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Jayasinghe, U., Janko, B., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2023) Classification of static postures with wearable sensors mounted on loose clothing. Scientific Reports, 13 (1). 131. ISSN 2045-2322 doi: https://doi.org/10.1038/s41598-022-27306-4

Jayasinghe, U., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2023) Inertial measurement data from loose clothing worn on the lower body during everyday activities. Scientific Data, 10 (1). 709. ISSN 2052-4463 doi: https://doi.org/10.1038/s41597-023-02567-4

Wairagkar, M., Villeneuve, E., King, R., Janko, B., Burnett, M., Agarwal, V., Kunkel, D., Ashburn, A., Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445, Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2022) A novel approach for modelling and classifying sit-to-stand kinematics using inertial sensors. PLoS ONE, 17 (10). e0264126. ISSN 1932-6203 doi: https://doi.org/10.1371/journal.pone.0264126

Jayasinghe, U., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2022) Comparing loose clothing-mounted sensors with body-mounted sensors in the analysis of walking. Sensors, 22 (17). 6605. ISSN 1424-8220 doi: https://doi.org/10.3390/s22176605

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Webb, M., Tracey, M., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Tokatli, O., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869, Johnson, R., Barrett, N. ORCID: https://orcid.org/0000-0001-9123-1100 and Jones, C. ORCID: https://orcid.org/0000-0001-7537-1509 (2022) Haptic-enabled collaborative learning in virtual reality for schools. Education and Information Technologies, 27. pp. 937-960. ISSN 1573-7608 doi: https://doi.org/10.1007/s10639-021-10639-4

Saracbasi, O. O., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Kondo, T. and Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322 (2021) Mutual skill learning and adaptability to others via haptic interaction. Frontiers in Neurorobotics, 15. 760132. ISSN 1662-5218 doi: https://doi.org/10.3389/fnbot.2021.760132

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Jayasinghe, U., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 (2019) Comparing clothing-mounted sensors with wearable sensors for movement analysis and activity classification. Sensors, 20 (1). 82. ISSN 1424-8220 doi: https://doi.org/10.3390/s20010082

Zoulias, I. D., Armengol, M., Poulton, A., Andrews, B., Gibbons, R., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 (2019) Novel instrumented frame for standing exercising of users with complete spinal cord injuries. Scientific Reports, 9 (1). 13003. ISSN 2045-2322 doi: https://doi.org/10.1038/s41598-019-49237-3

Stack, E., Agarwal, V., King, R., Burnett, M., Tahavori, F., Janko, B., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Ashburn, A. and 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://doi.org/10.1016/j.gaitpost.2018.03.047

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Arora, H., Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445, Janko, B. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (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://doi.org/10.1049/joe.2017.0303

King, R. C., Villeneuve, E., White, R. J., Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445, Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2017) Application of data fusion techniques and technologies for wearable health monitoring. Medical Engineering & Physics, 42. pp. 1-12. ISSN 1350-4533 doi: https://doi.org/10.1016/j.medengphy.2016.12.011

Villeneuve, E., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624, Janko, B. and Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445 (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://doi.org/10.1109/ACCESS.2016.2640559

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Villeneuve, E., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624, Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445 and 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://doi.org/10.1109/JSEN.2016.2582262

Ghamari, A., Janko, B., Sherratt, S. ORCID: https://orcid.org/0000-0001-7899-4445, Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Piechockic, R. and Soltanpur, C. (2016) A survey on wireless body area networks for eHealthcare systems in residential environments. Sensors, 16 (6). 831. ISSN 1424-8220 doi: https://doi.org/10.3390/s16060831

Barrow, A. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2016) Design and analysis of a haptic device design for large and fast movements. Machines, 4 (1). 8. ISSN 2075-1702 doi: https://doi.org/10.3390/machines4010008

