Abstract

This paper presents a low-cost and self-contained robotic gripper that can be integrated into various robotic systems. This gripper can be used to accomplish a wide array of object manipulation tasks, made easy by its design and features a wide array of sensors that can be used to help accomplish these tasks. Furthermore the gripper has been made to be compatible with many robotic systems.

Motivation

Many existing grippers used in robotics today have varying capabilities which only allow them to perform certain tasks or grab certain objects for manipulation. These grippers may lack additional features (i.e. cameras or sensors) that allow them to better perform tasks. Additionally, many of these robotic grippers will only interface with the system they were designed for. To get these features that we needed for our projects, along with the flexibility to migrate the gripper from system to system, a new gripper had to be made.

Design Features

The gripper features a small 24v DC motor with an encoder that can be used to read the position and speed of the gripper. It also has a slip clutch to prevent over extending of the gripper. The unique cupped design of the gripper, emulates a human hand, allowing for more accurate grasping. Furthermore, the gripper contains a camera, and a distance sensor for finding the objects' position. Finally, the gripper has a current sensor that can be used to shut off the gripper if the force on the gripper exceeds a certain threshold for a given object.

Design Features

Packaging

In order for this gripper to be able to interface with other robotic systems without modification to the design of the gripper it was necessary to bundle all of the required components into a single control box. This control box consists of the microcontroller, motor controller, voltage regulators, and current sensing equipment required for the system to function. Additionally, the microcontroller allows for interfacing with the gripper via Ethernet, Wi-Fi, Bluetooth, or
USB. The Gripper assembly is powered via an external Power Supply (battery or DC adapter). In order to interface with the various added components in this gripper, a full software library was written in C++ that allows users to control the gripper, grab sensor information, and view the camera, without any additional programming. This library is cross-platform and can be used on mobile devices.

Operation

Above: The gripper control overview showing the flow of control and sensory information when using a TCP/IP based interface within the gripper system, including the transmission with the users.

The gripper system has several different interfaces through which it can be controlled. The gripper can either be controlled internally, in which the control programs are stored and run on the gripper's controller automatically, or remotely, in which the user is controlling the gripper from another device. The gripper system supports remote operation via Ethernet, Wi-Fi, and Bluetooth, with expansion to other communication formats available via the gripper controller's onboard USB ports.
Included with the gripper system is a custom Gripper Operation Program that grants the user easy operation of the gripper from a computer. The Gripper Operation Program allows the user to control the openness / closeness of the gripper via a simple slider bar, as well as the speed at which the gripper opens / closes. Additionally, the Operation Program allows the user to see all of the sensor information coming from the gripper, including the distance sensor, pressure
sensors, and camera. The Operation Program also allows the user to set pressure cutoff limits. These cutoff limits force the gripper to stop closing / opening when a pressure threshold has been reached. This feature prevents the gripper from exerting too much / too little force on an object. The Operation Program is available for Windows, Mac OS X, and Linux.

Above: The Gripper Operation Program showing the camera view, gripper position controls, gripper speed adjustment, and distance sensor information

Results

While the all-in-one control system for the WMRA Gripper was still being developed, the Gripper itself has been used in the Wheelchair Mounted Robotic Arm (WMRA) as the system's primary gripper. Using this Gripper, the WMRA has successfully manipulated objects of different classifications including bottles, cups, markers, etc. With the addition of the current feedback and shutoff, the Gripper should gain the ability to grasp objects that can be crushed by the gripper. Finally, the high resolution and high frame rate of the camera would better allow for the usage of computer vision algorithms to perform object detection and classification of the target objects, and more accurate grasping.

Conclusion

This gripper is an effective, fully featured, and cost effective device that can be used in a wide array of robotic manipulation tasks. Additionally, the gripper can be added to existing robotic systems with little (if any) modification to the existing system or the gripper.

ABSTRACT

This work focuses on the research related to enabling individuals with speech impairment to use speech-to-text software to recognize and dictate their speech. Automatic Speech Recognition (ASR) tends to be a challenging problem for researchers because of the wide range of speech variability. Some of the variabilities include different accents, pronunciations, speeds, volumes, etc. It is very difficult to train an end-to-end speech recognition model on data with speech impediment due to the lack of large enough datasets, and the difficulty of generalizing a speech disorder pattern on all users with speech impediments. This work highlights the different techniques used in deep learning to achieve ASR and how it can be modified to recognize and dictate speech from individuals with speech impediments.

NETWORKS ARCHITECTURE AND EDIT DISTANCE

                The project is split into three consecutive processes; ASR to phonetic transcription, edit distance and language model. The ASR is the most challenging due to the complexity of the neural network architecture and the preprocessing involved. We apply Mel-Frequency Cepstrum Coefficients (MFCC) to each audio file which results in 13 coefficients for each frame. The labels (text matching the audio) is converted to phonemes using the CMU arpabet phonetic dictionary. The Network is trained using the MFCC coefficients as inputs and phonemes’ IDs as outputs. The Network architecture implemented is a Bidirectional Recurrent Deep Neural Network (BRDNN – fig.1), it consists of 2 LSTM cells (one in each direction) with 100 hidden blocks in each direction. The network is made deep by stacking two more layers, which results in a 3 layers network in depth. Two fully connected layers were attached to the output of the recurrent network with 128 hidden units in each. This architecture resulted in a 38.5% LER on the Test set.

