@article {JUMET2023100059, title = {Fluidically programmed wearable haptic textiles}, journal = {Device}, year = {2023}, pages = {100059}, abstract = {

Summary Haptic feedback offers a useful mode of communication in visually or auditorily noisy environments. The adoption of haptic devices in our everyday lives, however, remains limited, motivating research on haptic wearables constructed from materials that enable comfortable and lightweight form factors. Textiles, a material class fitting these needs and already ubiquitous in clothing, have begun to be used in haptics, but reliance on arrays of electromechanical controllers detracts from the benefits that textiles offer. Here, we mitigate the requirement for bulky hardware by developing a class of wearable haptic textiles capable of delivering high-resolution information on the basis of embedded fluidic programming. The designs of these haptic textiles enable tailorable amplitudinal, spatial, and temporal control. Combining these capabilities, we demonstrate wearables that deliver spatiotemporal cues in four directions with an average user accuracy of 87\%. Subsequent demonstrations of washability, repairability, and utility for navigational tasks exemplify the capabilities of our approach.

}, keywords = {analog control, fluidic control, haptic sleeve, human-machine interaction, human-robot interaction, Navigation, point force, smart textiles, spatiotemporal haptics, tactile cues}, issn = {2666-9986}, doi = {https://doi.org/10.1016/j.device.2023.100059}, url = {https://www.sciencedirect.com/science/article/pii/S2666998623000832}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DeviceJumet2023.pdf}, author = {Barclay Jumet and Zane A. Zook and Anas Yousaf and Anoop Rajappan and Doris Xu and Te Faye Yap and Nathaniel Fino and Zhen Liu and Marcia K. O{\textquoteright}Malley and Daniel J. Preston} } @article {fino2023tactor, title = {Mechanofluidic Instability-Driven Wearable Textile Vibrotactor}, journal = {IEEE Transactions on Haptics}, year = {2023}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2023_Fino_wearabletactor.pdf}, author = {Fino, Nathaniel and Jumet, Barclay and Zook, Zane A and Preston, Daniel J and O{\textquoteright}Malley, Marcia K} } @article {macklin2023toh, title = {Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device}, journal = {IEEE Transactions on Haptics}, volume = {16}, number = {3}, year = {2023}, month = {July-September}, pages = {424-435}, doi = {10.1109/TOH.2023.3303838}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Macklin\%20et\%20al.\%202023.pdf}, author = {Macklin, Alix S and Yau, Jeffrey M and Fischer-Baum, Simon and O{\textquoteright}Malley, Marcia K} } @proceedings {2054, title = {A Soft Approach to Convey Vibrotactile Feedback in Wearables Through Mechanical Hysteresis}, year = {2023}, publisher = {IEEE}, doi = {10.1109/RoboSoft55895.2023.10122072}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Fino_2023_Robosoft.pdf}, author = {Fino, Nathaniel and Zook, Zane A and Jumet, Barclay and Preston, Daniel J and O{\textquoteright}Malley, Marcia K} } @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} } @inbook {2020, title = {A Textile-Based Approach to Wearable Haptic Devices}, booktitle = {2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}, year = {2022}, doi = {10.1109/RoboSoft54090.2022.9762149}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Jumet_RoboSoft2022.pdf}, author = {Jumet, Barclay and Zook, Zane A. and Xu, Doris and Fino, Nathaniel and Rajappan, Anoop and Schara, Mark W. and Berning, Jeffrey and Escobar, Nicolas and O{\textquoteright}Malley, Marcia K. and Preston, Daniel J.} } @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} } @article {Berning2021COBME, title = {Myoelectric Control and Neuromusculoskeletal Modeling: Complementary Technologies for Rehabilitation Robotics}, journal = {Current Opinion in Biomedical Engineering}, year = {2021}, pages = {100313}, abstract = {

Stroke and spinal cord injury (SCI) are a leading cause of disability in the United States, and researchers have pursued using robotic devices to aid rehabilitation efforts for resulting upper-extremity impairments. To date, however, robotic rehabilitation of the upper limb has produced only limited improvement in functional outcomes compared to traditional therapy. This paper explores the potential of myoelectric control and neuromusculoskeletal modeling for robotic rehabilitation using the current state of the art of each individual field as evidence. Continuing advances in the fields of myoelectric control and neuromusculoskeletal modeling offer opportunities for further improvements of rehabilitation robot control strategies. Specifically, personalized neuromusculoskeletal models driven by a subject{\textquoteright}s electromyography signals may provide accurate predictions of the subject{\textquoteright}s muscle forces and joint moments which, when used to design novel control strategies, could yield new approaches to robotic therapy for stroke and SCI that surpass the efficacy of traditional therapy.

