . , Kawamura, . , Krichmar, . , Harwin, . , Wagatsuma, . (2009) Cognitive robotics: new insights into robot and human intelligence by reverse engineering brain functions. Robotics and Automation Magazine IEEE , 16 (3). pp. 17-18. ISSN: 1070-9932 | doi: https://dx.doi.org/10.1109/MRA.2009.933617
- Smith, . , Loureiro, . , Harwin, . (2009) 3D path planning with novel multiple 2D layered approach for complex human-robot interaction. IEEE | doi: https://dx.doi.org/10.1109/CIRA.2009.5423238
- Nagai, . , Shiigi, . , Ikegami, . , Loureiro, . , Harwin, . (2009) Impedance control of redundant drive joints with double actuation. IEEE | doi: https://dx.doi.org/10.1109/ROBOT.2009.5152472
- Madgwick, . , Turner, . , Harwin, . (2009) Adaptation of an commercially available stabilised R/C helicopter to a fully autonomous surveillance UAV.
- Loureiro, . , Lamperd, . , Collin, . , Harwin, . (2009) Reach and grasp therapy: effects of the Gentle/G System assessing sub-acute stroke whole-arm rehabilitation. IEEE | doi: https://dx.doi.org/10.1109/ICORR.2009.5209509
- Harwin, . (2009) Impedance mismatch: some differences between the way humans and robots control interaction forces. IEEE | doi: https://dx.doi.org/10.1109/ICORR.2009.5209464
- Ikegami, . , Nagai, . , Loureiro, . , Harwin, . (2009) Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance. 2009 IEEE 11th international conference on rehabilitation robotics. International conference on rehabilitation robotics ICORR , 1 & 2. IEEE , New York. pp. 234-242. ISBN: 9781424437887 | doi: https://dx.doi.org/10.1109/ICORR.2009.5209474
- Coote, S. , Murphy, B. , Harwin, W. , Stokes, E. (2008) The effect of the GENTLE/s robot-mediated therapy system on arm function after stroke. Clinical Rehabilitation , 22 (5). pp. 395-405. ISSN: 0269-2155 | doi: https://dx.doi.org/10.1177/0269215507085060
- Reynolds, . , Newton, . , Cox, . , Harwin, . , Elson, . , Woolford, . , Dunne, . , Hindmarsh, . , Robinson, . , Millar, . , Barrow, . , Tse, . (2008) Methods to teach and evaluate dental clinical skills using Haptics .
- Nagai, . , Ikegami, . , Loureiro, . , Harwin, . (2008) Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability. IEEE | doi: https://dx.doi.org/10.1109/AIM.2008.4601712
- Barrow, . and Harwin, . (2008) High bandwidth, large workspace haptic interaction: flying phantoms. In: Weisenberger, . , Okamura, . , MacLean, . , (eds.) Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008, Proceedings. IEEE Computer Soc , Los Alamitos. pp. 295-302. ISBN: 9781424420056
- Mitchell, . , Browne, . , Harwin, . , Warwick, . (2008) Cybernetics and its application. Pearson , Harlow. ISBN: 9781847764287
- Amirabdollahian, . , Loureiro, . , Gradwell, . , Collin, . , Harwin, . , Johnson, . (2007) Multivariate analysis of the Fugl-Meyer outcome measures assessing the effectiveness of GENTLE/S robot-mediated stroke therapy. Journal of Neuroengineering and Rehabilitation , 4 (4). ISSN: 1743-0003 | doi: https://dx.doi.org/10.1186/1743-0003-4-4
- Smith, . , Barrow, . , Barrow, . , Harwin, . (2007) A novel haptic interface for navigation in large volume environments. IEEE | doi: https://dx.doi.org/10.1109/WHC.2007.10
- Nagai, . , Kojima, . , Yonemoto, . , Okubo, . , Loureiro, . , Harwin, . (2007) Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb. IEEE | doi: https://dx.doi.org/10.1109/ICORR.2007.4428564