Gómez-de-Gabriel, J. M. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2015) Evaluation of sensor configurations for robotic surgical instruments. Sensors, 15 (10). pp. 27341-27358. ISSN 1424-8220 doi: https://doi.org/10.3390/s151027341

Madgwick, S. O. H., Harrison, A. J. L., Sharkey, P. M., Vaidyanathan, R. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2013) Measuring motion with kinematically redundant accelerometer arrays: theory, simulation and implementation. Mechatronics, 23 (5). pp. 518-529. ISSN 0957-4158 doi: https://doi.org/10.1016/j.mechatronics.2013.04.003

Loureiro, R., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Lamperd, R. and 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://doi.org/10.1109/TNSRE.2013.2265263

Okamura,, A. M., Basdogan,, C., Baillie,, S. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2011) Haptics in medicine and clinical skill acquisition. IEEE Transactions on Haptics, 4 (3). pp. 153-154. ISSN 1939-1412

Murgia, A., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Prakoonwit, S. and 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://doi.org/10.1016/j.medengphy.2011.02.002

Loureiro, R. C. V., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381, Nagai, K. and 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://doi.org/10.1007/s11517-011-0797-0 (special issue 'Trends in rehabilitation robotics')

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381, Murgia, A. and Stokes, E. K. (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://doi.org/10.1007/s11517-011-0799-y (special issue, 'Trends in Rehabilitation Robotics')

Janko, B., Turner, C. P., Cave-Ayland, K. S., Pittuck, M. K., Madgwick, S. O. H. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (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://doi.org/10.1504/IJIDSS.2011.037808

Tse, B., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381, Barrow, A., Quinn, B., San Diego, J. and 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://doi.org/10.1007/978-3-642-14075-4_15

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Coote, S., Murphy, B., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and 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://doi.org/10.1177/0269215507085060

Amirabdollahian, F., Loureiro, R., Gradwell, E., Collin, C., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Johnson, G. (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://doi.org/10.1186/1743-0003-4-4

Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381, Patton, J.L. and Edgerton, V.R. (2006) Challenges and opportunities for robot-mediated neurorehabilitation. Proceedings of the IEEE, 94 (9). pp. 1717-1726. ISSN 0018-9219 doi: https://doi.org/10.1109/jproc.2006.880671

Hong, X. ORCID: https://orcid.org/0000-0002-6832-2298 and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (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://doi.org/10.1504/IJMIC.2006.012620

Harris, M., Kyberd, P. J. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (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://doi.org/10.1191/0142331205tm139oa

Loureiro, R., Amirabdollahian, F. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (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, V. M., Cage, C. N. J., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Sharkey, P. M. (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://doi.org/10.1109/MCS.2004.1337867

Manto, M., Topping, M., Soede, M., Sanchez-Lacuesta, J., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Pons, J., Williams, J., Skaarup, S. and Normie, L. (2003) Dynamically responsive intervention for tremor suppression. IEEE Engineering in Medicine and Biology Magazine, 22 (3). pp. 120-132. ISSN 0739-5175

Amirabdollahian, F., Gradwell, E., Loureiro, R., Colin, C. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (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.

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Norman, D. ORCID: https://orcid.org/0000-0001-7041-9972, Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 (2022) A distributed approach to haptic simulation. In: Pacheco-Gutierrez, S., Cryer, A., Caliskanelli, I., Tugal, H. and Skilton, R. (eds.) Annual Conference Towards Autonomous Robotic Systems. Lecture Notes in Computer Science, 13546. Springer, Cham, pp. 3-13. ISBN 9783031159077 doi: https://doi.org/10.1007/978-3-031-15908-4_1

Swaidani, L., Steele, L. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2018) Motor shaft vibrations may have a negative effect on ability to implement a stiff haptic wall. In: Haptics: Science, Technology, and Applications. Lecture Notes in Computer Science, 10894. Springer, pp. 252-263. ISBN 9783319933986 doi: https://doi.org/10.1007/978-3-319-93399-3_23

