Deadline for submission of papers

15 November, 2000

Notification of acceptance and recommendations for final version

15 January, 2001

Deadline for the camera-ready Proceedings paper submission

10 February, 2001

Opening of the ICORR'2001 Conference

25 April, 2001


 ICORR'2001 will start Wednesday 25th April, at 9:00 am

 ICORR'2001 will end Friday 27th, April, at 2:15 pm after lunch

 A Welcome Reception is planned on Wednesday 25th, April, from 6:30 pm

 A Gala Dinner is planned on Thursday 26th, April, from 6:30 pm




Please Note:

1. Oral Presentation

Presenters will have 20 minutes for presentation and discussion. Presenters are encouraged to bring their laptop computers for their oral presentations: a high-quality VGA-standard computer projector for PCs and MACs will be available. The auditorium will also have overhead projectors and a videotape player will be available for VHS tapes in U.S. (NTSC), PAL and SECAM format.


Presenters will have 15 minutes to discuss their poster. Presenters are encouraged to bring their prototypes or laptop computer demo. A videotape machine can be requested. Posters will be set up on 1.7 x 0.93 m boards in the main lobby close to the conference room and hardware demonstration areas.

3. Demonstration

Exhibition of prototypes and commercially available systems will be also demonstrated. Disabled users using robots and coming from USA, United Kingdom, Netherlands and France will be invited to demonstrate by themselves the systems and discuss with the participants.


Wednesday, April 25th: First day

9:00 - 11:00


11:00 - 12:20

Session 1

Welcome & Keynote Speech

11:00 - 11:20


11:20 - 12:20


M. Mokhtari

Keynote Speech

Bridging the gap between human and robots

Y. Burnod. INSERM (U.483), Paris, France

12:20 - 12:50

Session 2 a

Movement Physiology, Prosthetics and Orthotics



Development of a robotic finger for prosthetic hands,

S. E. Baek, S. H. Lee, J. H. Chang. Samsung Advanced Institue of Technology, Suwon.Korea

Electromechanical model of upper human limb,

V. Vitliemov, M. Mladenov, D. Bratanov. University of Rousse. Bulgaria

12:50 - 13:50



Wednesday, April 25th: First day


13:50 - 15:10

Session 2 b

Movement Physiology, Prosthetics and Orthotics



Chair : Marko Munih,University of Ljubljana. Slovenia

Robotic Teaching by exploiting the nervous system's Adaptive Mechanisms,

J. Patton, F. A. Mussa-Ivald. Northwestern University Medical School, Chicago. USA

Consideration on an adaptive algorithm for power assisting control of robotic orthotics,

K. Nagai, I. Nakanishi, T. Takagoshi. Ritsumeikan University, , Shiga. Japan

Development of an upper limb, intelligent orthosis using pneumatically actuated, McKibben artificial muscles,

E. E. Brown, Jr., D. Mitch Wilkes, K. Kawamura, K. Sagawa. Vanderbilt University, Nashville. USA

An anti-gravity arm orthosis for people with muscular weakness,

T. Rahman., W. Sample, R. Seliktar, M. Alexander, M. Scavina. Alfred I. duPont Hospital for Children, Wilmington. USA

15:10 - 15:20


15:20 - 16:40

Session 3 a

Therapy 1



Chair: Håkan Eftring, Lund University, Sweeden

Comparison of robot-assisted reaching to free reaching in promoting recovery from chronic stroke,

L. E. Kahn, M. Averbuch, W. Zev Rymer, D. J. Reinkensmeyer. Rehabilitation Institute of Chicago, Chicago. USA

Robot-aided neuro-rehabilitation in stroke,

H. I. Krebs, B.T. Volpe, J. Palazzolo, B. Rohrer, M. Ferraro, S. Fasoli, L. Edelstein, N. Hogan. Massachusetts Institute of Technology, Cambridge. USA

Error correction movement for machine assisted stroke rehabilitation,

F. Amirabdollahian, R. Loureiro, B. Driessen, W. Harwin. The University of Reading, Reading. UK.

The effect of robotic- aided therapy on upper extremity joint range of motion and pain,

P. Shor, P.S. Lum, C.G. Burgar, H.F.M. Van der Loos, M. Majmundar, R. Yap. Veterans Affairs, Palo Alto. USA


Wednesday, April 25th: First day

 16:40 - 16:45


16:45 - 17:30

Session 3 b




Java therapy : web-based robotic rehabilitation,

D.J. Reinkensmeyer., C.T. Pang, J.A. Nessler, C.C. Painter. University of California, Irvine. USA

