A robot workstation for use in education of the physically handicapped. - William S. Harwin; Athula Ginige; Robert D. Jackson (IEEE Trans. Biomed. Eng., 1988)

An interactive robot workstation for applications in rehabilitation. - Raymond G. Gosine; William S. Harwin; Robin D. Jackson (IROS, 1990)

An Inexpensive Pneumatic Manipulator for Rehabilitation Robotics. - Mohamed Ouerfelli; Vijay Kumar 001; William S. Harwin (ICRA (1), 1993)

The Application of Discrete-Thme Adaptive Impedance Control to Rehabilitation Robot Manipulators. - Shoupu Chen; William S. Harwin; Tariq Rahman (ICRA, 1994)

IROS special session on "Service robots for the disabled and elderly". A technique for robotic assisted transfer for people with motor difficulties. - Roberto Khatchadourian; Tariq Rahman; William S. Harwin (IROS, 1994)

The Enhancement of Interaction for People with Severe Speech and Physical Impairment through the Computer Recognition of Gesture and Manipulation. - David M. Roy; Marilyn Panayi; Richard A. Foulds; Roman Erenshteyn; William S. Harwin; Robert Fawcus (Presence Teleoperators Virtual Environ., 1994)

Rapid Design and Prototyping of Customized Rehabilitation Aids. - Vijay Kumar 001; Ruzena Bajcsy; William S. Harwin; Patrick Harker (Commun. ACM, 1996)

A comparison of rehabilitation robotics languages and software. - William S. Harwin; Ray G. Gosine; Zunaid Kazi; David S. Lees; John L. Dallaway (Robotica, 1997)

Generating Virtual Environments to Allow Increased Access to the Built Environment. - Grant T. Foster; Darren E. N. Wenn; William S. Harwin; Fergal O'Hart (Int. J. Virtual Real., 1998)

A Virtual Headstick for People with Spinal Cord Injuries. - Shoupu Chen; Tariq Rahman; Richard A. Foulds; Edwin A. Heredia; William S. Harwin (Robotica, 1998)

Clinical potential and design of programmable mechanical impedances for orthotic applications. - William S. Harwin; Lee O. Leiber; Gregory P. G. Austwick; Chryssa Dislis (Robotica, 1998)

A Novel Scheme for Human-Friendly and Time-Delays Robust Neuropredictive Teleoperation. - Platon A. Prokopiou; Spyros G. Tzafestas; William S. Harwin (J. Intell. Robotic Syst., 1999)

Kinematic modeling of head-neck movements. - Mohamed Ouerfelli; Vijay Kumar 001; William S. Harwin (IEEE Trans. Syst. Man Cybern. Part A, 1999)

Interaction of Visual and Haptic Information in Simulated Environments: Texture Perception. - Steven A. Wall; William S. Harwin (Haptic Human-Computer Interaction, 2000)

Can Social Interaction Skills Be Taught by a Social Agent? The Role of a Robotic Mediator in Autism Therapy. - Iain Werry; Kerstin Dautenhahn; Bernard Ogden; William S. Harwin (Cognitive Technology, 2001)

Minimum Jerk Trajectory Control for Rehabilitation and Haptic Applications. - Farshid Amirabdollahian; Rui C. V. Loureiro; William S. Harwin (ICRA, 2002)

Upper Limb Robot Mediated Stroke Therapy - GENTLE/s Approach. - Rui C. V. Loureiro; Farshid Amirabdollahian; Michael Topping; Bart Driessen; William S. Harwin (Auton. Robots, 2003)

Introduction. - William S. Harwin; Michael Hillman (Robotica, 2003)

A Haptic Interface for Linked Immersive and Desktop Displays: Maintaining Sufficient Frame Rate for Haptic Rendering. - Marcel Seelig; William S. Harwin; David J. Roberts 001; Oliver Otto; Robin Wolff (PDCS, 2004)

Extending the Friction Cone Algorithm for Arbitrary Polygon Based Haptic Objects. - N. Melder; William S. Harwin (HAPTICS, 2004)

Compensation of observability problem in a multi-robot localization scenario using CEKF. - Polychronis Kondaxakis; Virginie F. Ruiz; William S. Harwin (IROS, 2004)

Suboptimal System Recovery from Communication Loss in a Multi-robot Localization Scenario using EKF Algorithms. - Polychronis Kondaxakis; Virginie F. Ruiz; William S. Harwin (CLAWAR, 2005)

Perceptual Cues for Orientation in a Two Finger Haptic Grasp Task. - S. McKnight; N. Melder; A. L. Barrow; William S. Harwin; J. P. Wann (WHC, 2005)

Force Shading and Bump Mapping Using the Friction Cone Algorithm. - N. Melder; William S. Harwin (WHC, 2005)

Midpoint Perturbation Response in Haptically-Guided Movements. - Daniel I. Fortunov; Faustina Hwang; William S. Harwin (EMBC, 2006)

