Denny Oetomo

Promoting clinical best practice in a user-centred design study of an upper limb rehabilitation robot.

Justin Fong, Vincent Crocher, Marlena Klaic, Katie Davies, Andrew Rowse, Emma Sutton, Ying Tan, Denny Oetomo, Kim Brock, Mary P Galea

Journal article  |  2020  |  Disability and Rehabilitation: Assistive Technology

Purpose: Despite their promise to increase therapy intensity in neurorehabilitation, robotic devices have not yet seen mainstream ..

A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities

Alireza Mohammadi, Jim Lavranos, Hao Zhou, Rahim Mutlu, Gursel Alici, Ying Tan, Peter Choong, Denny Oetomo

Journal article  |  2020  |  PLOS ONE

Soft robotic hands with monolithic structure have shown great potential to be used as prostheses due to their advantages to yield ..

Tactile Feedback in Closed-Loop Control of Myoelectric Hand Grasping: Conveying Information of Multiple Sensors Simultaneously via a Single Feedback Channel.

Raphael M Mayer, Ricardo Garcia-Rosas, Alireza Mohammadi, Ying Tan, Gursel Alici, Peter Choong, Denny Oetomo

Journal article  |  2020  |  Frontiers in Neuroscience

The appropriate sensory information feedback is important for the success of an object grasping and manipulation task. In many sce..

Technical Note for "Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands"

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

Journal article  |  2020  |  IEEE Robotics and Automation Letters

Analysis and experimental verification of a current-cycle iterative learning control for robotic manipulators with output constraints

G Sebastian, Z Li, Y Tan, D Oetomo

Conference Proceedings  |  2020  |  2019 IEEE 58th Conference on Decision and Control (CDC)

The satisfaction of hard output constraints is one of the standard requirements in engineering applications. In particular, when r..

On Model-guided Neural Networks for System Identification

L Lu, Y Tan, D Oetomo, I Mareels, E Zhao, S An

Conference Proceedings  |  2020  |  2019 IEEE Symposium Series on Computational Intelligence (SSCI)

Many techniques exist to train neural networks to approximate a complex systems, such as deep learning methods. It is well known t..

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

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

Journal article  |  2020  |  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..

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

Amin Mahdizadeh, Robert Schmid, Denny Oetomo

Journal article  |  2020  |  IEEE Transactions on Control Systems Technology

Robust object manipulation for tactile-based blind grasping

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

Journal article  |  2019  |  Control Engineering Practice

Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile ..

Magnetic-based Soft Tactile Sensors with Deformable Continuous Force Transfer Medium for Resolving Contact Locations in Robotic Grasping and Manipulation

Alireza Mohammadi, Yangmengfei Xu, Ying Tan, Peter Choong, Denny Oetomo

Journal article  |  2019  |  Sensors

The resolution of contact location is important in many applications in robotics and automation. This is generally done by using a..

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo

Journal article  |  2019  |  Journal of Mechanical Design

The study of the relationship between the desired system dynamics and the actuation wrench producing those dynamics is important f..

An Iterative Learning Control Synthesis for Nonlinear Systems with Hard Input and Output Constraints

G Sebastian, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 IEEE 15th International Conference on Control and Automation (ICCA)

Bone Conduction as Sensory Feedback Interface: A Preliminary Study.

Raphael M Mayer, Alireza Mohammadi, Gursel Alici, Peter Choong, Denny Oetomo

Conference Proceedings  |  2019  |  2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Non-invasive sensory feedback is a desirable goal for upper limb prostheses as well as in human robot interaction and other human ..

Tactile-based blind grasping: Trajectory tracking and disturbance rejection for in-hand manipulation of unknown objects

W Shaw-Cortez, D Oetomo, C Manzie, P Choong

Conference Proceedings  |  2019  |  2019 American Control Conference (ACC)

Tactile-based blind grasping refers to a realistic grasping scenario where the robotic hand has no knowledge of the object, and on..

Extremum seeking control in the presence of actuator hysteresis

Y Yang, Y Tan, Q Tan, X Chen, D Oetomo

Conference Proceedings  |  2019  |  2019 Chinese Control Conference (CCC)

This paper presents a new extremum seeking control (ESC) that is able to handle a class of unknown actuator hysteresis in the form..

On implementation of feedback-based PD-type iterative learning control for robotic manipulators with hard input constraints

G Sebastian, Z Li, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 IEEE 15th International Conference on Control and Automation (ICCA)

Integrated Force Sensor in a Cochlear Implant for Hearing Preservation Surgery.

Arvind N Vadivelu, Zhengyong Liu, Dinusha S Gunawardena, Bernard Chen, Hwa-Yaw Tam, Stephen O'Leary, Denny Oetomo

Conference Proceedings  |  2019  |  2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Cochlear Implant is used for patients with severe hearing loss. It is a neural-prosthesis that stimulates the nerve endings within..

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

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

Journal article  |  2019  |  IEEE Transactions on Cybernetics

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

A Unified Analysis Tool in Iterative Learning Control: Composite Energy Function

G Sebastian, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 12th Asian Control Conference, ASCC 2019

Usually, the convergence analysis of a continuous-time iterative learning control (ILC) algorithm is carried out by using either C..

