WMRA is a project that combines a wheelchair's mobility control and a 7-joint robotic arm's manipulation control in a single control mechanism that allows people with disabilities to do many activities of daily living (ADL) with minimum or no assistance, some of these activities and tasks are otherwise hard or impossible for people with disabilities to accomplish.

Hardware Design and Control

• Seven motorized revolute joints on the arm; can reach any position in space within its range of motion.
• Modular arm; to change the workspace of the arm to accommodate individual needs.
• Custom designed gripper to pick up a range of objects from a sheet of paper to a soccer ball. Adjustable claw tilt to accommodate different shapes.
• Servo control boards and motors.
• Control system combines mobility and manipulation, in a smart 9-degree-of-freedom control algorithm.
• Redundancy resolution is used for increased maneuver-ability, to eliminate singularities, and avoid joint limits and obstacles.


• Weight and Payload: –24 lbs / 8.5 lbs

 

Task-Oriented Control of the WMRA System

• Optimization methods are used to fulfill two separate trajectories simultaneously, one for the gripper and the other for the wheelchair.
• Having two separate trajectories can be utilized to achieve various ADL tasks, such as opening a spring-loaded door inwards and going through the door while maintaining the pose of the gripper holding the door knob.
• Redundancy was resolved to maximize the manipulability measure during the task performance. The wheelchair motion was used to compensate for the decrease in manipulability measure of the arm while going through the door.

Object shape and pose recovery of unknown objects

• Reconstruct the shape and pose of a novel object to a sufficient degree of accuracy such that it permits grasp and manipulation planning.
• This is implemented two different ways: capture three images of the object and generate a silhouette and a point cloud that approximates the surface of the object. Then improve the approximation by fitting a superquadric shape to the points.
• Another method to do this is using Saliency Detection. Effective shapes can be extracted from a complex object image. These shapes can then be reconstructed and used for grasping.
• Microsoft Kinect is used to get the image and 3D information of objects of interest.

Motion scaling and grasping

• Grasps which involve a human and a robot working together are more robust than those which are either autonomous or teleoperated.
• Intention based assistance to the human teleoperating the arm in the form of motion scaling can enhance the arm's usability and the user's capabilities.
• Using Kinect to extract basic shape and pose information of objects, a pre-shape configuration for grasping is determined through intention estimation algorithms (Hidden-Markov Model).
• Motion assistance is provided to the user based on the pre-shape configuration by scaling up the user's motion towards that configuration and scaling down the user's motion against that configuration.
• Fine adjustment of the gripper's pose is done using simple geometrical methods and finally the grasp is realized.
• Omni Phantom Haptic device from Sensable Technologies is used as the master device and WMRA as the remote robot.

Mobility & Manipulation using Visual Servoing Control

• Image-based visual servoing (IBVS) approach with scale-invariant feature transform (SIFT) was used for combined autonomously control of mobility and manipulation for the 9-DoF WMRA system.
• Physical implementation with a "Go to and Pick Up" task and a "Go to and Open the Door" task was developed and presented.
• A Logitech C910 USB webcam mounted in eye in hand configuration on the end effector was used to capture 30 fps video stream of the environment with the object in sight.
• For estimating the depth distance from the camera to the goal object, a Sharp GP2Y0A21YK infrared proximity sensor mounted just beneath the camera was utilized.
• Users operate the system with a laptop using a GUI developed for the application.

Autonomous Navigation, Simultaneous Localization and Mapping (SLAM)

• Simultaneous localization and mapping (SLAM) algorithm is used to localize the wheelchair in an unstructured environment, and to build a dynamically changing map of the environment.
• Motion planning and navigation can be optimized based on SLAM data to reach a moving target and achieve a task while avoiding moving obstacles.
• Human perception and observations can be integrated to the algorithm to achieve better results and more accurate task implementation.
• Microsoft Kinect is utilized to capture the 3D information of the environment.
• Extended Kalman Filter is used for localization.

Vision-based system for selecting objects and tasks using a Brain-Computer Interface (BCI)

• Using the Brain-Computer Interface can be very tiring and lengthy in order to communicate choices to the system. Vision-based algorithm is being developed to make it easier to use any user interface system to control WMRA, including the BCI.
• This interface is useful for patients who are completely locked-in and are unable to use any body parts for doing their daily activities.
• In order for this selection system to be operable by BCI, the scene is divided into a grid, like that used in the P300 Speller.
• The user needs to select the cell whose blue dot falls on the object of interest.
• The cells are flashed in a random order. A cap with electrodes worn by the user detects P300 Electroencephalography (EEG) signals in the users' brain when an Even Related Potential (ERP) is generated.
• An ERP is generated based on the Oddball Paradigm in which a signal occurs when an odd event occurs from a sequence of events. The odd event in this case is the flashing of the cell of interest out of the random flashing.
• The BCI2000 program detects the cell that the user is focusing his/her attention on and then by using a Flood-fill algorithm and edge detection, segments the object.
• Once the object is selected, it runs through an object recognition algorithm to recognize the object and create a list of possible tasks to do with the object. This list is displayed to the user and interfaced with the BCI.
• The program is being developed to include functions for zooming and moving the robot to allow for more precise selection.
• The gridlines are generated intelligently using edge detection output, to increase the likelihood of selection in a single iteration.
• This system will also be operable by a myriad of other user input devices, including eye tracking, voice control, and touch-screen.
• Previous implementations included directional control of the WMRA system using BCI for teleoperation. This implementation includes the vision based algorithm that is integrated to the BCI for autonomous motion.

Experimental evaluation of WMRA devices

• JACO arm from Kinova and iARM from Exact Dynamics are two commercially available wheelchair-mounted robotic arms (WMRAs) internationally.
• Experimental evaluation of commercially available WMRAs in a controlled test environment has been conducted to study the efficacy of using such devices.
• The goal was to quantitatively compare each device through a standardized testing protocol. The study produced theoretical manipulability measurements as well as efficacy ratings of each device based on Denavit-Hartenberg kinematic parameters and physical testing, respectively.
• Both the manipulator and control devices of WMRA systems were evaluated. The iARM was found to be more effective than the JACO arm based on kinematic analysis. Despite this, the JACO arm was shown to be more effective than the iARM system in three of four experimental tasks.
• Effective design features were brought to light with these results. The study and its procedures may serve as a source of quantitative and qualitative data for the commercially available WMRAs.

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This is a novel method of using laser data to generate trajectories and virtual constraints in real time that assist the user teleoperating a remote arm to execute tasks in a remote unstructured environment.

The laser also helps the user to make high-level decisions such as selecting target objects by pointing the laser at them. The trajectories generated by the laser enable autonomous control of the remote arm and the virtual constraints enable scaled teleoperation and virtual fixtures based teleoperation. The assistance to the user in scaled and virtual fixture based teleoperation modes is either based on position feedback or force feedback to the master. The user has the option of choosing a velocity control mode in teleoperation in which the speed of the remote arm is proportional to the displacement of the master from its initial position. At any point, the user has the option of choosing a suitable control mode after locating targets with the laser. The various control modes have been compared with each other, and time and accuracy based results have been presented for a 'pick and place' task carried out by three healthy subjects. The system is intended to assist users with disabilities to carry out their ADLs (Activities of Daily Living) but can also be used for other applications involving teleoperation of a manipulator. The system is PC based with multithreaded programming strategies for Real Time arm control and the controller is implemented on QNX.