- Amirabdollahian, . , Harwin, . , Loureiro, . (2007) Analysis of the Fugl-Meyer outcome measures assessing the effectiveness of robot-mediated stroke therapy. IEEE | doi: https://dx.doi.org/10.1109/ICORR.2007.4428506
- Loureiro, . and Harwin, . (2007) Reach & grasp therapy: Design and control of a 9-DOF robotic neuro-rehabilitation system. 2007 IEEE 10th International Conference on Rehabilitation Robotics, Vols 1 and 2. International Conference on Rehabilitation Robotics ICORR IEEE , New York. pp. 757-763. ISBN: 9781424413195
- Hong, . and Harwin, . (2006) Finding the point on Bezier Curves with the normal vector passing an external point. International Journal of Modelling Identification and Control , 1 (4). | doi: https://dx.doi.org/10.1504/IJMIC.2006.012620
- Harwin, . , Patton, . , Edgerton, . (2006) Challenges and opportunities for robot-mediated neurorehabilitation. Proceedings of the IEEE , 94 (9). pp. 1717-1726. ISSN: 0018-9219 | doi: https://dx.doi.org/10.1109/jproc.2006.880671
- Loureiro, . , Johnson, . , Harwin, . (2006) Collaborative tele-rehabilitation: A strategy for increasing engagement. 2006 1st IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Vols 1-3. IEEE , New York. pp. 596-601. ISBN: 9781424400393
- Kondaxakis, . , Ruiz, . , Harwin, . (2006) Suboptimal system recovery from communication loss in a multi-robot localization scenario using EKF algorithms. In: Tokhi, . , Virk, . , Hossain, . , (eds.) Climbing and Walking Robots (8th International Conference on Climbing and Walking Robots (CLAWAR 2005)). Springer-Verlag Berlin pp. 649-658. ISBN: 3540264132
- Fortunov, . , Hwang, . , Harwin, . (2006) Midpoint perturbation response in haptically-guided movements. 2006 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-15. IEEE , New York. pp. 5571-5574. ISBN: 9781424400324 | doi: https://dx.doi.org/10.1109/IEMBS.2006.260610
- Harris, . , Kyberd, . , Harwin, . (2005) Design and development of a dextrous manipulator. Transactions of the Institute of Measurement and Control , 27 (2). pp. 137-152. ISSN: 1477-0369 | doi: https://dx.doi.org/10.1191/0142331205tm139oa
- Loureiro, . , Nagai, . , Campos, . , Harwin, . (2005) Manageable Machine-Mediated Therapy Systems for Quantitative and Repeatable Neuro-Rehabilitation.
- Melder, . and Harwin, . (2005) Force shading and bump mapping using the friction cone algorithm. World Haptics Conference: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virutual Environment and Teleoperator Systems, Proceedings. Ieee Computer Soc , Los Alamitos. pp. 573-575. ISBN: 769523102
- McKnight, . , Melder, . , Barrow, . , Harwin, . , Wann, . (2005) Perceptual cues for orientation in a two finger haptic grasp task. World Haptics Conference: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virutual Environment and Teleoperator Systems, Proceedings. Ieee Computer Soc , Los Alamitos. pp. 549-550. ISBN: 769523102
- Loureiro, . , Belda-Lois, . , Lima, . , Pons, . , Sanchez-Lacuesta, . , Harwin, . (2005) Upper limb tremor suppression in ADL via an orthosis incorporating a controllable double viscous beam actuator. 2005 Ieee 9th International Conference on Rehabilitation Robotics. International Conference on Rehabilitation Robotics ICORR Ieee , New York. pp. 119-122. ISBN: 1945-7898 0-7803-9003-2
- McKnight, S. , Melder, N. , Barrow, A. , Harwin, W. , Wann, J. (2004) Psychophysical size discrimination using multi-fingered haptic interfaces.