Force Observer for an Upper Limb Rehabilitation Robotic Device using Iterative Learning Control

G Sebastian, Z Li, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 12th Asian Control Conference, ASCC 2019

This paper focuses on detecting the forces exerted by stroke patients in the repetitive exercises using the rehabilitation robotic..

Effects of varying the rest period on the onset angle of lumbar flexion-relaxation in simulated sheep shearing: a preliminary study.

Mark Robinson, Raphael Mayer, Ying Tan, Denny Oetomo, Chris Manzie

Conference Proceedings  |  2019  |  2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

Wool harvesting remains an important industry in Australia, but its workers suffer from extreme rates of injury, in particular, th..

Indirect Robotic Movement Shaping through Motor Cost Influence.

Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo

Conference Proceedings  |  2019  |  2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

Movement patterns are commonly disrupted after a neurological incident. The correction and recovery of these movement patterns is ..

Direct versus Indirect Visual Feedback: The Effect of Technology in Neurorehabilitation

V Crocher, J Fong, M Klaic, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 9th International IEEE/EMBS Conference on Neural Engineering (NER)

© 2019 IEEE. Visuomotor feedback and its impact on performing and learning movements is an extensively studied field, both through..

Spatial Resolution of Visual Stimuli in SSVEP-based Brain-Computer Interface

J Mu, DB Grayden, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  2019 9th International IEEE/EMBS Conference on Neural Engineering (NER)

© 2019 IEEE. Communicating spatial coordinates plays a crucial role in human-robot interactions, where a given target, object, or ..

On the use of tuned mass dampers for reducing the nonlinear vibrations of planar parallel cable robots

DA Zamora-Garci, AC Ramirez-Reivich, MP Corona-Lira, J Eden, D Oetomo

Journal article  |  2019  |  International Journal of Mechanical Engineering and Robotics Research

© 2019 Int. J. Mech. Eng. Rob. Res. The out of plane free vibrations of planar parallel cable robots possess a long duration, this..

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

Gijo Sebastian, Zeyu Li, Vincent Crocher, Demy Kremers, Ying Tan, Denny Oetomo

Journal article  |  2019  |  IEEE Robotics and Automation Letters

A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand

Hao Zhou, Alireza Mohamtnadi, Denny Oetomo, Gursel Alici

Journal article  |  2019  |  IEEE Robotics and Automation Letters

Heat conduction-based methodology for nonlinear soft tissue deformation

Jinao Zhang, Jaehyun Shin, Yongmin Zhong, Denny Oetomo, Chengfan Gu

Journal article  |  2019  |  International Journal on Interactive Design and Manufacturing (IJIDeM)

Convergence analysis of feedback-based iterative learning control with input saturation

Gijo Sebastian, Ying Tan, Denny Oetomo

Journal article  |  2019  |  Automatica

Sensorless force estimator in rehabilitation robotics

D Kremers, J Fong, V Crocher, Y Tan, D Oetomo

Conference Proceedings  |  2019  |  Biosystems and Biorobotics

X-limb: A soft prosthetic hand with user-friendly interface

A Mohammadi, J Lavranos, P Choong, D Oetomo

Conference Proceedings  |  2019  |  Biosystems and Biorobotics

Investigating the Mechanical Properties of Biological Brain Cells With Atomic Force Microscopy

Tariq Mohana Bahwini, Yongmin Zhong, Chengfan Gu, Zeyad Nasa, Denny Oetomo

Journal article  |  2018  |  Journal of Medical Devices

Characterization of cell mechanical properties plays an important role in disease diagnoses and treatments. This paper uses advanc..

Feature Learning in Assistive Rehabilitation Robotic Systems

L Lu, Y Tan, D Oetomo, I Mareels, S An

Conference Proceedings  |  2018  |  2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

© 2018 IEEE. Feature learning plays a crucial role in data analysis when the measured data is in a high dimensional space. This pa..

On Feedback-Based Iterative Learning Control for Nonlinear Systems Without Global Lipschitz Continuity

G Sebastian, Y Tan, D Oetomo, I Mareels

Conference Proceedings  |  2018  |  2018 Annual American Control Conference (ACC)

On-line Synergy Identification for Personalized Active Arm Prosthesis: A Feasibility Study

R Garcia-Rosas, Y Tan, D Oetomo, C Manzie

Conference Proceedings  |  2018  |  2018 Annual American Control Conference (ACC)

© 2018 AACC. The number of degrees of freedom in prosthetic devices today is greater than the number of available electromyographi..

Reference State Trajectory Generation for Output Tracking with Constraints using Search Trees

J Eden, Y Tan, D Lau, D Oetomo

Conference Proceedings  |  2018  |  2018 Annual American Control Conference (ACC)

Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery

F Leong, A Mohammadi, Y Tan, D Thiruchelvam, CY Lai, P Valdastri, D Oetomo

Journal article  |  2018  |  IEEE Robotics and Automation Letters

Upper Limb Deweighting Using Underactuated End-Effector-Based Backdrivable Manipulanda

V Crocher, J Fong, TJ Bosch, Y Tan, I Mareels, D Oetomo

Journal article  |  2018  |  IEEE Robotics and Automation Letters

Input and Output Constraints in Iterative Learning Control Design for Robotic Manipulators

Gijo Sebastian, Ying Tan, Denny Oetomo, Iven Mareels

Journal article  |  2018  |  Unmanned Systems

Flexo-glove: A 3D Printed Soft Exoskeleton Robotic Glove for Impaired Hand Rehabilitation and Assistance.

