@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 {dupont2021decade, title = {A decade retrospective of medical robotics research from 2010 to 2020}, journal = {Science Robotics}, volume = {6}, number = {60}, year = {2021}, pages = {eabi8017}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/scirobotics2021abi8017.pdf}, author = {Dupont, Pierre E and Nelson, Bradley J and Goldfarb, Michael and Hannaford, Blake and Menciassi, Arianna and O{\textquoteright}Malley, Marcia K and Simaan, Nabil and Valdastri, Pietro and Yang, Guang-Zhong} } @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 {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} } @proceedings {2055, title = {A Robotic Platform for 3D Forelimb Rehabilitation with Rats}, year = {2019}, doi = {10.1109/ICORR.2019.8779405}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ErwinICORR2019.pdf}, author = {Erwin, Andrew and Gallegos, Chrystine and Cao, Qilin and O{\textquoteright}Malley, Marcia K.} } @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 {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 {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.} } @proceedings {1765, title = {Acumen: An open-source testbed for cyber-physical systems research}, year = {2015}, month = {10/2015}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/cyclone15Taha.pdf}, author = {Walid Taha and Adam Duracz and Yingfu Zeng and Kevin Atkinson and Ferenc A.Bartha and Paul Brauner and Jan Duracz and Fei Xu and Robert Cartwright and Michal Konecny and Eugenio Moggi and Jawad Masood and Pererik Andreasson and Jun Inoue and Anita Santanna and Roland Philippsen and Alexandre Chapoutot and O{\textquoteright}Malley, M.K. and Aaron Ames and Veronica Gaspes and Lise Hvatum and Shyam Mehta and Henrik Eriksson and Christian Grante} } @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 {1767, title = {The role of auxiliary and referred haptic feedback in myoelectric control}, year = {2015}, month = {06/2015}, pages = {13-18}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Treadway2015\%20-\%20Haptic\%20feedback\%20myoelectric\%20control.pdf}, author = {Treadway, Emma and Gillespie, B and Bolger, D. and Blank, A. and O{\textquoteright}Malley, M.K. and Davis, A.} } @inbook {1701, title = {Robotics as a Tool for Training and Assessment of Surgical Skill}, booktitle = {Computational Surgery and Dual Training}, year = {2014}, pages = {365-375}, publisher = {Springer New York}, organization = {Springer New York}, keywords = {Assessment, Human{\^a}{\texteuro}{\textquotedblleft}robot interaction, Manual, Performance measures, Rehabilitation robotics, Robotics, Simulators, Skill, Skill training, Surgical, Tasks, Virtual reality}, isbn = {978-1-4614-8647-3}, doi = {10.1007/978-1-4614-8648-0_24}, url = {http://dx.doi.org/10.1007/978-1-4614-8648-0_24}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/CRISP_O\%27Malley_et_al_120611updated.pdf}, author = {O{\textquoteright}Malley, Marcia K. and Celik, Ozkan and Huegel, Joel C. and Byrne, Michael D. and Bismuth, Jean and Dunkin, Brian J. and Goh, Alvin C. and Miles, Brian J.}, editor = {Garbey, Marc and Bass, Barbara Lee and Berceli, Scott and Collet, Christophe and Cerveri, Pietro} } @inbook {1700, title = {Workload and Performance Analyses with Haptic and Visually Guided Training in a Dynamic Motor Skill Task}, booktitle = {Computational Surgery and Dual Training}, year = {2014}, pages = {377-387}, publisher = {Springer New York}, organization = {Springer New York}, keywords = {force feedback, Haptics guidance, Joystick, Motor skill, performance, Skill acquisition, training, virtual environment, Workload}, isbn = {978-1-4614-8647-3}, doi = {10.1007/978-1-4614-8648-0_25}, url = {http://dx.doi.org/10.1007/978-1-4614-8648-0_25}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Huegel-NFVWTLX-CRISP.pdf}, author = {Huegel, Joel C. and O{\textquoteright}Malley, Marcia K.}, editor = {Garbey, Marc and Bass, Barbara Lee and Berceli, Scott and Collet, Christophe and Cerveri, Pietro} } @article {6197239, title = {Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {18}, number = {2}, year = {2013}, pages = {812-817}, keywords = {Acceleration, Accelerometer-based displacement sensing, Accelerometers, Accuracy, artificial proprioception, differential accelerometers, displacement measurement, double integrator, feedforward, feedforward control, frequency domain system identification, high resolution optical encoder, kinesthetic illusions, parametric transfer function model, prosthetics, real-time dynamic displacement sensing, Sensors, speaker-based tendon vibrator control, tendon vibrator, Tendons, Transfer functions, vibration control, Vibrations}, issn = {1083-4435}, doi = {10.1109/TMECH.2012.2195326}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Celik_Gilbert_O\%27Malley_TMECH2013.pdf}, author = {Celik, O. and Gilbert, H.B. and O{\textquoteright}Malley, M.K.} } @proceedings {1684, title = {Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device}, year = {2013}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Paek\%20EMBC\%202013.pdf}, author = {Andrew Y. Paek and Jeremy D. Brown and R. B. Gillespie and Marcia K. O{\textquoteright}Malley and Patricia A. Shewokis and Jose L. Contreras-Vidal} } @proceedings {1685, title = {Understanding the Role of Haptic Feedback in a Teleoperated Grasp and Lift Task}, year = {2013}, month = {04/2013}, pages = {271-276}, abstract = {

Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WH2013_FINAL_PRESS_Brown_et_al.pdf}, author = {Jeremy D. Brown and Andrew Paek and Mashaal Syed and Marcia K. O{\textquoteright}Malley and Patricia Shewokis and Jose L. Contreras-Vidal and R. B. Gillespie} } @proceedings {1686, title = {Vibrotactile Feedback of Pose Error Enhances Myoelectric Control of a Prosthetic Hand}, year = {2013}, month = {04/2013}, pages = {531-536}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WH2013_FINAL_PRESS_Christiansen_et_al.pdf}, author = {Ryan Christiansen and Jose Luis Contreras-Vidal and R B Gillespie and Patricia Shewokis and Marcia K. O{\textquoteright}Malley} } @proceedings {1293, title = {Robotic Training and Kinematic Analysis of Arm and Hand after Incomplete Spinal Cord Injury: A Case Study.}, year = {2011}, month = {06/2011}, address = {Zurich Switzerland}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1293-PID1757607\%5B1\%5D.pdf}, author = {Z. Kadivar and J.L. Sullivan and D.P. Eng and A.U. Pehlivan and M.K. O{\textquoteright}Malley and N. Yozbatiran and G.E.Francisco} } @article {1699, title = {Disturbance observer-based force estimation for haptic feedback}, journal = {ASME Journal of Dynamic Systems, Measurement and Control}, volume = {133}, year = {2010}, month = {12/2010}, pages = {014505-1--014505-4}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Gupta_O\%27Malley_2011_JDSMC_dist_obs_PRESS.pdf}, author = {Abhishek Gupta and Marcia K. O{\textquoteright}Malley} } @proceedings {912, title = {Long-term double integration of acceleration for position sensing and frequency domain system identification}, year = {2010}, address = {Montr{\'e}al, Canada}, abstract = {

