William Harwin

University of Reading · School of Systems Engineering

Embedding sensors into clothing is promising as a way for people to wear multiple sensors easily, for applications such as long-term activity monitoring. To our knowledge, this is the first published dataset collected from sensors in loose clothing. 6 Inertial Measurement Units (IMUs) were configured as a ‘sensor string’ and attached to casual trou...

Inertial Measurement Units (IMUs) are a potential way to monitor the mobility of people outside clinical or laboratory settings at an acceptable cost. To increase accuracy, multiple IMUs can be used. By embedding multiple sensors into everyday clothing, it is possible to simplify having to put on individual sensors, ensuring sensors are correctly l...

Study design A training intervention study using standing dynamic load-shifting Functional Electrical Stimulation (FES) in a group of individuals with complete spinal cord injury (SCI) T2 to T10. Objectives Investigate the effect of FES-assisted dynamic load-shifting exercises on bone mineral density (BMD). Setting University Lab within the Biome...

Sit-to-stand transitions are an important part of activities of daily living and play a key role in functional mobility in humans. The sit-to-stand movement is often affected in older adults due to frailty and in patients with motor impairments such as Parkinson’s disease leading to falls. Studying kinematics of sit-to-stand transitions can provide...

A person’s walking pattern can reveal important information about their health. Mounting multiple sensors onto loose clothing potentially offers a comfortable way of collecting data about walking and other human movement. This research investigates how well the data from three sensors mounted on the lateral side of clothing (on a pair of trousers n...

The quality of the physical haptic interaction and the need to link the haptic device or devices to high quality computer simulations in a time critical way are two key problems in modern haptic rendering.Additionally, in large simulation environments, the need to update the dynamic state of every object is required, even if the objects are not inv...

This paper reports on a study which designed and developed a multi-fingered haptic interface in conjunction with a three-dimensional (3D) virtual model of a section of the cell membrane in order to enable students to work collaboratively to learn cell biology. Furthermore, the study investigated whether the addition of haptic feedback to the 3D vir...

When learning a new skill through an unknown environment, should we practice alone, or together with another beginner, or learn from the expert? It is normally helpful to have an expert guiding through unknown environmental dynamics. The guidance from the expert is fundamentally based on mutual interactions. From the perspective of the beginner, on...

Sit-to-stand transitions are an important part of activities of daily living and play a key role in functional mobility in humans. The sit-to-stand movement is often affected in older adults due to frailty and in patients with motor impairments such as Parkinson's disease leading to falls. Studying kinematics of sit-to-stand transitions can provide...

The alpha-helix coiled-coils within talin’s rod domain have mechanical and signalling functions through their unfolding and refolding dynamics. A better understanding of talin unfolding events and the forces that are involved should allow better prediction of talin signalling. To overcome the current limitations of force measuring in molecular dyna...

Human activity recognition is progressing from automatically determining what a person is doing and when, to additionally analyzing the quality of these activities—typically referred to as skill assessment. In this chapter, we propose a new framework for skill assessment that generalizes across application domains and can be deployed for near-real-...

This opening conference lecture discusses the potential of virtual reality and provides evidence based surgical examples for using haptically enabled simulators for training dental surgeons.

Presented at the opening of the Virtual Reality and Simulation in Healthcare Summit in London 24th January 2020 This presentation is an overview of the potential of VR and haptics in healthcare education

Inertial sensors are a useful instrument for long term monitoring in healthcare. In many cases, inertial sensor devices can be worn as an accessory or integrated into smart textiles. In some situations, it may be beneficial to have data from multiple inertial sensors, rather than relying on a single worn sensor, since this may increase the accuracy...

This paper describes a Functional Electrical Stimulation (FES) standing system for rehabilitation of bone mineral density (BMD) in people with Spinal Cord Injury (SCI). BMD recovery offers an increased quality of life for people with SCI by reducing their risk of fractures. The standing system developed comprises an instrumented frame equipped with...

Small embedded systems, in our case wearable healthcare devices, have significant engineering challenges to reduce their power consumption for longer battery life, while at the same time supporting ever-increasing processing requirements for more intelligent applications. Research has primarily focused on achieving lower power operation through har...

This paper reports on a study which investigated whether the addition of haptics (virtual touch) to a three-dimensional (3D) virtual reality (VR) simulation promotes learning of key concepts in biology for students aged 12 to 13 years. We developed a virtual model of a section of the cell membrane and a haptic-enabled interface that allows students...

