Publications

  • 2018

    Journal

    • V. Crocher, J. Fong, T. J. Bosch, Y. Tan, I. Mareels and D. Oetomo, Upper Limb Deweighting Using Underactuated End-Effector-Based Backdrivable Manipulanda, IEEE Robotics and Automation Letters, Vol. 3, Issue. 3, pp. 2116-2122, July 2018 PDF
    • W. Shaw-Cortez, D. Oetomo, C. Manzie and P. Choong, Tactile-based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands, IEEE Robotics and Automation Letters, Vol 3, Issue 2, pp 1064-1071, July 2018. PDF
    • G. Sebastian, Y. Tan, D. Oetomo, and I. Mareels. Feedback-Based Iterative Learning Design and Synthesis With Output Constraints for Robotic Manipulators IEEE Control Systems Letters, Vol. 2, Issue 3, pp. 513-518, July 2018. PDF
    • G. Sebastian, Y. Tan, D. Oetomo, and I. Mareels. Input and Output Constraints in Iterative Learning Control Design for Robotic Manipulators, World Scientific Unmanned Systems, Vol. 6, Issue 3, pp. 197-208, 2018. PDF
    • W Wu, P Lee, J Fong, V Crocher, D Oetomo, Y Tan, D Ackland, Modulation of Shoulder Muscle and Joint Function using a Powered Upper-Limb Exoskeleton , Journal of Biomechanics, vol 72: 7–16, Apr 2018.
    • J Fong, Y Tan, V Crocher, D Oetomo, I Mareels, Dual-loop Iterative Optimal Control for the Continuous Time Finite Horizon Linear Quadratic Regulator Problem with Unknown Dynamics , Systems & Control Letters 111, 49-57 Jan 2018.
    • F. Leong, A. Mohammadi, Y. Tan, D. Thiruchelvam, CY. Lai, P. Valdastri, and D. Oetomo Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery, IEEE Robotics and Automation Letters, Vol. 3, Issue. 3, pp. 1568-1575, July 2018. PDF

    Conference

    • J. Fong, V Crocher, R. Haddara, D. Ackland, M. Galea, Y. Tan and D. Oetomo, Effect of Arm Deweighting using End-effector based Robotic Devices on Muscle Activity, 2018 IEEE International Conference on Engineering in Medicine and Biology (EMBC18). PDF
    • R. Garcia-Rosas, Y. Tan, D. Oetomo, and C. Manzie, On-line Synergy Identification for Personalized Active Arm Prosthesis: a Feasibility Study, 2018 American Control Conference (ACC18), pp. 514-519. PDF
    • R. Garcia-Rosas, D. Oetomo, C. Manzie, Y. Tan, and P. Choong, On the Relationship Between Human Motor Control Performance and Kinematic Synergies in Upper Limb Prosthetics, 2018 IEEE International Conference on Engineering in Medicine and Biology (EMBC18). PDF
    • G. Sebastian, Y. Tan, D. Oetomo, and I. Mareels. On Feedback-based Iterative Learning Control for Nonlinear Systems without Global Lipschitz Continuity , 2018 Annual American Control Conference (ACC18), pp. 5612-5617. PDF
    • F. Leong, A. Mohammadi, Y. Tan, D. Thiruchelvam, C. Y. Lai, P. Valdastri, and D. Oetomo. Robustness Evaluation of Internal Model Principle-based Controller in a Magnetically Actuated Surgical System , 2018 Australia New Zealand Control Conference (ANZCC18). PDF
    • A. Mohammadi, J. Lavranos, R. D. Howe, P. Choong and D. Oetomo, Flexo-glove: A 3D Printed Soft Exoskeleton Robotic Glove for Impaired Hand Rehabilitation and Assistance , 2018 40th International Engineering in Medicine and Biology Conference (EMBC2018). PDF
    • W. Shaw-Cortez, D. Oetomo, C. Manzie and P. Choong, Grasp Constraint Satisfaction for Object Manipulation using Robotic Hands, in Proceedings of Conference on Decision and Control (CDC2018). PDF
    • YP. Chan, G. Abbasnejad, J. Eden and D. Lau, Improved Computational Speed of System Dynamics for Cable-Driven Robots through Generalised Model Compilation, in Proceedings of the IEEE International Conference on Real-time Computing and Robotics, Kandima, Maldives, 2018. PDF
    • J. Eden, Y.Tan, D.Lau and D. Oetomo, Reference State Trajectory Generation for Output Tracking with Constraints using Search Trees, in Proceedings American Control Conference, Milwaukee, USA, 2018. PDF
  • 2017