Alireza Mohammadi, Jim Lavranos, Peter Choong, Denny Oetomo

Conference Proceedings  |  2018  |  2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

This paper presents a compact and streamlined design of a soft exoskeleton glove for assistance in activities of daily livings and..

Feedback-Based Iterative Learning Design and Synthesis with Output Constraints for Robotic Manipulators

G Sebastian, Y Tan, D Oetomo, I Mareels

Journal article  |  2018  |  IEEE Control Systems Letters

On the Relationship Between Human Motor Control Performance and Kinematic Synergies in Upper Limb Prosthetics.

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

Journal article  |  2018  |  2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Current prosthesis command interfaces only allow for a single degree of freedom to be commanded at a time, making coordinated moti..

Random Weighting, Strong Tracking, and Unscented Kalman Filter for Soft Tissue Characterization

Jaehyun Shin, Yongmin Zhong, Denny Oetomo, Chengfan Gu

Journal article  |  2018  |  Sensors

Modulation of shoulder muscle and joint function using a powered upper-limb exoskeleton

Wen Wu, Justin Fong, Vincent Crocher, Peter VS Lee, Denny Oetomo, Ying Tan, David C Ackland

Journal article  |  2018  |  Journal of Biomechanics

Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands

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

Journal article  |  2018  |  IEEE Robotics and Automation Letters

Extended State Observer for Nonlinear Time-Varying Dynamic Systems

Qiang Chen, Ying Tan, Zhen Jia, Jie Li, Denny Oetomo

Conference Proceedings  |  2018  |  2018 37th Chinese Control Conference (CCC)

Dual-loop iterative optimal control for the finite horizon LQR problem with unknown dynamics

Justin Fong, Ying Tan, Vincent Crocher, Denny Oetomo, Iven Mareels

Journal article  |  2018  |  Systems & Control Letters

An Experimental Platform for Heterogeneous Multi-Vehicle Missions

Eric Schoof, Chris Manzie, Iman Shames, Airlie Chapman, Denny Oetomo

Conference Proceedings  |  2018

Robustness Evaluation of Internal Model Principle-based Controller in a Magnetically Actuated Surgical System

F Leong, A Mohammadi, Y Tan, D Thiruchelvam, P Valdastri, D Oetomo

Conference Proceedings  |  2018  |  2018 Australian & New Zealand Control Conference (ANZCC)

Static force dependency of bone conduction transducer as sensory feedback for stump-socket based prosthesis

RM Mayer, A Mohammadi, G Alici, P Choong, D Oetomo

Conference Proceedings  |  2018  |  Australasian Conference on Robotics and Automation, ACRA

© 2018 Australasian Robotics and Automation Association. All rights reserved. The dependency of a novel sensory feedback for stump..

CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware

Jonathan Eden, Chen Song, Ying Tan, Denny Oetomo, Darwin Lau

Conference Proceedings  |  2018  |  Mechanisms and Machine Science

In this paper, the software platform CASPR-ROS is introduced to extend the author’s recently developed simulation platform CASPR. ..

Model-Guided Data-Driven Decentralized Control for Magnetic Levitation Systems

Qiang Chen, Ying Tan, Jie Li, Denny Oetomo, Iven Mareels

Journal article  |  2018  |  IEEE Access

Iterative Learning Control for Linear Time-varying Systems with Input and Output Constraints

Gijo Sebastian, Ying Tan, Denny Oetomo, Iven Mareels

Conference Proceedings  |  2018  |  2018 Australian & New Zealand Control Conference (ANZCC)

Grasp Constraint Satisfaction for Object Manipulation using Robotic Hands

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

Conference Proceedings  |  2018  |  2018 IEEE Conference on Decision and Control (CDC)

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Alireza Mohammadi, Danielius Samsonas, Florence Leong, Ying Tan, Dhan Thiruchelvam, Pietro Valdastri, Denny Oetomo

Journal article  |  2017  |  IEEE/ASME Transactions on Mechatronics

Modeling of Endpoint Feedback Learning Implemented Through Point-to-Point Learning Control

Shou-Han Zhou, Ying Tan, Denny Oetomo, Chris Freeman, Etienne Burdet, Iven Mareels

Journal article  |  2017  |  IEEE Transactions on Control Systems Technology

EMU: A transparent 3D robotic manipulandum for upper-limb rehabilitation.

Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels

Conference Proceedings  |  2017  |  2017 International Conference on Rehabilitation Robotics (ICORR)

This paper introduces the EMU, a three-dimensional robotic manipulandum for rehabilitation of the upper extremity for patients wit..

