@article {clark2023asr,
	title = {Defining Allowable Stimulus Ranges for Position and Force Controlled Cutaneous Cues},
	journal = {IEEE Transactions on Haptics},
	volume = {16},
	number = {3},
	year = {2023},
	month = {July-September},
	pages = {353-364},
	doi = {10.1109/TOH.2023.3286306},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2023_Clark_AllowableStimulusRangeSMALL.pdf},
	author = {Clark, Janelle P and O{\textquoteright}Malley, Marcia K}
}
@proceedings {1938,
	title = {On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation},
	year = {2019},
	publisher = {IEEE},
	abstract = {Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured.},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/Clark_2019_ICRA_TeleimpedanceWithHaptics_0.pdf},
	author = {Clark, Janelle P and Lentini, Gianluca and Barontini, Federica and Catalano, Manuel G and Bianchi, Matteo and O{\textquoteright}Malley, Marcia K}
}
@proceedings {1917,
	title = {The rice haptic rocker: Altering the perception of skin stretch through mapping and geometric design},
	year = {2018},
	month = {03/2018},
	pages = {192-197},
	publisher = {IEEE},
	address = {San Francisco, CA},
	abstract = {<p>Skin stretch haptic devices are well-suited for transmitting information through touch, a promising avenue in prosthetic research, addressing the lack of feedback in myoelectric designs. Rocker-based skin stretch devices have been proposed for sensory substitution and navigational feedback, but the designs vary in their geometry. Other works create torsional stretch, and utilize nonlinear mappings to enhance perception. This work investigates parameters of rocker geometry and mapping functions, and how they impact user perception. We hypothesize that perceptual changes are dependent on the choice of stretch increment sizes over the range of motion. The rocker geometry is varied with an offset between the rotational and geometric axes, and three rocker designs are evaluated during a targeting task implemented with a nonlinear or linear mapping. The rockers with no offset and a positive offset (wide) perform better than the negative offset (narrow) case, though the mapping method does not affect target accuracy.</p>},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/Clark_2018HapticSymposium.pdf},
	author = {Clark, Janelle P and Kim, Sung Y and O{\textquoteright}Malley, Marcia K}
}