}, keywords = {Electromyography, neuromusculoskeletal modeling, robotic rehabilitation, upper limb motor impairment}, issn = {2468-4511}, doi = {https://doi.org/10.1016/j.cobme.2021.100313}, url = {https://www.sciencedirect.com/science/article/pii/S2468451121000532}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/BerningCOBME2021_preprint.pdf}, author = {Jeffrey Berning and Gerard E. Francisco and Shuo-Hsiu Chang and Benjamin J. Fregly and Marcia K. O{\textquoteright}Malley} } @article {BHAGAT2020102502, title = {Neural activity modulations and motor recovery following brain-exoskeleton interface mediated stroke rehabilitation}, journal = {NeuroImage: Clinical}, volume = {28}, year = {2020}, pages = {102502}, abstract = {

Brain-machine interfaces (BMI) based on scalp EEG have the potential to promote cortical plasticity following stroke, which has been shown to improve motor recovery outcomes. However, the efficacy of BMI enabled robotic training for upper-limb recovery is seldom quantified using clinical, EEG-based, and kinematics-based metrics. Further, a movement related neural correlate that can predict the extent of motor recovery still remains elusive, which impedes the clinical translation of BMI-based stroke rehabilitation. To address above knowledge gaps, 10 chronic stroke individuals with stable baseline clinical scores were recruited to participate in 12 therapy sessions involving a BMI enabled powered exoskeleton for elbow training. On average, 132\ {\textpm}\ 22 repetitions were performed per participant, per session. BMI accuracy across all sessions and subjects was 79\ {\textpm}\ 18\% with a false positives rate of 23\ {\textpm}\ 20\%. Post-training clinical assessments found that FMA for upper extremity and ARAT scores significantly improved over baseline by 3.92\ {\textpm}\ 3.73 and 5.35\ {\textpm}\ 4.62 points, respectively. Also, 80\% participants (7 with moderate-mild impairment, 1 with severe impairment) achieved minimal clinically important difference (MCID: FMA-UE \>5.2 or ARAT \>5.7) during the course of the study. Kinematic measures indicate that, on average, participants{\textquoteright} movements became faster and smoother. Moreover, modulations in movement related cortical potentials, an EEG-based neural correlate measured contralateral to the impaired arm, were significantly correlated with ARAT scores (ρ\ =\ 0.72, p\ \<\ 0.05) and marginally correlated with FMA-UE (ρ\ =\ 0.63, p\ =\ 0.051). This suggests higher activation of ipsi-lesional hemisphere post-intervention or inhibition of competing contra-lesional hemisphere, which may be evidence of neuroplasticity and cortical reorganization following BMI mediated rehabilitation therapy.

}, keywords = {Brain-machine interface, Clinical trial, Exoskeletons, Movement related cortical potentials, stroke rehabilitation}, issn = {2213-1582}, doi = {https://doi.org/10.1016/j.nicl.2020.102502}, url = {http://www.sciencedirect.com/science/article/pii/S2213158220303399}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/NeuroImage_2020_Bhagat_BMI_EEG_exo.pdf}, author = {Nikunj A. Bhagat and Nuray Yozbatiran and Jennifer L. Sullivan and Ruta Paranjape and Colin Losey and Zachary Hernandez and Zafer Keser and Robert Grossman and Gerard E. Francisco and Marcia K. O{\textquoteright}Malley and Jose L. Contreras-Vidal} } @inbook {1979, title = {Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy}, booktitle = {Robotics Research}, year = {2020}, pages = {541{\textendash}553}, publisher = {Springer}, organization = {Springer}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/farrell2020simply.pdf}, author = {Farrell, Logan C and Dennis, Troy A and Badger, Julia and O{\textquoteright}Malley, Marcia K} } @proceedings {1956, title = {A Cutaneous Haptic Cue Characterization Testbed}, year = {2019}, publisher = {IEEE}, address = {Tokyo, Japan}, doi = {10.1109/WHC.2019.8816086}, url = {https://ieeexplore.ieee.org/document/8816086/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816086.pdf?arnumber=8816086}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/A_Cutaneous_Haptic_Cue_Characterization_Testbed_smaller_0.pdf}, author = {Fleck, Joshua J. and Zook, Zane A. and Andrew Low and O{\textquoteright}Malley, Marcia K.} } @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 {1934, title = {Spatially Separating Haptic Guidance from Task Dynamics through Wearable Devices.}, journal = {IEEE Trans Haptics}, volume = {12}, number = {4}, year = {2019}, month = {2019 December}, pages = {581 - 593}, abstract = {