Subchondral bone microarchitecture and failure mechanism under compression: A finite element study

Fatemeh Malekipour, Denny Oetomo, Peter Vee-Sin Lee

Journal article  |  2017  |  Journal of Biomechanics

Enhanced Energy Capture of Wind Turbines by Exact Output Regulation

Amin Mahdizadeh, Robert Schmid, Denny Oetomo

Conference Proceedings  |  2017  |  2017 IEEE 56th Annual Conference on Decision and Control (CDC)

Antagonist muscle co-contraction during a double-leg landing maneuver at two heights

Hossein Mokhtarzadeh, Chen Hua Yeow, James Cho Hong Goh, Denny Oetomo, Katie Ewing, Peter Vee Sin Lee

Journal article  |  2017  |  Computer Methods in Biomechanics and Biomedical Engineering

A survey on inverse dynamics solvers for cable-driven parallel robots

YP Chan, J Eden, D Lau, D Oetomo

Conference Proceedings  |  2017  |  Australasian Conference on Robotics and Automation, ACRA

Spatial Iterative Learning Control: Output Tracking

Merid Ljesnjanin, Ying Tan, Denny Oetomo, Christopher T Freeman

Conference Proceedings  |  2017  |  IFAC-PapersOnLine

Magnetic Interactions of Neighbouring Stator Sets in Multi DOF Local Electromagnetic Actuation for Robotic Abdominal Surgery

F Leong, A Mohammadi, Y Tan, D Thiruchelvam, P Valdastri, D Oetomo

Conference Proceedings  |  2017  |  2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DEEMU: A Transparent 3D Robotic Manipulandum for Upper -Limb Rehabilitation

Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels

Conference Proceedings  |  2017  |  2017 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR)

Grasp Specific and User Friendly Interface Design for Myoelectric Hand Prostheses

Alireza Mohammadi, Jim Lavranos, Rob Howe, Peter Choong, Denny Oetomo

Conference Proceedings  |  2017  |  2017 International Conference on Rehabilitation Robotics (ICORR)

Robust Object Manipulation for Prosthetic Hand Applications

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

Conference Proceedings  |  2017  |  2017 IEEE 56th Annual Conference on Decision and Control (CDC)

Fatigue Load Mitigation in Multi-megawatt Wind Turbines Using Output Regulation Control

Amin Mandizadeh, Robert Schmid, Denny Oetomo

Conference Proceedings  |  2017  |  2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

Spatial Iterative Learning Control: Systems with Input Saturation

Merid Ljesnjanin, Ying Tan, Denny Oetomo, Christopher T Freeman

Conference Proceedings  |  2017  |  2017 American Control Conference (ACC)

Design of Feedback Gain in Feedback-Based Iterative Learning Control

Gijo Sebastian, Ying Tan, Denny Oetomo, Iven Mareels

Conference Proceedings  |  2017  |  2017 11th Asian Control Conference (ASCC)

Available acceleration set for the study of motion capabilities for cable-driven robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo

Journal article  |  2016  |  Mechanism and Machine Theory

On the positive output controllability of linear time invariant systems

Jonathan Eden, Ying Tan, Darwin Lau, Denny Oetomo

Journal article  |  2016  |  Automatica

Equine subchondral bone failure threshold under impact compression applied through articular cartilage

Fatemeh Malekipour, Denny Oetomo, Peter Vee-Sin Lee

Journal article  |  2016  |  Journal of Biomechanics

Cable Wrapping Phenomenon in Cable-Driven Parallel Manipulators

Man Cheong Lei, Denny Oetomo

Journal article  |  2016  |  Journal of Robotics and Mechatronics

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

Darwin Lau, Denny Oetomo

Journal article  |  2016  |  Journal of Mechanical Design

Learning control in robot-assisted rehabilitation of motor skills–a review

SH Zhou, J Fong, V Crocher, Y Tan, D Oetomo, I Mareels

Journal article  |  2016  |  Journal of Control and Decision

Magnetic Surgical Instruments for Robotic Abdominal Surgery.

Florence Leong, Nicolo Garbin, Christian Di Natali, Alireza Mohammadi, Dhan Thiruchelvam, Denny Oetomo, Pietro Valdastri

Journal article  |  2016  |  IEEE Reviews in Biomedical Engineering

This review looks at the implementation of magnetic-based approaches in surgical instruments for abdominal surgeries. As abdominal..

Towards Dynamic Object Manipulation with Tactile Sensing for Prosthetic Hands

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

Conference Proceedings  |  2016  |  2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

CASPR: A Comprehensive Cable-Robot Analysis and Simulation Platform for the Research of Cable-Driven Parallel Robots

Darwin Lau, Jonathan Eden, Ying Tan, Denny Oetomo

Conference Proceedings  |  2016  |  2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Experimentally validated modelling of electromechanical dynamics on local magnetic actuation system for abdominal surgery

F Leong, A Mohammadi, Y Tan, P Valdastri, D Oetomo

Conference Proceedings  |  2016  |  Australasian Conference on Robotics and Automation, ACRA

Calibration Free Upper Limb Joint Motion Estimation Algorithm with Wearable Sensors

Max van Lith, Justin Fong, Vincent Crocher, Ying Tan, Iven Mareels, Denny Oetomo

Conference Proceedings  |  2016  |  2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

System of funnels framework for robust global non-linear control

R Shvartsman, AR Teel, D Oetomo, D Nešić

Conference Proceedings  |  2016  |  2016 IEEE 55th Conference on Decision and Control (CDC)

Quantifying Task Similarity for Skill Generalisation in the Context of Human Motor Control

Gijo Sebastian, Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels

Conference Proceedings  |  2016  |  2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Model Predictive Motion Control of Autonomous Forklift Vehicles with Dynamics Balance Constraint

Alireza Mohammadi, Tven Mareels, Denny Oetomo

Conference Proceedings  |  2016  |  2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Fluid Motion Planner for Nonholonomic 3-D Mobile Robots With Kinematic Constraints