Webb, M., Tracey, M., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Tokatli, O., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869, Johnson, R., Barrett, N. ORCID: https://orcid.org/0000-0001-9123-1100 and Jones, C. ORCID: https://orcid.org/0000-0001-7537-1509 (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

Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322, Nagai, K., Ito, K., Nasuto, S. J., Loureiro, R. C. V. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2013) Analysis of EEG signal to detect motor command generation towards stroke rehabilitation. In: Pons, J. L., Torricelli, D. and Pajaro, M. (eds.) Converging Clinical and Engineering Research on Neurorehabilitation. Biosystems and Biorobotics (1). Springer, pp. 569-573. ISBN 9783642345456 doi: https://doi.org/10.1007/978-3-642-34546-3_92 (Proceedings of ICNR 2012, the International Conference on NeuroRehabilitation)

Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Barrow, A. (2013) Multi-finger grasps in a dynamic environment. In: Multi-finger grasps in a dynamic environment. Springer Series on Touch and Haptic Systems. Springer, pp. 5-30. ISBN 9781447152033

Ikegami, Y., Nagai, K., Loureiro, R.C.V. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance. In: 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://doi.org/10.1109/ICORR.2009.5209474

Barrow, A. L. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2008) High bandwidth, large workspace haptic interaction: flying phantoms. In: Weisenberger, J., Okamura, A. and MacLean, K. (eds.) Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008, Proceedings. IEEE Computer Soc, Los Alamitos, pp. 295-302. ISBN 9781424420056

Loureiro, R. C. V. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2007) Reach & grasp therapy: Design and control of a 9-DOF robotic neuro-rehabilitation system. In: 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

Loureiro, R.C.V., Johnson, M.J. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2006) Collaborative tele-rehabilitation: A strategy for increasing engagement. In: 2006 1st IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Vols 1-3. IEEE, New York, pp. 596-601. ISBN 9781424400393

Fortunov, D. I., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869 and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2006) Midpoint perturbation response in haptically-guided movements. In: 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://doi.org/10.1109/IEMBS.2006.260610

Kondaxakis, P., Ruiz, V. F. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2006) Suboptimal system recovery from communication loss in a multi-robot localization scenario using EKF algorithms. In: Tokhi, M. O., Virk, G. S. and Hossain, M. A. (eds.) Climbing and Walking Robots (8th International Conference on Climbing and Walking Robots (CLAWAR 2005)). Springer-Verlag Berlin, pp. 649-658. ISBN 3540264132

Melder, N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2005) Force shading and bump mapping using the friction cone algorithm. In: 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 0769523102

McKnight, S., Melder, N., Barrow, A. L., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Wann, J. P. (2005) Perceptual cues for orientation in a two finger haptic grasp task. In: 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 0769523102

Loureiro, R. C. V., Belda-Lois, J. M., Lima, E. R., Pons, J. L., Sanchez-Lacuesta, J. J. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2005) Upper limb tremor suppression in ADL via an orthosis incorporating a controllable double viscous beam actuator. In: 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

Melder, N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2004) Extending the friction cone algorithm for arbitrary polygon based haptic objects. In: 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Proceedings. Ieee Computer Soc, Los Alamitos, pp. 234-241. ISBN 0769521126

Süssemilch, I. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1999) Design of an active arm support for assisting arm movements. In: Tzafestas, S. G. and Schmidt, G. (eds.) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences (243). Springer, pp. 435-444. ISBN 9781852331238 doi: https://doi.org/10.1007/BFb0110528

Prokopiou, P. A., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Tzafestas, S. G. (1999) Enhancement of a telemanipulator design with a human arm model. In: Tzafestas, S. G. and Schmidt, G. (eds.) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences, 243 (243). Springer, Berlin/London, pp. 445-456. ISBN 9781852331238 doi: https://doi.org/10.1007/BFb0110528

