Current Projects

• Dynamic Climbing:  Design and control of a single actuator dynamic climbing robot. The first paper 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

• A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
  Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset and Marco A. Zenati
  The Annals of Thoracic Surgery, 2009;87: 1253-1256

• 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 Novel Highly Articulated Robotic Surgical System For Epicardial Ablation
  Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset and Marco A. Zenati
  Proc. IEEE Eng Med Biol Soc. 2008; 1: 250–253.

• 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

 

Technical Reports and Thesis

• A Minimalist Dynamic Climbing Robot: Modeling, Analysis and Experiments
  Amir Degani
  Thesis Proposal, CMU-RI-TR-09-28, June, 2009
  PDF