This paper reports on a study which investigated whether the addition of haptics (virtual touch) to a 3D virtual reality (VR) simulation promotes understanding of key nanoscale concepts in membrane systems for students aged 12 to 13. We developed a virtual model of a section of the cell membrane and a haptic enabled interface that enables students...

To be successful, hand exoskeletons require customisable low encumbrance design with multi-compliant materials. This paper details the modification and testing of a fused filament fabrication printer to produce three categories of multi-compliant material that can be incorporated into the design of hand exoskeletons. Demonstration of the multi-comp...

The aim of this paper is to investigate the amount of energy that is required to successfully transmit information inside the Bluetooth Low Energy (BLE) advertising packets. There are applications that require more than one BLE node to simultaneously transmit data. The BLE protocol utilizes a specific communication method termed advertising mode to...

A one degree of freedom experimental test bed is used to investigate the effects of elastic vibration in haptic devices. Strong angular vibration occurs at the motor rotor due to elastic deformation in the shaft. These vibrations occur due to large discontinuities in the virtual environment such as stiff contact which is common in haptics. Also loo...

The use of haptic systems in the classroom for enhancing science education is an underexplored area. In the education literature, it has been reported that certain concepts in science education are difficult for students to grasp and, as a result, misconceptions can be formed in the students’ knowledge. We conducted a study with 62 Year 8 (typicall...

The air-gap of electro-magnetic (EM) actuators determines key operating parameters such as their ability to generate force. In haptic devices these parameters are not optimised for the conditions typically seen in operation and include the heat produced in the air-gap, the volume of the air-gap, and the intensity and direction of the magnetic field...

Background: Falls and near falls are common among people with Parkinson's (PwP). To date, most wearable sensor research focussed on fall detection, few studies explored if wearable sensors can detect instability. Research question: Can instability (caution or near-falls) be detected using wearable sensors in comparison to video analysis? Method...

This paper addresses the mechanical structure and control method of a redundant drive robot (RDR) to produce compliant motions, and show how the design parameters of the RDR can effect the produced motions and the mechanical and performance limitations of the actuators of the RDR. The structure and control method of the RDR can have been proper to...

Technological advances in sensors and communications have enabled discrete integration into everyday objects, both in the home and about the person. Information gathered by monitoring physiological, behavioural, and social aspects of our lives, can be used to achieve a positive impact on quality of life, health, and well-being. Wearable sensors are...

This article tackles the problem of the estimation of simplified human limb kinematics for home health care. Angular kinematics are widely used for gait analysis, for rehabilitation and more generally for activity recognition. Residential monitoring requires particular sensor constraints to enable long-term user compliance. The proposed strategy is...

Technology has been seen as a possible solution to the increasing costs of healthcare and the globally aging population. It is known that many elderly people prefer to stay in their homes for as long as possible and remote monitoring can be a solution, but often such systems lack useful information or are prohibitive due to cost, ease of use/deploy...

Supercapacitors are likely to be adopted as power sources for wearable sensors; in particular where the sensor mechanism relies on energy harvesting. A specific advantage of supercapacitors over traditional batteries is their performance over large numbers of discharge cycles. Likewise, in the case of wearable devices, it is essential to efficientl...

Inadequate physical activity is a leading risk factor in public health and inactive people are more vulnerable to having chronic diseases. In addition, levels of physical activity may be an indicator of health problems in elderly individuals, a particular problem in many societies where there is a growing ratio of elderly people. Identifying levels...

This paper addresses the mechanical structure and control method of a redundant drive robot (RDR) to produce compliant motions, and show how the design parameters of the RDR can effect the produced motions and the mechanical and performance limitations of the actuators of the RDR. The structure and control method of the RDR can have been proper to...

FES assisted activities such as standing, walking, cycling and rowing induce forces within the leg bones and have been proposed to reduce osteoporosis in spinal cord injury (SCI). However, details of the applied mechanical stimulus for osteogenesis is often not reported. Typically, comparisons of bone density results are made after costly and time...

There is a growing interest in measuring human activities via worn inertial sensors, and situating two accelerometers on a body segment allows accessing rotational kinematic information, at a significantly lower energy cost when compared with gyroscopes. However, the placement of sensors has not been widely considered in the literature. In practice...

