Current Projects

• I am part of the SToMP project (Sensor Topology & Minimal Planning.) See the SCS news release here.

• Dynamic Climbing:  Design and control of a single actuator dynamic climbing robot. First paper to be presented at the 2007 IROS conference in San-Diego, CA.  See www.dynaclimb.com

• HARP - Highly Articulated Robotic Probe:  Miniature snake for cardiac surgery

• Duality Between Maxwell Theory and Singularities in Parallel Manipulators (Web Site)

Previous Projects

• Knee Bio-Mechanics

  • Pre-Operative Knee Kinematics Modeling

  • Knee pathology classification

Publications

Journal Papers

• Recognizing knee pathologies by classifying instantaneous screws of the six degrees-of-freedom knee motion
  Alon Wolf and Amir Degani
  Medical and Biological Engineering and Computing, 2007
   
• Epicardial Atrial Ablation using a Novel Articulated Robotic Medical Probe via a Percutaneous Subxiphoid Approach
  Takeyoshi Ota, Amir Degani, Brett Zubiate, Alon Wolf, Howie Choset, David Schwartzman, Marco A. Zenati
  Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, Vol. 1 No. 6, 2006

• Graphical Singularity Analysis of 3-DoF Planar Parallel Manipulator
  Amir Degani and Alon Wolf
  Advances in Robot Kinematics: Mechanisms and Motion (ARK 2006), Jadran Lenarcic (Editor), B. Roth (Editor)  Ljubljana, Slovenia, June 2006 or here

 

Refereed Conference Proceedings

• A Dynamic Single Actuator Vertical Climbing Robot
  Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason
  Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, 2007, Sheraton Hotel, San Diego, CA, USA - PDF

• Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe - (Best Conference Paper Award)
  Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota and Marco Zenati
  Proc. 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, Feb. 2006 - PDF

• Highly Articulated Robotic Probe for Minimally Invasive Surgery
  Amir Degani, Howie Choset, Alon Wolf and Marco Zenati
  Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 - PDF
   
• Graphical Singularity Analysis of Planar Parallel Manipulators
  Amir Degani and Alon Wolf
  Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 - PDF
   
• Classifying Knee Pathologies using Instantaneous Screws of the Six Degrees-of-Freedom Knee Motion
  Alon Wolf and Amir Degani
  Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 - PDF