Figure 1: Deep Bidirectional LSTM

                Levenshtein edit distance (fig. 2) is used to generate potential words from phonemes. Edit distance of one means a maximum change of one phoneme is allowed, edit distance of two means a change of one or two phonemes is allowed when generating the potential words, and so on. These changes can be inserts, deletes or replacements. The language model uses the potential words to generate sentences with the most semantic meaning. The language model is another recurrent neural network model trained on full sentences. The model outputs the probability of a word occurring after a given word or sentence. It is simpler than the main speech recognition model because it is not bidirectional and not as deep. The language model uses beam search decoding to find the best sentences.

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.

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.

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• Highsmith MJ, Kahle JT, Miro RM, Cress ME, Quillen WS, Carey SL, Dubey RV, Mengelkoch LJ, “Concurrent Validity of the Continuous Scale-Physical Functional Performance-10 (CS-PFP-10) Test in Transfemoral Amputees”, Technol Innov, 18:2-3 (2016), pp.185-91.
• Wieczorek T, Menychtas D, Pernalete N, Carey SL, “Motion Capture Feedback for Upper-Limb Disability Task Variation Assessment,” 38th  Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL , August, 2016.
• Carey SL, Menychtas D, Sullins T, Dubey RV, “Development of a Simulation Tool for Upper Extremity Prostheses,” 38th  Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL , August, 2016.
• Menychtas D, Sullins T, Rigsby B, Carey SL, Reed KB, “ Assessing the Role of Preknowledge in Force Compensation During a Tracking Task,” 38th  Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL , August, 2016.
• K. Ashley, R. Alqasemi, R. Dubey, “Interactive Robotic Assistance Using Baxter,” Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2016), August 17-20, 2016, Orlando, FL, USA.
• E. Bozgeyikli, L. Bozgeyikli, A. Aguirrezabal, R. Alqasemi, and R. Dubey, “VR4VR: An Immersive Virtual Reality Vocational Rehabilitation System for Individuals with Severe Disabilities,” IEEE Engineering in Medicine and Biology Society Conference, August 16-20, 2016, Orlando, FL, USA.
• M. Mashali, R. Alqasemi, R. Dubey, “Novel Dual-Trajectory Tracking Using Spherical Control Variables,” Proceedings of the 2016 World Automation Congress,  July 31 – August 4, 2016, Rio Mar, Puerto Rico.
• E. Bozgeyikli, L. Bozgeyikli, A. Raij, S. Katkoori, R. Alqasemi, and R. Dubey, “Virtual Reality Interaction Techniques for Individuals with Autism Spectrum Disorder: Design Considerations and Preliminary Results,” Proceedings of the 18th International Conference on Human-Computer Interaction (HCI 2016), July 17-22, 2016, Toronto, Canada.
• L. Bozgeyikli, E. Bozgeyikli, A. Aguirrezabal, R. Alqasemi, S. Sundarrao, and R. Dubey, “Immersive Virtual Reality for Vocational Rehabilitation of Individuals with Disabilities,” Proceedings of the 2016 Rehabilitation Engineering and Assistive Technology Society of North America (RESNA 2016), July 10-14, 2016, Arlington, Virginia, USA.
• Lee SH, Carey SL, Lazinski M, “Fit to Play: Mind-body Integration Program for Collegiate Musicians,” Medical Problems of Performing Artists, Annual Symposium of the Performing Arts Medicine Association (PAMA), Snowmass, CO, July 2016.
• Knight A, Carey SL, Dubey R, “An Interim Analysis of the Use of Virtual Reality to Enhance Upper Limb Prosthetic Training and Rehabilitation,”  Proceedings of the 9th International Conference on Pervasive Technologies Related to Assistive Environments (PETRA), Corfu, Greece, June, 2016.
• Menychtas D, Carey SL, Dubey R, “Simulation for Upper Limb Prosthesis Users,” 2016 BMES/FDA Frontiers in Medical Devices Conference, College Park, MD, May 2016.
• Martori AL, Carey SL, “Comparison of Able-bodied and Bilateral Amputee Kinematics at Various Elevations,” 2016 BMES/FDA Frontiers in Medical Devices Conference, College Park, MD, May 2016.
• A. Leon, J. Marzano, A. Oyenusi, G. Sanchez, K. Ashley, R. Alqasemi, “Autonomous Intelligent Grasping in Assistive Robotics Applications,” Proceedings of the 29'th Florida Conference on Recent Advances in Robotics and Robot Showcase (FCRAR 2016), May 12-13, 2016, Miami, FL, USA.