Haptic devices have a high potential for delivering tailored training to novices. These devices can simulate forces associated with real-world tasks, or provide guidance forces that convey task completion and learning strategies. It has been shown, however, that providing both task forces and guidance forces simultaneously through the same haptic interface can lead to novices depending on guidance, being unable to demonstrate skill transfer, or learning the wrong task altogether. This work presents a novel solution whereby task forces are relayed via a kinesthetic haptic interface, while guidance forces are spatially separated through a cutaneous skin stretch modality. We explore different methods of delivering cutaneous based guidance to subjects in a dynamic trajectory following task. We next compare cutaneous guidance to kinesthetic guidance, as is traditional to spatially separated assistance. We further investigate the role of placing cutaneous guidance ipsilateral versus contralateral to the task force device. The efficacies of each guidance condition are compared by examining subject error and movement smoothness. Results show that cutaneous guidance can be as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.

}, issn = {2329-4051}, doi = {10.1109/TOH.2019.2919281}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent_toh2019.pdf}, author = {Pezent, Evan and Fani, Simone and Clark, Janelle and Bianchi, Matteo and OMalley, Marcia K} } @proceedings {1920, title = {Cycloidal Geartrain In-Use Efficiency Study}, year = {2018}, month = {08/2018}, publisher = {American Society of Mechanical Engineers}, address = {Quebec, Canada}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Farrell2018IDETC.pdf}, author = {Farrell, Logan C and Holley, James and Bluethmann, William and O{\textquoteright}Malley, Marcia K} } @proceedings {1902, title = {Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery}, volume = {II}, year = {2018}, month = {June 13-16}, pages = {289-301}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

This paper presents a novel, wearable, and multi-sensory haptic feedback system intended to support the transmission of large sets of haptic cues that are accurately perceived by the human user. Previous devices have focused on the optimization of haptic cue transmission using a single modality and have typically employed arrays of haptic tactile actuators to maximize information throughput to a user. However, when large cue sets are to be transmitted, perceptual interference between transmitted cues can decrease the efficacy of single-sensory systems. Therefore, we present MISSIVE (Multi-sensory Interface of Stretch, Squeeze, and Integrated Vibration Elements), a wearable system that conveys multi-sensory haptic cues to the user{\textquoteright}s upper arm, allowing for increased perceptual accuracy compared to a single-sensory vibrotactile array of a comparable size, conveying the same number of cues. Our multi-sensory haptic cues are comprised of concurrently rendered, yet perceptually distinct elements: radial squeeze, lateral skin stretch, and localized cutaneous vibration. Our experiments demonstrate that our approach can increase perceptual accuracy compared to a single-sensory vibrotactile system of comparable size and that users prefer MISSIVE.

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/dunkelberger\%202018\%20eurohaptics\%20compressed.pdf}, author = {Dunkelberger, Nathan and Bradley, Joshua and Sullivan, Jennifer L. and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @article {1815, title = {Quantitative testing of fMRI-compatibility of an electrically active mechatronic device for robot-assisted sensorimotor protocols}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {65}, number = {7}, year = {2018}, pages = {1595-1606}, doi = {10.1109/TBME.2017.2741346}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8012485\&tag=1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Farrens2018\%20-\%20Quantitative\%20testing\%20fMRI-comp.pdf}, author = {Farrens, A.J. and Zonnino, A. and Erwin,Andrew and O{\textquoteright}Malley, M.K. and Johnson, C.L. and Ress, D. and Fabrizio Sergi} } @proceedings {1901, title = {The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception}, volume = {II}, year = {2018}, month = {06/2018}, pages = {125-134}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