Through collaboration with the School of Theatre & Dance and the School of Physical Therapy and Rehabilitation Sciences, adaptive recreational devices have been designed and developed to assist people with disabilities and amputees in various recreational activities, including dance and exercise.

Hands-Free Wheelchair

A completely hands-free operated wheelchair that responds to one's body motion was developed primarily for use in the performing arts; however its unique user interface offers endless possibilities in the fields of assistive devices for daily activities and rehabilitation. This powered wheelchair modification provides greater social interaction possibilities, increases one's independence, and advances the state of the art of sports and recreation, as well as assistive and rehabilitative technologies overall. Various prototypes of this project have been developed, including a mechanical design and a sensor-based design. A new design is underway that utilizes an iPod or other hand held devices to control the wheelchair using the gyroscope capabilities of these devices.

Omni-directional Rotating Platform for Dance

This project involves the design, development, and testing of a stand-alone Omni-directional mobile dance platform with an independently rotating top. A robust, remote controlled, compact, transportable, and inexpensive moving platform with a rotating top is designed. This platform adds an additional choreographic element to create a unique style of dancing, which involves the use of a variety of mobility devices and performers including dancers with disabilities. The platform is designed to hold up to five-hundred pounds with an independently rotating top while the base moves forward/backward, sideways, or diagonally using Omni-directional wheels. The existing design has a removable top surface, folding wing sections to collapse the unit down to fit through an average size doorway, and detachable ramp ends for wheelchair access. The top of the platform is driven by a compact gear train designed to deliver maximum torque within the limited space.

Terminal Devices for Prostheses Users

Various terminal devices have been developed to assist prostheses users in their recreational activities. These terminal devices are designed to improve the user's capabilities to play Golf, kayaking, rock climbing and other activities.

A driver training system that combines a hand controlled modified van with a driving simulator has been developed. This system enables individuals to overcome transportation barriers that interfere with employment opportunities or access to daily activities. With the combination of AEVIT (Advanced Electronic Vehicle Interface Technology) and virtual reality driving simulator known as SSI (Simulator Systems International), an environment is created where a user can have different interfaces to learn to operate a real time motor vehicle. Various adaptive controls are integrated to the system. Analysis of various controls with various user abilities can be used to recommend specific devices and to train users in the virtual environment before training on their modified vehicle.

Passive dynamic walkers (PDW) are devices that are able to walk down a slope without any active feedback using gravity as the only energy source. In this research, we are examining asymmetric walking in a similar, but different approach, as the above Gait Enhancing Mobile Shoe Project. Typically, PDWs have used symmetric walkers (i.e., same masses and lengths on each side), which generally results in symmetric gaits. However, individuals with a stroke and individuals that wear a prosthetic do not have physical symmetry between both sides of their body. By changing one physical parameter on one of the two legs in the PDW, we can show a number of stable asymmetric gait patterns where one leg has a consistenty different step length than the other, as shown on the right. The figure on the right has the right knee moved up the leg. This asymmetric model of walking will enable us to test the effect of different physical changes on how individuals will alter their gait.

Many daily tasks require that a person simultaneously use both hands, such as opening the lid on a jar or moving a large book. Such bimanual tasks are difficult for people who have a stroke, but the tight neural coupling across the body can potentially allow individuals to self-rehabilitate by physically coupling their hands. To examine potential methods for robot-assisted bimanual rehabilitation, we are performing haptic tracking experiments where individuals experience a trajectory on one hand and attempt to recreate it with their other hand. Despite the physical symmetries, the results show that joint space motions are more difficult to achieve than motions in the visually centered space.

Certain types of central nervous system damage, such as stroke, can cause an asymmetric walking gait. One rehabilitation method uses a split-belt treadmill to help rehabilitate impaired individuals. The split-belt treadmill causes each leg to move at a different speed while in contact with the ground. The split-belt treadmill has been shown to help rehabilitate walking impaired individuals on the treadmill, but there is one distinct drawback; the corrected gait does not transfer well to walking over ground. To increase the gait transference to walking over ground, I designed and built a passive shoe that admits a motion similar to that felt when walking on a split-belt treadmill. The gait enhancing mobile shoe (GEMS) alters the wearer's gait by causing one foot to move backward during the stance phase while walking over ground. No external power is required since the shoe mechanically converts the wearer's downward and horizontal forces into a backward motion. This shoe allows a patient to walk over ground while experiencing the same gait altering effects as felt on a split-belt treadmill, which should aid in transferring the corrected gait to walking in natural environments. This work is funded by the Eunice Kennedy Shriver National Institute of Child Health & Human Development, NIH NICHD, award number R21HD066200 and is in collaboration with Amy Bastian at the Kennedy Krieger Institute and Erin Vasudevan at the Moss Rehabilitation Research Institute.

The goal of this project is to improve the effectiveness of vocational rehabilitation services by providing an environment to assess and train individuals with severe disabilities and underserved groups in a safe, adaptable and motivating environment. Using virtual reality, simulators, robotics, and feedback interfaces, this project will allow the vocational rehabilitation population to try various jobs, tasks, virtual environments and assistive technologies prior to entering the actual employment setting. This will aid job evaluators and job coaches assess, train and place persons with various impairments. Using virtual reality, simulators, robotics, and feedback interfaces the proposed project will:

• Develop layered 3D virtual reality simulation and controlled physical environments for several job-related tasks (customer service, hospitality industry, and production environments)
• Assess DVR clients' work abilities with their trainers and find possible work venues using virtual reality and controlled physical environments.
• Train DVR clients on the job of their choice of possible job environments based on the conducted assessments.
• Job placement and follow-up for feedback and adjustments.

The proposed project will simulate job environments such as a commercial kitchen, an industrial warehouse, a retail store or other potential locations that an individual will likely work. Features of the simulator could include layering of colors, ambient noise, physical reach parameters and various user interfaces. The complexity of the simulated job tasks could be varied depending on the limitations of the user to allow for a gradual progression to more complex tasks in order to enhance job placement and training.

In collaboration with Draper Laboratories and the Veterans Administration Hospital, wearable sensors research has been conducted in two different projects. A balance belt project, and a portable motion analysis project.

Balance Belt

The purpose of this study is to develop a wearable Balance Belt to alert patients with abnormal vestibular function for injury and fall prevention. The user will be alerted using four vibrotactiles situated around the belt in case the inertial measurement unit (IMU) senses a good potential of misbalance.

Portable Motion Analysis System

The purpose of this study is to develop a wearable motion analysis system (WMAS) using commercially available inertial measurement units (IMU) working in unison to record and output gait parameters in a clinically relevant way. The WMAS must accurately and reliably output common gait parameters such as gait speed, stride length, torso motion and head rotation velocities which are often indicators of TBI. Validation of the wearable motion analysis system capabilities has been conducted using the Vicon optical based motion analysis system with healthy subjects during various gait trials including increasing and decreasing cadence and speed; and turning. A graphical user interface (GUI) that is clinically relevant will be developed to make this system usable outside of clinical settings.