• Carey SL, “Assessment Tools for Benchmarking Lower Limb Prosthetic Gait,” Benchmarking Bipedal Locomotion Website, Cajal Institute, Spanish National Research Council, 03/2016,http://www.neuralrehabilitation.org/benchmarking/assessment-tools-for-benchmarking-lower-limb-prosthetic-gait-by-stephanie-l-care/

• L. Bozgeyikli, E. Bozgeyikli, A. Raij, R. Alqasemi, S. Katkoori, and R. Dubey, ”Virtual Reality Vocational Rehabilitation of Individuals with Autism Spectrum Disorder,” Proceedings of the ACM Transactions on Accessible Computing (TACCESS), March, 2016.
• A. Knight, “An Interim Analysis of the Use of Virtual Reality to Enhance Upper-Limb Prosthetic Training and Rehabilitation", The Academy of Orthotists and Prosthetists 41st Annual Meeting and Scientific Symposium (AAOP 2016), Orlando, FL, March 2016.
• L. Bozgeyikli,  E. Bozgeyikli, A. Raij, R. Alqasemi, S. Katkoori, and R. Dubey, “Vocational Training with Immersive Virtual Reality for Individuals with Autism: Towards Better Design Practices,” Proceedings of the IEEE Virtual Reality Conference (VR 2016), March 19-23, 2016, Greenville, South Carolina, USA.
• Highsmith MJ, Lura DJ, Carey SL, Mengelkoch LJ, Kim SH, Quillen WH, Kahle JT, Miro RM, “Correlations between residual limb length and joint moments during sitting and standing movements in transfemoral amputees”, Prosthet Orthot Int (POI), 40:4 (2016), pp. 522-27. PMID: 25628379.

• Carey SL, Lopez A, "Human Balance: Study and Evaluation by Motion Capture, EOG and EMG Biopotentials," Biomedical Engineering Society Annual Meeting (BMES 2015), Tampa, FL October 7-10, 2015.
• Lura D, Carey SL, Dubey R, " Effect of Additional Weight on Upper Limb Pose During Activities of Daily Living," Biomedical Engineering Society Annual Meeting (BMES 2015), Tampa, FL October 7-10, 2015.
• Peterson M, Jongprasithporn M, Carey SL, "Evaluation of Fall Recovery and Gait Adaptation to Tripping Perturbations," Biomedical Engineering Society Annual Meeting (BMES 2015), Tampa, FL October 7-10, 2015.
• Martori A, Carey SL, "Investigation of Gait Kinematics at Various Elevations in a Virtual Reality Environment," Biomedical Engineering Society Annual Meeting (BMES 2015), Tampa, FL October 7-10, 2015.
• Menychtas D, Carey SL, Dubey R, "Limiting the Available Workspace of a Robot-Human Simulation Model to Increase Accuracy," Biomedical Engineering Society Annual Meeting (BMES 2015), Tampa, FL October 7-10, 2015.
• Carey SL, Lura DJ, Highsmith MJ, “Myoelectric or Body-powered Prosthesis,” Critically Appraised Topics (CATs), American Academy of Orthotics & Prosthetics (AAOP) website, 10/2015.
• Peterson MJ, Jongprasithporn M, Carey SL, "Gait Adaptations to Unexpected Drop-Away Flooring Perturbations," Proceedings of the 39th Annual Meeting of the American Society of Biomechanics, Columbus, OH, August 2015.
• Carey SL, Lura DJ, Highsmith MJ, "Differences in Myoelectric and Body-Powered Upper Limb Prostheses: A Systematic Literature Review," Journal of Rehabilitation Research & Development, 52:3 (2015), pp. 247-62.
• Menychtas D, Carey SL, Dubey R, "Robotic Based Simulation Algorithm to Predict Optimized Compensatory Motion of Transradial Prosthesis Users," Proceedings of the International Conference on Rehabilitation Robotics (ICORR), Singapore, August 2015.
• R. Alqasemi, K. Reed, R. Dubey, "Low-Cost Technology Solutions for Rehabilitation and Assistance of Persons with Disabilities," Workshop on Affordable Rehabilitation and Assistive Robotics for Low Resource Settings and Developing Countries at the 2015 International Conference on Rehabilitation Robotics (ICORR 2015), August 11-14, 2015, Singapore.
• Menychtas D, Carey SL, Dubey RV "Simulation Algorithm for the Upper Limb for Better Training and Prosthesis Prescription for Amputees," Proceedings of the 8th International Conference on Pervasive Technologies Related to Assistive Environments (PETRA), Corfu, Greece, July 1-3rd,2015.
• Tudor S, Carey SL, Dubey RV, "Development and Evaluation of a Dynamic Virtual Reality Driving Simulator," Proceedings of the 8th International Conference on Pervasive Technologies Related to Assistive Environments (PETRA), Corfu, Greece, July 1-3rd, 2015.
• L. Bozgeyikli, E. Bozgeyikli, M. Clevenger, A. Raij, R. Alqasemi, S. Sundarrao, and R. Dubey, "VR4VR: Vocational Rehabilitation of Individuals with Disabilities in Immersive Virtual Reality Environments," Proceedings of the 8th ACM International Conference on PErvasive Technologies Related to Assistive Environments (PETRA 2015), July 1-3, 2015, Corfu, Greece.
• Carey SL, Wernke MM, Lura DJ, Kahle JT, Dubey RV and Highsmith MJ, “Golf Hand Prosthesis Performance of Transradial Amputees”, Prosthetics & Orthotics International, 39:3 (2015), pp.244-9.
• Menychtas D, Carey SL, Dubey R, "Upper Body Simulation Using a Robot Model with Defined Personalized Joint Workspace," 28th Florida Conference on Recent Advances in Robotics (FCRAR), Melbourne, FL, May 2015.
• K. Ashley, M. Goltz, R. Patel, A. Aguirrezebal, and R. Alqasemi, "Performing Activities of Daily Living with the BaxBot Robot and an Android Mobile Device," Proceedings of the 28th Florida Conference on Recent Advances in Robotics (FCRAR 2015), May 14-15, 2015, Melbourne, Florida, USA.
• E. Bozgeyikli, L. Bozgeyikli, M. Clevenger, A. Raij, R. Alqasemi, S. Sundarrao, and R. Dubey, "VR4VR: Vocational Rehabilitation of Individuals with Disabilities in Immersive Virtual Reality Environments," Proceedings of the 28th Florida Conference on Recent Advances in Robotics (FCRAR 2015), May 14-15, 2015, Melbourne, Florida, USA.
• Peterson MJ, Jongprasithporn M, Carey SL, "Evaluation of Fall Recovery and Gait Adaptation to Medial and Lateral Gait Perturbations," 52nd Annual Rocky Mountain Bioengineering Symposium, Salt Lake City, UT, April 2015.
• K. Duncan, S. Sarkar, R. Alqasemi, R. Dubey, "Scene-Dependent Intention Recognition for Task Communication with Reduced Human-Robot Interaction," Computer Vision - EECV, Part III, V. 8927, pp. 730–745, March, 2015.
• Knight A, Highsmith MJ, Carey SL, "An Interim Analysis of Body Powered Prosthetic Terminal Devices," The Academy of Orthotists and Prosthetists 41st Annual Meeting and Scientific Symposium (AAOP 2015), New Orleans, LA, Feb. 2015.
• Menychtas D, Carey SL, Phillips S, Dubey RV, "Quantifying Compensatory Motion of Amputees for Improved Prosthetic Prescription and Training," The Academy of Orthotists and Prosthetists 41st Annual Meeting and Scientific Symposium (AAOP 2015), New Orleans, LA, Feb. 2015.
• Lazinkski M, Carey SL, Tidwell T, Lee SH, "Fit to Play: Mind-Body Integration Program for Collegiate Musicians," USF-PAMA Conference, Tampa, FL, Feb 27-March 1, 2015.
• Lura DJ, Wernke MM, Carey SL, Kahle JT, Miro RM, Highsmith MJ, "Differences in Knee Flexion between the Genium and C-Leg Microprocessor Knees While Walking on Level Ground and Ramps," Clinical Biomechanics, 30:2 (2015), pp175-81.

