publications:
- title: "Bounding Gait in a Hybrid Wheeled-Leg Robot"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Inna Sharf"
    link: "https://www.mcgill.ca/mecheng/people/staff/innasharf"
  - name: "Michael Trentini"
    link: "https://researchr.org/alias/michael-trentini"
  year: "2006"
  doi: "http://dx.doi.org/10.1109/IROS.2006.282458"
  links:
    doi: "http://dx.doi.org/10.1109/IROS.2006.282458"
  researchr: "https://researchr.org/publication/SmithST06%3A0"
  cites: 0
  citedby: 0
  pages: "5750-5755"
  booktitle: "iros"
  kind: "inproceedings"
  key: "SmithST06:0"
- title: "Galloping in an underactuated quadrupedal robot"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2015"
  doi: "http://dx.doi.org/10.2316/Journal.206.2015.4.206-4120"
  links:
    doi: "http://dx.doi.org/10.2316/Journal.206.2015.4.206-4120"
    dblp: "http://dblp.uni-trier.de/rec/bibtex/journals/ijra/Smith15"
  researchr: "https://researchr.org/publication/Smith15-18"
  cites: 0
  citedby: 0
  journal: "ijra"
  volume: "30"
  number: "4"
  kind: "article"
  key: "Smith15-18"
- title: "PAW: a Hybrid Wheeled-leg Robot"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Inna Sharf"
    link: "https://www.mcgill.ca/mecheng/people/staff/innasharf"
  - name: "Michael Trentini"
    link: "https://researchr.org/alias/michael-trentini"
  year: "2006"
  researchr: "https://researchr.org/publication/SmithST06"
  cites: 0
  citedby: 0
  pages: "4043-4048"
  booktitle: "icra"
  kind: "inproceedings"
  key: "SmithST06"
- title: "Rotary gallop in the untethered quadrupedal robot scout II"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Ioannis Poulakakis"
    link: "http://research.me.udel.edu/~poulakas/"
  year: "2004"
  doi: "http://dx.doi.org/10.1109/IROS.2004.1389793"
  links:
    doi: "http://dx.doi.org/10.1109/IROS.2004.1389793"
    dblp: "http://dblp.uni-trier.de/rec/bibtex/conf/iros/SmithP04"
  researchr: "https://researchr.org/publication/SmithP04-0"
  cites: 0
  citedby: 0
  pages: "2556-2561"
  booktitle: "iros"
  kind: "inproceedings"
  key: "SmithP04-0"
- title: "A Dynamic Compliance Cervix Phantom Robot for Latent Labor Simulation"
  author:
  - name: "Michelle Luk"
    link: "https://www.linkedin.com/in/michelleluk/"
  - name: "Derek Lobb"
    link: "https://fhs.mcmaster.ca/medsci/faculty/lobb_derek.html"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2018"
  abstract: "Physical simulation systems are commonly used in training of midwifery and obstetrics students, but none of these systems offers a dynamic compliance aspect that would make them more truly representative of cervix ripening. In this study, we introduce a unique soft robot phantom that simulates the cervix softening during the latent labor phase of birth. This proof-of-concept robotic phantom can be dilated by 1 cm and effaced by 35% through the application of a Foley catheter-like loading mechanism. Furthermore, psychophysics trials demonstrate how untrained subjects can identify hard and soft states of the phantom with specificities of 91% and 87%, respectively. Both results indicated the appropriateness for application of this soft robot technology to birth training simulators."