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1997) Design and control of a compliant mobile arm support for assisting arm movements. In: Anogianakis, G., Buhler, C. and Soede, M. (eds.) Advancement of Assistive Technology. Assistive Technology Research , 32. IOS Press, Inc., pp. 320-325. ISBN 9789051993615

Salganicoff, M., Rahman, T., Mahoney, R., Pino, D., Jayachandran, V., Kumar, V., Chen, S. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1995) Head-controlled assistive telerobot with extended physiological proprioception capability. In: Salganicoff, M. (ed.) Telemanipulator and telepresence technologies II. Proceedings of SPIE (2590). SPIE, pp. 108-119. ISBN 9780819419545 doi: https://doi.org/10.1117/12.227935

Salganicoff, M., Jayachandran, V., Pine, D., Rahman, T., Mahoney, R., Chen, S., Kumar, V., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Gonzalez, J.G. (1995) A virtual head-stick rehabilitation robot system. In: 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century. IEEE, pp. 2413-2418. ISBN 0780325591 doi: https://doi.org/10.1109/ICSMC.1995.538143

Report

Wing, A. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, (2004) Putting the revolution in neurosciences to work in neororehabilitation. Academy of Medical Sciences: Report of the Working party on neurorehabilitation 2004. UNSPECIFIED doi: 1903401070

Wing, A. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, (2003) Putting the revolution in neurosciences to work in neurorehabilitation, Academy of Medical Sciences. Report of the Working Party on Neurorehabilitation 2003. UNSPECIFIED

Conference or Workshop Item

Webb, M., Tracey, M., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Tokatli, O., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869, Johnson, R., Barrett, N. ORCID: https://orcid.org/0000-0001-9123-1100 and Jones, C. ORCID: https://orcid.org/0000-0001-7537-1509 (2019) Design considerations for haptic-enabled virtual reality simulation for interactive learning of nanoscale science in schools. In: 5th International Conference on Immersive Leaning, 23-27 Jun 2019, London, UK, pp. 56-67.

Sarwar, W., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Janko, B. and Bell, G. (2019) Multi-compliance printing techniques for the fabrication of customisable hand exoskeletons. In: IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 24-28 Jun 2019, Toronto, Canada, pp. 488-493. doi: https://doi.org/10.1109/ICORR.2019.8779371

Webb, M., Tracey, M., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Tokatli, O., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869, Barrett, N. ORCID: https://orcid.org/0000-0001-9123-1100, Jones, C. ORCID: https://orcid.org/0000-0001-7537-1509 and Johnson, R. (2019) An investigation of the impact of haptics for promoting understanding of difficult concepts in cell biology. In: IFIP TC3 Open Conference on Computers in Education, 24-28 Jun 2018, Linz, Austria, pp. 197-206.

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2018) Modelling the air-gap field strength of electric machines to improve performance of haptic mechanisms. In: EuroHaptics 2018: Haptics: Science, Technology, and Applications, 13-17 June, Pisa, Italy, pp. 94-105.

Tokatli, O., Tracey, M., Hwang, F. ORCID: https://orcid.org/0000-0002-3243-3869, Barrett, N. ORCID: https://orcid.org/0000-0001-9123-1100, Jones, C. ORCID: https://orcid.org/0000-0001-7537-1509, Johnson, R., Webb, M. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2018) A classroom deployment of a haptic system for learning cell biology. In: Eurohaptics 2018, 13-16 Jun 2018, Pisa, Italy. (Published in Lecture Notes in Computer Science, volumes 10893 and 10894)

Tahavori, F., Stack, E., Agarwal, V., Burnett, M., Ashburn, A., Hoseinitabatabaei, S. A. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2017) Physical activity recognition of elderly people and people with parkinson's (PwP) during standard mobility tests using wearable sensors. In: 2017 International Smart Cities Conference (ISC2), 14-17 Sep 2017, Wuxi, China. doi: https://doi.org/10.1109/ISC2.2017.8090858 (ISBN 9781538625248)