• M. Mashali, R. Alqasemi, R. Dubey, "Task Priority Based Dual-Trajectory Control for Redundant Mobile Manipulators," IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), December 5-10, 2014, Bali, Indonesia.
• P. Mitzlaff, R. Niznik, R. Alqasemi, R. Dubey, "Universal Android-Based Kit for Wireless Control of Wheelchairs," ASME 2014 International Mechanical Engineering Congress & Exposition (IMECE 2014), November 14-20, 2014, Montreal, Canada.
• SM Tudor, SL Carey, RV Dubey, "The Development of a Dynamic Adaptive Driving Simulator," ASME 2014 International Mechanical Engineering Congress & Exposition (IMECE 2014), November 14-20, 2014, Montreal, Canada.
• A. Lopez, SL Carey, ML Morris, "Hip Biomechanics of Ballet Dancers in Closing First, Third and Fifth Position," Biomedical Engineering Society Annual Meeting (BMES 2014), October 22-25, 2014, San Antonio, TX.
• Tudor, S, Carey SL, Dubey, RV, "The Development of a Dynamic Adaptive Driving Simulator," Biomedical Engineering Society Annual Meeting (BMES 2014), October 22-25, 2014, San Antonio, TX.
• D Menychtas, DJ Lura, SL Carey, RV Dubey, "Robotics Based Human Body Model for Improvement of Upper Extremity Prostheses" ," Biomedical Engineering Society Annual Meeting (BMES 2014), October 22-25, 2014, San Antonio, TX.
• K. Duncan, S. Sarkar, R. Alqasemi, R. Dubey, "Scene-Dependent Intention Recognition for Task Communication with Reduced Human-Robot Interaction," Proceedings of Workshop on Assistive Computer Vision and Robotics (ACVR 2014), September 6-12, 2014, Zürich, Switzerland.
• M. Mashali, R. Alqasemi, S. Sarkar, R. Dubey, "Design, Implementation and Evaluation of a Motion Control Scheme for Mobile Platforms with High Uncertainties," IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014, Sao Paulo, Brazil.
• K. Khokar, R. Alqasemi, S. Sarkar, K. Reed and R. Dubey, "A Novel Telerobotic Method for Human-in-the-Loop Assisted Grasping based on Intention Recognition," The 2014 IEEE International Conference on Robotics & Automation (ICRA 2014), May 31 - June 7, 2014, Hong Kong, China.
• L. Bozgeyikli, E. Bozgeyikli, M. Clevenger, S. Gong, A. Raij, R. Alqasemi, S. Sundarrao, and R. Dubey, "VR4VR: Towards Vocational Rehabilitation of Individuals with Disabilities in Immersive Virtual Reality Environments," Proceedings of Workshop on Virtual and Augmented Assistive Technologies (VAAT) at IEEE Virtual Reality 2014 (VR-VAAT 2014), March 29-30, 2014, Minneapolis, MN, USA.
• E. Bozgeyikli, L. Bozgeyikli, M. Clevenger, A. Raij, R. Alqasemi, S. Sundarrao, and R. Dubey, "Design and Development of a Virtual Reality System for Vocational Rehabilitation of Individuals with Disabilities," IEEE Symposium on 3D User Interfaces 2014 (3DUI 2014), March 29-30, 2014, Minneapolis, MN, USA.
• Carey SL, Wernke MM, Lura DJ, Kahle JT, Dubey RV and Highsmith MJ, "Golf Hand Prosthesis Performance of Transradial Amputees," Prosthetics & Orthotics International, 39:3 (2014), pp.244-9.
• Highsmith MJ, Kahle JT, Lura DJ, Dubey RV, Carey SL, Quillen WS, Menglekoch LJ, "Short and Mid-Distance Walking and Posturography with a Novel Microprocessor Knee," Technology and Innovation, 15:4 (2014), pp. 359-368.
• Highsmith MJ, Kahle JT, Miro RM, Lura DJ, Dubey RV, Carey SL, Quillen WS, Menglekoch LJ, "Perceived Differences Between the Genium and the C-Leg Microprocessor Prosthetic Knees in Prosthetic-Related Function and Quality of Life," Technology and Innovation, 15:4 (2014), pp. 369-375.
• Wernke MM, Lura DJ, Carey SL, Highsmith MJ, "Design and Performance of a Push-Up Device for Above-Elbow Amputees: A Technical Note," Technology and Innovation, 15:4 (2014), pp. 297-300.

