@proceedings {2023, title = {Effect of Focus Direction and Agency on Tactile Perceptibility}, year = {2022}, publisher = {Springer International Publishing}, address = {Cham}, abstract = {

Prior research has shown that the direction of a user{\textquoteright}s focus affects the perception of tactile cues. Additionally, user agency over touch stimulation has been shown to affect tactile perception. With the development of more complicated haptic and multi-sensory devices, simple tactile cues are rarely used in isolation and the effect of focus direction and of user agency on the perception of a sequence of tactile cues is unknown. In this study, we investigate the effect of both of these variables, focus direction and agency, on the perception of a cue sequence. We found that the direction of user focus and user sense of agency over tactile stimulation both had a significant effect on the accurate perception of a cue sequence. These results are presented in consideration for developing better haptic devices that account for users{\textquoteright} focus on and control over these devices.

}, isbn = {978-3-031-06249-0}, url = {https://link.springer.com/chapter/10.1007/978-3-031-06249-0_14$\#$citeas}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/EuroHaptics_2022_Zook_Focus_Direction_And_Agency_Haptics.pdf}, author = {Zook, Zane A. and O{\textquoteright}Malley, Marcia K.}, editor = {Seifi, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.} } @article {2006, title = {Effect of Tactile Masking on Multi-Sensory Haptic Perception}, journal = {IEEE Transactions on Haptics}, volume = {15}, number = {1}, year = {2022}, month = {03/2022}, pages = {212-221}, chapter = {212}, issn = {1939-1412}, doi = {10.1109/TOH.2021.3112509}, url = {https://ieeexplore.ieee.org/document/9540350/http://xplorestaging.ieee.org/ielx7/4543165/4543166/09540350.pdf?arnumber=9540350}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Zook_ToH_2022_tactile-masking.pdf}, author = {Zook, Zane and Fleck, Joshua and O{\textquoteright}Malley, Marcia K} } @article {legeza2022eval, title = {Evaluation of Robotic-Assisted Carotid Artery Stenting in a Virtual Model Using Motion-Based Performance Metrics}, journal = {Journal of Endovascular Therapy}, year = {2022}, pages = {15266028221125592}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Legaza_JET2022.pdf}, author = {Legeza, Peter T and Lettenberger, Ahalya B and Murali, Barathwaj and Johnson, Lianne R and Berczeli, Marton and Byrne, Michael D and Britz, Gavin and O{\textquoteright}Malley, Marcia K and Lumsden, Alan B} } @proceedings {2057, title = {Explorations of wrist haptic feedback for AR/VR interactions with Tasbi}, year = {2022}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pezent_CHI_2022.pdf}, author = {Pezent, Evan and Gupta, Aakar and Duhaime, Hank and O{\textquoteright}Malley, Marcia and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nick} } @article {9563066, title = {Effect of Robotic Exoskeleton Motion Constraints on Upper Limb Muscle Synergies: A Case Study}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {29}, year = {2021}, pages = {2086-2095}, doi = {10.1109/TNSRE.2021.3118591}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/McDonald_TNSRE2021.pdf}, author = {Mcdonald, Craig G. and Fregly, Benjamin J. and O{\textquoteright}Malley, Marcia K.} } @article {1994, title = {Effects of Interfering Cue Separation Distance and Amplitude on the Haptic Detection of Skin Stretch}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {2}, year = {2021}, month = {April-June 2021}, pages = {254-259}, abstract = {

Multi-sensory haptic cues, which contain several types of tactile stimuli that are presented concurrently to the user, have been shown to be useful for conveying information-rich cues. One limitation of multi-sensory cues is that user perception of individual cue components can be hindered by more salient components of the composite cue. In this paper, we investigate how amplitude and distance between cues affect the perception of multi-sensory haptic cues. Specifically, participants{\textquoteright} absolute threshold perception of stretch cues was measured in the presence of interfering squeeze cues using a modular testbed. We evaluated ten conditions of varying interference amplitude and distance between cues. We found that interference cue amplitude and distance between cues both have a statistically significant effect on the absolute perception of stretch cues. As interference cue amplitude increases, and as distance between cues decreases, absolute perception of stretch cues worsens. These results inform design considerations for future wearable multi-sensory haptic devices, so that cue salience can be maximized and interference effects minimized.