Through collaboration with the School of Theatre & Dance and the School of Physical Therapy and Rehabilitation Sciences, biomechanics of human body motion is analyzed for various activities using Vicon motion analysis system, leading to fewer injuries, and better training practices. These activities include upper and lower body motion practices used by athletes and dancers, as well as prosthetics users when performing recreational or daily activities.

Current upper-limb prosthetic devices have powered wrist rotation only, making it difficult to grasp and manipulate objects. The wrist and shoulder compensatory motions of people with transradial prostheses have been investigated in the eight-camera infrared Vicon visual system that collects and analyzes three-dimensional movement data. This information helps clinicians, researchers, and designers develop more effective and practical prosthetic devices. The intact joints of the upper limb compensate for the limitations of the prosthesis using awkward motions. By analyzing the compensatory motions required for activities of daily living due to limitations of the prosthesis we hope to be able to improve the design and selection of prostheses.

Simulation Tool for Prediction of Human-Upper Body Motion

This project is dedicated to the development of a simulation tool consisting of a robotics-based human body model (RHBM) to predict functional motions, and integrated modules for aid in prescription, training, comparative study, and determination of design parameters of upper extremity prostheses. The simulation of human performance of activities of daily living while using various prosthetic devices is optimized by data collected in the motion analysis lab.

The current generation of the RHBM has been developed in MATLAB and is a 25 degree of freedom robotics based kinematic model, with subject specific parameters. The model has been trained and validated using motion analysis data from ten control subjects and data collected from amputee subjects is being integrated as it is collected.

Socket Residual-limb Interface Model

This project concentrates on measuring and predicting motion occurring at the socket residual limb interface. The current model will be a 4 degree of freedom robotics based kinetic model. Movement between the residual limb and prosthetic socket will be collected by a motion capture system (socket rotations and translations) and a new optics based device (relative slip between internal socket face and residual limb skin surface).

Human Upper Body Modeling and Simulation in Space Conditions for Astronaut Training

The goal of this project is to develop a robotics based human upper body model (RHBM), and associated constraints for the prediction and simulation of human motion in confined spaces, and under microgravity conditions to aid astronaut training. A force based component with an adjustable gravity term will also be added to the current kinematic based RHBM to allow for the simulation of external forces at varying levels of gravity: moon gravity; and microgravity. Statistically based probability constraints from motion capture data will also be incorporated to determine if a mixed method of modeling is more accurate and more efficient for studying upper limb movements such as using tools and moving objects. A motion analysis system will be used to collect kinematic data of subjects performing astronaut based activities of daily living in a confined space similar to the International Space Station. Analysis of this data will then be used to derive the model parameters. Functional joint center estimations will be used to find the geometric parameters of the model, and a variety of control methods including using force fields and statistical processes to generate microgravity will be used to determine the control parameters.

• SL. Carey, MM. Wernke, DJ. Lura, JT. Kahle , RV. Dubey, MJ Highsmith. "Kinematics of transfermoral amputees during the sit to stand movement," The Academy of Orthotists and Prosthetists 38th Annual Meeting and Scientific Symposium (AAOP 2012), March 21-24, 2012, Atlanta, GA, USA.
• MM. Wernke, DJ. Lura, SL Carey, SL. Phillips, RV Dubey, "Biaxial models of socket interface stiffness," The Academy of Orthotists and Prosthetists 38th Annual Meeting and Scientific Symposium (AAOP 2012), March 21-24, 2012, Atlanta, GA, USA.
• AL. Martori, SL. Carey, DJ. Lura, SL. Phillips, "Measuring upper limb prosthetic usage for manipulative and non-manipulative tasks," The Academy of Orthotists and Prosthetists 38th Annual Meeting and Scientific Symposium (AAOP 2012), March 21-24, 2012, Atlanta, GA, USA.
• W. Pence, F. Farelo, R. Alqasemi, Y. Sun, R. Dubey, "Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks," The 2012 Florida Conference on Recent Advances in Robotics (FCRAR 2012), May 10-11, 2012, Boca Raton, FL, USA.
• W. Pence, F. Farelo, R. Alqasemi, Y. Sun, R. Dubey, "Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks," The 2012 IEEE International Conference on Robotics & Automation (ICRA 2012), May 14-18, 2012, Saint Paul, MN, USA.
• SL. Phillips, SL Carey, "Development of a Quality of Use Monitor for Upper Extremity Prostheses," Proceedings of the RESNA Annual Conference, June 30 - July 2, 2012, Baltimore, MD, USA.
• SL. Carey, K. Hufford , AL. Martori, M. Simoes, F. Sinatra, RV. Dubey, "Development of a wearable motion analysis system for evaluation and rehabilitation of mild traumatic brain injury," Proceedings of the ASME 2012 Summer Bioengineering Conference (SBC 2012), June 20-23, 2012, Fajardo, Puerto Rico.
• I. Shindev, S. Marlin, N. Preseault, R. Tamayo, W. Pence, R. Alqasemi, K. Christensen, "Obstacle Detection and Avoidance Using Wavefront Planner and Kinect on a WMRA", Proceedings of the ASME 2012 Summer Bioengineering Conference (SBC 2012), June 20-23, 2012, Fajardo, Puerto Rico.
• SH Lee, S. Carey, R. Dubey, R. Matz, "Intervention Program in College Instrumental Musicians, with Kinematics Analysis of Cello and Flute Playing," Medical Problems of Performing Artists, 27:2, pp. 85-94, 2012.
• I. Pathirage, R. Alqasemi, R. Dubey, "P300 Brain Computer Interface Based Task Oriented Control of a Wheel Chair Mounted Robotic Arm," International Conference of the IEEE Engineering in Medicine and Biology Society (EMB 2012), August 28 - September 1, 2012, San Diego, CA, USA.
• E. Veras , K. Khokar , R. Alqasemi, R. Dubey, "Scaled telerobotic control of a manipulator in real time with laser assistance for ADL tasks, " Journal of the Franklin Institute, 349:7, pp. 2268-2280, September, 2012.