• K. Lostroscio, A. Lopez Marcano, S. Carey, "Effectiveness of the Vicon Motion Analysis System for Outdoor Capture," Society of Hispanic Professional Engineers National Conference, November 2013, Indianapolis, IN, USA.
• A. Martori, S. Carey, R. Alqasemi, D. Ashley, R. Dubey, "Characterizing the Suitability of Wearable Sensors for Movement Analysis Using a Programmed Robotic Motion," Proceedings of the 2013 ASME International Mechanical Engineering Congress and Exposition (IMECE 2013), November 15-21, 2013, San Diego, CA, USA.
• C. Bringes, Y. Lin, Y. Sun, R. Alqasemi, "Determining the Benefit of Human Input in Human-in-the-Loop Robotic Systems," The 2013 IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man 2013), August 26-29, 2013, Gyeongju, Korea.
• I. Pathirage, K. Khokar, E. Klay, R. Alqasemi, and R. Dubey, "A Vision based P300 Brain Computer Interface for Grasping using a Wheelchair-Mounted Robotic Arm," Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013), July 9-12, 2013, Wollongong, Australia.
• I. Handzic and K. B. Reed, "Validation of a Passive Dynamic Walker Model for Human Gait Analysis"," 35th Annual International Conference of the IEEE EMBS, July 3-7, 2013, Osaka, Japan.
• D.J. Lura, S.L. Carey, R.V. Dubey. "Study of Variation in Human Upper Body Parameters and Motion for Use in Robotics Based Simulation," Paper # 2407. 35th Annual International Conference of the IEEE EMBS, July 3-7, 2013, Osaka, Japan.
• S. McAmis and K. B. Reed, "Design and Analysis of a Compliant Bimanual Rehabilitation Device," Proc. of the 13th Intl. Conf. on Rehabilitation Robotics (ICORR), Seattle, USA, June, 2013.
• I. Handzic and K. B. Reed, "Comparison of the Passive Dynamics of Walking on Ground, Tied-belt and Split-belt Treadmills, and via the Gait Enhancing Mobile Shoe (GEMS)," Proc. of the 13th Intl. Conf. on Rehabilitation Robotics (ICORR), Seattle, USA, June, 2013.
• S. H. Kim and K. B. Reed, "Robot-Assisted Balance Training for Gait Modification," Proc. of the 13th Intl. Conf. on Rehabilitation Robotics (ICORR), Seattle, USA, June, 2013.
• SL Carey, DJ Lura, RV Dubey, "The Role of Motion Analysis in Biomedical Engineering Education and Interdisciplinary Research," Proceedings of the ASME 2013 Summer Bioengineering Conference (SBC 2013), June, 2013, Sunriver, OR, USA.
• A Martori, SL Carey, R. Alqasemi, D. Ashley, R. Dubey, "Knee Angle Analysis Using a Wearable Motion Analysis System for Detection and Rehabilitation of Mild Traumatic Brain Injury," Proceedings of the ASME 2013 Summer Bioengineering Conference (SBC 2013), June, 2013, Sunriver, OR, USA.
• K. Khokar, R. Alqasemi, S. Sarkar, R. Dubey, "Human Motion Intention Based Scaled Teleoperation for Orientation Assistance in Preshaping for Grasping," Proceedings of the 2013 International Conference on Rehabilitation Robotics (ICORR 2013), June. 24-26, 2013, Seattle, WA, USA.
• K. Duncan, S. Sarkar, R. Alqasemi, R. Dubey, "Pose Recovery of Unmodeled Objects using Fast Superquadric Fitting," The 2013 Florida Conference on Recent Advances in Robotics (FCRAR 2013), May 16-17, 2013, Tallahassee, FL, USA.
• N. Brooks, F. Celis, K. Ramclam, G. Taylor, R. Alqasemi, "Android Application to Control Wheelchair Mounted Robotic Arm Developed at CARRT," The 2013 Florida Conference on Recent Advances in Robotics (FCRAR 2013), May 16-17, 2012, Tallahassee, FL, USA.
• D. Lura, M. Wernke, S. Carey, R. Alqasemi, R. Dubey, "Inverse Kinematics of a Bilateral Robotic Human Upper Body Model Based on Motion Analysis Data," The 2013 IEEE International Conference on Robotics & Automation (ICRA 2013), May 6-10, 2013, Karlsruhe, Germany.
• K. Duncan, S. Sarkar, R. Alqasemi, R. Dubey, "Multi-scale Superquadric Fitting for Efficient Shape and Pose Recovery of Unknown Objects," The 2013 IEEE International Conference on Robotics & Automation (ICRA 2013), May 6-10, 2013, Karlsruhe, Germany.
• C. Wingrave, R. Alqasemi, M. Clevenger, S. Sundarrao, R. Dubey, "Virtual Reality for Vocational Rehabilitation, Training and Assessment," The 2013 IEEE Virtual Reality Conference (VR 2013), March 16-23, 2013, Orlando, FL, USA.
• DJ Lura, MM Wernke, J Cathell, SL Carey, MJ Highsmith, RV Dubey. "Development of a Predictive Simulation Tool to Assist in Prosthetic Prescription," The Academy of Orthotists and Prosthetists 39th Annual Meeting and Scientific Symposium (AAOP 2013), February, 2013 Orlando, FL, USA.
• MM Wernke, DJ Lura, J Palmowski, SL Carey, "A Push-Up Device for Transhumeral Amputees," The Academy of Orthotists and Prosthetists 39th Annual Meeting and Scientific Symposium (AAOP 2013), February, 2013 Orlando, FL, USA.
• DJ Lura, RM Miro, JT Kahle, SL Carey, MM Wernke and MJ Highsmith, "Correlations between Anthropometrics and Joint Moments in Sitting and Standing of Transfemoral Amputees," The Academy of Orthotists and Prosthetists 39th Annual Meeting and Scientific Symposium (AAOP 2013), February, 2013 Orlando, FL, USA.