    Journal

    • A. Mohammadi, D. Samsonas, F. Leong, P. Valdastri, Y. Tan and D. Oetomo, Modelling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical devices, IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 6, pp. 2449-60, 2017. PDF
    • SH Zhou, Y Tan, D Oetomo, C Freeman, E Burdet, I Mareels, Modeling of endpoint feedback learning implemented through Point-to-Point Learning Control, IEEE Transactions on Control Systems Technology, 25 (5), 1576-1585, 2017

    Conference

    • J. Fong, V. Crocher, Y. Tan, D. Oetomo and I. Mareels, EMU: A Transparent 3D Robotic Manipulandum for Upper-limb Rehabilitation, 2017 IEEE International Conference on Rehabilitation Robotics (ICORR2017), pp. 771-776. PDF
    • W. Shaw-Cortez, D. Oetomo, C. Manzie and P. Choong, Robust Object Manipulation for Prosthetic Hand Applications, 2017 IEEE 56th Annual Conference on Decision and Control (CDC2017), pp. 5821-5826. PDF
    • G. Sebastian, Y. Tan, D. Oetomo and I. Mareels. Design of Feddback Gain in Feedback-Based Iterative Learning Control In Proceedings of the 2017, 11th Asian Control Conference (ASCC), pp. 875-880. PDF
    • F. Leong, A. Mohammadi, Y. Tan, D. Thiruchelvam, P. Valdastri and D. Oetomo. Magnetic Interactions of Neighbouring Stator Sets in Multi DOF Local Electromagnetic Actuation for Robotic Abdominal Surgery In Proceedings of the 2017IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS2017), pp. 5723-5729. PDF
    • A. Mohammadi, J. Lavranos, R. D. Howe, P. Choong and D. Oetomo, Grasp Specific and User-Friendly Interface Design for Myoelectric Hand Prostheses 2017 IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR2017), pp 1621-1626. PDF
    • YP. Chan, J. Eden, D. Lau and D. Oetomo, A Survey on Inverse Dynamics Solvers for Cable-Driven Parallel Robots, in Proceedings Australasian Conference on Robotics and Automation, Sydney, Australia, 2017. PDF
    • J. Eden, C. Song, Y. Tan, D. Oetomo and D. Lau, CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware, in Proceedings of the Third International Conference on Cable-Driven Parallel Robots, 2017. PDF
  • 2016

    Journal

    • SH. Zhou, J. Fong, V. Crocher, Y. Tan, D. Oetomo and I. Mareels, Learning Control in Robot-Assisted Rehabilitation of Motor Skills – A Review, Journal of Control and Decision, Vol 2, Issue 3(1) pp. 19-43, January 2016. PDF
    • F. Leong, N. Garbin, C. DiNatali, A. Mohammadi, D. Thiruchelvam, D. Oetomo, and P. Valdastri, Magnetic Surgical Instruments for Robotic Abdominal Surgery, IEEE Reviews in Biomedical Engineering (RBME), Vol 9, pp. 66-78, January 2016. PDF
    • B. Ploderer, J. Fong, M. Klaic, S Nair, F Vetere,E Cofré Lizama and M. Galea. How therapists use visualizations of upper limb movement information from stroke patients: a qualitative study with simulated information, JMIR Rehabilitation and Assistive Technologies, 3(2), e9. PDF
    • J. Eden, D. Lau, Y. Tan and D. Oetomo, Available Acceleration Set for Cable-Driven Robots: Understanding Motion Capabilities, Mechanisms and Machine Theory, Issue 105, pp. 320-336, 2016. PDF
    • MC. Lei and D. Oetomo, Cable Wrapping Phenomenon in Cable-driven Parallel Manipulators, Journal of Robotics and Mechatronics, Issue 28, Vol 3, pp. 386-396, 2016. PDF
    • J. Eden, Y. Tan, D. Lau and D. Oetomo, On the Positive Output Controllability of Linear Time Invariant Systems, Automatica, Issue 71, pp. 202-209, 2016. PDF
    • D. Lau and D. Oetomo, Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators, ASME Journal of Mechanical Design, Vol. 138, Issue 3, 2016. PDF