- Wing, . and Harwin, . (2004) Putting the revolution in neurosciences to work in neororehabilitation. | doi: 1903401070
- Loureiro, . , Amirabdollahian, . , Harwin, . (2004) A Gentle/S approach to robot assisted neuro-rehabilitation. Lecture Notes in Control and Information Sciences , 306 pp. 347-363. ISSN: 0170-8643
- Becerra, . , Cage, . , Harwin, . , Sharkey, . (2004) Hardware retrofit and computed torque control of a PUMA 560 robot. IEEE Control Systems Magazine , 24 (5). pp. 78-82. ISSN: 0272-1708 | doi: https://dx.doi.org/10.1109/MCS.2004.1337867
- Melder, . and Harwin, . (2004) Algorithms for Multi-Finger Manipulation of Arbitrary Polygon Based Haptic Objects, Haptic Interfaces for Virtual Environment and Teleoperator Systems.
- Loureiro, . , Colin, . , Harwin, . (2004) Robot Aided Therapy: Challenges Ahead for Upper Limb Stroke Rehabilitation.
- Kondaxakis, P. , Ruiz, V. , Harwin, W. (2004) Compensation of Observability Problem in a Multi-Robot Localization Scenario using CEKF. pp. 1762-1767.
- Grujic Supuk, . , Harwin, . , Zanchi, . (2004) Calculating positions of the finger joints centres of rotations in flexion-extension movements from reflective markers.
- Melder, . and Harwin, . (2004) Extending the friction cone algorithm for arbitrary polygon based haptic objects. 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Proceedings. Ieee Computer Soc , Los Alamitos. pp. 234-241. ISBN: 769521126
- Melder, N. and Harwin, W. (2003) Improved rendering for multi-finger manipulation using friction cone based god-objects. pp. 82-85.
- Wing, . and Harwin, . (2003) Putting the revolution in neurosciences to work in neurorehabilitation, Academy of Medical Sciences.
- Sharkey, . , Becerra, . , Browne, . , Grimbleby, J. , Guy, . , Harwin, . , Linfoot, . , Nasuto, . , Ruiz, . , Sherratt, R. , Shirsavar, . (2003) On Serving Members in Embargoed Countries - A Response to Dr Adler. IEEE Spectrum pp. 8.
- Melder, . , Harwin, . , Sharkey, . (2003) Translation and rotation of multi-point contacted virtual objects. Proceedings of Eurohaptics Conference pp. 218-227.
- Manto, . , Topping, . , Soede, . , Sanchez-Lacuesta, . , Harwin, . , Pons, . , Williams, . , Skaarup, . , Normie, . (2003) Dynamically responsive intervention for tremor suppression. IEEE Engineering in Medicine and Biology Magazine , 22 (3). pp. 120-132. ISSN: 0739-5175
- Loureiro, . , Harwin, . , Normie, . (2003) 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.
- Loureiro, . , Harwin, . , Normie, . (2003) An Investigation on the Properties of Magneto Rheological Fluids for Assisting Upper Limb Movement Disorders on ADL. Proceedings of 8th International Conference on Rehabilitation Robotics pp. 211-214.
- Loureiro, . , Amirabdollahian, . , Topping, . , Driessen, . , Harwin, . (2003) Upper limb robot mediated stroke therapy - GENTLE/s approach. Autonomous Robots , 15 (1). pp. 35-51. ISSN: 0929-5593
- Harwin, . and Hillman, . (2003) Special issue on robot mediated neuro-motor therapy - Introduction. Robotica , 21 pp. 1-1. ISSN: 0263-5747 | doi: https://dx.doi.org/10.1017/s0263574702004575
- Coote, . , Stokes, . , Murphy, . , Harwin, . (2003) The effect of GENTLE/s robot mediated therapy on upper extremity function post stroke. Proceedings International Conference on Rehabilitation Robotics (ICORR 2003) pp. 59-61.
- Amirabdollahian, . , Gradwell, . , Loureiro, . , Colin, . , Harwin, . (2003) 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 the 8th International Conference on Rehabilitation Robotics (ICORR 2003) pp. 55-58.
- Hawkins, P. , Smith, J. , Alcock, S. , Topping, M. , Harwin, W. , Loureiro, R. , Amirabdollahian, F. , Brooker, J. , Coote, S. , Stokes, E. , Johnson, G. , Mak, P. , Collin, C. , Driessen, B. (2002) GENTLE/S project: design and ergonomics of a stroke rehabilitation system.