Robots for minimally invasive surgery : Review and new vision interface development,

W. Kwon, K. Roh, S. Baek, S. Lee. Samsung Advanced Institute of Technology, Suwon. Korea

REHAROB : A project and a system for motion diagnosis, physiotherapy monitoring and robotised delivery,

G. Arz, A. Tõth. Budapest University of Technology and Economics, Budapest. Hungary

17:30 - 18:20

Session 3 c



GENTLE Rehabilitation robot

Rehabilitation Robotics, UK

MIME robotic-aided therapy

Veterans Affairs, Palo Alto, USA

18:20 - 19:00


From rehabilitation robotics to service robotics

19:00 - 20:30

Welcome Reception

Guest Speaker : Assistive technology retrospective

J.C. Cunin, AFM, Evry. France


Thursday, April 26th: Second day


9:00 - 11:00


9:00 - 10:20

Session 5 a

Wheelchairs and mobile robot 1: Robots mounted on wheelchairs



Chair: Alain Pruski, University of Metz, France

Interactive controlled robotic system FRIEND to assist disabled people,

C. Martens, O. Ivlev, A. Gräser. University of Bremen, Bremen. Germany

Integration of a robotic device onto a powered wheelchair,

M. Hillman, K. Hagan, S. Hagan, J. Jepson, R. Orpwood. Bath Institute of Medical Engineering, Bath. UK

Manus control architecture,

B. Driessen, T.T. Kate, H. Evers. TNO-TPD, Delft. The Netherlands

Vision-based control with emergency stop through EMG of the wheelchair-based rehabilitation robotic arm, KARES II,

Z. Zenn Bien, W.K. Song, D.J. Kim, J.S. Han, J.Y. Choi, H.E. Lee, J.S. Kim. KAIST, Taejon. Korea

10:20 - 10:30


10:30 - 11:15

Session 5 b

Wheelchairs and mobile robots



Contribution to rehabilitation mobile robotics : Localization of an autonomous wheelchair,

M. Kreutner, O. Horn. University of Metz. France

The raptor wheelchair robot system,

R.M. Mahoney. Applied Resources Corp. Fairfield. USA

Toward a new high level controller for Manus robot: The Commanus project,

B. Abdulrazak, B. Grandjean, M. Mokhtari. INT-INSERM, Evry, France


Thursday, April 26th: Second day

 11:15 - 12:35

Session 6

Therapy 2



Chair : Dimitar Stefanov, KAIST, Korea

Care-assisting robots using hydraulic bilateral servo mechanism,

Y. Saito, T. Tajima, K. Ohnishi. Tokyo Denki University, Saitama. Japan

Conceptual design of an upper limb physiotherapy system with industrial robots,

G. Arz, A. Tõth, Z. Varga, P. Varga. Budapest University of Technology and Economics, Budapest. Hungary

Designing a robotic stroke therapy device to motivate use of the impaired limb,

M.J. Johnson, H.F.M. Van Der Loos, C.G. Burgar, P. Shor, L.J. Leifer. Veterans Affairs, Palo Alto. USA

Target-oriented design of a robotic arm for physically disabled persons,

P.H.Chang, H.S. Park, J. Park, J.H. Jung, B.K. Jeon. KAIST, Taejon. Korea

12:35 - 13:00

Session 5 c

Wheelchairs and mobile robots


 Manus robot

RTD Hetdorp, Netherlands ; INT-INSERM, France

13:00 - 14:00



Thursday, April 26th: Second day

14:00 - 15:20

Session 7 a

Human-Machine Interface



Chair : Agnès Roby-Brami, CNRS FRE 2361, Paris France.

Investigating the cursor movement parameters for haptic assistance of motion-impaired users,

P. Langdon, S. Keates, J. Clarkson, P. Robinson. University of Cambridge. UK

Eye-mouse system for the disabled,

D.H. Kim, J.H. Kim, M.J. Chung. KAIST, Taejon. Korea

Development of an intelligent robotic haptic interface to perform vocational tasks by individuals with disabilities,

R.V. Dubey, S. Zekri, N. Pernalete, A. Gage, B. Fritz. University of South Florida, Tampa. USA

An experimental method for user-driven design of a modular aid system,

G. Teti, C. Laschi, E. Guglielmelli, C. Mazza, S. Perrini, P. Dario, M.C. Carroza. Scuola Superiore Sant'Anna, Pisa. Italy