}, issn = {1939-1412}, doi = {10.1109/TOH.454316510.1109/TOH.2021.3075387}, url = {https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4543165https://ieeexplore.ieee.org/document/9415164/http://xplorestaging.ieee.org/ielx7/4543165/4543166/09415164.pdf?arnumber=9415164}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Low_ToH2021.pdf}, author = {Low, Andrew Kin Wei and Zook, Zane and Fleck, Joshua and O{\textquoteright}Malley, Marcia K} } @proceedings {britt2021emg, title = {Electromyographic Classification to Control the SPAR Glove}, volume = {54}, number = {20}, year = {2021}, pages = {244{\textendash}250}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Britt_MECC_IFAC_2021.pdf}, author = {Britt, John E and O{\textquoteright}Malley, Marcia K and Rose, Chad G} } @proceedings {2013, title = {Enhancing Multi-Sensory Cue Salience and Perceptual Identification in a Wearable Haptic Device}, year = {2021}, doi = {10.1109/WHC49131.2021.9517130}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Enhancing_Multi-Sensory_Cue_Salience_and_Perceptual_Identification_in_a_Wearable_Haptic_Device.pdf}, author = {Alexander, Stephen A. and Garcia, Roderico and O{\textquoteright}Malley, Marcia K.} } @article {2002, title = {Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability with a Tactile Sleeve}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {2}, year = {2021}, month = {April-June 2021}, pages = {328-334}, doi = {10.1109/TOH.2021.3079727}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Macklin_ToH2021.pdf}, author = {Macklin, Alix S. and Yau, Jeff and O{\textquoteright}Malley, Marcia K} } @proceedings {1978, title = {Explorations of Wrist Haptic Feedback for AR/VR Interactions with Tasbi}, year = {2020}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, keywords = {bracelet, haptics, multisensory, Virtual reality, wearables}, isbn = {9781450368193}, doi = {10.1145/3334480.3383151}, url = {https://doi.org/10.1145/3334480.3383151}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tasbi_chi2020_20200216_compressed.pdf}, author = {Pezent, Evan and O{\textquoteright}Malley, Marcia K. and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nicholas} } @proceedings {1946, title = {Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze}, year = {2019}, publisher = {IEEE}, address = {Tokyo, Japan}, doi = {10.1109/WHC.2019.8816139}, url = {https://ieeexplore.ieee.org/document/8816139/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816139.pdf?arnumber=8816139}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Effect-Interference-Zook.pdf}, author = {Zook, Zane A. and Fleck, Joshua J. and Andrew Low and O{\textquoteright}Malley, Marcia K.} } @article {losey19enabling, title = {Enabling Robots to Infer how End-Users Teach and Learn through Human-Robot Interaction}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, number = {2}, year = {2019}, month = {2019}, pages = {1956-1963}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Losey_RAL2019.pdf}, author = {Losey, Dylan P and O{\textquoteright}Malley, Marcia K} } @article {o2019expert, title = {Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface}, journal = {IEEE Transactions on Human-Machine Systems}, volume = {49}, number = {4}, year = {2019}, pages = {388{\textendash}394}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/THMS2019_O\%27Malley-et-al.pdf}, author = {O{\textquoteright}Malley, Marcia K and Byrne, Michael D and Estrada, Sean and Duran, Cassidy and Schulz, Daryl and Bismuth, Jean} } @proceedings {1935, title = {Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback}, year = {2018}, publisher = {IEEE}, address = {Brisbane, QLD}, abstract = {