• DJ. Lura, SL. Carey, and R. Dubey, "Joint Limit vs. Optimized Weighted Least Norm Methods in Predicting Upper Body Posture," International Conference on NeuroRehabilitation, 2012, Toledo, Spain.
• S. Tudor, J. Cathell, S. Carey, "Comparing Upper Body Motion Using Kinect and Vicon Systems," Proceedings of the 2012 Biomedical Engineering Society Annual Meeting (BMES 2012) , October 24-27. 2012, Atlanta, GA, 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.
• 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.
• S. McAmis and K. B. Reed. "Simultaneous Perception of Forces and Motions Using Bimanual Interactions," IEEE Transactions on Haptics, Special Issue on Haptic Human-Robot Interaction, Vol. 5, Num. 3, pp. 220-230, 2012.
• 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.
• J. Sushko, C. Honeycutt, and K. B. Reed. "Prosthesis Design Based on an Asymmetric Passive Dynamic Walker," Proc. of IEEE RAS/EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob) , Rome, Italy, June, 2012.
• 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.
• 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.
• 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.
• Handzic, E. Vasudevan, and K. B. Reed, "Developing a Gait Enhancing Mobile Shoe to Alter Over-Ground Walking Coordination," Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA) , St. Paul, USA, May, 2012.
• 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.
• 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.
• 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.
• J. R. Cooper, M. M. Wernke, and K. B. Reed "The Effects of Incongruent Feedback on Bimanual Task Performance," Proc. of the Haptics Symposium, Vancouver, Canada, 2012.

• 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.
• I. Handzic, E. Barno, E. V. Vasudevan, and K. B. Reed. "Design and Pilot Study of a Gait Enhancing Mobile Shoe," Journal of Behavioral Robotics, Special Issue on Assistive Robotics, Vol. 2, Num. 4, pp. 193-201, 2011.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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, 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.
• C. Honeycutt, J. Sushko, and K. B. Reed, "Asymmetric Passive Dynamic Walker," Proc. of the 12th Intl. Conf. on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June, 2011.
• I. Handzic, E. Vasudevan, and K. B. Reed, "Motion Controlled Gait Enhancing Mobile Shoe for Rehabilitation," Proc. of the 12th Intl. Conf. on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June, 2011.
• S. McAmis and K. B. Reed, "Symmetry Modes and Stiffnesses for Bimanual Rehabilitation," Proc. of the 12th Intl. Conf. on Rehabilitation Robotics (ICORR), Zurich, Switzerland, June, 2011
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• Morris ML, DeLaurentis KJ, Carey SL, Sundarrao D, Dubey RV, Highsmith MJ, Menglekoch LJ, McQueen ME. “ Dance and Engineering Link to Produce a Novel Mobility Device”, Technol and Innov, 13 (2011) pp. 213-224.

• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• H. G. Malabet, R. A. Robles, and K. B. Reed, "Symmetric Motions for Bimanual Rehabilitation," Proc. of IEEE Intl. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October, 2010.
• 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.
• 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.
• 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, 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.

• 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, 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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, "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.
• 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.
• 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.
• 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.

• 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.
• 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, R. Dubey, "Kinetics of Transradial Prosthesis Users During Two Tasks," Biomedical Engineering Society Annual Meeting, October, 2-4, 2008, St. Louis, MO, USA.
• S. Mahler, CP. Lusk, R. Dubey, "A Compliant Pediatric Prosthetic Knee," Biomedical Engineering Society Annual Meeting, October, 2-4, 2008, St. Louis, MO, 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.
• 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 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.
• 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.
• 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.
• 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.

• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• D. Dekker, S. Sundarrao, R. Dubey, "Capstone Design and the Rehabilitation Engineering Program," ASEE Annual Conference, June, 2007, Honolulu, HI, 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.
• 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.
• 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.
• 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, "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, 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, 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.
• 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, 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.
• 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.
• 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, 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, "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, "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.

• 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.
• 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.
• 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.
• 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, "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.
• 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.

• 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, 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, "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.
• 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.
• 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.

• 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, 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, 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.
• 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.

• 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.
• 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, "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, 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.
• 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.
• 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.
• 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.

• 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.
• 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, 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.
• 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, "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.

• 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.
• 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.

• Ashley Knight, "The Development of a Platform Interface with the Use of Virtual Reality to Enhance Upper-Extremity Prosthetic Training and Rehabilitation," Ph.D. in Biomedical Engineering, Dissertation, June 2017.
• Wieczorek, T "Analysis of Upper Limb Prosthetic Use in Hockey Shooting," B.S. Mechanical Engineering, Honors College Thesis, May 2017.
• Jerry West, "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control," M.S. Thesis, April 2017

• Evren Bozgeyikli, "Locomotion in Virtual Reality for Room Scale Tracked Areas," Ph.D. in Computer Science and Engineering, Dissertation, Nov. 2016.
• Lal Bozgeyikli, "Virtual Reality Serious Games for Individuals with Autism Spectrum Disorder: Design Considerations," Ph.D. in Computer Science and Engineering, Dissertation, Nov. 2016.
• Alejandro Hurtado, "Design of Affordable 3D Printed Transtibial Prosthesis," B.S. Mechanical Engineering, Honors College Thesis, April 2016

• Mustafa Mashali, "Kinematic Control of Redundant Mobile Manipulators," Ph.D. Dissertation, Nov. 2015.
• Yu-Cheng Wang, "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices," M.S. Thesis, July 2015.
• Lane, C, "The Future of 3D Printing: Additive Manufacturing in a Microgravity Environment," .Honors Thesis in Mechanical Engineering, May 2015.
• Sarah Tudor, "The Development of an Adaptive Driving Simulator," M.S. in Mechanical Engineering Thesis, April 2015.

• Jennifer Ragan, "Weight Supporting Walker Design and Model," B.S. Honors College thesis, Dec. 2014.
• Daniel Ashley, "Using Embedded Systems to Determine the Configuration of a Static Wheelchair Mounted Robotic Arm," M.S. Thesis, Oct. 2014.
• Sarah Tudor, "Laser Guided Device for the Blind," B.S. Mechanical Engineering, Honors College thesis May 2014
• Indika Pathirage, "A Brain Robot Interface for Autonomous Activities of Daily Living Tasks," M.S. Thesis, July 2014.
• Kester Duncan, "Scene-Dependent Human Intention Recognition for an Assistive Robotic System," Ph.D. Dissertation, Jan. 2014.

• Matthew Wernke, "Quantification of Transhumeral Prosthetic Socket Residual Limb Interface Movement Using Motion Capture and a Slip Detection Sensor," Ph.D. Dissertation, Dec. 2013.
• Nyssa Masters, "The Biomechanics of the Tendu in Closing to the Traditional Movement, Plié Movement and a Releve Movement," M.S. Thesis, Dec. 2013.
• Karan K. Khokar, "Human Intention Recognition Based Assisted Telerobotic Grasping of Modeled Objects in Unstructured Environments," Ph.D. Dissertation, Nov. 2013.
• Amanda Martori, "A Wearable Motion Analysis System to Evaluate Gait Deviations," M.S. Thesis, August 2013.
• Christine E. Bringes, "Determining the Benefit of Human Input in Human-in-the-Loop Robotic Systems," M.S. thesis, July 2013.

• Kyle Curham, K, "Design of a Quasi-Passive Rehabilitative Exoskeleton for the Knee," B.S. Honors College thesis, May 2012.
• Derek Lura, "The Creation of a Robotics Based Human Upper Body Model for Predictive Simulation of Prostheses Performance," Ph.D. Dissertation, May 2012.