  researchr: "https://researchr.org/publication/luk2018dynamic"
  cites: 0
  citedby: 0
  journal: "Soft robotics"
  volume: "5"
  number: "3"
  pages: "330-338"
  kind: "article"
  key: "luk2018dynamic"
- title: "Enlarging regions of stable running with segmented legs"
  author:
  - name: "Juergen Rummel"
    link: "https://researchr.org/alias/juergen-rummel"
  - name: "Fumiya Iida"
    link: "http://mi.eng.cam.ac.uk/Main/FI224"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "André Seyfarth"
    link: "http://lauflabor.ifs-tud.de/doku.php?id=lab_members:lab_members_andreseyfarth"
  year: "2008"
  doi: "http://dx.doi.org/10.1109/ROBOT.2008.4543235"
  links:
    doi: "http://dx.doi.org/10.1109/ROBOT.2008.4543235"
  researchr: "https://researchr.org/publication/RummelISS08"
  cites: 0
  citedby: 0
  pages: "367-372"
  booktitle: "icra"
  kind: "inproceedings"
  key: "RummelISS08"
- title: "Balloon dilators for labor induction: a historical review"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2013"
  abstract: "A number of recent articles attribute the origin of the use of cervical balloon dilation in the induction of labor to either Barnes in the 1860s or Embrey and Mollison in the 1960s. This review examines the historical record and reveals that, based on current practice attribution should rather be made to two contemporaries of Barnes: the Storer and Mattei. More importantly, Storer’s warning about the rubber used in dilators was ignored, leading to decades of possibly unnecessary deaths following childbirth. To conduct this study key search terms for PubMed, Google Scholar and the website of the University of Ryerson were utilized as “Barnes”, “Woodman”, “balloon dilation”, “balloon catheter”, “foley”, “colpeurynter”, “cervix uteri” and “induction.” Subsequent analysis was done on downloaded articles using BibDesk."
  researchr: "https://researchr.org/publication/smith2013balloon"
  cites: 0
  citedby: 0
  journal: "Journal of medical ethics and history of medicine"
  volume: "6"
  kind: "article"
  key: "smith2013balloon"
- title: "Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot"
  author:
  - name: "Ioannis Poulakakis"
    link: "http://research.me.udel.edu/~poulakas/"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Martin Buehler"
    link: "https://www.linkedin.com/in/martinbuehler"
  year: "2005"
  doi: "http://ijr.sagepub.com/cgi/content/abstract/24/4/239"
  links:
    doi: "http://ijr.sagepub.com/cgi/content/abstract/24/4/239"
  tags:
  - "modeling"
  researchr: "https://researchr.org/publication/PoulakakisSB05"
  cites: 0
  citedby: 0
  journal: "ijrr"
  volume: "24"
  number: "4"
  pages: "239-256"
  kind: "article"
  key: "PoulakakisSB05"
- title: "Effect of Hind Leg Morphology on Performance of a Canine-inspired Quadrupedal Robot"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Jamil Jivraj"
    link: "https://www.linkedin.com/in/jamil-jivraj-43828037"
  year: "2015"
  month: "September"
  doi: "10.1016/S1672-6529(14)60126-8"
  abstract: "Biomimetic leg designs often appear to be arbitrarily chosen. To make a more objective choice regarding biomimetic leg configuration for small canine-inspired robots, we compare one hind leg to the same leg arranged in a different orientation, and show that the less biomimetic leg provides better performance. This differently-oriented leg design, which we call “transverse- mirrored” was more efficient and faster, both in simulation and experiment even though both leg configurations used the same passive and active components, rest angles, and monoarticular knee spring. In experiments the normal configuration had a maximum speed of 0.33 m·s-1 and a specific resistance of 5.1. Conversely, the less biomimetic transverse-mirrored configuration had a maximum speed of 0.4 ms-1 and specific resistance of 3.9. Therefore the transverse-mirrored leg’s best performance yields a 21% increase in speed and 24% decrease in specific resistance when compared to the best performance achieved in the normal biomimetic leg. The major underlying reason is that the knee spring engages more readily in the transverse-mirrored configuration, resulting in this faster and more efficient locomotion. The conclusion is that simply copying from nature does not lead to optimal performance and that insight into the role played by passive design components on natural locomotory dynamics is important."