    Conference

    • B. Ploderer, J. Fong, A. Withana, M. Klaic, S. Nair, V. Crocher, F. Vetere, and S. Nanayakkara, ArmSleeve: a patient monitoring system to support occupational therapists in stroke rehabilitation, In Proceedings of the 2016 ACM Conference on Designing Interactive Systems (DIS2016), pp. 700-711. PDF
    • G. Sebastian, J. Fong, V. Crocher, Y. Tan, D. Oetomo, and I. Mareels. Quantifying task similarity for skill generalisation in the context of human motor control In Proceedings of the 2016, 14th International Conference on Control, Automation, Robotics and Vision (ICARCV2016). PDF
    • F. Leong, A. Mohammadi, Y. Tan, P. Valdastri and D. Oetomo. Experimentally Validated Modelling of Electromechanical Dynamics on Local Magnetic Actuation System for Abdominal Surgery In Proceedings of the 2016 Australasian Conference of Robotics and Automation (ACRA2016). PDF
    • A. Mohammadi, I. Mareels and D. Oetomo Model predictive motion control of autonomous forklift vehicles with dynamics balance constraint, 2016 IEEE International Conference Control, Automation, Robotics and Vision (ICARCV2016). PDF
    • D. Lau, JP. Eden, Y. Tan and D. Oetomo, CASPR: A Comprehensive Cable-Robot Analysis and Simulation Platform for the Research of Cable-Driven Parallel Robots, in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016).
    • W. Shaw-Cortez, D. Oetomo, C. Manzie, and P. Choong, Towards Dynamic Object Manipulation with Tactile Sensing for Prosthetic Hands, in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), Daejeon, South Korea. PDF
  • 2015

    Journal

    • D. Lau, D. Oetomo and S. Halgamuge, Inverse Dynamics of Multilink Cable-driven Manipulators with Consideration of Joint Interaction Forces and Moments, IEEE Transactions on Robotics Vol. 31, Issue 2, pp. 479-488, 2015. PDF
    • SH. Zhou, D. Oetomo, Y. Tan and I. Mareels, E Burdet, Effect of sensory experience on motor learning strategy, Journal of Neurophysiology, Vol. 113, Issue 4, pp. 1077-1084, 2015. PDF
    • D. Lau, J. Eden and D. Oetomo, Fluid Motion Planner for Non-holonomic 3-D Mobile Robots with Kinematic Constraints, IEEE Transactions on Robotics, Vol. 31, pp. 1537-1547, 2015. PDF
    • A. Mohammadi, C. Di Natali, D. Samsonas, P. Valdastri, Y. Tan and D. Oetomo, Electromagnetic Actuator across Abdominal Wall for Minimally Invasive Robotic Surgery , ASME Journal of Medical Devices, Vol. 9, Issue 2, 2015. PDF
    • C. Di Natali, A. Mohammadi, P. Valdastri and D. Oetomo, Surgical Robotic Manipulator Based on Local Magnetic Actuation, ASME Journal of Medical Devices, Vol. 9, Issue 2, 2015.PDF

