We are developing a Respiratory Motion Management System (RMMS) to maintain uniform and steady breathing patterns for lung cancer patients during radiotherapy treatment using tactile feedback. A well know “gated-therapy” technique targets infected tumors during either at the full inhale or at the full exhale posture. In order to reduce the exposure time and increase the efficacy of treatment, patients need to maintain a normal and/or predefined chest motion during treatments.

The primary goal of this research effort is to improve the effectiveness of skill transfer, rehabilitation, and collaboration via haptic devices. We hypothesize that mediating robotic interfaces (either serving as the expert or placed between a human expert and the novice) can facilitate and improve the effectiveness of skill transfer and collaboration in expert-novice pairs as well as in therapist-patient rehabilitation interactions. Various shared control system architectures for skill transfer are being studied in two phases.