Darwin Lau, Jonathan Eden, Denny Oetomo

Journal article  |  2015  |  IEEE Transactions on Robotics

Design, Analysis and Experimental Evaluation of a Gas-Fuel-Powered Actuator for Robotic Hoppers

Huaming Wang, Yunguang Luan, Denny Oetomo, Zhen Wang

Journal article  |  2015  |  IEEE/ASME Transactions on Mechatronics

Surgical Robotic Manipulator Based on Local Magnetic Actuation

Christian Di Natali, Alireza Mohammadi, Denny Oetomo, Pietro Valdastri

Journal article  |  2015  |  Journal of Medical Devices

Electromagnetic Actuator Across Abdominal Wall for Minimally Invasive Robotic Surgery

Alireza Mohammadi, Christian Di Natali, Danielius Samsonas, Pietro Valdastri, Ying Tan, Denny Oetomo

Journal article  |  2015  |  Journal of Medical Devices

Human Movement Understanding

Emel Demircan, Dana Kulic, Denny Oetomo, Mitsuhiro Hayashibe

Journal article  |  2015  |  IEEE Robotics & Automation Magazine

Kinematic modelling of cable wrapping on rigid-link phenomenon in cable-driven parallel manipulators

MC Lei, D Oetomo

Conference Proceedings  |  2015  |  2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

© 2015 IEEE. In cable-driven parallel manipulators, the interference between the cable and the rigid link(s) of the mechanisms wer..

Inverse Dynamics of Multilink Cable-Driven Manipulators With the Consideration of Joint Interaction Forces and Moments

Darwin Lau, Denny Oetomo, Saman K Halgamuge

Journal article  |  2015  |  IEEE TRANSACTIONS ON ROBOTICS

Musculoskeletal Static Workspace Analysis of the Human Shoulder as a Cable-Driven Robot

Darwin Lau, Jonathan Eden, Denny Oetomo, Saman K Halgamuge

Journal article  |  2015  |  IEEE - ASME Transactions on Mechatronics

Effect of sensory experience on motor learning strategy

Shou-Han Zhou, Denny Oetomo, Ying Tan, Iven Mareels, Etienne Burdet

Journal article  |  2015  |  Journal of Neurophysiology

Local magnetic actuation based laparoscopic camera for minimally invasive surgery

H Gu, M Bain, CJ Yen, S Fang, F Leong, A Mohammadi, P Valdastri, D Oetomo

Conference Proceedings  |  2015  |  Australasian Conference on Robotics and Automation, ACRA

Laser-Based Sensing, Measurement, and Misalignment Control of Coupled Linear and Angular Motion for Ultrahigh Precision Movement

L Clark, B Shirinzadeh, Y Tian, D Oetomo

Journal article  |  2015  |  IEEE - ASME Transactions on Mechatronics

On positive output controllability and cable driven parallel manipulators

J Eden, D Lau, Y Tan, D Oetomo

Conference Proceedings  |  2015  |  2015 Australian Control Conference, AUCC 2015

Restrained tibial rotation may prevent ACL injury during landing at different flexion angles

Hossein Mokhtarzadeh, Andrew Ng, Chen Hua Yeow, Denny Oetomo, Fatemeh Malekipour, Peter Vee Sin Lee

Journal article  |  2015  |  The Knee

Cable Function Analysis for the Musculoskeletal Static Workspace of a Human Shoulder

D Lau, J Eden, S Halgamuge, D Oetomo

Book Chapter  |  2015  |  Mechanisms and Machine Science

Speed Control of Non-collocated Stator-Rotor Synchronous Motor with Application in Robotic Surgery

A Mohammadi, D Samsonas, C Di Natali, P Valdastri, Y Tan, D OETOMO

Conference Proceedings  |  2015  |  2015 10th Asian Control Conference (ASCC)

An Investigation into the Reliability of Upper-limb Robotic Exoskeleton Measurements for Clinical Evaluation in Neurorehabilitation

Justin Fong, Vincent Crocher, Denny Oetomo, Ying Tan

Conference Proceedings  |  2015  |  2015 7th International IEEE/EMBS Conference on Neural Engineering (NER)

Effects of robotic exoskeleton dynamics on joint recruitment in a neurorehabilitation context

J Fong, V Crocher, D Oetomo, Y Tan, I Mareels

Conference Proceedings  |  2015  |  2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

© 2015 IEEE. Increasing research has been conducted into the use of robotic devices for neurorehabilitation. One advantage of thes..

Distributed Operational Space Formulation of Serial Manipulators

Kishor D Bhalerao, James Critchley, Denny Oetomo, Roy Featherstone, Oussama Khatib

Journal article  |  2014  |  Journal of Computational and Nonlinear Dynamics

Dynamically balanced trajectory generation for non-holonomic forklift vehicles

L Vongchanh, A Mohammadi, A Kealy, D Oetomo

Conference Proceedings  |  2014  |  Australasian Conference on Robotics and Automation, ACRA

This paper proposes a trajectory planner for a non-holonomic wheeled mobile manipulator, specifically designed for a forklift vehi..

