Patent  |   Dissertation  |   Book Chapter  |   Refereed Journal  |   Refereed Conference

Patent

  1. L. Phee, K.Y. Ho, S.C. Low, S.W. Tang, S.C. Chung, "Surgical Robotic System for Flexible Endoscopy," US Provisional Application no. : 60/785,985, 27 Mar 2006.
  2. L. Phee, A. Arena, A. Menciassi, P. Dario, "Endoscopic Device for Locomotion through the Gastro-intestinal Tract," U.S. Patent 6,939,291, September 2005.
  3. L. Phee, R.E. Oakley, H.S. Lim, "Intuitive Control Device for Motorized Furniture," May 2003, (Patent Pending).
  4. Ang, W. T., Riviere, C. N., and Khosla, P. K., "Six Degrees-of-Freedom All-Accelerometer Inertial Measurement Unit for Handheld Devices," file date: Sep 14, 2003.
  5. L. Phee, D. Xiao, J. Yuen, C.H. Thng, P.H. Tan, W.K.O Lau, H. Ho, W.S. Ng, C.W.S. Cheng, "System and Method for Accurate Percutaneous Needle Placement in Soft Tissue Under Ultrasound Guidance," April 2004, (U.S. Provisional Patent Application).
  6. W.S. Ng, L. Phee, F. Seow-Choen, "Robotic Endoscope and an Autonomous Pipe Robot for Performing Endoscopic Procedures," U.S. Patent 6,162,171, December 2000.

 

Dissertation

  1. Ang, W. T., "Active Tremor Compensation in Handheld Instrument for Microsurgery," doctoral dissertation, tech. report CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May 2004.
  2. Ang, W. T., "Design and Implementation of Modular Robotic Arm with Active Links," M.Eng. dissertation, Mechanical and Production Engineering, Nanyang Technological University, Singapore, March 1999.

 

Book Chapter

  1. U. X. Tan, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang, "Modeling and Control of Piezoelectric Actuators for Active Physiological Tremor Compensation," Human-Robot Interaction, Vienna, Austria, Advanced Robotic Systems, 2007.
  2. Ang, W. T. and Xie, M., " Mobile Robotic Hand-Eye Co-ordination Platform: Design and Modeling," Field and Service Robotics, Springer-Verlag ISBN 1-85233-039-2, pp.308-314.

 