Arora, H., Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445, Janko, B. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2017) Analysis of recovery effect in supercapacitors for wearable devices. In: IEEE International Conference on Consumer Electronics, 8-10 Jan 2017, Las Vegas, USA. doi: https://doi.org/10.1109/ICCE.2017.7889322

Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445, Janko, B., Hui, T., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Diaz-Sanchez, D. (2017) Dictionary memory based software architecture for distributed bluetooth low energy host controllers enabling high coverage in consumer residential healthcare environments. In: IEEE International Conference on Consumer Electronics, 8-10 Jan 2017, Las Vegas, USA. doi: https://doi.org/10.1109/ICCE.2017.7889373

Goto, T., Dobashi, H., Yoshikawa, T., Loureiro, R. C. V., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381, Miyamura, Y. and Nagai, K. (2017) Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance. In: London, UK, 17-20 July 2017, 2017 International Conference on Rehabilitation Robotics (ICORR), pp. 646-651. doi: https://doi.org/10.1109/ICORR.2017.8009321

Zoulias, I., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322 and Nasuto, S. (2016) Milliseconds matter: temporal order of visuo-tactile stimulation affects the ownership of a virtual hand. In: Eurohaptics 2016, 4-7 July, London, pp. 479-489.

Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2016) A control structure for bilateral telemanipulation. In: TAROS 2016, 2016, Sheffield, pp. 139-145. doi: https://doi.org/10.1007/978-3-319-40379-3_14

Oguntosin, V., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381, Kawamura, S., Nasuto, S. J. and Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322 (2015) Development of a wearable assistive soft robotic device for elbow rehabilitation. In: The 2015 ICORR 11th International Conference on Rehabilitation Robotics, 11-14 Aug 2015, Singapore, pp. 747-752.

Nagai, K., Goto, T., Shimizu, T., Dobashi, H., Ito, K., Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322, Loureiro, R. C. V., Nasuto, S. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2015) Feasibility study on EEG driven robotic system to realize efficient stroke rehabilitation. In: ICORR 2015: 11th International Conference on Rehabilitation Robotics, 11-14 August 2015, Singapore, pp. 199-204. doi: https://doi.org/10.1109/ICORR.2015.7281199

Jarman, R., Janko, B. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2015) Current over-stressing small DC motors to evaluate performance limits of electromechanical actuators for haptic applications. In: IEEE World Haptics Conference, 22-26 Jun 2015, pp. 171-176. doi: https://doi.org/10.1109/WHC.2015.7177709

Tse, B., Barrow, A., Quinn, B. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2015) A smoothed particle hydrodynamics algorithm for haptic rendering of dental filling materials. In: IEEE World Haptics Conference, 22-26 Jun 2015, Chicago, pp. 321-326. doi: https://doi.org/10.1109/WHC.2015.7177732

Ghamari, A., Arora, H., Sherratt, R. S. ORCID: https://orcid.org/0000-0001-7899-4445 and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2015) Comparison of low-power wireless communication technologies for wearable health-monitoring applications. In: 2015 International Conference on Computer, Communications, and Control Technology (I4CT), 21-23 April 2015, Imperial Kuching Hotel, Kuching, Sarawak, Malaysia, pp. 1-6. doi: https://doi.org/10.1109/I4CT.2015.7219525

Zoulias, I., Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322, Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Nasuto, S. (2015) Low-cost HMD and EEG: using visual stimulation by the Oculus Rift® to detect stronger ERDs induced by motion imagery. In: 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 25-29 August 2015, Milan, Italy. (Unpublished)

Ghamari, M., Janko, B., Sherratt, S. ORCID: https://orcid.org/0000-0001-7899-4445 and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2014) Energy-efficient hybrid system for Wireless Body Area Network Applications. In: The 15th Annual PostGraduate Symposium on the Convergence of Telecommunications, Networking and Broadcasting,, 23-24 June 2014., Liverpool, UK,.