Finding the point on Bezier curves with the normal vector passing an external point. - Xia Hong 001; William S. Harwin (Int. J. Model. Identif. Control., 2006)

Challenges and Opportunities for Robot-Mediated Neurorehabilitation. - William S. Harwin; James L. Patton; V. Reggie Edgerton (Proc. IEEE, 2006)

A Novel Haptic Interface for Navigation in Large Volume Environments. - Thomas A. Smith 001; A. L. Barrow; R. G. Barrow; William S. Harwin (WHC, 2007)

High Bandwidth, Large Workspace Haptic Interaction: Flying Phantoms. - A. L. Barrow; William S. Harwin (HAPTICS, 2008)

PHANTOM prototype: exploring the potential for learning with multimodal features in dentistry. - Jonathan Padilla San Diego; Alastair Barrow; Margaret J. Cox; William S. Harwin (ICMI, 2008)

Collaborative tele-rehabilitation and robot-mediated therapy for stroke rehabilitation at home or clinic. - Michelle J. Johnson; Rui C. V. Loureiro; William S. Harwin (Intell. Serv. Robotics, 2008)

3D path planning with novel multiple 2D layered approach for complex human-robot interaction. - Thomas A. Smith 001; Rui C. V. Loureiro; William S. Harwin (CIRA, 2009)

Impedance control of redundant drive joints with double actuation. - Kiyoshi Nagai; Yasuto Shiigi; Yosuke Ikegami; Rui C. V. Loureiro; William S. Harwin (ICRA, 2009)

Design and Development of a Haptic Dental Training System - hapTEL. - Brian Tse; William S. Harwin; Alastair Barrow; Barry F. A. Quinn; Jonathan Padilla San Diego; Margaret J. Cox (EuroHaptics (2), 2010)

Design of Redundant Drive Joints with Double Actuation using springs in the second actuator to avoid excessive active torques. - Kiyoshi Nagai; Yuichiro Dake; Yasuto Shiigi; Rui C. V. Loureiro; William S. Harwin (ICRA, 2010)

A multiple robot solution for urban reconnaissance. - Balazs Janko; Chris P. Turner; Kim S. Cave-Ayland; Martyn K. Pittuck; Sebastian O. H. Madgwick; William S. Harwin (Int. J. Intell. Def. Support Syst., 2011)

Assessing the effectiveness of robot facilitated neurorehabilitation for relearning motor skills following a stroke. - William S. Harwin; Alessio Murgia; Emma K. Stokes (Medical Biol. Eng. Comput., 2011)

Advances in upper limb stroke rehabilitation: a technology push. - Rui C. V. Loureiro; William S. Harwin; Kiyoshi Nagai; Michelle J. Johnson (Medical Biol. Eng. Comput., 2011)

Haptics in Medicine and Clinical Skill Acquisition. - Allison M. Okamura; Cagatay Basdogan; Sarah Baillie; William S. Harwin (IEEE Trans. Haptics, 2011)

Multi-finger Grasps in a Dynamic Environment. - William S. Harwin; Alastair Barrow (Multi-finger Haptic Interaction, 2013)

Estimation of Contact Forces in a Backdrivable Linkage for Cognitive Robot Research. - Richard Thomas; William S. Harwin (TAROS, 2013)

Current over-stressing small DC motors to evaluate performance limits of electromechanical actuators for haptic applications. - Rebecca Jarman; Balazs Janko; William S. Harwin (World Haptics, 2015)

A smoothed particle hydrodynamics algorithm for haptic rendering of dental filling materials. - Brian Tse; Alastair Barrow; Barry F. A. Quinn; William S. Harwin (World Haptics, 2015)

Investigating Eating Behaviours Using Topic Models. - Ruth White; William S. Harwin; William Holderbaum; Laura Johnson (ICMLA, 2015)

Evaluation of Sensor Configurations for Robotic Surgical Instruments. - Jesús M. Gómez de Gabriel; William S. Harwin (Sensors, 2015)

Milliseconds Matter: Temporal Order of Visuo-tactile Stimulation Affects the Ownership of a Virtual Hand. - Ioannis Dimitrios Zoulias; William Seymour Harwin; Yoshikatsu Hayashi; Slawomir Jaroslaw Nasuto (EuroHaptics (2), 2016)

A Human Activity Recognition Framework for Healthcare Applications: Ontology, Labelling Strategies, and Best Practice. - Przemyslaw Woznowski; Rachel King; William S. Harwin; Ian Craddock (IoTBD, 2016)

A Control Structure for Bilateral Telemanipulation. - William S. Harwin (TAROS, 2016)

A Survey on Wireless Body Area Networks for eHealthcare Systems in Residential Environments. - Mohammad Ghamari; Balazs Janko; R. Simon Sherratt; William S. Harwin; Robert J. Piechocki; Cinna Soltanpur (Sensors, 2016)