Refereed Journal

  1. F. Widjaja, C. Y. Shee, D. G. Zhang, W. T. Ang, P. Poignet, Antonio P. L. Bo and D. Guiraud, "Current Progress on Pathological Tremor Modeling and Active Compensation using Functional Electrical Stimulation," Gerontechnology, Vol. 7, No. 2, pp. 240, May 2008.
    Download:  [328 kb]
  2. W. T. Ang, C. N. Riviere, and P. K. Khosla, "Feedforward Controller with Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory Tracking Applications," ASME/IEEE Transactions on Mechatronics, Vol.12, No.2, pp. 1-8, April 2007.
  3. W. T. Ang, C. N. Riviere, and P. K. Khosla, "Nonlinear Regression Model of a Low-g MEMS Accelerometer," IEEE Sensor Journal, Vol.7, No. 1&2, pp. 81-88, Feb. 2007.
  4. L. Phee, J. Yuen, D. Xiao, C.F. Chan, H. Ho, C.H. Thng, P.H. Tan, C. Cheng, W.S. Ng, "Ultrasound Guided Robotic Biopsy of the Prostate," International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 463-483.
  5. S.C. Low, L. Phee, "A Review on Master-Slave Robotic Systems for Surgery," International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 547-567.
  6. S. Fan, K.V. Ling, L. Phee, W.S. Ng, D. Xiao, "Efficient 3D Prostate Surface Detection for Ultrasound Guided Robotic Biopsy," International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 439-461.
  7. L. Phee, D. Xiao, J. Yuen, C.F. Chan, H.S.S. Ho, C.H. Thng, P.H. Tan, C.W.S. Cheng, W.S. Ng, "Robotically Assisted Transperineal Biopsy of the Prostate with Ultrasound Guidance," IEEE Transaction of Robotics and Automation. (submitted Oct 06)
  8. Kassim, L. Phee, W.S. Ng, G. Feng, P. Dario, C.A. Mosse, "A literature Review of Locomotion Techniques for Robotic Colonoscopy," IEEE Engineering in Medicine and Biology Magazine, May 2006, Vol. 25(3), pp. 49 – 56.
  9. J. Yuen, L. Phee, D. Xiao, C.F. Chan, H.S.S. Ho, W.K. Lau, W.S. Ng, C.W.S. Cheng, "Transperineal Robot-Assisted Prostate Biopsy: Safe, Reproducible and Accurate Targeting," Journal of Urology. (Submitted Aug 05)
  10. I. Kassim, L. Phee, W.S. Ng, G. Feng, P. Dario, C.A. Mosse, "A literature Review of Locomotion Techniques for Robotic Colonoscopy," IEEE Engineering in Medicine and Biology Magazine, 2005.
  11. J. Yuen, C.H. Thng, P.H. Tan, L.W. Khin, L. Phee, D. Xiao, W.K.O Lau, W.S. Ng, C.W.S. Cheng, "Endorectal Magnetic Resonance Imaging And Spectroscopy For The Detection Of Tumour Foci In Men With Prior Negative Trus Prostate Biopsy," Journal of Urology, April 2004, Vol. 171, pp. 1482-1486.
  12. Riviere, C.N., Ang, W. T., and Khosla, P. K., "Toward Intelligent Microsurgical Instrument," IEEE Transactions on Robotics and Automation, Vol. 19, No. 5, Oct. 2003, pp. 793-800.
  13. M.C. Carrozza, P. Dario, L. Phee, "Micromechatronics in Surgery," Transactions of the Institute of Measurements and Control, England, Sep 2003, Vol. 25(4), pp. 309-327.
  14. L.Phee, D. Xiao, J. Yuen, W. Lau, C. Cheng and W.S. Ng, "Advancement and Safety Aspects of Medical Robots for Treatment of Diseases of the Prostate," J. Systems and Control Engineering, England, July 2003, Vol. 217 Part I, pp 155-167.
  15. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, M.C. Carrozza, P. Dario, "Analysis and Development of Locomotion Devices for the Gastrointestinal Tract," IEEE Transactions on Biomedical Engineering, U.S.A., June 2002, Vol. 49, No. 6, pp. 613-616.
  16. W.S. Ng, L. Phee, S Seow, B L Davies, "Robotics in colonoscopy," (invited paper) in Digestive Endoscopy, the Official Journal of Japan Gastroenterological Endoscopy Society, Kanazawa, Japan, May 1999, Vol. 12, Issue 2, pp. 131-135.
  17. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, and B.L. Davies, "Visual Control Aspects in Automation of Colonoscopy," IEEE Engineering in Medicine and Biology Magazine, U.S.A., March 1998, Vol. 17(3), pp. 81-88.
  18. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, and B.L. Davies, "Locomotion and Steering Aspects in Automation of Colonoscopy," IEEE Engineering in Medicine and Biology Magazine, U.S.A., Nov 1997, Vol. 16(6), pp. 85-96.
  19. J. Yuen, L. Phee, D. Xiao, C.F. Chan, H.S.S. Ho, W.K. Lau, W.S. Ng, C.W.S. Cheng, "Transperineal Robot-Assisted Prostate Biopsy: Safe, Reproducible and Accurate Targeting," Journal of Urology.
  20. L. Phee, D. Xiao, J. Yuen, C.F. Chan, H.S.S. Ho, C.H. Thng, P.H. Tan, C.W.S. Cheng, W.S. Ng, "Robotically Assisted Transperineal Biopsy of the Prostate with Ultrasound Guidance," IEEE Transaction of Robotics and Automation.

 

Refereed Conference

2007 - 2008 | 2005 - 2006 | 2003 - 2004 | 2002 - 2000 | before 2000

 