Skin stretch, when mapped to joint position, provides haptic feedback using a mechanism similar to our sense of proprioception . Rocker-type skin stretch devices typically actuate in the lateral direction of the arm, though during limb movement stretch about joint angles is in the longitudinal direction. In this paper, human perceptual performance in a target-hitting task is compared for two orientations of the Rice Haptic Rocker. The longitudinal direction is expected to be more intuitive due to the biological similarities, creating a more effective form of haptic feedback. The rockers are placed on the upper arm, and convey the position of a cursor among five vertically aligned targets. The longitudinal orientation results in smaller errors compared to the lateral case. Additionally, the outer targets were reached with less error than the inner targets for the longitudinal rocker. This result suggests longitudinal stretch is more easily discerned than laterally oriented stretch.

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/clark\%202018\%20eurohaptics\%20reduced.pdf}, author = {Clark, Janelle P. and Kim, Sung Y. and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @proceedings {1921, title = {Separating haptic guidance from task dynamics: A practical solution via cutaneous devices}, year = {2018}, month = {03/2018}, publisher = {IEEE}, address = {San Francisco, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent2018hs.pdf}, author = {Pezent, Evan and Fani, Simone and Bradley, Joshua and Bianchi, Matteo and O{\textquoteright}Malley, Marcia 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 {1816, title = {Improving robotic stroke rehabilitation by incorporating neural intent detection: Preliminary results from a clinical trial}, year = {2017}, month = {07/2018}, publisher = {IEEE}, address = {London, UK}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sullivan_ICORR\%202017_BMI\%20Exo.pdf}, author = {Sullivan, J.L. and Bhagat, N.A. and Yozbatiran, N. and Paranjape, R. and Losey, C.G. and Grossman, R.G. and Contreras-Vidal, J.L. and Francisco, G.E. and O{\textquoteright}Malley, M.K.} } @article {PMID:28857769, title = {Robot-Assisted Training of Arm and Hand Movement Shows Functional Improvements for Incomplete Cervical Spinal Cord Injury}, journal = {American Journal of Physical Medicine \& Rehabilitation}, volume = {96}, number = {10}, year = {2017}, month = {10/2017}, pages = {S171{\textemdash}S177}, issn = {0894-9115}, doi = {10.1097/phm.0000000000000815}, url = {https://doi.org/10.1097/PHM.0000000000000815}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/francisco2017AJPRM.pdf}, author = {Francisco, Gerard E and Yozbatiran, Nuray and Berliner, Jeffrey and O'Malley, Marcia K and Pehlivan, Ali Utku and Kadivar, Zahra and Fitle, Kyle and Boake, Corwin} } @proceedings {1892, title = {Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy}, year = {2017}, month = {12/2017}, address = {Puerto Varas, Chile}, abstract = {

Despite rapid advancements in dexterity and mechanical design, the utility of humanoid robots outside of a controlled laboratory setting is limited in part due to the complexity involved in programming robots to grasp common objects. There exists a need for an efficient method to command high degree-of-freedom (DoF) position-controlled dexterous manipulators to grasp a range of objects such that explicit models are not needed for every interaction. The authors propose a method termed geometrical synergies that, similar to the neuroscience concept of postural synergies, aims to decrease the commanded DoF of the humanoid hand. In the geometrical synergy approach, the method relies on grasp design based on intuitive measurements of the object to be grasped, in contrast to postural synergy methods that focus on the principal components of human grasps to determine robot hand joint commands. For this paper, a synergy was designed to grasp cylinder-shaped objects. Using the SynGrasp toolbox, a model of a twelve-DoF hand was created to perform contact analysis around a small set of cylinders dened by a single variable, diameter. Experiments were performed with the robot to validate and update the synergy-based models. Successful manipulation of a large range of cylindrical objects not previously introduced to the robot was demonstrated. This geometric synergy-based grasp planning method can be applied to any position-controlled humanoid hand to decrease the number of commanded DoF based on simple, measureable inputs in order to grasp commonly shaped objects. This method has the potential to vastly expand the library of objects the robot can manipulate.