• Carey SL, Highsmith MJ, Dubey RV, Lura DJ, Wernke M., "Golf Hand Prosthesis Performance," The Academy of Orthotists and Prosthetists 35th Annual Meeting and Scientific Symposium (AAOP 2011), March 2011, Orlando, FL, USA.
• MJ. Highsmith, JT. Kahle, SL. Carey, DJ. Lura, R. Dubey, KR. Csavina, WS. Quillen, "Kinetic Asymmetry in Transfemoral Amputees while Performing Sit to Stand and Stand to Sit Movements," Gait & Posture 2010, 34:1, pp. 86-91, May 2011.
• Lura DJ, Wernke Wernke M, Saad J, Highsmith MJ and Carey SL., "Standing Stability in Transfemoral Amputees," The Academy of Orthotists and Prosthetists 35th Annual Meeting and Scientific Symposium (AAOP 2011), March 2011, Orlando, FL, USA.
• Highsmith MJ, Kahle JT, Lura DJ, Carey SL, Csavina KR, Dubey RV, Quillen WS, "Sitting and Standing in Transfemoral Amputees," The Academy of Orthotists and Prosthetists 35th Annual Meeting and Scientific Symposium (AAOP 2011), March 2011, Orlando, FL, USA.
• C. Bringes, J. Jones, M. Malek, B. Simons, W. Pence, R. Alqasemi, "Human-Computer Interaction for WMRA," The 2011 Florida Conference on Recent Advances in Robotics (FCRAR 2011), May 4-5, 2011, Gainesville, FL, USA.
• F. Farelo, W. Pence, R. Alqasemi, R. Dubey, "WMRA Mobility & Manipulation Control for the Performance of ADL Tasks," The 2011 IARP Workshop on The Role of Robotics in Assisted Living, June 7-8, 2011, Seoul, Korea.
• W. Pence, F. Farelo, Y. Sun, R. Alqasemi, R. Dubey, "Autonomous Mobility & Manipulation of a 9-DoF WMRA," RSS 2011 Workshop on Mobile Manipulation: Learning to Manipulate, June 27, Los Angeles, CA, USA.
• F. Farelo, R. Alqasemi, R. Dubey, "Design, Implementation and Testing of a Dynamic User Interface for a WMRA to Perform Activities of Daily Living," Proceedings of the 2011 International Conference on Rehabilitation Robotics (ICORR 2011), June. 29 – July 1, 2011, Zurich, Switzerland.
• Lee SH, Carey SL, Matz R., "Health intervention program for college instrumental musicians: Part I," The 29th Annual Symposium on Medical Problems of Performing Artists (PAMA 2011), July 21-24, 2011, Snowmass, CO, USA.
• Lee SH, Carey SL, Matz R, Dubey R., "Health intervention program for college instrumental musicians: Part II Kinematics of the shoulder and elbow in cello and flute playing," The 29th Annual Symposium on Medical Problems of Performing Artists (PAMA 2011), July 21-24, 2011, Snowmass, CO, USA.
• K. Khokar, K.B. Reed, R. Alqasemi, R. Dubey, "Laser Assisted Combined Teleoperation and Autonomous Control," Proceedings of the American Nuclear Society's 3rd International Joint Topical Meeting on Emergency Preparedness & Response and Robotics & Remote Systems - 13th Robotics & remote Systems for Hazardous Environments, 11th Emergency Preparedness & Response (EPRRSD), August 7-10, 2011, Knoxville, TN, USA.
• M.L. Morris, K.J. De Laurentis, S. Carey, S. Sundarrao, M.J. Highsmith, L. Mengelkoch, M.E. McQueen, R. Dubey, "Dance and Engineering Link to Produce a Novel Mobility Device," Technology and Innovation – Proceedings of the National Academy of Inventors, September 2011.
• J. Capille, S. Carey, R. Alqasemi, R. Dubey, "Kinematic Evaluation of Commercial Wheelchair-Mounted Robotic Arms," The 2011 IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC 2011), October 9-12, 2011, Anchorage, Alaska, USA.
• W. Pence, F. Farelo, Y. Sun, R. Alqasemi, and R. Dubey, "Autonomous Mobility & Manipulation of a 9-DoF WMRA," The 2011 Robotics: Science and Systems Conference (RSS 2011), June 27-30, 2011, Los Angeles, California, USA.
• M. Wernke, D. Lura, S. Carey, S. Phillips, R. Dubey, "Preliminary Modeling of the Prosthetic Socket Pseudo Joint." Proceedings of the 2011 Biomedical Engineering Society Annual Meeting (BMES 2011), October 2011, Hartford, CT, USA.
• DJ. Lura, SL. Carey, R. Dubey, "Automatic Generation of A Subject Specific Upper Body Model From Motion Data," Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), November 11-17, 2011, Denver, CO, USA.
• F. Farelo, W. Pence, R. Alqasemi, and R. Dubey, "Autonomous Vision-Based Mobility & Manipulation of a 9-DoF WMRA for the Performance of ADL Tasks," Proceedings of the 2011 International Conference on Robotics and Biomimetics (ROBIO 2011), December 07-11, 2011, Phuket Island, Thiland.

• SL. Carey, MJ. Highsmith, R. Dubey, "The Effect of Trimline Height on Elbow Range of Motion While Wearing a Transradial Prosthesis," The Academy of Orthotists and Prosthetists 36th Annual Meeting and Scientific Symposium (AAOP), February, 2010, Chicago, IL, USA.
• RS. Freilich, SL. Carey, MJ. Highsmith, R. Dubey, "Biomechanical Model of Transhumeral Prostheses," The Academy of Orthotists and Prosthetists 36th Annual Meeting and Scientific Symposium (AAOP), February, 2010, Chicago, IL, USA.
• R. Alqasemi, R. Dubey, "A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing," Advances in Robot Manipulators, In-Tech, pp. 51-78, April 2010.
• S. Colbert, R. Alqasemi, and R. V. Dubey, "Efficient Shape and Pose Recovery of Unknown Objects from Three Camera Views," Proceeding of the 7th International Symposium on Mechatronics and its Applications (ISMA 2010), April 20-22, 2010, Sharjah, UAE.
• F. Farelo. R. Alqasemi, R. Dubey, "Optimized Dual-Trajectory Tracking Control of a 9-DoF WMRA System for ADL Tasks," Proceedings of the 2010 IEEE International Conf. on Robotics and Automation (ICRA 2010), pp. 1786-1791, May 3-8, 2010, Anchorage, Alaska, USA.
• K. Khokar, F. Farelo, C. Colbert, R. Alqasemi and R. Dubey, "Sensor Assisted Telerobotic Control of a Mobile Platform Mounted Robot Arm," Workshop on Rehabilitation and Assistive Robots for an Aging Society, International Conference on Robotics and Automation (ICRA 2010), May 3-8, 2010, Anchorage, Alaska, USA.
• E. Veras, K. Khokar, R. Alqasemi, R. Dubey, "Scaled Telerobotic Control of a Manipulator in Real Time with Laser Assistance for ADL Tasks," Journal of the Franklin Institute, May, 2011.
• Y. Arbel, K. De Laurentis, R. Alqasemi, R. Dubey, E. Donchin, "The P300 Brain Computer Interface as a Controller of a Wheelchair Mounted Robotic Arm System," The Fourth International BCI Meeting, May 31 - June 4, 2010, Pacific Grove, CA, USA.
• D. Dekker, S. Sundarrao, R. Dubey, "Sustainability and Commercialization of Capstone Projects," Proceedings of the Capstone Design Conference, June 7-9, 2010, Boulder, CO, USA.
• K. Khokar, R. Alqasemi and R. Dubey, "Laser Based Telerobotic Control for Assisting Persons with Disabilities to Perform Activities of Daily Living," Proceedings of 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010), June 15-18, 2010, Funchal, Madeira, Portugal.
• DJ. Lura, R. Dubey, "Functional Spinal Movement for Modeling and Development of Rehabilitation & Exoskeleton Devices," Proceedings of the ASME 2010 Summer Bioengineering Conference (SBC2010), June 16-19, 2010, Naples FL, USA.
• SK. Elineni, KJ. De Laurentis, M. Fowler, L. Van Roosmalen, S. Sundarrao, R. Dubey, "Use of a Driving Simulator to Evaluate Steering Capabilities of People with and without Disabilities Using Drive-by-Wire Controls," Proceedings of the 2010 Quality of Life Technology Conference (QoLT 2010), June 27-30, 2010, Las Vegas, NV, USA.
• M. Fowler, SK. Elineni, M. Wills, KJ. De Laurentis, S. Sundarrao, L. Van Roosmalen, R. Dubey, "A Novel Driving Simulator Utilizing Drive-by-Wire Controllers to Test Drivers with Disabilities: Evaluation of Acceleration and Braking Controls," RESNA 2010 Annual Conference, June 27-30, Las Vegas, NV, USA.
• S. Colbert, G. Franz, K. Woellhaf, R. Alqasemi, and R. Dubey, "A High Performance Robot Vision Algorithm Implemented in Python," Proceedings of the Python for Scientific Computing Conference (SciPy 2010), June 28 - July 3, 2010, Austin, TX, USA.
• DJ. Lura, SC. Colbert, R. Dubey, AAF. Nassiraei, K. Kiguchi, "Simulation Environment for the Development of Serial Manipulator Robots and Their Control," (PYMANI) World Automation Congress (WAC 2010), September 19-23, 2010, Kobe, Japan.
• S. Colbert, R. Alqasemi, R. Dubey, G. Franz, K. Wöllhaf, "Development and Evaluation of a Vision Algorithm for 3D Reconstruction of Novel Objects from Three Camera Views", Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan.
• K. Khokar, K. Reed, R. Alqasemi and R. Dubey, "Laser-Assisted Telerobotic Control for Enhancing Manipulation Capabilities of Persons with Disabilities", Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010, Taipei, Taiwan.
• ML. Morris, KJ. DeLaurentis, MJ. Highsmith, SL. Carey, L. Menglekoch, "Evaluation of an Assistive Mobility Device for Dance Training and Performance," International Association for Dance Medicine & Science 20th Annual Meeting, October, 2010, Birmingham, UK.
• L. Menglekoch, MJ. Highsmith, KJ. DeLaurentis, SL. Carey, ML. Morris, "Comparison of the Metabolic Demands of Three Mobility Devices Using Standardized Dance Activity," International Association for Dance Medicine & Science 20th Annual Meeting, October, 2010, Birmingham, UK.
• MM. Wernke, DJ. Lura, SL. Carey, R. Dubey, "A Spring-Loaded Pole Design for Calibration of Force Platforms," Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), November 12 – 18, 2010, Vancouver, BC, Canada.
• DJ. Lura, SL. Carey, R. Dubey, "Validation of Functional Methods for Calculating the Shoulder Joint Center Using 3D Motion Analysis," Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), November 12 – 18, 2010, Vancouver, BC, Canada.
• FL. Sinatra, SL. Carey, MJ. Highsmith, R. Dubey, "Biomechanical Model Representing Energy Storing Prosthetic Feet," Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), November 12 – 18, 2010, Vancouver, BC, Canada.
• Y. Arbel, K. De Laurentis, R. Alqasemi, R. Dubey, E. Donchin, "The P300 Brain-Computer Interface as a Controller of a Wheelchair-Mounted Robotic-Arm System," Proceedings of the Fourth International Brain-Computer Interface Meeting, 2010, Monterey, CA, USA.
• MJ. Highsmith, JT. Kahle, SL. Carey, DJ. Lura, R. Dubey, WS. Quillen, "Kinetic Differences Using a Power Knee and C-Leg While Sitting Down and Standing Up: A Case Report," Journal of Prosthetics Orthotics, V. 4, No. 22 pp. 237-243, 2010.