We report a design for a Kirkpatrick-Baez (KB) microfocussing mirror system. The main components are described, with emphasis on a ‘tripod’ manipulator, where we outline the required coordinate transformation calculations. The merit of this device lies in its simplicity of design, minimal degrees of freedom, and speed and ease of setup on a beamlin...

The sense of body ownership, that one’s body belongs to oneself, is a result of the integration of different sensory streams. This sense however is not error-free; in 1998 Botvinick and Cohen [3] showed the rubber hand illusion (RHI), an illusion that made a subject feel a rubber hand as their own. An important factor to induce the illusion is the...

A framework for considering the stability of bilateral telemanipulator systems is considered. The approach adapts the work of Lawrence [3] to use a state-space formulation thus simplifying the identification of the stability conditions from the eigenvalues of the feedback system. Both numerical and symbolic stability conditions are considered.

Current progress in wearable and implanted health monitoring technologies has strong potential to alter the future of healthcare services by enabling ubiquitous monitoring of patients. A typical health monitoring system consists of a network of wearable or implanted sensors that constantly monitor physiological parameters. Collected data are relaye...

IEEE 802.15.4 (used by Zigbee, 6LoWPAN and Thread) and Bluetooth Low Energy (BLE) are two widely used wireless standards for ultra low power IoT (Internet of Things) technologies and smart home applications. In this article, we present the first comparison of the physical layer of the two protocols, focusing on two performance metrics: energy effic...

Haptic devices tend to be kept small as it is easier to achieve a large change of stiffness with a low associated apparent mass. If large movements are required there is a usually a reduction in the quality of the haptic sensations which can be displayed. The typical measure of haptic device performance is impedance-width (z-width) but this does no...

Human Activity Recognition (AR) is an area of great importance for health and well-being applications including Ambient Intelligent (AmI) spaces, Ambient Assisted Living (AAL) environments, and wearable healthcare systems. Such intelligent systems reason over large amounts of sensor-derived data in order to recognise users’ actions. The design of A...

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented...

Health monitoring technologies such as Body Area Network (BAN) systems has gathered a lot of attention during the past few years. Largely encouraged by the rapid increase in the cost of healthcare services and driven by the latest technological advances in Micro-Electro-Mechanical Systems (MEMS) and wireless communications. BAN technology comprises...

We aim to develop an efficient robotic system for stroke rehabilitation, in which a robotic arm moves the hemiplegic upper limb when the patient tries to move it. In order to achieve this goal we have considered a method to detect the motion intention of the patient using EEG (Electroencephalogram), and have designed a rehabilitation robot based on...

The loss of motor function at the elbow joint can result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in r...

Using haptic interfaces to assist the training of skills in the curriculum of undergraduate dentists provides a unique opportunity to advance rendering algorithms and engineering of haptic devices. In this paper we use the dental context to explore a rendering technique called smoothed particle hydrodynamics (SPH) as a potential method to train the...

Using haptic interfaces to assist the training of skills in the curriculum of undergraduate dentists provides a unique opportunity to advance rendering algorithms and engineering of haptic devices. In this paper we use the dental context to explore a rendering technique called smoothed particle hydrodynamics (SPH) as a potential method to train the...

Most robot manipulators are poor at measuring and controlling forces, especially force of contact. At the innermost control loops these force estimates are needed to control compliance. At a more general level identifying when contact occurs, and the forces involved, are elemental requirements in building cognitive information that allow robots to...

Wireless Body Area Networks (WBANs) consist of a number of miniaturized wearable or implanted sensor nodes that are employed to monitor vital parameters of a patient over long duration of time. These sensors capture physiological data and wirelessly transfer the collected data to a local base station in order to be further processed. Almost all of...

Visualisations of numerical data often used in science, engineering and mathematics are not easily accessible to visually impaired students. This chapter describes the development and evaluation of a multimodal system to present graphical data in real-time to those students. Haptic interfaces form the primary interaction, along with auditory feedba...

This work presents two schemes of measuring the linear and angular kinematics of a rigid body using a kinematically redundant array of triple-axis accelerometers with potential applications in biomechanics. A novel angular velocity estimation algorithm is proposed and evaluated that can compensate for angular velocity errors using measurements of t...

This paper considers two dimensional object tracking and recognition using combined texture and pressure cues. Tactile object recognition plays a major role in several HCI applications especially scientific visualization for the visually impaired. A tactile display based on a pantograph mechanism and 2×2 vibrotactile unit array was used to represen...