    Conference

    • J. Fong, V. Crocher, D. Oetomo and Y. Tan, An Investigation into the Reliability of Upper-limb Robotic Exoskeleton Measurements for Clinical Evaluation in Neurorehabilitation, 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER2015), pp. 795-798. PDF
    • J. Fong, V. Crocher, D. Oetomo, Y. Tan and I. Mareels, Effects of Robotic Exoskeleton Dynamics on Joint Recruitment in a Neurorehabilitation Context, In 2015 IEEE International Conference on Rehabilitation Robotics (ICORR2015), pp. 834-839. PDF
    • Hang, G., M. Bain, J. Y. Chang, S. Fang, F. Leong, A. Mohammadi, P. Valdastri, and D. Oetomo. “Local Magnetic Actuation Based Laparoscopic Camera for Minimally Invasive Surgery.” In 2015 Australasian Conference on Robotics and Automation (ACRA2015), pp. 186-191. PDF
    • A. Mohammadi, D. Samsonas, C. Di Natali, P. Valdastri, Y. Tan and D. , Speed Control of Non-collocated Stator-Rotor Synchronous Motor with Application in Robotic Surgery, 2015 Asian Control Conference (AsCC2015). PDF
    • J. Eden, D. Lau, Y. Tan and D. Oetomo, On Positive Output Controllability and Cable Driven Parallel Manipulators, in Proceedings Australian Control Conference, Gold Coast, Australia, 2015. PDF
  • 2014

    Journal

    • D. Lau, J. Eden, D. Oetomo and S. Halgamuge, Musculoskeletal Static Workspace Analysis of the Human Shoulder as a Cable-Driven Robot, IEEE/ASME Transactions on Mechatronics, Vol. 20, Issue 2, pp. 978-984, 2014. PDF

    Conference

    • V. Crocher, J. Fong, M. Klaic, D. Oetomo and Y. Tan, A Tool to Address Movement Quality Outcomes of Post-stroke Patients. Replace, Repair, Restore, Relieve – Bridging Clinical and Engineering Solutions in Neurorehabilitation, pp. 329-339, 2014. Springer, Cham. PDF
    • L. Vongchanh, A. Mohammadi, A. Kealy and D. Oetomo, Dynamically Balanced Trajectory Generation for Non-Holonomic Forklift Vehicles, 2014 Australasian Conference on Robotics and Automation (ACRA2014). PDF
    • D. Lau, J. Eden, S. K. Halgamuge and D. Oetomo, Cable Function Analysis for the Musculoskeletal Static Workspace of a Human Shoulder, in Proceedings of the Second International Conference on Cable-Driven Parallel Robots, 2014. PDF
  • 2013

    Journal

    • D. Lau, D. Oetomo and S. Halgamuge, Generalised modeling of multilink cable-driven manipulators with arbitrary routing using the Cable-Routing Matrix, IEEE Transactions on Robotics, Vol. 29, Issue. 5, pp. 1102-1113, 2013. PDF
    • K. Bhalerao, J. Critchley, D. Oetomo, R. Featherstone, O. Khatib, Distributed Operational Space Formulation of Serial Manipulators, ASME Journal of Computational and Nonlinear Dynamics, 9(2), 021012, 2013.

    Conference

    • R. Mohamad, J. Eden, N. Cook, D. Lau and D. Oetomo, Motion Planning with Continuous Contact for Dribbling in RoboCup, in Proceedings Australasian Conference on Robotics and Automation, Sydney, Australia, 2013. PDF
  • 2012

    Conference

    Journal

    • D. Lau, D. Oetomo and S. Halgamuge, Generalised modeling of multilink cable-driven manipulators with arbitrary routing using the Cable-Routing Matrix, IEEE Transactions on Robotics, Vol. 29, Issue. 5, pp. 1102-1113, 2013. PDF
    • D. Lau, J. Eden, and D. Oetomo, Motion Planning of a Planar 3R Manipulator Utilising Fluid Flow Trajectory Generation, in Proceedings Australasian Conference on Robotics and Automation, Wellington, New Zealand, 2012. PDF