• John Sushko. "Asymmetric Passive Dynamic Walker Used to Examine Gait Rehabilitation Methods," M.S. Thesis, Dec. 2011.
• Craig Honeycutt. "Utilizing a Computational Model for the Design of a Passive Dynamic Walker," M.S. Thesis, December, 2011.
• William (Garrett) Pence, "Autonomous Mobility and Manipulation of a 9-DoF WMRA," M.S. thesis, December 2011.
• Mario Simoes, "Feasibility of Wearable Sensors to Determine Gait Parameters," M.S. thesis, August 2011.
• Ismet Handzic. "Design and Testing of a Motion Controlled Gait Enhancing Mobile Shoe (GEMS) for Rehabilitation," M.S. Thesis, May, 2011.

• Punya Basnayaka,"Low-Level Programming of a 9-Degree-of-Freedom Wheelchair-Mounted Robotic Arm with the Application of Different User Interfaces," M.S. thesis, August 2010.
• Sravan Kumar Elineni, "Human Factors Consideration in Developing a New Drive-by-Wire Interface System," M.S. thesis., August 2010.
• Matthew R. Fowler, "Testing and Evaluation of a Novel Virtual Reality Integrated Adaptive Driving System," M.S. thesis, May 2010.
• Steven Colbert, "Shape and Pose Recovery of Novel Objects Using Three Images from a Monocular Camera in an Eye-in-Hand Configuration," M.S. thesis, May 2010.
• Ana Catalina Torres, "Development and Testing of a New C-Based Algorithm to Control a 9-Degree-of-Freedom Wheelchair-Mounted-Robotic-Arm System," M.S. thesis, May 2010.
• John Capille, "Kinematic and Experimental Evaluation of Commercial Wheelchair-Mounted Robotics Arms," M.S. thesis, May 2010.

• Rebekah Freilich, "Biomechanical Model of Transhumeral Prostheses," M.S. thesis, December 2009.
• Fabian Farelo, "Task Oriented Simulation and Control of a Wheelchair Mounted Robotic Arm," M.S. thesis, December 2009.
• Karan Khokar, "Laser Assisted Telerobotic Control for Remote Manipulation Activities" M.S. thesis, May 2009.

• Derek Lura, "Modeling Upper Body Kinematics While Using a Transradial Prosthesis," M.S. thesis, December 2008.
• Eduardo Veras, "Design and Implementation of a Hard Real-Time Telerobotic Control System Using Sensor-Based Assist Functions," December 2008.
• Peter Schrock, "Design and Testing of a Lightweight Modular Seven-Degree-of-Freedom Robot Arm for Mobile Use," M.S. thesis, August 2008.
• Stephanie Carey, Ph.D. dissertation, "The Study of Compensatory Motions While Using a Transradial Prosthesis," May 2008.
• Ramya Swaminathan, M.S. thesis, "Assistive Force Feedback for Path Following in 3D Space for Upper Limb Rehabilitation Applications," May 2008.

• Redwan Alqasemi, Ph.D. dissertation , "Maximizing Manipulation Capabilities of Persons with Disabilities Using a Smart 9-Degree-of-Freedom Wheelchair Mounted Robotic Arm," August 2007.
• Rufael Berhane, M.S. thesis, "An Electromechanical Synchronization of Driving Simulator and Adaptive Driving Aide for Training Persons with Disabilities," May 2007.

• Stephanie Stiber,"Development of a Sensory Suite for a Rehabilitation Robotic Gripper," M.S. thesis, August 2006.
• Jennifer Lott, "A Mechanized Horseback Riding Simulator as an Aid to Physical Therapy," M.S. thesis, August 2006.

• Kevin D. Edwards, "Design, Construction and Testing of a Wheelchair- Mounted Robotic Arm," M.S. thesis, August 2005.
• Michael Jurczyk, "Shape Based Stereovision Assistance in Rehabilitation Robotics," M.S. thesis, May 2005.

• Ashwin Upadhyay, "Development of Assessment Tasks to Measure the Driving Capabilities of Persons with Disabilities", M.S. thesis, December 2004
• Koushik Barhale, "Design and Testing of a Prototype Gripper for a Wheelchair Mounted Robot," M.S. thesis, December 2004.
• Shashi Kumar Konda, "Design and Testing of a Marsupial/Companion Robot Prototype for a Powered Wheelchair," M.S. thesis, December 2004.
• Wentao Yu, "Intelligent Telerobotic Assistance for Enhancing Manipulation Capabilities of Persons with Disabilities," PhD dissertation, August 2004.

• John Dhanraj, "Semi automated navigation control system for powered wheelchairs," M.S. thesis, December 2003.
• Rohit Tammana, "Development and Testing of a Haptic Interface to Assist and Improve the Manipulation Functions in Virtual Environments for Persons with Disabilities," M.S. thesis, December 2003.
• Edward J. McCafferey, "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms," M.S. thesis, December 2003.

• Ben Fritz, "Development and Testing of a Telerobotic System for Enhancing Manipulation Capabilities of Persons with Disabilities," M.S. thesis, August, 2002 (Rehabilitation Engineer).
• Souheil Zekri,"Design of Haptic Interfaces to Assess the Driving Capabilities of People with Disabilities," M.S. thesis, May 2002.

• Norali Pernalete, "Development of an Intelligent Robotic Haptic Interface to Perform Vocational Tasks by Individuals with Disabilities," Ph.D. Dissertation, December 2001 (Faculty, University of Western Michigan).

• Karan Manocha, "Development and Implementation of Teleoperation Assist Functions," M.S. thesis, August, 2000.