- Amirabdollahian, F. , Loureiro, R. , Harwin, W. (2002) A case study on the effects of a haptic interface on human arm movements with implications for rehabilitation robotics.
- Amirabdollahian, F. , Loureiro, R. , Harwin, W. (2002) Minimum jerk trajectory control for rehabilitation and haptic applications. pp. 3380-3385. | doi: https://dx.doi.org/10.1109/ROBOT.2002.1014233
- Harwin, W. , Loureiro, R. , Amirabdollahian, F. , Taylor, M. , Stokes, E. , Coote, S. , Topping, M. , Collin, C. , Tamparis, S. , Kontoulis, J. , Munih, M. , Hawkins, P. , Drieseen, B. (2001) The GENTLE/S project: a new method of delivering neuro-rehabilitation. pp. 36-41.
- Wall, S. and Harwin, W. (2001) Interaction of visual and haptic information in simulated environments: texture perception. Lecture Notes in Computer Science , 2058 pp. 108-117. ISSN: 0302-9743 | doi: https://dx.doi.org/10.1007/3-540-44589-7_12 (issue title 'Haptic human-computer interaction')
- Werry, I. , Dautenhahn, K. , Ogden, B. , Harwin, W. (2001) Can social interaction skills be taught by a social agent? The role of a robotic mediator in autism therapy. Lecture Notes in Computer Science , 2117 pp. 57-74. ISSN: 0302-9743 | doi: https://dx.doi.org/10.1007/3-540-44617-6_6 (issue titled 'Cognitive technology: instruments of mind')
- Wall, S. and Harwin, W. (2001) Design of a multiple contact point haptic interface. pp. 146-148.
- Loureiro, R. , Amirabdollahian, F. , Coote, S. , Stokes, E. , Harwin, W. (2001) Using haptics technology to deliver motivational therapies in stroke patients: concepts and initial pilot studies. pp. 1-6.
- Loureiro, R. , Amirabdollahian, F. , Driessen, B. , Harwin, W. , eds. (2001) A novel method for computing natural path for robot assisted movements in synthetic worlds. In: Marincek, C. , Buhler, C. , Knops, H. , Andrich, R. , (eds.) pp. 262-267.
- Amirabdollahian, F. , Loureiro, R. , Drieseen, B. , Harwin, W. (2001) Error correction movement for machine assisted stroke rehabilitation.
- Werry, I. , Dautenhahn, K. , Harwin, W. (2001) Evaluating the response of children with autism to a robot. pp. 14-16.
- Werry, I. , Dautenhahn, K. , Harwin, W. (2001) Investigating a robot as a therapy partner for children with autism. pp. 374-378.
- Werry, I. , Dautenhahn, K. , Harwin, W. (2000) Challenges in rehabilitation robotics: a mobile robot as a teaching tool for children with autism.
- Wall, S. and Harwin, W. (2000) Quantification of the effects of haptic feedback during motor skills tasks in a simulated environment. pp. 61-69.
- Wall, S. and Harwin, W. (2000) Effect of physical bandwidth on perception of virtual gratings. pp. 1033-1039.
- Ouerfelli, M. , Kumar, V. , Harwin, W. (2000) Methods for kinematic modeling of biological and robotic systems. Medical Engineering & Physics , 22 (7). pp. 509-520. ISSN: 1350-4533 | doi: https://dx.doi.org/10.1016/S1350-4533(00)00063-1
- Wall, S. and Harwin, W. (1999) Modelling of surface identifying characteristics using Fourier series. pp. 65-71.
- Harwin, W. (1999) Robots with a gentle touch: advances in assistive robotics and prosthetics. Technology and Health Care , 7 (6). pp. 411-417. ISSN: 1878-7401
- Harwin, W. and Wall, S. (1999) Modelling human dynamics in-situ for rehabilitation and therapy robots. pp. 170-176.
- Harwin, W. and Wall, S. (1999) Mechatronic design of a high frequency probe for haptic interaction. pp. 111-118.
