Denny Oetomo

CANopen Robot Controller (CORC): An Open Software Stack for Human Robot Interaction Development

J Fong, EB Küçüktabak, V Crocher, Y Tan, KM Lynch, JL Pons, D Oetomo

Book Chapter  |  2022  |  Biosystems and Biorobotics

Interest in the investigation of novel software and control algorithms for wearable robotics is growing. However, entry into this ..

Optimising Balance Margin in Lower Limb Exoskeleton to Assist User-Driven Gait Stability

X Cheng, J Fong, Y Tan, D Oetomo

Book Chapter  |  2022  |  Biosystems and Biorobotics

When exoskeletons are driven in open loop with predetermined trajectories, the onus is placed on the user to maintain balance thro..

On the Efficiency of Haptic Based Object Identification: Determining Where to Grasp to Get the Most Distinguishing Information

Yu Xia, Alireza Mohammadi, Ying Tan, Bernard Chen, Peter Choong, Denny Oetomo

Journal article  |  2021  |  FRONTIERS IN ROBOTICS AND AI

Haptic perception is one of the key modalities in obtaining physical information of objects and in object identification. Most exi..

LIDAR-Assisted Exact Output Regulation for Load Mitigation in Wind Turbines

Amin Mahdizadeh, Robert Schmid, Denny Oetomo

Journal article  |  2021  |  IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

Optimizing wind turbine performance involves maximizing energy harvesting while seeking to minimize load fatigues on the tower str..

Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces

Ricardo Garcia-Rosas, Tianshi Yu, Denny Oetomo, Chris Manzie, Ying Tan, Peter Choong

Journal article  |  2021  |  IEEE ROBOTICS AND AUTOMATION LETTERS

Human-prosthetic interfaces require their settings to be tuned to individual users. This can potentially be done autonomously whil..

Evaluating Rehabilitation Progress Using Motion Features Identified by Machine Learning

Lei Lu, Ying Tan, Marlena Klaic, Mary P Galea, Fary Khan, Annie Oliver, Iven Mareels, Denny Oetomo, Erying Zhao

Journal article  |  2021  |  IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING

Evaluating progress throughout a patient's rehabilitation episode is critical for determining the effectiveness of the selected tr..

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Control Systems Technology

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of con..

Personalized Online Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces.

Ricardo Garcia-Rosas, Ying Tan, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Cybernetics

Synergies have been adopted in prosthetic limb applications to reduce the complexity of design, but typically involve a single syn..

Inducing Human Motor Adaptation Without Explicit Error Feedback: A Motor Cost Approach

Yangmengfei Xu, Vincent Crocher, Justin Fong, Ying Tan, Denny Oetomo

Journal article  |  2021  |  IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING

Recent studies have shown that motor adaptation is an optimisation process on both kinematic error and effort. This work aims to i..

Task-Space Synergies for Reaching Using Upper-Limb Prostheses

Ricardo Garcia-Rosas, Denny Oetomo, Chris Manzie, Ying Tan, Peter Choong

Journal article  |  2020  |  IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING

Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. Thi..