We present results from successful implementation of long-term (\>10 seconds) real-time integration of acceleration to measure position. We evaluated two analog circuit designs for double integration of an acceleration signal. Our circuit design features three high-pass filters and two first order integrators, leading to a critically damped double integrator. The second design we have implemented is a second order underdamped integrator reported in the literature. Accuracy of both circuits in sensing position based on only accelerometer readings was experimentally evaluated by comparison with encoder readings. We conclude that a critically damped double integrator coupled with an accelerometer is well-suited for frequency domain system identification, thanks to reliable position measurement capability with minimal interference to system dynamics.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/912-Gilbert2010AIM.pdf}, author = {Gilbert, Hunter B and Ozkan Celik and O{\textquoteright}Malley, M.K.} } @proceedings {1877, title = {A Preliminary ACT-R model of a continuous motor task}, year = {2010}, publisher = {SAGE Publications Sage CA: Los Angeles, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/byme2010hfes.pdf}, author = {Byrne, Michael D and O{\textquoteright}Malley, Marcia K and Gallagher, Melissa A and Purkayastha, Sagar N and Howie, Nicole and Huegel, Joel C} } @proceedings {1876, title = {Toward improved sensorimotor integration and learning using upper-limb prosthetic devices}, year = {2010}, pages = {5077-5080}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Gillespie2010ieee.pdf}, author = {Gillespie, R Brent and Contreras-Vidal, Jose Luis and Shewokis, Patricia A and O{\textquoteright}Malley, Marcia K and Brown, Jeremy D and Agashe, Harshavardhan and Gentili, Rodolphe and Davis, Alicia} } @proceedings {111, title = {Compact and low-cost tendon vibrator for inducing proprioceptive illusions}, year = {2009}, month = {03/2009}, publisher = {IEEE}, address = {Salt Lake City, Utah}, abstract = {

Recent literature suggests that inducing proprioceptive movement illusions with predefined movement trajectories via tendon vibration requires use of multiple vibrators and precisely controlled frequency profiles. In this study, we report the design, modeling and control of a compact, low-cost tendon vibrator and illustrate its capability of accurately following time-varying frequency profiles. During the demonstration, participants will test the vibrator to experience illusory elbow flexion.

}, keywords = {artificial proprioception, proprioceptive illusions, tendon vibration}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/111-Celik2009WHC.pdf}, author = {Ozkan Celik and O{\textquoteright}Malley, M.K. and Brent Gillespie and Shewokis, Patricia A. and Contreras-Vidal, Jose Luis} } @proceedings {1873, title = {Functionally biarticular control for smart prosthetics}, year = {2009}, pages = {627-628}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/gillespie2009IEEE.pdf}, author = {Gillespie, Brent and Baker, John and O{\textquoteright}Malley, Marcia and Shewokis, Patricia and Contreras-Vidal, Jose Luis} } @proceedings {674, title = {Intermittency of slow arm movements increases in distal direction}, year = {2009}, pages = {4499-4504}, address = {St. Louis, MO}, abstract = {

When analyzed in the tangential speed domain, human movements exhibit a multi-peaked speed profile which is commonly interpreted as evidence for submovements. At slow speeds, the number of the peaks increases and the peaks also become more distinct, corresponding to non-smoothness or intermittency in the movement. In this study, we evaluate two potential sources proposed in the literature for the origins of movement intermittency and conclude that intermittency is more likely due to noise in the neuromuscular system as opposed to a central movement planner that generates intermittent plans. This conclusion is based on the assumption that the central planner would be expected to introduce similar levels of intermittency for different joints, while accumulating noise in the neuromuscular circuitry would be expected to exhibit itself as increase in noise in distal direction. We have used a 3D motion capture system to record trajectories of fingertip, wrist, elbow and shoulder as five participants completed a simple manual circular tracking task at various constant speed levels. Statistical analyses indicated that movement intermittency, quantified by a number of peaks metric, increased in distal direction, supporting the noise model for origins of intermittency. Movement speed was determined to have a significant effect on intermittency, while orientation of the task plane showed no significance.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/674-Celik2009IROS.pdf}, author = {Ozkan Celik and Gu, Qin and Deng, Zhigang and O{\textquoteright}Malley, M.K.} } @proceedings {528, title = {Movement intermittency and variability in human arm movements}, year = {2009}, pages = {30-31}, address = {Seattle, WA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/528-Celik2009RSS_workshop_abstract.pdf}, author = {Ozkan Celik and Gu, Qin and Deng, Zhigang and O{\textquoteright}Malley, M.K.} } @article {080611080561, title = {Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training}, journal = {International Journal of Robotics Research}, volume = {27}, number = {2}, year = {2008}, note = {

Feedback wrist exoskeleton;Neurological injuries;