  researchr: "https://researchr.org/publication/SmithJivraj2015"
  cites: 0
  citedby: 0
  journal: "Journal of Bionic Engineering"
  volume: "12"
  number: "3"
  pages: "339-351"
  kind: "article"
  key: "SmithJivraj2015"
- title: "Experimentally Validated bounding Models for the Scout II Quadrupedal Robot"
  author:
  - name: "Ioannis Poulakakis"
    link: "http://research.me.udel.edu/~poulakas/"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Martin Buehler"
    link: "https://www.linkedin.com/in/martinbuehler"
  year: "2004"
  doi: "http://dx.doi.org/10.1109/ROBOT.2004.1307452"
  links:
    doi: "http://dx.doi.org/10.1109/ROBOT.2004.1307452"
  researchr: "https://researchr.org/publication/PoulakakisSB04"
  cites: 0
  citedby: 0
  pages: "2595-2600"
  booktitle: "icra"
  kind: "inproceedings"
  key: "PoulakakisSB04"
- title: "Regenerative effects in the Sit-to-Stand and Stand-to-Sit movement"
  author:
  - name: "Ronnie Joseph Wong"
    link: "https://researchr.org/alias/ronnie-joseph-wong"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2015"
  doi: "http://dx.doi.org/10.1017/S026357471400006X"
  links:
    doi: "http://dx.doi.org/10.1017/S026357471400006X"
    dblp: "http://dblp.uni-trier.de/rec/bibtex/journals/robotica/WongS15"
  researchr: "https://researchr.org/publication/WongS15"
  cites: 0
  citedby: 0
  journal: "robotica"
  volume: "33"
  number: "1"
  pages: "107-126"
  kind: "article"
  key: "WongS15"
- title: "30 Years of neurosurgical robots: Review and trends for manipulators and associated navigational systems"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Jivraj, Jamil"
    link: "https://researchr.org/alias/jivraj%2C-jamil"
  - name: "Wong, Ronnie"
    link: "https://researchr.org/alias/wong%2C-ronnie"
  - name: "Yang, Victor"
    link: "https://researchr.org/alias/yang%2C-victor"
  year: "2016"
  abstract: "This review provides an examination of contemporary neurosurgical robots and the developments that led to them. Improvements in localization, microsurgery and minimally invasive surgery have made robotic neurosurgery viable, as seen by the success of platforms such as the CyberKnife and neuromate. Neurosurgical robots can now perform specific surgical tasks such as skull-base drilling and craniotomies, as well as pedicle screw and cochlear electrode insertions. Growth trends in neurosurgical robotics are likely to continue but may be tempered by concerns over recent surgical robot recalls, commercially-driven surgeon training, and studies that show operational costs for surgical robotic procedures are often higher than traditional surgical methods. We point out that addressing performance issues related to navigation-related registration is an active area of research and will aid in improving overall robot neurosurgery performance and associated costs."
  researchr: "https://researchr.org/publication/smith201630"
  cites: 68
  citedby: 0
  journal: "Annals of biomedical engineering"
  volume: "44"
  number: "4"
  pages: "836-846"
  kind: "article"
  key: "smith201630"
- title: "Patient-Adaptable Biomedical Devices - Benefits and Barriers for Granting Patients More Control"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "André Seyfarth"
    link: "http://lauflabor.ifs-tud.de/doku.php?id=lab_members:lab_members_andreseyfarth"
  year: "2008"
  researchr: "https://researchr.org/publication/SmithS08"
  cites: 0
  citedby: 0
  pages: "245-248"
  booktitle: "biostec"
  kind: "inproceedings"
  key: "SmithS08"
- title: "Primary energetics analysis of tripedal and quadrupedal gaits using the GARP-4 robot"
  author:
  - name: "Jamil Jivraj"
    link: "https://www.linkedin.com/in/jamil-jivraj-43828037"
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2011"
  doi: "http://doi.ieeecomputersociety.org/10.1109/CCECE.2011.6030654"
  links:
    doi: "http://doi.ieeecomputersociety.org/10.1109/CCECE.2011.6030654"
    dblp: "http://dblp.uni-trier.de/rec/bibtex/conf/ccece/JivrajS11"