}, keywords = {Dexterous Hand, Grasp, Humanoid, Manipulation, Synergy}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/farrell2017simply.pdf}, author = {Logan C. Farrell and Troy A. Dennis and Julia A. Badger and Marcia K. O{\textquoteright}Malley} } @article {PMID:28944083, title = {White matter changes in corticospinal tract associated with improvement in arm and hand functions in incomplete cervical spinal cord injury: pilot case series}, journal = {Spinal Cord Series and Cases}, volume = {3}, year = {2017}, pages = {17028}, issn = {2058-6124}, doi = {10.1038/scsandc.2017.28}, url = {https://doi.org/10.1038/scsandc.2017.28}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Yozbatiran2017SpinalCordSeries.pdf}, author = {Yozbatiran, Nuray and Keser, Zafer and Hasan, Khader and Stampas, Argyrios and Korupolu, Radha and Kim, Sam and O{\textquoteright}Malley, Marcia K and Fregni, Felipe and Francisco, Gerard E} } @article {1777, title = {Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors}, journal = {Frontiers in Neuroscience}, volume = {10}, year = {2016}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/FINS2016.pdf}, author = {Bhagat, N.A. and Venkatakrishnan, A. and Abibullaev, B. and Artz, E.J. and Yozbatiran, N. and Blank, A.A. and French, J. and Karmonik, C. and Grossman, R.G. and O{\textquoteright}Malley, M.K. and Francisco, G. and Contreras-Vidal, J.L.} } @article {1787, title = {Transcranial direct current stimulation (tDCS) of the primary motor cortex and robot-assisted arm training in chronic incomplete cervical spinal cord injury: A proof of concept sham-randomized clinical study}, journal = {NeuroRehabilitation}, volume = {39}, year = {2016}, pages = {401{\textendash}411}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/TDCS_2016_Neurorehab.pdf}, author = {Nuray Yozbatirana and Zafer Keser and Matthew Davis and Argyrios Stampas and Marcia K. O{\textquoteright}Malley and Catherine Cooper-Hay and Joel Fronteraa and Felipe Fregni and Gerard E. Francisco} } @proceedings {1752, title = {Design of a parallel-group balanced controlled trial to test the effects of assist-as-needed robotic therapy}, year = {2015}, month = {08/2015}, address = {Singapore}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi2015\%20-\%20Design\%20parallel\%20group\%20AAN\%20therapy.pdf}, author = {Sergi, F. and Pehlivan, A.U. and Fitle, K. and Nedley, K. and Yozbatiran, Nuray and Francisco,Gerard E. and O{\textquoteright}Malley, M.K.} } @article {1760, title = {An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization}, journal = {International Journal of Robotics Research}, volume = {34}, number = {14}, year = {2015}, pages = {1747-1772}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Agarwal2015\%20-\%20Index\%20finger\%20exo.pdf}, author = {Priyanshu Agarwal and Jonas Fox and Youngmok Yun and O{\textquoteright}Malley, M.K. and Ashish D. Deshpande} } @proceedings {1753, title = {A robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury}, year = {2015}, month = {05/2015}, address = {Seattle, Washington}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Fitle2015\%20-\%20Robotic\%20exo\%20for\%20UL\%20rehab\%20after\%20iSCI.pdf}, author = {Fitle, K. and Pehlivan, A.U. and O{\textquoteright}Malley, M.K.} } @article {1719, title = {Current Trends in Robot-Assisted Upper-Limb Stroke Rehabilitation: Promoting Patient Engagement in Therapy}, journal = {Current Physical Medicine and Rehabilitation Reports}, year = {2014}, doi = {10.1007/s40141-014-0056-z}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/2014_CPMRR_press.pdf}, author = {Amy A Blank and James A French and Ali Utku Pehlivan and Marcia K O{\textquoteright}Malley} } @proceedings {1713, title = {Design and characterization of a haptic paddle for dynamics education}, year = {2014}, month = {Feb}, doi = {10.1109/HAPTICS.2014.6775465}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS2014_HapticPaddle_Rose_Press.pdf}, author = {Rose, Chad G. and French, James A. and O{\textquoteright}Malley, Marcia K.} } @article {ROB:9438993, title = {Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury}, journal = {Robotica}, volume = {32}, year = {2014}, month = {12}, pages = {1415{\textendash}1431}, issn = {1469-8668}, doi = {10.1017/S0263574714001490}, url = {http://journals.cambridge.org/article_S0263574714001490}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/rob1400149_Press.pdf}, author = {Pehlivan,Ali Utku and Sergi,Fabrizio and Erwin,Andrew and Yozbatiran,Nuray and Francisco,Gerard E. and O{\textquoteright}Malley,Marcia K.