    2007 – 2008
  1. W. T. Latt, E. S. Ananda, S. C. L. Ong, K. C. Veluvolu, C. Y. Shee, and W. T. Ang, "Design and Implementation of a Two Degree-of-freedom Micromanipulation Assessment System," 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, Aug 2008. (accepted)
  2. W. T. Latt, U. X. Tan, F. Widjaja, C. Y. Shee, and W. T. Ang, "A Study of a Hand-held Instrument’s Angular Motion due to Physiological Tremor in Micromanipulation Tasks," 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, Aug 2008. (accepted)
  3. M. Rank, O. Stursberg, and W. T. Ang, "A Rate-Dependent Linear Modeling Approach For Pathological Tremor Applications," 6th IASTED International Conference on Biomedical Engineering, Innsbruck, Austria, 13-15 February 2008 (accepted).
  4. H. G. Tan, H. H. Zhang, C. C. Wang, C. Y. Shee, W. T. Ang and C. T. Guan, "Arm Flexion and Extension Exercises using a Brain-Computer Interface and Functional Electrical Stimulation," 6th IASTED International Conference on Biomedical Engineering, Innsbruck, Austria, 13-15 February 2008 (accepted).
  5. Y. L. Zhang, M. L. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, "Automatic Vision Guided Small Cell Injection: Feature Detection, Positioning, Penetration and Injection," IEEE International Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, August 5-8, 2007.
  6. D. G. Zhang and W. T. Ang, "Reciprocal EMG controlled FES for pathological tremor suppression of forearm," 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France, August 23-26, 2007.
  7. Y. L. Zhang, M. L. Han, C. Y. Shee, T. F. Chia, and W. T. Ang, "Position Control using 2D-to-2D Feature Correspondences in Vision Guided Cell Micromanipulation," 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France, August 23-26, 2007.
  8. W. T. Latt , U. X. Tan, K. C. Veluvolu, J. K. D. Lin, C. Y. Shee, and W. T. Ang, " System to Assess Accuracy of Micromanipulation," 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug 2007.
  9. K. C. Veluvolu, U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. Ang, "Bandlimited Multiple Fourier Linear Combiner for Real-time Tremor Compensation," 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France, Aug 2007.
  10. U. X. Tan, T. L. Win , C. Y. Shee, and W. T. Ang, "Rate-Dependent Hysteresis Model of Piezoelectric using Singularity Free Prandtl-Ishlinskii Model," IEEE International Symposium on Computational Intelligence in Robotics and Automation, Florida, USA, June, 2007, pp.356-361.
  11. M. Akshay, T. L. Win, H. G. Tan, U. X. Tan, C. Y. Shee, and W. T. Ang, "Design and Implementation of a Mechatronic Device for Wrist and Elbow Rehabilitation," 1st International Convention for Rehabilitation Engineering & Assistive Technology, Singapore, April 2007.
  12. H. G. Tan, C. Y. Shee and W. T. Ang, "Towards an Inclusive Society in Asia: The Invisible Helping Hand," 1st International Convention for Rehabilitation Engineering & Assistive Technology, Singapore, April 2007.
  13. T. L. Win, U. X. Tan, C. Y. Shee, and W. T. Ang, "Design and Calibration of an Optical Micro Motion Sensing System for Micromanipulation Tasks," IEEE International Conference on Robotics and Automation, Roma, Italy, April 2007.
  14. D. G. Zhang, H. G. Tan, W. Ferdinan, and W. T. Ang, "Functional electrical stimulation in rehabilitation engineering: A survey," 1st International Convention for Rehabilitation Engineering & Assistive Technology, Singapore, April 2007.
  15. U. X. Tan, H. G. Tan, T. Myo, D. G. Zhang, B. S. Cheam, K. L. Koh, and W. T. Ang, "Design and Development of a Novel Balancer with variable Difficulty for Training and Evaluation," International Convention for Rehabilitation Engineering & Assistive Technology, Singapore, April, 2007.
  16. Y. Zhang, W. T. Ang, J. Jin and Z. Man, "Non-linear Sliding Mode Control for a Rotary Inverted Pendulum," International MultiConference of Engineers and Computer Scientists 2007, Hong Kong, 21-23 March 2007.

 