  researchr: "https://researchr.org/publication/JivrajS11"
  cites: 0
  citedby: 0
  pages: "1206-1211"
  booktitle: "ccece"
  kind: "inproceedings"
  key: "JivrajS11"
- title: "A simplified cervix model in response to induction balloon in pre-labour"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  year: "2013"
  abstract: "Background Induction of labour is poorly understood even though it is performed in 20% of births in the United States. One method of induction, the balloon dilator applied with traction to the interior os of the cervix, engages a softening process, permitting dilation and effacement to proceed until the beginning of active labour. The purpose of this work is to develop a simple model capable of reproducing the dilation and effacement effect in the presence of a balloon. Methods The cervix, anchored by the uterus and the endopelvic fascia was modelled in pre-labour. The spring-loaded, double sliding-joint, double pin-joint mechanism model was developed with a Modelica-compatible system, MapleSoft MapleSim 6.1, with a stiff Rosenbrock solver and 1E-4 absolute and relative tolerances. Total simulation time for pre-labour was seven hours and simulations ended at 4.50 cm dilation diameter and 2.25 cm effacement. Results Three spring configurations were tested: one pin joint, one sliding joint and combined pin-joint-sliding-joint. Feedback, based on dilation speed modulated the spring values, permitting controlled dilation. Dilation diameter speed was maintained at 0.692 cm·hr-1 over the majority of the simulation time. In the sliding-joint-only mode the maximum spring constant value was 23800 N·m-1. In pin-joint-only the maximum spring constant value was 0.41 N·m·rad-1. With a sliding-joint-pin-joint pair the maximum spring constants are 2000 N·m-1 and 0.41 N·m·rad-1, respectively. Conclusions The model, a simplified one-quarter version of the cervix, is capable of maintaining near-constant dilation rates, similar to published clinical observations for pre-labour. Lowest spring constant values are achieved when two springs are used, but nearly identical tracking of dilation speed can be achieved with only a pin joint spring. Initial and final values for effacement and dilation also match published clinical observations. These results provide a framework for development of electro-mechanical phantoms for induction training, as well as dilator testing and development."
  researchr: "https://researchr.org/publication/smith2013simplified"
  cites: 0
  citedby: 0
  journal: "Theoretical Biology and Medical Modelling"
  volume: "10"
  number: "1"
  pages: "58"
  kind: "article"
  key: "smith2013simplified"
- title: "Bounding with Active Wheels and Liftoff Angle Velocity Adjustment"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "Ioannis Poulakakis"
    link: "http://research.me.udel.edu/~poulakas/"
  - name: "Michael Trentini"
    link: "https://researchr.org/alias/michael-trentini"
  - name: "Inna Sharf"
    link: "https://www.mcgill.ca/mecheng/people/staff/innasharf"
  year: "2010"
  doi: "http://dx.doi.org/10.1177/0278364909336807"
  links:
    doi: "http://dx.doi.org/10.1177/0278364909336807"
    dblp: "http://dblp.uni-trier.de/rec/bibtex/journals/ijrr/SmithPTS10"
  researchr: "https://researchr.org/publication/SmithPTS10"
  cites: 0
  citedby: 0
  journal: "ijrr"
  volume: "29"
  number: "4"
  pages: "414-427"
  kind: "article"
  key: "SmithPTS10"
- title: "Exploring Toe Walking in a Bipedal Robot"
  author:
  - name: "James Andrew Smith"
    link: "https://www.eecs.yorku.ca/~drsmith/"
  - name: "André Seyfarth"
    link: "http://lauflabor.ifs-tud.de/doku.php?id=lab_members:lab_members_andreseyfarth"
  year: "2007"
  doi: "http://dx.doi.org/10.1007/978-3-540-74764-2_44"
  links:
    doi: "http://dx.doi.org/10.1007/978-3-540-74764-2_44"
  researchr: "https://researchr.org/publication/SmithS07%3A0"
  cites: 0
  citedby: 0
  pages: "287-293"
  booktitle: "ams"
  kind: "inproceedings"
  key: "SmithS07:0"