• S.J.Ying and R. Dubey, "Device for Synchronized Rotation," Second International Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2009), January 14-17, 2009, Porto, Portugal.
• M. Palankar, Y. Arbel, K. De Laurentis, R. Alqasemi, E. Veras, E. Donchin, R. Dubey, "Control of a 9-DoF Wheelchair-Mounted Robotic Arm System Using a Brain-Computer Interface: Initial Experiments," Proceedings of the 2008 International Conference on Robotics and Biomimetics (ROBIO 2008), February 21–26, 2009, Bangkok, Thiland.
• DJ. Lura, SL. Carey, MJ. Highsmith, R. Dubey, "Robotic Model for Simulating Upper Body Movement," Proceedings of the 2008 International Conference on Robotics and Biomimetics (ROBIO 2008), February 21–26, 2009, Bangkok, Thiland.
• E. Veras, K. Khokar, R. Alqasemi, R. Dubey, "Scaled Telerobotic Control of a Manipulator in Real Time with Laser Assistance for ADL Tasks," Proceedings of the 2009 International Symposium on Mechatronics and its Applications (ISMA 2009), March 23-26, 2009, Sharjah, UAE.
• SL. Carey, "A Kinematic Comparison While Using Body-Powered and Myoelectric Prostheses During Common Tasks: A Case Study," The Academy of Orthotists and Prosthetists 35th Annual Meeting and Scientific Symposium (AAOP), March 2009, Atlanta, GA, USA.
• E. Veras, K. Khokar, R. Alqasemi, R. Dubey, "Laser Assisted Real Time and Scaled Telerobotic Control of a Manipulator for Defense and Security Applications," Proceedings of the 2009 SPIE Defense and Security Symposium (SPIE 2009), April 5-9, 2009, Orlando, FL, USA.
• DJ. Lura, SL. Carey, MJ. Highsmith, R. Dubey, "Robot Kinematics Based Model to Predict Compensatory Motion of Transradial Prosthesis While Performing Common Activities," Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 3104-3109, May 12-17, 2009, Kobe, Japan.
• F. Farelo, R. Alqasemi, R. Dubey, "Autonomous Control and Simulation of a Wheelchair Mounted Robotic Arm Performing Activities of Daily Living Tasks," Proceedings of the 2009 ASME Summer Bioengineering Conference (SBC 2009), June. 17–21, 2009, Lake Tahoe, CA, USA.
• SL. Carey, MJ. Highsmith, R. Dubey, "The Effects of Wearing a Transradial Myoelectric Prosthesis on Range of Motion of the Elbow," Proceedings of the 2009 ASME Summer Bioengineering Conference (SBC 2009), June. 17–21, 2009, Lake Tahoe, CA, USA.
• P. Schrock, F. Farelo, R. Alqasemi and Dubey, "Design, Simulation and Testing of a New Modular Wheelchair Mounted Robotic Arm to Perform Activities of Daily Living," Proceedings of the 2009 International Conference on Rehabilitation Robotics (ICORR 2009), June. 23–26, 2009, Kyoto, Japan.
• F. Farelo, R. Alqasemi and R. Dubey, "Development of a Virtual Reality Environment for the Simulation of a Wheelchair Mounted Robotic arm Performing Activities of Daily Living," Third International Congress of Mechanical Engineering (Tercer Congreso Internacional de Ingenieria Mecanica –Spanish), July 7-10, 2009, Barranquilla, Colombia.
• AD. Roetter, C. Lusk, R. Dubey, "Bistable Compliant Extension Aid for a Polycentric Prosthetic Knee," Proceedings of the International Design Engineering Technical Conference IDETC/CIE, August 30 - September 2, 2009, San Diego, CA, USA.
• IA. Ramirez, CP. Lusk, R. Dubey, MJ. Highsmith, ME. Maitland, "Crossed Four-Bar Mechanism for Improved Prosthetic Grasp," Journal of Rehabilitation Research and Development. Vol. 46, No 8, 2009.
• SL. Carey, G. Bauer, MJ. Highsmith, R. Dubey, "Kinematic Comparison of Myoelectric and Body Powered Prostheses While Performing Common Activities," Prosthet Orthot Int. 33:2, pp. 179-86, 2009.
• MJ. Highsmith, SL. Carey, KW. Koelsch, CP. Lusk, ME. Maitland, "Design and Fabrication of a Passive-Function, Cylindrical Grasp Terminal Device," Prosthet Orthot Int. 33:4, pp. 391-8, 2009.