Analysis of recovery effect in supercapacitors for wearable devices. - Harneet Arora; R. Simon Sherratt; Balazs Janko; William S. Harwin (ICCE, 2017)

Dictionary memory based software architecture for distributed Bluetooth Low Energy host controllers enabling high coverage in consumer residential healthcare environments. - R. Simon Sherratt; Balazs Janko; Terence K. L. Hui; William S. Harwin; Daniel Díaz Sánchez (ICCE, 2017)

Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance. - Takaaki Goto; Hiroki Dobashi; Tsuneo Yoshikawa; Rui C. V. Loureiro; William S. Harwin; Yuga Miyamura; Kiyoshi Nagai (ICORR, 2017)

Reconstruction of Angular Kinematics From Wrist-Worn Inertial Sensor Data for Smart Home Healthcare. - Emma Villeneuve; William S. Harwin; William Holderbaum; Balazs Janko; R. Simon Sherratt (IEEE Access, 2017)

Modelling the Air-Gap Field Strength of Electric Machines to Improve Performance of Haptic Mechanisms. - William S. Harwin (EuroHaptics (2), 2018)

Motor Shaft Vibrations May Have a Negative Effect on Ability to Implement a Stiff Haptic Wall. - Louis Swaidani; Luke Steele; William S. Harwin (EuroHaptics (2), 2018)

A Classroom Deployment of a Haptic System for Learning Cell Biology. - Ozan Tokatli; Megan Tracey; Faustina Hwang; Natasha Barrett; Chris Jones 003; Ros Johnson; Mary Webb; William S. Harwin (EuroHaptics (2), 2018)

An Investigation of the Impact of Haptics for Promoting Understanding of Difficult Concepts in Cell Biology. - Mary Webb; Megan Tracey; William S. Harwin; Ozan Tokatli; Faustina Hwang; Natasha Barrett; Chris Jones 003; Ros Johnson (OCCE, 2018)

Detailed Examination of a Packet Collision Model for Bluetooth Low Energy Advertising Mode. - Mohammad Ghamari; Emma Villeneuve; Cinna Soltanpur; Javad Khangosstar; Balazs Janko; R. Simon Sherratt; William S. Harwin (IEEE Access, 2018)

Multi-Compliance Printing Techniques for the Fabrication of Customisable Hand Exoskeletons. - Waseem Sarwar; William S. Harwin; Balazs Janko; Geoffrey Bell (ICORR, 2019)

Design Considerations for Haptic-Enabled Virtual Reality Simulation for Interactive Learning of Nanoscale Science in Schools. - Mary Webb; Megan Tracey; William S. Harwin; Ozan Tokatli; Faustina Hwang; Ros Johnson; Natasha Barrett; Chris Jones 003 (iLRN, 2019)

Comparing Clothing-Mounted Sensors with Wearable Sensors for Movement Analysis and Activity Classification. - Udeni Jayasinghe; William S. Harwin; Faustina Hwang (Sensors, 2020)

A novel approach for modelling and classifying sit-to-stand kinematics using inertial sensors. - Maitreyee Wairagkar; Emma Villeneuve; Rachel King; Balazs Janko; Malcolm Burnett; Ann Ashburn; Veena Agarwal; R. Simon Sherratt; William Holderbaum; William S. Harwin (CoRR, 2021)

Mutual Skill Learning and Adaptability to Others via Haptic Interaction. - Ozge Ozlem Saracbasi; William S. Harwin; Toshiyuki Kondo; Yoshikatsu Hayashi (Frontiers Neurorobotics, 2021)

Generalized and Efficient Skill Assessment from IMU Data with Applications in Gymnastics and Medical Training. - Aftab Khan 001; Sebastian Mellor; Rachel King; Balazs Janko; William S. Harwin; R. Simon Sherratt; Ian Craddock; Thomas Plötz (ACM Trans. Comput. Heal., 2021)

A Distributed Approach to Haptic Simulation. - Dan Norman; William S. Harwin; Faustina Hwang (TAROS, 2022)

Haptic-enabled collaborative learning in virtual reality for schools. - Mary Webb; Megan Tracey; William S. Harwin; Ozan Tokatli; Faustina Hwang; Ros Johnson; Natasha Barrett; Chris Jones 003 (Educ. Inf. Technol., 2022)

Comparing Loose Clothing-Mounted Sensors with Body-Mounted Sensors in the Analysis of Walking. - Udeni Jayasinghe; Faustina Hwang; William S. Harwin (Sensors, 2022)

Motion Range and Control of an Escort-Type Upper Limb Rehabilitation Robot for Assisting Reaching Motion. - Kiyoshi Nagai; Muhammad Syahmi Tuan; Hariz Akmal; Fumiaki Amano; Yanming Zhou; Rui C. V. Loureiro; William S. Harwin (ICORR, 2025)