A Tool to Address Movement Quality Outcomes of Post-Stroke Patients

V CROCHER, J Fong, M Klaic, D Oetomo, Y Tan

Conference Proceedings  |  2014  |  Biosystems and Biorobotics

Advanced motion control for mechatronic systems

J Zheng, D Oetomo

Journal article  |  2014  |  Australian Journal of Electrical and Electronics Engineering

On Experimentally Validated Iterative Learning Control in Human Motor Systems

CT Freeman, S-H Zhou, Y Tan, D Oetomo, E Burdet, I Mareels

Conference Proceedings  |  2014  |  2014 American Control Conference

Generalized Modeling of Multilink Cable-Driven Manipulators With Arbitrary Routing Using the Cable-Routing Matrix

Darwin Lau, Denny Oetomo, Saman K Halgamuge

Journal article  |  2013  |  IEEE Transactions on Robotics

Shock absorbing ability of articular cartilage and subchondral bone under impact compression

F Malekipour, C Whitton, D Oetomo, PVS Lee

Journal article  |  2013  |  Journal of the Mechanical Behavior of Biomedical Materials

Abstract Despite the important role of subchondral bone in maintaining the integrity of the overlying articular cartilage, little ..

Contributions of the Soleus and Gastrocnemius muscles to the anterior cruciate ligament loading during single-leg landing

Hossein Mokhtarzadeh, Chen Hua Yeow, James Cho Hong Goh, Denny Oetomo, Fatemeh Malekipour, Peter Vee-Sin Lee

Journal article  |  2013  |  Journal of Biomechanics

STATE TO STATE MOTION PLANNING FOR UNDERACTUATED SYSTEMS USING A MODIFIED RAPIDLY EXPLORING RANDOM TREE ALGORITHM

R Shvartsman, Y Tan, D Oetomo

Conference Proceedings  |  2013  |  Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Point-to-point Learning in Human Motor Systems

S ZHOU, Y Tan, D Oetomo, C Freeman, E Burdet, IM Mareels

Conference Proceedings  |  2013  |  Proceedings of the American Control Conference (ACC), 2013

Modelling of cable wrapping phenomenon towards improved cable-driven mechanisms

Man Cheong Lei, Denny Oetomo

Conference Proceedings  |  2013  |  Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Motion planning with continuous contact for dribbling in RoboCup

R Mohamad, J Eden, N Cook, D Lau, D Oetomo

Conference Proceedings  |  2013  |  Australasian Conference on Robotics and Automation, ACRA

On On-line Sampled-data Optimal Learning for Dynamic Systems with Uncertainties

Shou-Han Zhou, Ying Tan, Denny Oetomo, Chris Freeman, Iven Mareels

Conference Proceedings  |  2013  |  Proceedings of the 2013 9th Asian Control Conference

Motion Planning for Underactuated Bipedal Mechanisms with Kinematic Constraints

Hadiyanto Sugianto, Darwin Lau, Colin Burvill, Peter Lee, Denny Oetomo

Conference Proceedings  |  2013  |  Proceedings of the 16th International Conference on Advanced Robotics

Generalised Formulation and Analysis of Multilink Parallel Cable-Driven Manipulators with Arbitrary Routing using Cable-Routing Matrix

DT Lau, D Oetomo, SK Halgamuge

Journal article  |  2013  |  IEEE Transactions on Robotics

Trajectory Redundancy Iterative Learning Control

Shou-Han Zhou, Ying Tan, Bai Zhao, Denny Oetomo

Conference Proceedings  |  2013  |  Proceedings of the 2013 13th International Conference on Control, Automation and Systems

A Rotary Joint Based on Dielectric Elastomer

Huaming Wang, Hao Guo, Yunguang Luan, Denny Oetomo

Conference Proceedings  |  2013  |  Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

On the task specific evaluation and optimisation of cable-driven manipulators

D Lau, K Bhalerao, D Oetomo, SK Halgamuge

Book Chapter  |  2012

Development of reconfigurable spherical motion generator

SH Ip, C Chen, RPH Chen, D Oetomo

Conference Proceedings  |  2012  |  Advances in Reconfigurable Mechanisms and Robots I

Motion planning of a planar 3R manipulator utilising fluid flow trajectory generation

D Lau, J Eden, D Oetomo

Conference Proceedings  |  2012  |  Proceedings of Australasian Conference on Robotics and Automation

Modeling Individual Human Motor Behavior Through Model Reference Iterative Learning Control

Shou-Han Zhou, Denny Oetomo, Ying Tan, Etienne Burdet, Iven Mareels

Journal article  |  2012  |  IEEE Transactions on Biomedical Engineering

Enhanced fault reconstruction using cascaded sliding mode observers

KY Ng, CP Tan, D Oetomo

Conference Proceedings  |  2012  |  Proceedings of 2012 12th International Workshop on Variable Structure Systems (VSS)

Disturbance decoupled fault reconstruction using cascaded sliding mode observers

Kok Yew Ng, Chee Pin Tan, Denny Oetomo

Journal article  |  2012  |  Automatica

Verification and validation of an active sailing simulator

J Binns, N Clark, T Munro, CG Manzie, D Oetomo, G BENNETT, N Saunders, MD Habgood

Conference Proceedings  |  2012  |  SimTecT 2012 Proceedings

Effect of tibial rotation inhibition on ACL injury at different flexion angles

H Mokhtarzadeh, T KIM, CH Yeow, F MALEKIPOUR, D Oetomo, P Lee

Conference Proceedings  |  2012  |  Proceedings of the 30th Annual Conference of Biomechanics in Sports