• SL. Carey, "Compensatory Motion of a Transradial Prosthesis Wearer During Common Tasks," The Academy of Orthotists and Prosthetists 34th Annual Meeting and Scientific Symposium (AAOP), February, 2008, Orlando, FL, USA.
• IA. Ramirez, CP. Lusk, ME. Maitland, R. Dubey, "Linkage-Based Prosthetic Fingertip," The 34th Academy Annual Meeting and Scientific Symposium, February 27 – March 1, 2008, Orlando, FL, USA.
• R. Alqasemi, R. Dubey, "Weighted Singularity-robust Inverse with Criterion Function Optimization of Redundant Mobile Manipulators in 3-D Space with Defense Applications," Unmanned Systems Technology X, SPIE Defense and Security Symposium, Paper No.: 6962-70, 16-20, March 2008, Orlando, FL, USA.
• E. Veras, K.J. De Laurentis, R. Dubey, "Design and Implementation of a PC-Based Multithreaded Real-time Controller Combining Visual and Haptic Feedback for a Teleoperation System," 2008 Florida Conference on Recent Advances in Robotics (FCRAR 2008), May 8-9, 2008, Melbourne, FL, USA.
• K. De Laurentis, Y. Arbel, R. Alqasemi, E. Donchin, R. Dubey, "Implementation Of A P-300 Brain Computer Interface For The Control Of A Wheelchair Mounted Robotic Arm System". Proceedings of the 2008 Summer Bioengineering Conference (SBC 2009), June 25-29, 2008, Marco Island, FL, USA.
• E. Veras, K. Khokar, K.J. De Laurentis, R. Dubey, "Implementation Of A Real-Time Telerobotic System For Generating An Assistive Force Feedback For Rehabilitation Applications," 2008 Summer Bioengineering Conference, Paper No.: 193152, June 25-29, 2008, Marco Island, FL, USA.
• P. Schrock, M.E. McQueen, K.J. De Laurentis, M.L. Morris, R. Dubey, "Wheelchair Modification for Hands-Free Motion for Dancers with Disabilities," 2008 Summer Bioengineering Conference, Paper No.: 193178, June 25-29, 2008, Marco Island, FL, USA.
• SL. Carey, MJ. Highsmith, R. Dubey, "Motion Analysis of Transradial Prosthesis while Lifting a Box for Development of a Biomechanical Model," 2008 Summer Bioengineering Conference, Paper No.: 193168, June 25-29, 2008, Marco Island, FL, USA.
• DJ., MJ Highsmith, SL. Carey, R. Dubey, "Kinetic Differences in a Subject With Two Different Prosthetic Knees While Performing Sitting and Standing Movements," 2008 Summer Bioengineering Conference, Paper No.: 193045, June 25-29, 2008, Marco Island, FL, USA.
• D. Dekker, S. Sundarrao, R. Dubey, "It Takes Two To Teach Capstone Design," ASEE Annual Conference, June, 2008, Pittsburgh, PA, USA.
• D. Dekker, S. Sundarrao, R. Dubey, "Capstone Design Courses: Content Recognition," ASEE Annual Conference, June, 2008, Pittsburgh, PA, USA.
• E. Veras, K.J. De Laurentis, R. Dubey, "Design and Implementation of Visual-Haptic Assistive System for Virtual Rehabilitation Exercise and Teleoperation Manipulation," 30th Annual International IEEE Engineering in Medicine and Biology Society Conference (EMBC'08), August 20-24, 2008, Vancouver, British Columbia, Canada.
• S. Mahler, CP. Lusk, R. Dubey, "A Compliant Pediatric Prosthetic Knee," Biomedical Engineering Society Annual Meeting, October, 2-4, 2008, St. Louis, MO, USA.
• SL. Carey, MJ. Highsmith, R. Dubey, "Kinetics of Transradial Prosthesis Users During Two Tasks," Biomedical Engineering Society Annual Meeting, October, 2-4, 2008, St. Louis, MO, USA.
• DJ. Lura, R. Dubey, MJ. Highsmith, SL. Carey, "Simulated Compensatory Motion of Transradial Prostheses," Proceedings of the 2008 ASME International Mechanical Engineering Congress and Exposition (IMECE 2008) October 31- November 6, 2008, Boston, MA, USA.
• SL. Carey, MJ. Highsmith, ME Maitland, R. Dubey, "Compensatory Movements of Transradial Prosthesis Users During Common Tasks," Clinical Biomechanics, 23, pp. 1128-1135, 2008.
• MJ. Highsmith, JT. Kahle, DJ. Lura, SL. Carey, R. Dubey, WS. Quillen, "Kinetic Evaluation of Powered Versus Non-Powered Prosthetic Knee Mechanisms," Clinical Translational Science Awards (CTSA) KL2, K12 and K30 Clinical Research Scholars and Association for Clinical Research Training (ACRT) National Annual Meeting. 2008, Washington, DC, USA.