Nagai, K., Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322, Ito, K., Loureiro, R., Nasuto, S. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2013) Proposal of a floating mechanism based on magnetic levitation method toward EEG-driven robotic system. In: Proceedings of Robotics Symposia (2013).

Hayashi, Y. ORCID: https://orcid.org/0000-0002-9207-6322, Nagai, K., Ito, K., Nasuto, S. J., Loureiro, R. C. V. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2012) A feasible study of EEG-driven assistive robotic system for stroke rehabilitation. In: 4th Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), 24-27 Jun 2012, Rome, Italy, pp. 1733-1739. doi: https://doi.org/10.1109/BioRob.2012.6290919

Loureiro, R.C.V., Valentine, D., Lamperd, B., Collin, C. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2010) Gaming and social interactions in the rehabilitation of brain injuries: a pilot study. In: Cambridge Workshop on Universal Access and Assistive Technology, 22 - 25 March 2010, Fitzwilliam College, University of Cambridge , pp. 219-228. doi: https://doi.org/10.1007/978-1-84996-166-0

Smith, T.A., Loureiro, R.C.V. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) 3D path planning with novel multiple 2D layered approach for complex human-robot interaction. In: IEEE International Symposium on Computational Intelligence in Robotics and Automation, Daejeon, South Korea. doi: https://doi.org/10.1109/CIRA.2009.5423238

Madgwick, S.O.H. , Turner, C.P. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Adaptation of an commercially available stabilised R/C helicopter to a fully autonomous surveillance UAV. In: 24th Bristol international unmanned air vehicle systems (UAVS) conference, Bristol, UK.

Nagai, K., Shiigi, Y. , Ikegami, Y., Loureiro, R. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Impedance control of redundant drive joints with double actuation. In: IEEE International Conference on Robotics and Automation, 2009 (ICRA '09), Kobe, Japan. doi: https://doi.org/10.1109/ROBOT.2009.5152472

Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Impedance mismatch: some differences between the way humans and robots control interaction forces. In: IEEE International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan. doi: https://doi.org/10.1109/ICORR.2009.5209464

Loureiro, R.C.V., Lamperd, B., Collin, C. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Reach and grasp therapy: effects of the Gentle/G System assessing sub-acute stroke whole-arm rehabilitation. In: IEEE International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan. doi: https://doi.org/10.1109/ICORR.2009.5209509

Reynolds, P.A. , Newton, T., Cox, M.J., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Elson, B., Woolford, M., Dunne, S., Hindmarsh, J., Robinson, B., Millar, B., Barrow, A. and Tse, B. (2008) Methods to teach and evaluate dental clinical skills using Haptics. In: International Association for Dental Research conference (IADR), Toronto, Canada.

Nagai, K., Ikegami, Y., Loureiro, R. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2008) Proposal of an admittance enhanced redundant joint mechanism to improve backdrivability. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008), Xian, China. doi: https://doi.org/10.1109/AIM.2008.4601712

Amirabdollahian, F., Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 and Loureiro, R.C.V. (2007) Analysis of the Fugl-Meyer outcome measures assessing the effectiveness of robot-mediated stroke therapy. In: IEEE 10th International Conference on Rehabilitation Robotics (ICORR 2007), Noordwijk, The Netherlands. doi: https://doi.org/10.1109/ICORR.2007.4428506

Nagai, K., Kojima, Y., Yonemoto, T., Okubo, T., Loureiro, R.C.V. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2007) Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb. In: IEEE 10th International Conference on Rehabilitation Robotics (ICORR 2007), Noordwijk, The Netherlands. doi: https://doi.org/10.1109/ICORR.2007.4428564

Smith, T.A., Barrow, A.L., Barrow, R.G. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2007) A novel haptic interface for navigation in large volume environments. In: 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Tsukuba, Japan. doi: https://doi.org/10.1109/WHC.2007.10

Loureiro, R.C.V., Nagai, K., Campos, F. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2005) Manageable Machine-Mediated Therapy Systems for Quantitative and Repeatable Neuro-Rehabilitation. In: Proceedings of the IEEE SMC UK-RI Chapter Conference 2005 on Applied Cybernetics, London, UK.