Latency and refresh rate are known to adversely affect human force perception in bilateral teleoperators and virtual environments using kinesthetic force feedback, motivating the use of sensory substitution of force. The purpose of this study is to quantify the effects of latency and refresh rate on force perception using sensory substitution by skin deformation feedback. A force-controlled skin deformation feedback device was attached to a 3-degree-of-freedom kinesthetic force feedback device used for position tracking and gravity support. A human participant study was conducted to determine the effects of latency and refresh rate on perceived stiffness and damping with skin deformation feedback. Participants compared two virtual objects: a comparison object with stiffness or damping that could be tuned by the participant, and a reference object with either added latency or reduced refresh rate. Participants modified the stiffness or damping of the tunable object until it resembled the stiffness or damping of the reference object. We found that added latency and reduced refresh rate both increased perceived stiffness but had no effect on perceived damping. Specifically, participants felt significantly different stiffness when the latency exceeded 300 ms and the refresh rate dropped below 16.6 Hz. The impact of latency and refresh rate on force perception via skin deformation feedback was significantly less than what has been previously shown for kinesthetic force feedback.

}, doi = {10.1109/ICRA.2018.8462883}, url = {https://ieeexplore.ieee.org/document/8462883/http://xplorestaging.ieee.org/ielx7/8449910/8460178/08462883.pdf?arnumber=8462883}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Zook\%20et\%20al.\%20-\%20Effects\%20of\%20Latency\%20and\%20Refresh\%20Rate\%20on\%20Force\%20Perce.pdf}, author = {Zook, Zane A. and Okamura, Allison M. and Kamikawa, Yasuhisa} } @article {PMID:28583735, title = {Electromagnetic tracking of flexible robotic catheters enables "assisted navigation" and brings automation to endovascular navigation in an in vitro study}, journal = {Journal of vascular surgery}, volume = {67}, number = {4}, year = {2018}, month = {06/2017}, pages = {1274{\textendash}1281}, issn = {0741-5214}, doi = {10.1016/j.jvs.2017.01.072}, url = {https://doi.org/10.1016/j.jvs.2017.01.072}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Schwein2017JVS.pdf}, author = {Schwein, Adeline and Kramer, Benjamin and Chinnadurai, Ponraj and Virmani, Neha and Walker, Sean and O{\textquoteright}Malley, Marcia and Lumsden, Alan B and Bismuth, Jean} } @article {8291748, title = {Evaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {23}, number = {2}, year = {2018}, pages = {604-613}, abstract = {

This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Z- width in haptic interfaces. We study the efficacy of Levant{\textquoteright}s differentiator as a velocity estimator, to allow passive implementation of higher stiffness virtual walls as compared to some of the commonly used velocity estimators in the field of haptics. We first experimentally demonstrate feasibility of Levant{\textquoteright}s differentiator as a velocity estimator for haptics applications by comparing Z-width performance achieved with Levant{\textquoteright}s differentiator and commonly used Finite Difference Method (FDM) cascaded with a lowpass filter. A novel Z-width plotting technique combining passivity and fidelity of haptic rendering is proposed, and used to compare the haptic device performance obtained with Levant{\textquoteright}s differentiator, FDM+lowpass filter, First Order Adaptive Windowing and Kalman filter based velocity estimation methods. Simulations and experiments conducted on a custom single degree of freedom haptic device demonstrate that the stiffest virtual walls are rendered with velocity estimated using Levant{\textquoteright}s differentiator, and highest wall rendering fidelity is achieved by First Order Adaptive Windowing based velocity estimation scheme.