Advances in Reconfigurable Mechanisms and Robots I

SH Ip, C Chen, RPH Chen, D Oetomo

Book Chapter  |  2012

Osteochondral injury during simulated drop landing compression: Pre and post impact micro-computed tomography

F MALEKIPOUR, D Oetomo, P Lee

Conference Proceedings  |  2012  |  Proceedings of the 30th Annual Conference of Biomechanics in Sports

Ankle plantarflexor contributions to knee joint loading and anterior cruciate ligament force during single-leg landing

H Mokhtarzadeh, CH Yeow, F MALEKIPOUR, D Oetomo, P Lee

Conference Proceedings  |  2012  |  Proceedings of the 30th Annual Conference of Biomechanics in Sports

Muscle coordination during single-leg landing: Implications for ACL injuries

H Mokhtarzadeh, T Correa, C Hua Yeow, J Cho Hong Goh, D Oetomo, P Lee

Conference Proceedings  |  2012  |  Orthopaedic Research Society Annual Meeting

Optimal learning gain selection in model reference iterative learning control algorithms for human motor systems

SH Zhou, D Oetomo, Y Tan, E Burdet, I Mareels

Conference Proceedings  |  2011  |  Proceedings of the Australian Control Conference

Neuro-adaptive motion control with velocity observer in operational space formulation

Dandy B Soewandito, Denny Oetomo, Marcelo H Ang

Journal article  |  2011  |  Robotics and Computer-Integrated Manufacturing

Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

Darwin Lau, Denny Oetomo, Saman K Halgamuge

Journal article  |  2011  |  Journal of Mechanical Design

Muscles Recruitment of Lower Extremities in Different Landing Heights: Implication for ACL injury

H Mokhtarzadeh, C Hua Yeow, P Lee, J Cho Hong Goh, D Oetomo

Conference Proceedings  |  2011  |  Proceedings of the Orthopaedic Research Society (ORS) Annual Meeting

Online Estimation of Foot-Ground Friction Constraint for Bipedal Gait Robot Operation

S ROOSEN, D Oetomo, MP Galea

Conference Proceedings  |  2011  |  Proceedings of the 15th International Conference on Mechatronics Technology 2011

Dynamics Modelling of Reconfigurable Spherical Motion Generator

S Ip, C Chen, D Oetomo

Conference Proceedings  |  2011  |  Proceedings of the 15th International Conference on Mechatronics Technology (ICMT 2011)

SWARM AGGREGATION AND FORMATION CONTROL FOR ROBOTS WITH LIMITED PERCEPTION

Paulo A Jimenez, Bijan Shirinzadeh, Denny Oetomo, Ann Nicholson

Journal article  |  2011  |  International Journal of Robotics and Automation

Human motor learning through iterativemodel reference adaptive control

SH Zhou, D Oetomo, Y Tan, E Burdet, I Mareels

Conference Proceedings  |  2011  |  Proceedings of the 18th World Congress of the International Federation of Automatic Control (IFAC)

Design and analysis of 4-DOF cable-driven parallel mechanism

D Lau, T Hawke, L Kempton, D Oetomo, S Halgamuge

Conference Proceedings  |  2010  |  Proceedings of the Australasian Conference on Robotics and Automation 2010

Editorial: Special issue on agricultural robotics

Denny Oetomo, John Billingsley

Journal article  |  2010  |  Intelligent Service Robotics

A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results

Kanako Harada, Denny Oetomo, Ekawahyu Susilo, Arianna Menciassi, David Daney, Jean-Pierre Merlet, Paolo Dario

Journal article  |  2010  |  Robotica

Modelling of Human Motor Control in an Unstable Task through Operational Space Formulation

Shou-Han Zhou, Denny Oetomo, Iven Mareels, Etienne Burdet

Conference Proceedings  |  2010  |  Proceedings of the IEEE International Conference on Control, Automation, Robotics and Vision 2010

Understanding anterior cruciate ligament injury due to drop landing: Effects of different landing techniques and muscles' action at the knee joint

H Mokhtarzadeh, C Yeow, P Lee, C Goh, D Oetomo

Conference Proceedings  |  2010  |  Proceedings of the 6th World Congress of Biomechanics 2010

Understanding Anterior Cruciate Ligament Injury Due to Drop Landing: Effects of Different Landing Techniques and Muscles' Action at the Knee Joint

H Mokhtarzadeh, CH Yeow, PVS Lee, JCH Goh, D Oetomo

Conference Proceedings  |  2010  |  IFMBE Proceedings

Agricultural Robotics

John Billingsley, Denny Oetomo, John Reid

Journal article  |  2009  |  IEEE Robotics & Automation Magazine

Novel 3-DOF Reconfigurable Spherical Motion Generator with unlimited workspace

SH Ip, C Chen, D Oetomo

Conference Proceedings  |  2009  |  Proceedings of the 2009 Australasian Conference on Robotics & Automation

Topology design of surgical reconfigurable robots by interval analysis

D Oetomo, D Daney, K Harada, JP Merlet, A Menciassi, P Dario

Conference Proceedings  |  2009  |  2009 IEEE International Conference on Robotics and Automation

Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial Coupled Vibration

Ter Fong Khoo, Dinh Huy Dang, James Friend, Denny Oetomo, Leslie Yeo

Journal article  |  2009  |  IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control