    2005 – 2006
  1. Z.M. Thant, S.C. Low, S.W. Tang, L. Phee, K.Y. Ho, S.C. Chung, "Ergonomic Master Controller for Flexible Endoscopic Gastrointestinal Robot Manipulator," Proceedings of the International Conference on Biomedical and Pharmaceutical Engineering, Singapore, 11-13 Dec, 2006, pp. 575 – 579.
  2. U. X. Tan, T. L. Win, and W. T. Ang, "Modeling Piezoelectric Actuator Hysteresis with Singularity Free Prandtl-Ishlinskii Model," IEEE International Conference on Robotics and Biomimetics, pp. 251- 256, Kunming, China, 2006.
  3. D. G. Zhang and W. T. Ang, "Tremor suppression of elbow joint via functional electrical stimulation: A simulation study," IEEE Conference on Automation Science and Engineering (CASE), Shanghai, Oct. 2006.
  4. L. Phee, S.C. Low, Z.M. Thant, K.Y. Ho and S.C. Chung, "Robotic System for No-Scar Gastrointestinal Surgery," IEEE International Special Topic Conference on Information Technology in Biomedicine, 26-28 Oct 2006, Ioannina, Greece.
  5. S.C. Low, S.W. Tang, Z.M. Thant, K.Y. Ho, S.C. Chung, L. Phee, "Master-Slave Robotic System for Therapeutic Gastrointestial Endoscopic Procedure," Proceedings of the 28th IEEE EMBS Annual International Conference, New York, USA, Aug 30-Sep 3, 2006, pp. 3850-3853.
  6. B.K. Lee, L. Phee, "Feasibility Study of a Force Feedback Controlled Robotic System for Bone Milling," IEEE International Conference on Cybernetics and Intelligent Systems, Bangkok, Thailand, Jun 2006, pp. 732 – 737.
  7. W. T. Ang, M. Krichane, and T. Sim, "Zero Phase Filtering for Active Compensation of Periodic Physiological Motion," Proc. 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.182-187, Feb 2006.
  8. W. T. Ang, B. S. Cheam, L. Choi, D. P. Ng, X. N. Ly, and Y.S. Lim, "Multi-Planar Trainer for Shoulder Therapy," 2005 SGH-NTU Symposium, Singapore, Aug 2005.
  9. W. T. Ang, L. Choi, B. S. Cheam, U-X Tan, and M. M. Thida, "Intelligent Balance Board for Balance Training," 2005 SGH-NTU Symposium, Singapore, Aug 2005.
  10. D. Xiao, L. Phee, J. Yuen, C.F. Chan, F. Liu, W.S. Ng, Ho, C.H. Thng, P.H. Tan, C. Cheng, "Software Design of Transperineal Prostate Needle Biopsy Robot," IEEE Conference on Control Applications, Toronto, Canada, Aug 2005, pp. 13-18.
  11. C.H. Thng, L. Gao, Y.S.P. Yuen, P.H. Tan, L. Phee, D. Xiao, H.Y. Ma, C.F. Chan, H. Ho, W.K.O. Lau, W.S. Ng, C.W.S. Cheng "Endorectal Magnetic Resonance Imaging And Spectroscopy For The Detection Of Tumor Foci Before Transrectal Ultrasound-Guided Biopsy Of The Prostate," 105th Annual Meeting of the American Roentgen Ray Society, May 15-20, 2005, in New Orleans, USA, pp. 62-68.
  12. L. Phee, D. Xiao, J. Yuen, C.F. Chan, H. Ho, C.H. Thng, C. Cheng, W.S. Ng, "Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate," IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp.1327-1332.
  13. C.H. Thng, L. Gao, Y.S.P. Yuen, P.H. Tan, L. Phee, D. Xiao, H.Y. Ma, C.F. Chan, H. Ho, W.K.O. Lau, W.S. Ng, C.W.S. Cheng, "Direct Correlation of MRI and MRS with Histology for Prostate Carcinoma," 14th Singapore Radiological Society Annual Scientific Meeting, Singapore, 19-20 Feb 2005, pp. 183-189.

 

    2003 – 2004
  1. H.Y. Ma, L. Phee, C.H. Thng, P.H. Tan, J. Yuen, W.S. Ng, C. Cheng, "A Novel Device for Sectioning Prostate in Correlation to MRI," The IASTED International Conference on Biomechanics, BioMech 2004, Hawaii, USA, August 2004, pp. 156-161.
  2. S.C. Low, L. Phee, "A Review of Master-Slave Robotic Systems for Surgery," IEEE Conference on Robotics, Automation and Mechatronics, Singapore, Dec 2004, pp. 37-42.
  3. Ang , W. T., Khosla, P. K., and Riviere, C. N., "Kalman Filtering for Real-Time Orientation Tracking of Handheld Microsurgical Instrument," Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct 2004.
  4. Ang, W. T., Khosla, P. K., and Riviere, C. N., "Active Tremor Compensation in Microsurgery," Proc. 26th Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Sep 2004.
  5. Alija-Garmón, F., Ang, W. T., Khosla, P. K., and Riviere, C. N., "Rate-dependent inverse hysteresis feedforward controller for microsurgical tool," Proc. 25th Annual Conference IEEE Engineering in Medicine and Biology Society, Sep, 2004, pp. 3415 - 3418.
  6. Ang, W. T., Khoo, S. Y. , Khosla, P. K., and Riviere, C. N., "Physical Model of a Dual-Axis MEMS Accelerometer for Low-g Motion Tracking Applications," Proc. International Conference on Robotics and Automation, pp.1345-1351, May 2004.
  7. C. F. Chan, J. Yuen, C. H. Thng, H. Ma, L. Phee, W. S. Ng, "Pathologic Validation of Prostate Slicer using MRI," Poster Presentation at Urology Fair 2004, Feb 2004, Singapore.
  8. Ang, W. T., Khosla, P. K., and Riviere, C. N., "Modeling Rate-dependent Hysteresis in Piezoelectric Actuators," Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Oct 2003, pp.1975-1980.
  9. I. Kassim, W.S. Ng, G. Feng, L. Phee, P. Dario, C.A. Mosse, "Review of Locomotion Techniques for Robotic Colonoscopy," IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003, pp. 1089-1091.
  10. Ang, W. T., Khosla, P.K., and Riviere, C. N., "Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument," Proc. International Conference on Robotics and Automation, May 2003, pp.1781-1786.