McKnight, S., Melder, N., Barrow, A. L., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Wann, J. P. (2004) Psychophysical size discrimination using multi-fingered haptic interfaces. In: EuroHaptics, 5-7 June 2004, Munich.

Melder, N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2004) Algorithms for Multi-Finger Manipulation of Arbitrary Polygon Based Haptic Objects, Haptic Interfaces for Virtual Environment and Teleoperator Systems. In: 12th Annual Symposium, Chicago.

Grujic Supuk, T. , Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Zanchi, V. (2004) Calculating positions of the finger joints centres of rotations in flexion-extension movements from reflective markers. In: 2nd International Symposium on Measurement, Analysis and Modeling of Human Functions & 1st Mediterranean Conference on Measurement, Genova, Italy.

Kondaxakis, P., Ruiz, V. F. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2004) Compensation of Observability Problem in a Multi-Robot Localization Scenario using CEKF. In: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 1762-1767.

Loureiro, R., Colin, C. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2004) Robot Aided Therapy: Challenges Ahead for Upper Limb Stroke Rehabilitation. In: Proceedings of 5th International Conference on Disability, Virtual Reality and Associated Technologies, New College, Oxford.

Melder, N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2003) Improved rendering for multi-finger manipulation using friction cone based god-objects. In: Eurohaptics 2003, 2003, pp. 82-85.

Hawkins, P., Smith, J., Alcock, S., Topping, M., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Loureiro, R., Amirabdollahian, F., Brooker, J. P., Coote, S., Stokes, E., Johnson, G., Mak, P., Collin, C. and Driessen, B. (2002) GENTLE/S project: design and ergonomics of a stroke rehabilitation system. In: 1st Cambridge Workshop on Universal Access and Assistive Technology: CWUAAT '02, 25-27 Mar 2002, Cambridge, UK.

Amirabdollahian, F., Loureiro, R. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2002) Minimum jerk trajectory control for rehabilitation and haptic applications. In: IEEE International Conference on Robotics and Automation (ICRA 2002), 11-15 May 2002, Washington DC, USA, pp. 3380-3385. doi: https://doi.org/10.1109/ROBOT.2002.1014233

Amirabdollahian, F., Loureiro, R. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2002) A case study on the effects of a haptic interface on human arm movements with implications for rehabilitation robotics. In: 1st Cambridge Workshop on Universal Access and Assistive Technology: CWUAAT '02, 25-27 Mar 2002, Cambridge, UK.

Werry, I., Dautenhahn, K. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) Evaluating the response of children with autism to a robot. In: Rehabilitation Engineering and Assistive Technology Society of North America (RESNA'01), 22-26 Jun 2001, Reno, NV, pp. 14-16.

Wall, S. A. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) Design of a multiple contact point haptic interface. In: EuroHaptics 2001, 1-4 Jul 2001, Birmingham, UK, pp. 146-148.

Amirabdollahian, F., Loureiro, R., Drieseen, B. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) Error correction movement for machine assisted stroke rehabilitation. In: 7th International Conference on Rehabilitation Robotics: ICORR 2001, 25-27 Apr 2001, Evry, France.

Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Loureiro, R., Amirabdollahian, F., Taylor, M., Stokes, E., Coote, S., Topping, M., Collin, C., Tamparis, S., Kontoulis, J., Munih, M., Hawkins, P. and Drieseen, B. (2001) The GENTLE/S project: a new method of delivering neuro-rehabilitation. In: 5th European Conference for the Advancement of Assistive Technology: added value to the quality of life (AAATE '01), 3-6 Sep 2001, Ljubljana, Slovenia, pp. 36-41.