} } @proceedings {1882, title = {Detecting movement intent from scalp EEG in a novel upper limb robotic rehabilitation system for stroke}, year = {2014}, month = {08/2014}, keywords = {Accuracy, Adult, bioelectric potentials, brain-computer interfaces, closed loop systems, closed-loop brain-machine interfaces, Computer-Assisted, diseases, electroencephalography, Electromyography, Exoskeletons, hemiparesis, Humans, Male, medical robotics, medical signal detection, medical signal processing, Middle Aged, Movement, movement intent detection, neurophysiology, Paresis, Patient rehabilitation, Robotics, Robots, scalp electroencephalography, Signal Processing, stroke, stroke rehabilitation, Support Vector Machine, Support vector machines, training, Upper Extremity, upper extremity dysfunction, upper limb robotic rehabilitation system, Young Adult}, doi = {10.1109/EMBC.2014.6944532}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/bhagat2014ieee.pdf}, author = {N. A. Bhagat and J. French and A. Venkatakrishnan and N. Yozbatiran and G. E. Francisco and M. K. O{\textquoteright}Malley and J. L. Contreras-Vidal} } @proceedings {1721, title = {SYSTEM CHARACTERIZATION OF MAHI EXO-II: A ROBOTIC EXOSKELETON FOR UPPER EXTREMITY REHABILITATION}, year = {2014}, publisher = {ASME}, address = {San Antonio, TX}, abstract = {
This paper presents the performance characterization of the MAHI Exo-II, an upper extremity exoskeleton for stroke and
spinal cord injury (SCI) rehabilitation, as a means to validate its clinical implementation and to provide depth to the literature on the performance characteristics of upper extremity exoskeletons. Individuals with disabilities arising from stroke and SCI need rehabilitation of the elbow, forearm, and wrist to restore the ability to independently perform activities of daily living (ADL). Robotic rehabilitation has been proposed to address the need for high intensity, long duration therapy and has shown promising results for upper limb proximal joints. However, upper limb distal joints have historically not benefitted from the same focus. The MAHI Exo-II, designed to address this shortcoming, has undergone a static and dynamic performance characterization, which shows that it exhibits the requisite qualities for a rehabilitation robot and is comparable to other state-of-the-art designs.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DSCC2014-6267.pdf}, author = {French, James A. and Rose, Chad G. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1691, title = {A Pre-Clinical Framework for Neural Control of a Therapeutic Upper-Limb Exoskeleton}, year = {2013}, month = {2013}, pages = {1159-1162}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/BMI-EXO_2013_NER.pdf}, author = {Amy Blank and Marcia K. O{\textquoteright}Malley and Gerard E. Francisco and Jose L. Contreras-Vidal} } @article {1563, title = {The RiceWrist Grip: A Means to Measure Grip Strength of Patients Using the RiceWrist}, year = {2012}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/grip_sensor_poster_mission_connect_0.pdf}, author = {Ryan Quincy and Andrew Erwin and A.U. Pehlivan and Yozbatiran, Nuray and Gerard Francisco and Marcia K. O{\textquoteright}Malley} } @article {1468, title = {RiceWrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Tetraplegic Persons with Spinal Cord Injury}, journal = {International Journal of Biological Engineering}, volume = {2}, number = {4}, year = {2012}, pages = {27-38}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IntlJBiologicalEngineering_2012_Kadivar.pdf}, author = {Z. Kadivar and J.L. Sullivan and D.P. Eng and A.U. Pehlivan and O{\textquoteright}Malley, M.K. and N. Yozbatiran and G.E. Francisco} } @article {1698, title = {Robotic training and clinical assessment of upper extremity movements after spinal cord injury; a single case report}, journal = {Journal of Rehabilitation Medicine}, volume = {44}, year = {2012}, month = {01/2012}, pages = {186-188}, chapter = {186}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/J_Rehab_Medicine_2012_Final_press_version.pdf}, author = {Yozbatiran, Nuray and Berliner, J. and O{\textquoteright}Malley, M.K. and Pehlivan, A.U. and Z. Kadivar and Boake, Corwin and Gerard E. Francisco} } @proceedings {1880, title = {Robotic training and clinical assessment of forearm and wrist movements after incomplete spinal cord injury: A case study}, year = {2011}, month = {June}, pages = {619-622}, abstract = {