 

    2000 – 2002
  1. C.K. Ng, W.S. Ng, L. Phee, C. Cheng, "A HIFU Robot for Transperineal Treatment of Prostate Cancer," 7th International Conference on Control, Automation, Robotics and Vision, Singapore, Dec. 2002.
  2. Ang, W. T. and Riviere, C. N., "Assistive Human-Machine Interfaces via Artificial Neural Networks," Proc of the 3rd International Symposium on Robotics and Automation, Toluca, Mexico, Sep 2002, pp. 477-480.
  3. L. Phee, A. Menciassi, S. Gorini, G. Pernorio, A. Arena, P. Dario, "An Innovative Locomotion Principle for Minirobots Moving in the Gastrointestinal Tract," IEEE International Conference on Robotics and Automation, U.S.A., May 2002, pp. 1125-1130.
  4. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, P. Dario, "Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract," 10th International Symposium of Robotics Research, Australia, Nov. 2001.
  5. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, P. Dario, "Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract," Proceedings of the 10th International Symposium of Robotics Research, Australia, November 2001.
  6. L. Phee, A. Arena, S. Gorini, A. Menciassi, P. Dario, Y.K. Jeong, J.O. Park, "Development of Microrobotic Devices for Locomotion in the Human Gastrointestinal Tract," International Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, Nov. 2001.
  7. Ang, W. T., Khosla, P. K., and Riviere, C. N., "An intelligent hand-held microsurgical instrument for improved accuracy," Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Oct 2001, pp. 3450-3453.
  8. Ang, W. T., Khosla, P. K., and Riviere, C. N., "Design and implementation of active error canceling in hand-held microsurgical instrument," Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 2, Oct 2001, pp. 1106-1111.
  9. Ang, W. T. and Riviere, C. N., "Neural network methods for error canceling in human-machine manipulation," Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, Oct 2001, pp. 3462-3465.
  10. D. Accoto, C. Stefanini, L. Phee, A. Arena, G. Pernorio, A. Menciassi, M.C. Carrozza, P. Dario "Measurements of the friction properties of the gastrointestinal tract" 2nd AIMETA International Tribology Conference, Austria, September 2001.
  11. P. Dario, A. Menciassi, D. Accoto, L. Phee, C. Stefanini, "Medical Micro-Robotics," The 10th International Conference on Advanced Robotics, Hungary, August 2001.
  12. L. Phee, C. Stefanini, A. Arena, D. Accoto, A. Menciassi, G. Pernorio, M. Boccadoro, P. Dario, "Mechanical Clamping Mechanisms for Locomotion in the Gastrointestinal Tract," 2nd International Conference of EUSPEN, Japan, May 2001.
  13. A. Menciassi, A. Arena, L. Phee, D. Accoto, C. Stefanini, G. Pernorio, S. Gorini, M. Boccadoro, M. C. Carrozza, P. Dario "Locomotion Issues and Mechanisms for Microrobots in the Gastrointestinal Tract," 32nd International Symposium on Robotics, Korea, April 2001.
  14. A. Menciassi, L. Phee, A. Arena, C. Stefanini, D. Accoto, G. Pernorio, P. Dario, "Microsystems For Minimally Invasive Diagnosis And Therapy In The Gastrointestinal Tract," AISEM 2001, the 6th National Conference on Sensors and Microsystems, Italy, February 2001.
  15. Ang, W. T., Riviere, C. N., and Khosla, P. K., "An Active Hand-held Instrument for Enhanced Microsurgical Accuracy," Proc of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, Springer, October, 2000, pp. 878-886.

 

    Before 2000
  1. Foret, J., Ang, W. T., Xie, M. and Fontaine J.G., "Configuration Control of a Modular Arm with Active Links," Proc. Intelligent Systems and Advanced Manufacturing Symposium, Boston, Nov 1998.
  2. Ang, W. T. and Xie, M., "Inverse Kinematics and Simulation for Modular Robot with Active Links," Proc. ISORA, World Automation Congress, Alaska, USA, May 1998, pp161.1-161.6.
  3. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, "Development of New Locomotive Concepts to be used in Automation of Colonoscopy," 9th International Conference for BioMedical Engineering, Singapore, Dec 1997.
  4. Ang, W. T. and Xie, M., "Design of Active Links for Modular Robot," Proc. International Conference on Computer Integrated Manufacturing, Singapore, Oct. 1997, pp.1295-1303.