• R. Alqasemi, R. Dubey, "Combined Mobility and Manipulation Control of a Newly Developed 9-DoF Wheelchair-Mounted Robotic Arm System," Proceedings of the 2007 IEEE International Conf. on Robotics and Automation (ICRA 2007), pp. 4524-4529, April 10-14, 2007, Rome, Italy.
• R. Alqasemi, R. Dubey, "Maximizing Manipulation Capabilities for People with Disabilities Using a 9-DoF Wheelchair-Mounted Robotic Arm System," Proceedings of the 2007 International Conference on Rehabilitation Robotics (ICORR 2007), June 13–15, 2007, Noordwijk, Netherlands.
• R. Alqasemi, S. Mahler, R. Dubey, "Design and Construction of a Robotic Gripper for Activities of Daily Living for People with Disabilities," Proceedings of the 2007 International Conference on Rehabilitation Robotics (ICORR 2007), June 13–15, 2007, Noordwijk, Netherlands.
• R. Alqasemi, R. Dubey, "Redundancy Control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System," Proceedings of the 7th International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2007), June 20–23, 2007, Jacksonville, FL, USA.
• SL. Carey, MJ. Highsmith, R. Dubey, "Compensatory Motion During a Bilateral Lifting Task for Transradial Prosthetic Design," Proceedings of the ASME 2007 Summer Bioengineering Conference (SBC2007), June 20-24, 2007, Keystone, CO, USA.
• D. Dekker, S. Sundarrao, R. Dubey, "Capstone Design and Rehabilitation Engineering: A Great Team," Proceedings of the First Capstone Design Conference, June, 2007, Boulder, CO, USA.
• D. Dekker, S. Sundarrao, R. Dubey, "Capstone Design and the Rehabilitation Engineering Program," ASEE Annual Conference, June, 2007, Honolulu, HI, USA.
• J. Highsmith, SL. Carey, KW. Koelsch, CP. Lusk, ME. Maitland, "Kinematic Evaluation of Terminal Devices for Kayaking with Upper Extremity Amputation," Journal of Prosthetics and Orthotics. Vol. 19, No. 3, p 84-90, July 2007.
• ME. Maitland, CP. Lusk, MJ. Highsmith, SL. Carey, "A Non-Anatomical Grasp Mechanism for Artificial Hands," 12th World Congress of the International Society for Prosthetics and Orthotics, August, 2007, Vancouver, Canada.
• R. Alqasemi, R. Dubey, "Motion Planning and Control of a Non-Holonomic Power Wheelchair with a Redundant Manipulator," Proceedings of the 13th International Conference on Robotics and Applications (IASTED-RA 2007), August 29–31, 2007, Wurzburg, Germany.
• SL. Carey, MJ. Highsmith, R. Dubey, "Range of Motion of Upper Limb Joint Angles During Two Tasks for Transradial Prosthetic Design," Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, September, 2007, Las Vegas, NV, USA.
• SL. Carey, MJ. Highsmith, R. Dubey, "Compensatory Range of Motion of Transradial Prosthesis Users While Opening a Door," Biomedical Engineering Society Annual Meeting, September 2007, Hollywood, CA, USA.
• Y. Arbel, R. Alqasemi, R. Dubey, and E. Donchin, "Adapting the P300-Brain Computer Interface (BCI) for the Control of a Wheelchair-Mounted Robotic Arm System," Psychophysiology, 44, S1, S82-83.
• Y. Arbel, R. Alqasemi, R. Dubey, and E. Donchin, "Adapting the P300-Brain Computer Interface (BCI) for the Control of a Wheelchair-Mounted Robotic Arm System," 47th Annual Meeting Society for Psychophysiological Research, October 17-21, 2007, Savannah, Georgia, USA.
• R. Alqasemi, R. Dubey, "A New 9-DoF Mobile Robotic Device to Enhance the Capabilities of People with Disabilities," Proceedings of the 2007 IMECE International Mechanical Engineering Congress & Exposition (IMECE 2007), November 10–16, 2007, Seattle, WA, USA.
• R. Alqasemi, S. Mahler, R. Dubey, "The Design of a Dexterous Gripper to be Used for Activities of Daily Living by People with Upper-Extremity Disabilities," Proceedings of the 2007 IMECE International Mechanical Engineering Congress & Exposition (IMECE 2007), November 10–16, 2007, Seattle, WA, USA.
• SL. Carey, MJ. Highsmith, R. Dubey., "Compensatory Motion Caused by Forearm Restriction while Turning a Steering Wheel for Transradial Prosthetic Design," 13th National Conference on Machines and Mechanisms (NaCOMM 2007), December, 2007, Bangalore, India.

• S. Sundarrao, R. Alqasemi, E. McCaffrey, R. Dubey, "Robotics Technologies For Individuals With Disabilities And Their Impact On The Aging Population," Proceedings of the 2006 International Conf. on Aging, Disability and Independence (ICADI 2006), February 1-5, 2006, St. Petersburg, Florida, USA.
• K. Edwards, R. Alqasemi, R. Dubey, "Wheelchair-Mounted Robotic Arms: Design and Development," Proceedings of the first IEEE / RAS-EMBS 2006 International Conf. on Biomedical Robotics and Biomechatronics (BioRob 2006), pp. 613-618, February 20-22, 2006, Pisa, Italy.
• S. Sundarrao, R. Alqasemi, E. McCaffrey, R. Dubey, "Selection Considerations and a Comparison of Commercial Wheelchair Mounted Robotic Arms," Proceedings of the 3rd Cambridge Workshop on Universal Access and Assistive Technology (CWUAAT), pp. 97-104, April 10-12, 2006, Cambridge, United Kingdom.
• K. Edwards, R. Alqasemi, R. Dubey, "Design, Construction and Testing of a Wheelchair-Mounted Robotic Arm," Proceedings of the 2006 IEEE International Conf. on Robotics and Automation (ICRA 2006), pp. 3165-3170, May 15-19, 2006, Orlando, Florida, USA.
• S. Sundarrao, Alqasemi, E. McCaffrey, R. Dubey, "Selection Considerations and a Comparison of Commercial Wheelchair Mounted Robotic Arms," Proceedings of the 2006 Florida Conference on Recent Advances in Robotics and Robot Showcase (FCRAR 2006), May 25-26, 2006, Miami, FL, USA.
• R. Alqasemi, E. McCaffrey, K. Edwards, R. Dubey, "Kinematic Analysis, Evaluation and Development of a New Wheelchair-Mounted Robotic Arm," International Journal of Assistive Robotics and Mechatronics / Human-friendly Welfare Robotic Systems (ARM/HWRS), vol. 7, No. 2, pp. 31-38, June 2006.
• SL.Carey, R. Dubey, ME. Maitland, MJ. Highsmith, MJ., "Effects of mass on upper limb joint angles for prosthetic design," Biomedical Engineering Society Annual Meeting, Sept. 2006, Chicago, IL.
• R. Alqasemi, K. Edwards, R. Dubey, "Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 19-24, October 2-15, 2006, Beijing, China.

• W. Yu, R. Alqasemi, R. Dubey, N. Pernalete, "Telemanipulation Assistance Based on Motion Intention Recognition," Proceedings of the 2005 IEEE International Conf. on Robotics and Automation (ICRA 2005), pp. 1121-1126, April 18-22, 2005, Barcelona, Spain.
• R. Alqasemi, E. McCaffrey, K. Edwards, R. Dubey, "Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms," Proceedings of the 2005 International Conference on Rehabilitation Robotics (ICORR 2005), pp. 469-472, June 28 – July 1, 2005, Chicago, IL, USA.
• N. Pernalete, S. Edwards, R. Gottipati, J. Tipple, V. Kolipakam, R. Dubey, "Eye-Hand Coordination Assessment/Therapy Using a Robotic Haptic Device," Proceedings of the 2005 International Conference on Rehabilitation Robotics (ICORR 2005), pp. 25-28, June 28 – July 1, 2005, Chicago, IL, USA.
• R. Alqasemi, E. McCaffrey, K. Edwards, R. Dubey, "Wheelchair-Mounted Robotic Arms: Analysis, Evaluation and Development," Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2005), pp. 1164-1169, July 24-28, 2005, Monterey, CA, USA.
• R. Alqasemi, E. McCaffrey, K. Edwards, R. Dubey, "Kinematic Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms," GESTS International Transactions on Computer Science and Engineering, vol. 25, No. 1, pp. 49-60, December 2005.
• W. Yu, R. Alqasemi, R. Dubey, N. Pernalete, "Telemanipulation Assistance Using Hidden Markov Model Motion Intention Recognition," GESTS International Transactions on Computer Science and Engineering, vol. 25, No. 1, pp. 73-84, December 2005.