The effectiveness of a robotic training device was evaluated in a 24-year-old male, cervical level four, ASIA Impairment Scale D injury. Robotic training of both upper extremities was provided for three hr/day for ten consecutive sessions using the RiceWrist, an electrically-actuated forearm and wrist haptic exoskeleton device that has been designed for rehabilitation applications. Training involved wrist flexion/extension, radial/ulnar deviation and forearm supination/pronation. Therapy sessions were tailored, based on the patient{\textquoteright}s movement capabilities for the wrist and forearm, progressed gradually by increasing number of repetitions and resistance. Outcome measures included the ASIA upper-extremity motor score, grip and pinch strength, the Jebsen-Taylor Hand Function test and the Functional Independence Measure. After the training, improvements were observed in pinch strength, and functional tasks. The data from one subject provides valuable information on the feasibility and effectiveness of robotic-assisted training of forearm and hand functions after incomplete spinal cord injury.

}, keywords = {age 24 yr, arm motor function recovery, ASIA upper-extremity motor score, biomechanics, clinical assessment, electrically-actuated forearm, Forearm, forearm movement, forearm pronation, forearm supination, functional independence measure, functional tasks, grip, Haptic interfaces, Humans, injuries, Jebsen-Taylor hand function test, Joints, Male, medical robotics, Medical treatment, Muscles, neurophysiology, patient movement capabilities, Patient rehabilitation, Patient treatment, pinch strength, radial-ulnar deviation, rehabilitation applications, robotic training, Robots, Spinal Cord Injuries, spinal cord injury, training, Wrist, wrist extension, wrist flexion, wrist haptic exoskeleton device, wrist movement, Young Adult}, doi = {10.1109/ICORR.2011.5975425}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/yozbatiran2011ieee.pdf}, author = {N. Yozbatiran and J. Berliner and C. Boake and M. K. O{\textquoteright}Malley and Z. Kadivar and G. E. Francisco} } @proceedings {1294, title = {Spatial and Temporal Movement Characteristics after Robotic Training of Arm and Hand: A Case Study of a Person with Incomplete Spinal Cord Injury}, year = {2011}, month = {09/2011}, address = {San Francisco, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1294-IROS\%202011\%20Eng\%20Kadivar.pdf}, author = {D.P. Eng and Z. Kadivar and J.L. Sullivan and A.U. Pehlivan and M.K. O{\textquoteright}Malley and G.E. Francisco and N.Yozbatiran} } @proceedings {celik_comparison, title = {Comparison of robotic and clinical motor function improvement measures for sub-acute stroke patients}, year = {2008}, pages = {2477{\textendash}2482}, address = {Pasadena, CA}, abstract = {

In this paper, preliminary results in motor function improvement for four sub-acute stroke patients that underwent a hybrid robotic and traditional rehabilitation program are presented. The therapy program was scheduled for three days a week, four hours per day (approximately 60\% traditional constraint induced therapy activities and 40\% robotic therapy). A haptic joystick was used to implement four different operating modes for robotic therapy: unassisted (U), constrained (C), assisted (A), and resisted (R) modes. A target hitting task involving the positioning of a pointer on twelve targets was completed by the patients. Two different robotic measures were utilized to quantify the motor function improvement through the sessions: trajectory error (TE) and smoothness of movement (SM). Fugl-Meyer (FM) and motor activity log (MAL) scales were used as clinical measures. Analysis of results showed that the group demonstrates a significant motor function improvement with respect to both clinical and robotic measures. Regression analyses were carried out on corresponding clinical and robotic measure result pairs. A significant relation between FM scale and robotic measures was found for both of the analyzed modes. Regression of robotic measures on MAL scores resulted in no significance. A regression analysis that compared the two clinical measures revealed a very low agreement. Our findings suggest that it might be possible to obtain objective robotic measures that are significantly correlated to widely-used and reliable clinical measures in considerably different operating modes and control schemes.

}, keywords = {robotic rehabilitation}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/74-CelikICRA2008.pdf}, author = {Ozkan Celik and O{\textquoteright}Malley, M.K. and Boake, Corwin and H.S. Levin and Fischer, Steven and Reistetter, Timothy} }