}, pages = {233 - 251}, abstract = {

This paper presents the design, control and performance of a high fidelity four degree-of-freedom wrist exoskeleton robot, RiceWrist, for training and rehabilitation. The RiceWrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension and radial and ulnar deviation in a compact parallel mechanism design with low friction, zero backlash and high stiffness. As compared to other exoskeleton devices, the RiceWrist allows easy measurement of human joint angles and independent kinesthetic feedback to individual human joints. In this paper, joint-space as well as task-space position controllers and an impedance-based force controller for the device are presented. The kinematic performance of the device is characterized in terms of its workspace, singularities, manipulability, backlash and backdrivability. The dynamic performance of RiceWrist is characterized in terms of motor torque output, joint friction, step responses, behavior under closed loop set-point and trajectory tracking control and display of virtual walls. The device is singularity-free, encompasses most of the natural workspace of the human joints and exhibits low friction, zero-backlash and high manipulability, which are kinematic properties that characterize a high-quality impedance display device. In addition, the device displays fast, accurate response under position control that matches human actuation bandwidth and the capability to display sufficiently hard contact with little coupling between controlled degrees-of-freedom.

}, keywords = {Control systems, Degrees of freedom (mechanics), Feedback, Neurology, Physical therapy, Systems analysis}, url = {http://dx.doi.org/10.1177/0278364907084261}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/48-IJRR-Feb-2008-small.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu and Burgar, Charles} } @inbook {105, title = {Haptic Interfaces}, booktitle = {HCI: Beyond the GUI}, year = {2008}, pages = {25-74}, publisher = {Morgan-Kaufman Publisher}, organization = {Morgan-Kaufman Publisher}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/105-Kortum02Gupta-O\%27Malley.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {082211289622, title = {Disturbance observer based closed loop force control for haptic feedback}, volume = {9 PART B}, year = {2007}, note = {

Disturbance observer;Haptic feedback;Pseudostatic interactions;

}, pages = {1343 - 1349}, address = {Seattle, WA, United States}, abstract = {

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. In this paper, we propose the use of a nonlinear disturbance observer for estimation of contact forces during haptic interactions. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. The feedback of contact force information further enables implementation of advanced robot force control techniques such as robust hybrid impedance and admittance control. Simulation and experimental results, utilizing a PHANToM Premium 1.0A haptic interface, are presented to demonstrate the efficacy of the proposed approach. Copyright {\textcopyright} 2007 by ASME.

}, keywords = {Computer simulation, Force control, Haptic interfaces, Robotics, Robustness (control systems)}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/50-gupta-imece07.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu} } @inbook {106, title = {Robotic Exoskeletons for Upper Extremity Rehabilitation}, booktitle = {Rehabilitation Robotics}, year = {2007}, pages = {371-396}, publisher = {I-Tech Education and Publishing}, organization = {I-Tech Education and Publishing}, address = {Vienna, Austria}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/106-robotic_exoskeletons_Gupta_O\%27Malley.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @article {071210493824, title = {Design of a haptic arm exoskeleton for training and rehabilitation}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {11}, number = {3}, year = {2006}, note = {

Arm exoskeletons;Apparent inertia;Design methodology;

}, pages = {280 - 289}, abstract = {

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash, and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of space and weight limitations, workspace requirements, and the kinematic constraints placed on the device by the human arm. These constraints impose conflicting design requirements on the engineer attempting to design an arm exoskeleton. In this paper, the authors present a detailed review of the requirements and constraints that are involved in the design of a high-quality haptic arm exoskeleton. In this context, the design of a five-degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments is presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. As a training tool, the device provides a means to implement flexible, repeatable, and safe training methodologies. \© 2006 IEEE.