• W. Yu, R. Dubey, N. Pernalete, "Robotic Therapy for Persons with Disabilities Using Hidden Markov Model Based Skill Learning," Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Vol. 2, pp. 2074-2079, April 26- May 1, 2004, New Orleans, LA, USA.
• N. Pernalete, R. Gottipati, S. Mikkilineni, S. Edwards, E. McCann, W. Yu, R. Dubey, "Eye-Hand Coordination Assessment Using a Robotic Haptic Interface," Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Vol. 1, pp. 305-310, April 26- May 1, 2004, New Orleans, LA, USA.
• E. McCaffrey, R. Alqasemi, R. Dubey, "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms," Proceedings of the 2004 Florida Conference on Recent Advances in Robotics and Robot Showcase (FCRAR 2004), May 6-7, 2004, Orlando, FL, USA.
• E. McCaffrey, R. Alqasemi, R. Dubey, "Wheelchair Mounted Robotic Arms: Kinematic Analysis and Evaluation," Proceedings of the 10th IASTED International Conference on Robotics and Applications (IASTED-RA 2004), pp. 28-33, August 23-25, 2004, Honolulu, HI, USA.
• W. Yu, R. Dubey, N. Pernalete, "Telemanipulation Enhancement through User's Motion Intention Recognition and Fixture Assistance," Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Vol. 3, pp. 2235-2240, September 28- October 2, 2004, Sendai, Japan.
• E. McCaffrey, R. Alqasemi, R. Dubey, "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms," Proceedings of the 2004 IMECE International Mechanical Engineering Congress & Exposition (IMECE 2004), November 13-19, 2004, Anaheim, CA, USA.

• W. Yu, B. Fritz, N. Pernalete, M. Jurczyk, R. Dubey, "Sensors Assisted Telemanipulation for Maximizing Manipulation Capabilities of Persons With Disabilities," Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), pp. 295-301, March 22-23, 2003, Los Angeles, California, USA.
• N. Pernalete, R. Gottipati, S. Edwards, W. Yu, R. Dubey, "Scaled Teleoperation Approach for Measuring Manipulation Capabilities of Persons with Disabilities," International Journal of Human-friendly Welfare Robotic Systems (HWRS), vol. 4, No. 1, April 2003.
• N. Pernalete, R. Gottipati, W. Yu, R. Dubey, "Telerobotic Haptic System to Enhance the Performance of Vocational Tests by Motion-Impaired Users," International Journal of Human-friendly Welfare Robotic Systems (HWRS), vol. 4, No. 1, April 2003.
• N. Pernalete, W. Yu, R. Dubey, W. Moreno, "Telerobotic Haptic System to Assist The Performance of Occupational Therapy Tests by Motion-Impaired Users," Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), v. 1, pp. 1247-1252, September 14-19, 2003, Taipei, Taiwan.

• N. Pernalete, W. Yu, R. Dubey, "Development of a Robotic Haptic Interface to Assist the Performance of Vocational Tasks by People with Disabilities," Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), v. 2, pp. 1269-1274, May 21-26, 2002, Washington, DC. USA.
• B. Fritz, W. Yu, N. Pernalete, M. Jurczyk, R. Dubey, "Enhancement the manipulation Capabilities of Persons With Disabilities Using Sensor Assisted Teleoperation," Proceedings of the 15th Florida Conference on Recent Advance in Robotics (FCRAR 2002), May 23-24, 2002, Miami, Florida, USA.
• B. Fritz, W. Yu, N. Pernalete, M. Jurczyk, R. Dubey, "Sensor Assisted Telemanipulation System for Enhancing the Manipulation Capabilities of Persons With Disabilities," Proceedings of the International Symposium in Robotics and Automation. September 1-4, 2002, Toluca, Mexico.
• N. Pernalete, W. Yu, R. Dubey, W. Moreno, "Augmentation of Manipulation Capabilities of Persons With Disabilities Using Scaled Teleoperation," Proceedings of the 2002 EEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), v. 2, pp. 1517-1522, September 30-October 4, 2002, EPFL, Switzerland.
• S. Zekri, A. Gage, S. Ying, S. Sundarrao, R. Dubey, "Driving Evaluation of Persons with Disabilities Using an Advanced Vehicle Interface System," Proceedings of the 2002 EEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), v. 2, pp. 1158-1164, September 30-October 4, 2002, EPFL, Switzerland.
• N. Pernalete, W. Yu, B. Fritz, R. Dubey, "Development of TeleManipulation System To Assist Persons With Disability," Proceedings of the 2002 ASME International Mechanical Engineering Congress & Exposition (IMECE 2002), November 17-22, 2002, New Orleans, Louisiana, USA.
• S. Zekri, A. Gage, S. Ying, S. Sundarrao, R. Dubey, "Assessment of the Driving Capabilities of Persons With Disabilities Using an Advanced Vehicle Interface System," Proceedings of the 2002 ASME International Mechanical Engineering Congress & Exposition (IMECE 2002), November 17-22, 2002, New Orleans, Louisiana, USA.
• B. Bahr, R. Alqasemi, "Design of an Internal Pipe Worm Robot," Proceedings of the 8th International Symposium on Robotics with Applications (ISORA 2000), in the 2000 World Automation Congress (WAC 2000), June 11-16, 2000, Wailea, Maui, HI, USA.
• R. Dubey, N. Pernalete, S. Zekri, A. Gage, B. Fritz, "Development of an Intelligent Robotic Haptic Interface to perform vocational tasks by individuals with disabilities," Proceedings of the International Symposium in Robotics and Automation, November 10-12, 2000, Monterrey, Mexico.

• R. Dubey, K. Manocha, N. Pernalete, "Model Based Position Assistance in Teleoperation for D&D Tasks," American Nuclear Society Ninth International Topical Meeting on Robotics and Remote Systems, March 4-8, 2001, Seattle, Washington, USA.
• S. Zekri, N. Pernalete, R. Dubey, A. Gage, "Design of Haptic Interfaces to Optimize the Driving Capabilities of People with Disabilities," Proceedings of the International Conference on Rehabilitation Robotics (ICORR 2001), April 25-27, 2001, Evry, France.
• N. Pernalete, S. Zekri, R. Dubey, A. Gage, B. Fritz, "Development of an Intelligent Robotic Haptic Interface to Perform Vocational Related Tasks by Individuals with Disabilities," Proceedings of the International Conference on Rehabilitation Robotics (ICORR 2001), April 25-27, 2001, Evry, France.
• R. Dubey, K. Manocha, N. Pernalete, "Variable Position Mapping Based Assistance in Teleoperation for Nuclear CleanUp," Proceedings of the International Conference on Robotics and Automation (ICRA 2001), May 21-26, 2001, Seoul, Korea.
• R. Dubey, S. Everett, K. Manocha, N. Pernalete, "Teleoperation Assistance through Variable Velocity Mapping and its Application to Fitts Task," IEEE Transactions on Robotics & Automation, v. 17, no. 5, pp. 761-766, October, 2001.
• R. Dubey, S. Zekri, A. Gage, N. Pernalete, "Design of Haptic Interfaces to Assess the Driving Capabilities of People with Disabilities," Proceedings of the 2001 ASME International Symposium on Advances in Robot Dynamics and Control (ARDC 2001), November 11-16, 2001, New York, NY, USA.

• B. Bahr, R. Alqasemi, "Design of an Internal Pipe Worm Robot," Proceedings of the 8th International Symposium on Robotics with Applications (ISORA 2000), in the 2000 World Automation Congress (WAC 2000), June 11-16, 2000, Wailea, Maui, HI, USA.
• R. Dubey, N. Pernalete, S. Zekri, A. Gage, B. Fritz, "Development of an Intelligent Robotic Haptic Interface to perform vocational tasks by individuals with disabilities," Proceedings of the International Symposium in Robotics and Automation, November 10-12, 2000, Monterrey, Mexico.