}, keywords = {Estimation, Frequency division multiplexing, Haptic interfaces, Impedance, Kalman filters, Performance evaluation, Rendering (computer graphics)}, issn = {1083-4435}, doi = {10.1109/TMECH.2018.2805863}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/chawda2018ieee.pdf}, author = {V. Chawda and O. Celik and M. K. O{\textquoteright}Malley} } @proceedings {1811, title = {The Effect of Robot Dynamics on Smoothness during Wrist Pointing}, year = {2017}, month = {08/2017}, publisher = {IEEE}, address = {London, England}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Erwin2017\%20-\%20Robot\%20impacts\%20movements.pdf}, author = {Erwin,Andrew and Pezent,Evan and Bradley,Joshua and O{\textquoteright}Malley, M.K.} } @article {1798, title = {Effects of assist-as-needed upper extremity robotic therapy after incomplete spinal cord injury: a parallel-group controlled trial}, journal = {Frontiers in Neurobotics}, volume = {11}, number = {26}, year = {2017}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/fnbot-11-00026.pdf}, author = {John M. Frullo and Jared Elinger and Ali Utku Pehlivan and Kyle Fitle and Kathryn Nedley and Gerard Francisco and Fabrizio Sergi and Marcia K. O{\textquoteright}Malley} } @proceedings {1821, title = {Effects of Discretization on the K-Width of Series Elastic Actuators}, year = {2017}, month = {05/2017}, pages = {421-426}, publisher = {IEEE}, address = {Singapore}, abstract = {

Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when interacting with a robotic device, and, in particular, the robot{\textquoteright}s perceived stiffness can be controlled by changing the elastic element{\textquoteright}s equilibrium position. In this paper, we explore the K-Width of SEAs, while specifically focusing on how discretization inherent in the computer-control architecture affects the system{\textquoteright}s passivity. We first propose a hybrid model for a single degree-of-freedom (DoF) SEA based on prior hybrid models for rigid haptic systems. Next, we derive a closed-form bound on the K-Width of SEAs that is a generalization of known constraints for both rigid haptic systems and continuous time SEA models. This bound is first derived under a continuous time approximation, and is then numerically supported with discrete time analysis. Finally, experimental results validate our finding that large pure masses are the most destabilizing operator in human-SEA interactions, and demonstrate the accuracy of our theoretical K-Width bound.

}, isbn = {978-1-5090-4633-1}, issn = {978-1-5090-4633-1}, doi = {10.1109/ICRA.2017.7989054}, url = {http://ieeexplore.ieee.org/abstract/document/7989054/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Losey_ICRA_2017.pdf}, author = {Dylan P. Losey and Marcia K. O{\textquoteright}Malley} } @proceedings {1884, title = {On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic Device}, volume = {16}, year = {2017}, pages = {89-94}, publisher = {Springer International Publishing}, address = {Springer, Cham}, abstract = {

Treatment intensity has a profound effect on motor recovery following neurological injury. The use of robotics has potential to automate these labor-intensive therapy procedures that are typically performed by physical therapists. Further, the use of wearable robotics offers an aspect of portability that may allow for rehabilitation outside the clinic. The authors have developed a soft, portable, lightweight upper extremity wearable robotic device to provide motor rehabilitation of patients with affected upper limbs due to traumatic brain injury (TBI). A key feature of the device demonstrated in this paper is the isolation of shoulder and elbow movements necessary for effective rehabilitation interventions. Herein is presented a feasibility study with one subject and demonstration of the device{\textquoteright}s ability to provide safe, comfortable, and controlled upper extremity movements. Moreover, it is shown that by decoupling shoulder and elbow motions, desired isolated joint actuation can be achieved.

}, isbn = {978-3-319-46532-6}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/kadivar2016werob.pdf}, author = {Kadivar, Zahra and Beck, Christopher E. and Rovekamp, Roger N. and O{\textquoteright}Malley, Marcia K. and Joyce, Charles A.}, editor = {Gonz{\'a}lez-Vargas, Jos{\'e} and Ib{\'a}{\~n}ez, Jaime and Contreras-Vidal, Jose L. and van der Kooij, Herman and Pons, Jos{\'e} Luis} } @proceedings {1818, title = {Estimating anatomical wrist joint motion with a robotic exoskeleton}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multi-articular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