Agricultural Robotics

Denny Oetomo, John Billingsley, John E Reid

Journal article  |  2009  |  Journal of Field Robotics

Design Strategy of Serial Manipulators With Certified Constraint Satisfaction

Denny Oetomo, David Daney, Jean-Pierre Merlet

Journal article  |  2009  |  IEEE Transactions on Robotics

Singularity robust algorithm in serial manipulators

Denny Oetomo, Marcelo H Ang

Journal article  |  2009  |  ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism

D Oetomo, D Daney, B Shirinzadeh, J-P Merlet

Journal article  |  2009  |  Journal of Mechanical Design

Neuro-adaptive motion controller with velocity observer for operational space formulation

D Soewandito, DN Oetomo, MH Ang

Conference Proceedings  |  2008  |  Proceedings of the 17th IFAC World Congress

The operational space formulation with neural-network adaptive motion control

D Soewandito, DN Oetomo, MH Ang

Conference Proceedings  |  2008  |  Proceedings of the 17th IFAC World Congress

Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels

Denny Oetomo, Marcelo H Ang

Journal article  |  2008  |  Journal of Mechanical Design

Certified workspace analysis of 3RRR planar parallel flexure mechanism

Denny Oetomo, David Daney, Bijan Shirinzadeh, Jean-Pierre Merlet

Conference Proceedings  |  2008  |  IEEE International Conference on Robotics and Automation, 2008. ICRA 2008

Trajectory generation for open-contoured structures in robotic fibre placement

Bijan Shirinzadeh, Gary Cassidy, Denny Oetomo, Gursel Alici, Marcelo H Ang

Journal article  |  2007  |  Robotics and Computer-Integrated Manufacturing

Direct kinematics of 3DOF planar parallel mechanisms: A Discussion

D Oetomo, HC Liaw, G Alici, B Shirinzadeh, Y Zhong

Conference Proceedings  |  2006  |  13th Annual International Conference on Mechatronics and Machine Vision in Practice 2006

Experimental evaluation of adaptive and variable structure control of piezoelectric actuation systems for micro/nano manipulation

Hwee Choo Liaw, Bijan Shirinzadeh, Denny Oetomo, Gursel Alici

Conference Proceedings  |  2006  |  2006 9th International Conference on Control, Automation, Robotics and Vision

Special class of positive definite functions for formulating adaptive micro/nano manipulator control

Hwee Choo Liaw, Denny Oetomo, Gursel Alici, Bijan Shirinzadeh

Conference Proceedings  |  2006  |  9th IEEE International Workshop on Advanced Motion Control

Robust control framework for piezoelectric actuation systems in micro/nano manipulation

Hwee Choo Liaw, Denny Oetomo, Bijan Shirinzadeh, Gursel Alici

Conference Proceedings  |  2006  |  Proceedings of the IEEE International Region 10 Conference

Adaptive Control Strategy for Micro/Nano Manipulation Systems

Hwee Choo Liaw, Denny Oetomo, Bijan Shirinzadeh, Gursel Alici

Conference Proceedings  |  2006  |  Intelligent Autonomous Systems 9 - IAS-9, Proceedings of the 9th International Conference on Intelligent Autonomous Systems

Direct kinematics and analytical solution to 3RRR parallel planar mechanisms

Denny Oetomo, Hwee Choo Liaw, Gursel Alici, Bijan Shirinzadeh

Conference Proceedings  |  2006  |  9th International Conference on Control, Automation, Robotics and Vision 2006

Robust motion tracking control of. piezoelectric actuation systems

Hwee Choo Liaw, Denny Oetomo, Bijan Shirinzadeh, Gursel Alici

Conference Proceedings  |  2006  |  ICRA 2006 Proceedings 2006 IEEE International Conference on Robotics and Automation

Torque distribution and slip minimization in an omnidirectional mobile base

YP Li, D Oetomo, MH Ang, CW Lim

Conference Proceedings  |  2005  |  Proceedings of the 12th International Conference on Advanced Robotics (ICAR '05)

Omnidirectional mobile robots with powered caster wheels: Design guidelines from kinematic isotropy analysis

D Oetomo, YP Li, MH Ang, CW Lim

Conference Proceedings  |  2005  |  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Omnidirectional mobile robots with powered caster wheels: Design guidelines from kinematic isotropy analysis

D Oetomo, Y Li, MH Ang, C Lim

Conference Proceedings  |  2005  |  Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005)

Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing

RS Jamisola, DN Oetomo, MH Ang, O Khatib, TM Lim, SY Lim

Journal article  |  2005  |  Advanced Robotics

The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator

R Jamisola, MH Ang, D Oetomo, O Khatib, TM Lim, SY Lim

Conference Proceedings  |  2002  |  IEEE International Conference on Robotics and Automation 2002

Integration of torque controlled arm with velocity controlled base for mobile manipulation: An application to aircraft canopy polishing

D Oetomo, M Ang Jr, R Jamisola, O Khatib

Conference Proceedings  |  2002  |  Theory and Practice of Robots and Manipulators: Proceedings of the 14th Cism-IFToMM Symposium

Singularity robust manipulator control using virtual joints

D Oetomo, MH Ang, TM Lim

Conference Proceedings  |  2002  |  Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

Haptic interface for force/motion controlled mobile manipulator

D Oetomo, T Lim, M Ang Jr

Conference Proceedings  |  2002  |  Proceedings of the 2nd IFAC Conference on Mechatronic Systems