}, keywords = {Damping, Degrees of freedom (mechanics), Joints (anatomy), Patient rehabilitation, Robot applications, Sensory perception, Stiffness}, url = {http://dx.doi.org/10.1109/TMECH.2006.875558}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/47-IEEEASME_HapticArmExoskeleton.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @proceedings {072310640980, title = {The RiceWrist: A distal upper extremity rehabilitation robot for stroke therapy}, year = {2006}, note = {

Mirror Image Movement Enabler (MIME) system;Rehabilitation robot;Robotic therapy;

}, month = {11/2006}, pages = {10 -}, publisher = {ASME}, address = {Chicago, IL, United States}, abstract = {

This paper presents the design and kinematics of a four degree-of-freedom upper extremity rehabilitation robot for stroke therapy, to be used in conjunction with the Mirror Image Movement Enabler (MIME) system. The RiceWrist is intended to provide robotic therapy via force-feedback during range-of-motion tasks. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension, and radial and ulnar deviation in a compact design with low friction and backlash. Joint range of motion and torque output of the electricmotor driven device is matched to human capabilities. The paper describes the design of the device, along with three control modes that allow for various methods of interaction between the patient and the robotic device. Passive, triggered, and active-constrained modes, such as those developed for MIME, allow for therapist control of therapy protocols based on patient capability and progress. Also presented is the graphical user interface for therapist control of the interactions modes of the RiceWrist, basic experimental protocol, and preliminary experimental results. Copyright {\textcopyright} 2006 by ASME.

}, keywords = {Degrees of freedom (mechanics), Graphical user interfaces, Human rehabilitation equipment, Patient treatment}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/46-00\%20-\%20IMECE2006-16103-O\%27Malley.pdf}, author = {O{\textquoteright}Malley, M.K. and Alan Sledd and Abhishek Gupta and Volkan Patoglu and Joel C. Huegel and Burgar, Charles} } @article {06199869875, title = {Shared control in haptic systems for performance enhancement and training}, journal = {Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME}, volume = {128}, number = {1}, year = {2006}, note = {

Virtual environments;Mass-spring-damper;System dynamics;Shared control;

}, pages = {75 - 85}, chapter = {75}, abstract = {

This paper presents a shared-control interaction paradigm for haptic interface systems, with experimental data from two user studies. Shared control, evolved from its initial telerobotics applications, is adapted as a form of haptic assistance in that the haptic device contributes to execution of a dynamic manual target-hitting task via force commands from an automatic controller. Compared to haptic virtual environments, which merely display the physics of the virtual system, or to passive methods of haptic assistance for performance enhancement based on virtual fixtures, the shared-control approach offers a method for actively demonstrating desired motions during virtual environment interactions. The paper presents a thorough review of the literature related to haptic assistance. In addition, two experiments were conducted to independently verify the efficacy of the shared-control approach for performance enhancement and improved training effectiveness of the task. In the first experiment, shared control is found to be as effective as virtual fixtures for performance enhancement, with both methods resulting in significantly better performance in terms of time between target hits for the manual target-hitting task than sessions where subjects feel only the forces arising from the mass-spring-damper system dynamics. Since shared control is more general than virtual fixtures, this approach may be extremely beneficial for performance enhancement in virtual environments. In terms of training enhancement, shared control and virtual fixtures were no better than practice in an unassisted mode. For manual control tasks, such as the one described in this paper, shared control is beneficial for performance enhancement, but may not be viable for enhancing training effectiveness. Copyright \© 2006 by ASME.

}, keywords = {Control equipment, Damping, Data reduction, Haptic interfaces, Robotics, Robots}, issn = {0022-0434}, doi = {10.1115/1.2168160 }, url = {http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal\&id=JDSMAA000128000001000075000001\&idtype=cvips\&gifs=yes}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/52-00\%20-\%20JDSMC\%20Shared\%20control.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta and Gen, Matthew and Yanfang Li} } @proceedings {072310640927, title = {Vision based force sensing for nanorobotic manipulation}, year = {2006}, note = {

Nanomanipulation;Nanoassembly;