}, issn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009450}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose_2017_Estimating.pdf}, author = {Rose, Chad G. and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @article {1761, title = {An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback}, journal = {Journal of Neuroengineering and Rehabilitation}, volume = {12}, year = {2015}, doi = {10.1186/s12984-015-0098-1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Brown2015\%20-\%20Grip\%20force\%20regulation.pdf}, author = {J.D. Brown and A. Paek and M. Syed and O{\textquoteright}Malley, M.K. and P.A. Shewokis and J.L. Contreras-Vidal and R.B. Gillespie and A.J. Davis} } @proceedings {1476, title = {Effect of Progressive Visual Error Amplification on Human Motor Adaptation}, year = {2011}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR11_Sung-O\%27Malley-PRESS.pdf}, author = {C. Sung and O{\textquoteright}Malley, M.K.} } @proceedings {1049, title = {Efficacy of Shared-Control Guidance Paradigms for Robot-Mediated Training}, year = {2011}, address = {Istanbul, Turkey}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1049-HAP11_0064_FI.pdf}, author = {Powell, Dane and O{\textquoteright}Malley, M.K.} } @proceedings {526, title = {Effects of Force and Displacement Cues while Adapting in a Rhythmic Motor Task}, year = {2009}, pages = {32-33}, address = {Seattle, WA}, abstract = {

This paper explores the effects of magnitude and phase cues on human motor adaptation. Participants were asked to excite virtual second-order systems at their resonance frequencies via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback conditions. Their motor adaptations were studied through catch trials. The results indicate that, i) humans adapt to a nominal virtual system resonant frequency, ii) humans shift to higher and lower natural frequencies during catch trials regardless of feedback modality and force cues, iii) humans can detect changes in natural frequency when gain, magnitude, and phase cues are manipulated independently, and iv) humans are able to detect changes in natural frequency when the feedback (visual or visual plus haptic) is delayed such that the phase shift between the nominal system and catch trial system is zero.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/israr2009robotics.pdf}, author = {Ali Israr and Hakan Kapson and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {107, title = {Effects of Magnitude and Phase Cues on Human Motor Adaptation}, year = {2009}, month = {03/2009}, pages = {344-349}, publisher = {IEEE}, address = {Salt Lake city, Utah}, abstract = {

Recent findings have shown that humans can adapt their internal control model to account for the changing dynamics of systems they manipulate. In this paper, we explore the effects of magnitude and phase cues on human motor adaptation. In our experiments, participants excite virtual second-order systems at resonance via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback conditions. Then, we change the virtual system parameters and observe the resulting motor adaptation in catch trials. Through four experimental conditions we demonstrate the effects of magnitude and phase cues on human motor adaptation. First, we show that humans adapt to a nominal virtual system resonant frequency. Second, humans shift to higher and lower natural frequencies during catch trials regardless of feedback modality and force cues. Third, participants can detect changes in natural frequency when gain, magnitude, and phase cues are manipulated independently. Fourth, participants are able to detect changes in natural frequency when the feedback (visual or visual plus haptic) is delayed such that the phase shift between the nominal system and catch trial system is zero. The persistent ability of participants to perform system identification of the dynamic systems which they control, regardless of the cue that is conveyed, demonstrates the human{\textquoteright}s versatility with regard to manual control situations. We intend to further investigate human motor adaptation and the time for adaptation in order to improve the efficacy of shared control methodologies for training and rehabilitation in haptic virtual environments.

}, keywords = {catch trials, internal models, motor adaptation, Rhythmic motion}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/107-0156.pdf}, author = {Ali Israr and Hakan Kapson and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {1871, title = {On the efficacy of haptic guidance schemes for human motor learning}, year = {2009}, pages = {203-206}, publisher = {Springer}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Patoglu2009iupesm.pdf}, author = {Patoglu, Volkan and Li, Yvonne and O{\textquoteright}Malley, Marcia K} } @article {856, title = {Expertise-Based Performance Measures in a Virtual Training Environment}, journal = {Presence}, volume = {18}, year = {2009}, note = {doi: 10.1162/pres.18.6.449}, month = {2009/12/01}, pages = {449 - 467}, publisher = {MIT Press}, abstract = {