Werry, I., Dautenhahn, K. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) Investigating a robot as a therapy partner for children with autism. In: 5th European Conference for the Advancement of Assistive Technology: added value to the quality of life (AAATE '01), 3-6 Sep 2001, Ljubljana, Slovenia, pp. 374-378.

Loureiro, R., Amirabdollahian, F., Coote, S., Stokes, E. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) Using haptics technology to deliver motivational therapies in stroke patients: concepts and initial pilot studies. In: EuroHaptics 2001, 1-4 Jul 2001, Birmingham, UK, pp. 1-6.

Loureiro, R., Amirabdollahian, F., Driessen, B. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2001) A novel method for computing natural path for robot assisted movements in synthetic worlds. In: 5th European Conference for the Advancement of Assistive Technology: added value to the quality of life (AAATE '01), 3-6 Sep 2001, Ljubljana, Slovenia, pp. 262-267.

Werry, I., Dautenhahn, K. and Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 (2000) Challenges in rehabilitation robotics: a mobile robot as a teaching tool for children with autism. In: International Workshop on Recent Advances in Mobile Robots, 29 Jun 2000, Leicester, UK.

Wall, S. A. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2000) Effect of physical bandwidth on perception of virtual gratings. In: ASME IMECE 2000 Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 5-10 Nov 2000, Orlando, Florida, pp. 1033-1039.

Wall, S. A. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2000) Quantification of the effects of haptic feedback during motor skills tasks in a simulated environment. In: PURS 2000: 2nd PHANToM Users Research Symposium, 2000, Zurich, Switzerland, pp. 61-69.

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Wall, S. A. (1999) Mechatronic design of a high frequency probe for haptic interaction. In: The 6th International Conference on Mechatronics and Machine Vision in Practice, 1999, Middle Eastern Technical University, Ankara, Turkey, pp. 111-118.

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Wall, S. A. (1999) Modelling human dynamics in-situ for rehabilitation and therapy robots. In: The 6th International Conference On Rehabilitation Robotics, Stanford, California, USA, pp. 170-176.

Wall, S. S. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1999) Modelling of surface identifying characteristics using Fourier series. In: The Winter Annual Meeting of ASMEDSC - ASME Dynamic Systems and Control Division, 1999, pp. 65-71.

Cooper, M., Keating, D. A., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Dautenhahn, K. (1999) Robots in the classroom: tools for accessible education. In: AAATE Conference, The 5th European Conference for the Advancement of Assistive Technology, 1999, Dusseldorf, Germany. (Unpublished)

Foster, G.T., Wenn, D.E.N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1998) Generating virtual environments to allow increased access to the built environment. In: The 2nd European Conference Disability, Virtual Reality & Associated Technologies, 1998, Skövde, Sweden, pp. 1-9.

Jayachandran, V., Rahman, T., Salganicoff, M., Heredia, E. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (1997) Calibration of closed loop controllers for setting impedances in force-reflecting systems. In: ASME Dynamic Systems and Control Division Conference 1996, 17-22 Nov 1996, Atlanta, GA, USA. (Unpublished)

Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Rahman, T. (1996) Analysis of force-reflecting telerobotic systems for rehabilitation applications. In: ECDVRAT 1996: 1st European Conference on Disability, Virtual Reality and Associated Technologies, 8-10 Jul 1996, Maidenhead, UK, pp. 171-178.

Book

Mitchell, R., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381, Cadenas Medina, O., Guy, C., Gong, A., Potter, B. and Warwick, K., eds. (2012) Cybernetics, Circuits and Computing. Pearson, Harlow, pp499. ISBN 9781780160672

Mitchell, R., Browne, W., Harwin, W. ORCID: https://orcid.org/0000-0002-3928-3381 and Warwick, K. (2008) Cybernetics and its application. Pearson , Harlow. ISBN 9781847764287