}, pages = {10 -}, address = {Chicago, IL, United States}, abstract = {

Over the last decade, considerable interest has been generated in building and manipulating nanoscale structures. Applications of nanomanipulation include study of nanoparticles, molecules, DNA and viruses, and bottom-up nanoassembly. We propose a Nanomanipulation System using the Zyvex S100 nanomanipulator, -which operates within a scanning electron microscope (SEM), as its primary component. The primary advantage of the S100 setup over standard scanning probe microscopy based nanomanipulators is the ability to see the object during manipulation. Relying on visual feedback alone to control the nanomanipulator is not preferable due to perceptual limitations of depth and contact within the SEM. To improve operator performance over visual feedback alone, an impedance-controlled bilateral teleoperation setup is envisioned. Lack of on-board force sensors on the S100 system is the primary hindrance in the realization of the proposed architecture. In this paper, we present a computer vision based force sensing scheme. The advantages of this sensing strategy include its low cost and lack of requirement of hardware modifications). Force sensing is implemented using an atomic force microscopy (AFM) probe attached to the S100 end-effector. Deformation of the cantilever probe is monitored using a Hough transform based algorithm. These deformations are mapped to corresponding end-effector forces following the Euler-Bernoulli beam mechanics model. The forces thus sensed can be used to provide force-feedback to the operator through a master manipulator. Copyright {\textcopyright} 2006 by ASME.

}, keywords = {Atomic force microscopy, Force measurement, Manipulators, Nanoparticles, Nanotechnology, Scanning electron microscopy}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/49-IMECE2006-15111-Gupta-small.pdf}, author = {Abhishek Gupta and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @article {8627855, title = {On the ability of humans to haptically identify and discriminate real and simulated objects}, journal = {Presence (USA)}, volume = {14}, number = {3}, year = {2005}, note = {real object;simulated object;human subject;haptic interface;haptic simulation;size-identification task;virtual surface stiffness;}, pages = {366 - 76}, abstract = {

The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between different-sized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of the haptic simulation. Results indicate that performance of size-identification tasks with haptic-interface hardware capable of a minimum of 3 N of maximum force output can approach performance in real environments, but fails short when virtual surface stiffness is limited. For size-discrimination tasks, performance in simulated environments was consistently lower than performance in a comparable real environment. Interestingly, significant variations in the fidelity of the haptic simulation do not appear to significantly alter the ability of a subject to identify or discriminate between the types of simulated objects described herein

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1162/105474605323384690}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005teleop.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {04278244642, title = {Cooperative manipulation between humans and teleoperated agents}, year = {2004}, note = {

Robonauts;Haptic feedback;Cooperative manipulation;

}, pages = {114 - 120}, address = {Chicago, IL, United States}, abstract = {

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA{\textquoteright}s Johnson Space Center in a collaborative effort with DARPA. This paper describes the implementation of haptic feedback into Robonaut. We conducted a cooperative manipulation task, inserting a flexible beam into an instrumented receptacle. This task was performed while both a human at the worksite and the teleoperated robot grasped the flexible beam simultaneously. Peak forces in the receptacle were consistently lower when the human operator was provided with kinesthetic force feedback in addition to other modalities of feedback such as gestures and voice commands. These findings are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

}, keywords = {Computer simulation, Feedback, Haptic interfaces, Human computer interaction, Robots, Statistical methods}, url = {http://dx.doi.org/10.1109/HAPTIC.2004.1287185}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/glassmire2004haptics.pdf}, author = {John Glassmire and O{\textquoteright}Malley, M.K. and William Bluethmann and Robert O. Ambrose} } @proceedings {05239144488, title = {Design of a haptic arm exoskeleton for training and rehabilitation}, volume = {73}, number = {2 PART B}, year = {2004}, note = {

Haptic arm exoskeleton;Inertia;Structural stiffness;Kinesthetic feedback;

}, pages = {1011 - 1018}, address = {Anaheim, CA, United States}, abstract = {

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Copyright {\textcopyright} 2004 by ASME.

}, keywords = {Actuators, Bandwidth, Damping, Degrees of freedom (mechanics), Friction, Human computer interaction, Kinematics, Robotic arms, Robots, Sensors, Stiffness}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/gupta2004asme.pdf}, author = {Abhishek Gupta 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} } @proceedings {7780496, title = {Passive and active assistance for human performance of a simulated underactuated dynamic task}, year = {2003}, note = {

simulated underactuated dynamic task;machine-mediated training;virtual fixtures;active assist;haptic feedback;visual feedback;