Publication of the 10th International Federation of Information Processing, Torun Poland

This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only 4 subjects were included in the study, the design of the intervention and the measures were done so as to minimise bias. The results are presented as single case studies, and can only be inte...

Our aim is to reconstruct the brain-body loop of stroke patients via an EEG-driven robotic system. After the detection of motor command generation, the robotic arm should assist patient’s movement at the correct moment and in a natural way. In this study we performed EEG measurements from healthy subjects performing discrete spontaneous motion. An...

Most current state-of-the-art haptic devices render only a single force, however almost all human grasps are characterised by multiple forces and torques applied by the fingers and palms of the hand to the object. In this chapter we will begin by considering the different types of grasp and then consider the physics of rigid objects that will be ne...

Stroke is a medical emergency and can cause a neurological damage, affecting the motor and sensory systems. Harnessing brain plasticity should make it possible to reconstruct the closed loop between the brain and the body, i.e., association of the generation of the motor command with the somatic sensory feedback might enhance motor recovery. In ord...

抄録 This paper describes a structural analysis of rehabilitation robots intended for upper-limb post-stroke therapy. First, the functions of the robots required for restoration of motor function are explained and the according conditions that should be satisfied by the robots are introduced. Second, the analytical methods to judge if the conditions...

A growing awareness of the potential for machine-mediated neurorehabilitation has led to several novel concepts for delivering these therapies. To get from laboratory demonstrators and prototypes to the point where the concepts can be used by clinicians in practice still requires significant additional effort, not least in the requirement to assess...

Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting their daily activities. In recent years, new rehabilitation techniques have emerged such as constraint-induced therapy, biofeedback therapy and robot-aided therapy. In particular, robotic techniques allow precise recording of movements and application...

This special section is about understanding the role of touch in medicine and clinical skill acquisition. three major areas of haptics in medicine and clinical skill acquisition are identified, and papers are presented on each of these topics in the special section: 1. Human haptic perception and motor performance as relevant to medical examination...

Lateral epicondylitis (LE) is hypothesized to occur as a result of repetitive, strenuous and abnormal postural activities of the elbow and wrist. There is still a lack of understanding of how wrist and forearm positions contribute to this condition during common manual tasks. In this study the wrist kinematics and the wrist extensors' musculotendon...

Coordinating aerial and ground based robotic platforms together with sensor payloads is described and some results are presented on the deployment of these robots in an urban environment for reconnaissance, in particular to find military threats. This work was done with the aim of competing in the UK MOD Grand Challenge competition in August 2008....

This paper presents a novel design of a virtual dental training system (hapTEL) using haptic technology. The system allows dental students to learn and practice procedures such as dental drilling, caries removal and cavity preparation for tooth restoration. This paper focuses on the hardware design, development and evaluation aspects in relation to...

This paper presents a novel design of a virtual dental training system (hapTEL) using haptic technology. The system allows dental students to learn and practice procedures such as dental drilling, caries removal and cavity preparation for tooth restoration. This paper focuses on the hardware design, development and evaluation aspects in relation to...

This paper presents a novel design of a virtual dental training system (hapTEL) using haptic technology. The system allows dental students to learn and practice procedures such as dental drilling, caries removal and cavity preparation for tooth restoration. This paper focuses on the hardware design, development and evaluation aspects in relation to...

This paper discusses the design of a Redundant Drive Joint with Double Actuation (RDJ-DA) to produce controlled compliant motions over a higher bandwidth. First, our strategies on mechanical and controller designs to produce compliant motions are described, and the basic structure and impedance control of the RDJ-DA with internal serial structure e...

Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D tr...

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...

Some articles in this special issue on cognitive robotics focus on replicating human and animal behaviors in robots, while others look into using robotic analogs of the brain to provide insight into the neuroscience.

Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of redundant drive joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-joint employs a systematic approach which consists of 1) adopting a redundant joint mecha...

This paper reports preliminary results of a reach and grasp study of robot mediated neurorehabilitation. These results are presented on a case-by-case basis and give a good indication of a positive effect of robot mediated therapy. The study investigated both reach and grasp assistance and although it is not possible to attribute the response to th...

In over forty years of research robots have made very little progress still largely confined to industrial manufacture and cute toys, yet in the same period computing has followed Moores Law where the capacity double roughly every two years. So why is there no Moores Law for robots? Two areas stand out as worthy of research to speedup progress. The...

This paper proposes impedance control of redundant drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the ba...