- Süssemilch, I. and Harwin, W. (1999) Design of an active arm support for assisting arm movements. In: Tzafestas, S. and Schmidt, G. , (eds.) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences Springer (243). pp. 435-444. ISBN: 9781852331238 | doi: https://dx.doi.org/10.1007/BFb0110528
- Cooper, M. , Keating, D. , Harwin, W. , Dautenhahn, K. (1999) Robots in the classroom: tools for accessible education.
- Prokopiou, P. , Harwin, W. , Tzafestas, S. (1999) Enhancement of a telemanipulator design with a human arm model. In: Tzafestas, S. and Schmidt, G. , (eds.) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences , 243. Springer (243). , Berlin/London. pp. 445-456. ISBN: 9781852331238 | doi: https://dx.doi.org/10.1007/BFb0110528
- Ouerfelli, M. , Kumar, V. , Harwin, W. (1999) Kinematic modeling of head-neck movements. IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans , 29 (6). pp. 604-615. ISSN: 1083-4427 | doi: https://dx.doi.org/10.1109/3468.798064
- Prokopiou, P. , Tzafestas, S. , Harwin, W. (1999) A novel scheme for human-friendly and time-delays robust neuropredictive teleoperation. Journal of Intelligent and Robotic Systems , 25 (4). pp. 311-340. ISSN: 1573-0409 | doi: https://dx.doi.org/10.1023/A:1008126212102
- Foster, G. , Wenn, D. , Harwin, W. (1998) Generating virtual environments to allow increased access to the built environment. pp. 1-9.
- Harwin, W. , Leiber, L. , Austwick, G. , Dislis, C. (1998) Clinical potential and design of programmable mechanical impedances for orthotic applications. Robotica , 16 (5). pp. 523-530. ISSN: 0263-5747 | doi: https://dx.doi.org/10.1017/S026357479800068X
- Chen, S. , Rahman, T. , Foulds, R. , Heredia, E. , Harwin, W. (1998) A virtual headstick for people with spinal cord injuries. Robotica , 16 (5). pp. 499-507. ISSN: 0263-5747 | doi: https://dx.doi.org/10.1017/S0263574798000654
- Chen, S. , Rahman, T. , Harwin, W. (1998) Performance statistics of a head-operated force-reflecting rehabilitation robot system. IEEE Transactions on Rehabilitation Engineering , 6 (4). pp. 406-414. ISSN: 1063-6528 | doi: https://dx.doi.org/10.1109/86.736155
- Jayachandran, V. , Rahman, T. , Salganicoff, M. , Heredia, E. , Harwin, W. (1997) Calibration of closed loop controllers for setting impedances in force-reflecting systems.
- Harwin, W. (1997) Design and control of a compliant mobile arm support for assisting arm movements. In: Anogianakis, G. , Buhler, C. , Soede, M. , (eds.) Advancement of Assistive Technology. Assistive Technology Research , 32. IOS Press, Inc. pp. 320-325. ISBN: 9789051993615
- Harwin, W. and Rahman, T. (1996) Analysis of force-reflecting telerobotic systems for rehabilitation applications. pp. 171-178.
- Salganicoff, M. , Rahman, T. , Mahoney, R. , Pino, D. , Jayachandran, V. , Kumar, V. , Chen, S. , Harwin, W. (1995) Head-controlled assistive telerobot with extended physiological proprioception capability. In: Salganicoff, M. , (eds.) Telemanipulator and telepresence technologies II. Proceedings of SPIE SPIE (2590). pp. 108-119. ISBN: 9780819419545 | doi: https://dx.doi.org/10.1117/12.227935
- Salganicoff, M. , Jayachandran, V. , Pine, D. , Rahman, T. , Mahoney, R. , Chen, S. , Kumar, V. , Harwin, W. , Gonzalez, J. (1995) A virtual head-stick rehabilitation robot system. 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century. , 3. IEEE pp. 2413-2418. ISBN: 780325591 | doi: https://dx.doi.org/10.1109/ICSMC.1995.538143