}, pages = {348 - 55}, address = {Los Angeles, CA, USA}, abstract = {

Machine-mediated training of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback real-time in order to elicit desired motions. This work investigates human performance in a Fitts{\textquoteright} type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system{\textquoteright}s own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2003.1191308}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003HAPTICS.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {7971173, title = {Skill transfer in a simulated underactuated dynamic task}, year = {2003}, note = {

underactuated dynamic system;Fitts{\textquoteright} type;skill transfer;haptic feedback;

}, pages = {315 - 20}, address = {Millbrae, CA, USA}, abstract = {

Machine-mediated teaching of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback in order to elicit desired motions. This work investigates skill transfer from assisted to unassisted modes for a Fitts{\textquoteright} type targeting task with an underactuated dynamic system. Performance, in terms of between target tap times, is measured during an unassisted baseline session and during various types of assisted training sessions. It is hypothesized that passive and active assist modes that are implemented during training of a dynamic task could improve skill transfer to a real environment or unassisted simulation of the task. Results indicate that transfer of skill is slight but significant for the assisted training modes

}, keywords = {computer based training, Haptic interfaces, learning (artificial intelligence), Virtual reality}, url = {http://dx.doi.org/10.1109/ROMAN.2003.1251864}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003ieeeskilltrans.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {7254453, title = {Comparison of human haptic size identification and discrimination performance in real and simulated environments}, year = {2002}, note = {

human performance;size identification;size discrimination;simulated environments;haptic interface;machine performance levels;machine parameters;sub-optimal virtual environment;real environment;perception tasks;perceptual information;machine quality;maximum end-point force;system bandwidth;time delay;

}, pages = {10 - 17}, address = {Orlando, FL, USA}, abstract = {

The performance levels of human subjects in size identification and discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a three degree-of-freedom haptic interface, developed at Vanderbilt University. The results indicate that performance of the size identification and discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below-maximum machine performance levels for three machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum end-point force, system bandwidth and time delay

}, keywords = {delay estimation, force feedback, Haptic interfaces, human factors, mechanoception, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2002.998935}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeehumanhaptic.pdf}, author = {Marcia Kilchenman 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} } @proceedings {7379354, title = {The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces}, volume = {vol.2}, year = {2002}, note = {

surface stiffness;virtual surface stiffness;haptic perception;time delays;size identification;perceived surface hardness;haptic interfaces;

}, pages = {1255 - 60}, address = {Washington, DC, USA}, abstract = {

This paper presents a two-part study of the effects of virtual surface stiffness on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of surface stiffness, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between virtual surface stiffness and simulation quality in terms of perceived surface hardness. Results of experiments to test human haptic perception for varying virtual surface stiffnesses indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user at relatively low levels of virtual surface stiffness. Subjects, however, can perceive improvements in perceived simulated surface hardness as stiffness levels are increased in the range of achievable parameters for this hardware. The authors draw several conclusions about the allowable time delays in a haptic interface system based on the results of the surface stiffness experiments

}, keywords = {delays, Haptic interfaces, human factors, Virtual reality}, url = {http://dx.doi.org/10.1109/ROBOT.2002.1014715}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeesurfacestiffness.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {01416683554, title = {Force saturation, system bandwidth, information transfer, and surface quality in haptic interfaces}, volume = {2}, year = {2001}, note = {

Information transfer;

}, pages = {1382 - 1387}, address = {Seoul}, abstract = {

This paper presents a two-part study of the effects of maximum endpoint force and system bandwidth on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of these two system parameters, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between haptic interface machine parameters and simulation quality in terms of perceived surface hardness. Results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback and system bandwidth, yet subjects can perceive improvements in simulated surface quality as levels are further increased.

}, keywords = {Bandwidth, Computer simulation, Computer software, Feedback, Hardness, Manipulators}, url = {http://dx.doi.org/10.1109/ROBOT.2001.932803}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2001ieee.pdf}, author = {Marcia Kilchenman and Michael Goldfarb} } @proceedings {75, title = {Implications of haptic interface force saturation on the haptic display of detail}, volume = {69-2}, year = {2000}, pages = {1125-1131}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/kilchenman2000asme.pdf}, author = {Marcia Kilchenman and Michael Goldfarb} }