15:20 - 15:30


15:30 - 16:30

Session 7 b

Human-Machine Interface



An six-DOF modular sensory system with haptic interface for rehabilitation robotics,

M. Kvanisca. SPSE, Prague. Czech Republic

Palliative communication for cerebral palsy,

M. Abraham. ENST Bretagne, Brest. France

Expert keyboard,

M. Douard, A. Barlet-Valard. Thomson-CSF, Paris. France

Design of haptic interfaces to optimize the driving capabilities of people with disabilities,

R.V. Dubey, S. Zekri, N. Pernalete, A.Gage. University of South Florida, Tampa. USA


Thursday, April 26th: Second day

16:30 - 17:50

Session 8 a

Wheelchairs and mobile robot 2: Robots mounted on mobile base



Chair : Z. Zenn Bien, KAIST, Korea

Avoiding mode confusion in service robots,

A. Lankenau.University of Bremen. Germany

Development of the mobile robot system to aid the daily life for physically handicapped,

Y. Takahashi, T. Komeda, M. Miyagi, H. Koyama. Shibaura Institute of Technology, Saitama. Japan

Autonomous obstacle avoidance for powered wheelchairs from low-level distance sensors using the attractor dynamics approach,

P. Mallet. CNRS-CRNC, Marseille. France

Localisation by camera of a rehabilitation robot,

O. Ait Aider, P. Hoppenot, E. Colle. University of Evry. France

17:50 - 18:00


18:00 - 18:20

Session 8 b

Wheelchairs and mobile robot


Handy I robot

Centre for Rehabiliation Robotics, Staffordshire.UK

18:20 - 18:50

Round table

Meeting users requirements

18:50 - 19:00



Bus to Gala Dinner


Friday, April 27th: Third day

8:00 - 9:00


9:00 - 10:20

Session 9 a

Evaluation, Simulation and Methodology



Chair: Hok Kwee, Former IRV, Netherlands

Safety evaluation method of human-care robot design,

K. Ikuta, M. Nokata. Nagoya University. Japan

The assistive technology applied to drivers with disabilities,

M. Improta, R. Sacchetti. INAIL Centre for Prosthesis. Italy

Cost effectiveness of the Manus robot manipulator,

G.J. Gelderblom, L de Witte, K. van Soest, R. Wessels, B. Dijcks, W. van't Hoofd, M. Goosens, D. Tilli, D. van der Pijil. Institute for Rehabilitation Research, Hoensbroek. The Nethelands

Design method for safe rehabilitation robots,

N. Tejima. Ritsumeikan University, Shiga. Japan

10:20 - 10:30


10:30 - 11:10

Session 9 b

Evaluation, Simulation and Methodology


Weston Robot,

Bath Institute of Medical Engineering, UK

AFMA-Master Workstation,

APPROCHE Association, France

11:10 - 12:10

Session 9 c

Evaluation, Simulation and Methodology



Assitive technology in rehabilitation,

A.Davalli , R. Sacchetti. INAIL Centre for Prosthesis. Italy

Evaluation of a robotized Master/Raid workstation at home protocol and first results,

M. Busnel, R.Gelin, B. Lesigne. CEA-APPROCHE, Fontenay-aux-roses. France

Safety evaluation method of human-care robot control and special robot simulator,

K. Ikuta, M. Nokata, H. Ishii. Nagoya University. Japan

Human-friendly health monitoring system for service of the eldery and the disabled,

W.C. Bang, D. Stefanov, J.W. Jung, M.J. Kim, J.Lee, H. Lee, Z. Zenn Bien. KAIST, Taejon. Korea


Friday, April 27th: Third day

12:10 - 13:10

Session 10

Wheelchairs and mobile robot 3: Applications and current situation of rehabilitation robotics



Chair : Koos Van Woerden, TNO-TPD, Delft. The Netherlands

Wearable human-assisting robot for nursing use,

T. Koyama, T. Tanaka, M. Q. Feng and K. Tanaka. University of Electro-Communications, Tokyo, JAPAN

Handy 1, A robotic aid to independence for severely disabled people,

M. Topping. Centre for Rehabiliation Robotics, Staffordshire.UK

MANUS: towards a new decade,

H.G. Evers, E Beugels, G. Peters. Exact Dynamics BV, Zevenaar. The Netherlands

13:10 - 14:30


Close of conference, future of ICORR

M. Mokhtari

14 :30 -16:00

Free afternoon, open demonstrations for INT students, continuing discussions, ..