This paper introduces and validates quantitative performance measures for a rhythmic target-hitting task. These performance measures are derived from a detailed analysis of human performance during a month-long training experiment where participants learned to operate a 2-DOF haptic interface in a virtual environment to execute a manual control task. The motivation for the analysis presented in this paper is to determine measures of participant performance that capture the key skills of the task. This analysis of performance indicates that two quantitative measures{\textemdash}trajectory error and input frequency{\textemdash}capture the key skills of the target-hitting task, as the results show a strong correlation between the performance measures and the task objective of maximizing target hits. The performance trends were further explored by grouping the participants based on expertise and examining trends during training in terms of these measures. In future work, these measures will be used as inputs to a haptic guidance scheme that adjusts its control gains based on a real-time assessment of human performance of the task. Such guidance schemes will be incorporated into virtual training environments for humans to develop manual skills for domains such as surgery, physical therapy, and sports.

}, isbn = {1054-7460}, url = {http://dx.doi.org/10.1162/pres.18.6.449}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/856-Huegel2009Presence.pdf}, author = {Joel C. Huegel and Ozkan Celik and Ali Israr and O{\textquoteright}Malley, M.K.} } @proceedings {072310640904, title = {Experimental system identification of force reflecting hand controller}, year = {2006}, note = {

Manipulator design;Environmental impedance;Sinusoidal sweep torque input;

}, pages = {9 -}, address = {Chicago, IL, United States}, abstract = {

This paper describes the combined time and frequency domain identification of the first three degrees-of-freedom (DOF) of a six degree-of-freedom force reflecting hand controller (FRHC). The FRHC is used to teleoperate Robonaut, a humanoid robotic assistant developed by NASA, via a bilateral teleoperation architecture. Three of the six DOF of the FRHC are independently identified due to the decoupled nature of the manipulator design. The frequency response for each axis is acquired by coupling a known environmental impedance to the joint axis and then applying a sinusoidal sweep torque input. Several data sets are averaged in the frequency domain to obtain an averaged frequency response. A coherence analysis is then performed and data with low coherence values are ignored for subsequent analysis and model fitting. The paper describes the use of coherence data to ensure acceptable model fits for transfer function estimation. Results of the identification experiments are presented, including implications of assumptions of decoupling and linearity. In addition, frequency and time domain validations for each axis model are performed using data sets excluded from the parameter estimation, with strong correlation. Copyright {\textcopyright} 2006 by ASME.

}, keywords = {Degrees of freedom (mechanics), Force measurement, Frequency domain analysis, Identification (control systems), Remote control, Robotics}, author = {Zumbado, Fernando and McJunkin, Samuel and O{\textquoteright}Malley, M.K.} } @article {04338307919, title = {The effect of virtual surface stiffness on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {9}, number = {2}, year = {2004}, note = {

Virtual surface stiffness;Haptic perception;Design specifications;Haptic interface hardware;

}, pages = {448 - 454}, abstract = {

This brief presents a quantitative study of the effects of virtual surface stiffness in a simulated haptic environment on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross section ridges. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum level of virtual surface stiffness in the simulation increases. Further, test subjects appeared to reach a limit in their perception capabilities at maximum stiffness levels of 300 to 400 N/m, while the hardware was capable of 1000 N/m of maximum virtual surface stiffness. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of virtual surface stiffness. \© 2004 IEEE.

}, keywords = {Computer aided design, Computer hardware, Computer simulation, Degrees of freedom (mechanics), Manipulators, Object recognition, Sensory perception, Specifications, Stiffness, Surface properties, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2004.828625}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/44-09tmech02omalley-print.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @article {02427145860, title = {The effect of force saturation on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {7}, number = {3}, year = {2002}, note = {Force saturation effect;Haptic perception;Force feedback;}, pages = {280 - 288}, abstract = {

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

}, keywords = {Computer control systems, Computer simulation, Feedback control, Haptic interfaces, Identification (control systems), Nonlinear control systems, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2002.802725}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} }