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

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

}, isbn = {978-3-031-06249-0}, url = {https://link.springer.com/chapter/10.1007/978-3-031-06249-0_14$\#$citeas}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/EuroHaptics_2022_Zook_Focus_Direction_And_Agency_Haptics.pdf}, author = {Zook, Zane A. and O{\textquoteright}Malley, Marcia K.}, editor = {Seifi, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.} } @article {kadivar2021, title = {Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury}, journal = {Journal of Rehabilitation and Assistive Technologies Engineering}, volume = {8}, year = {2021}, pages = {20556683211002448}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Kadivar_Armstrong.pdf}, author = {Kadivar, Zahra and Beck, Christopher E and Rovekamp, Roger N and O{\textquoteright}Malley, Marcia K} } @article {1961, title = {Multi-Sensory Stimuli Improve Distinguishability of Cutaneous Haptic Cues}, journal = {IEEE Transactions on Haptics}, volume = {13}, number = {2}, year = {2020}, month = {April-June 2020}, pages = {286-297}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sullivan_ToH_2020_multi-sensory.pdf}, author = {Sullivan, Jennifer L and Dunkelberger, Nathan and Bradley, Joshua and Young, Joseph and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy 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 {1948, title = {The Influence of Cue Presentation Velocity on Skin Stretch Perception}, year = {2019}, month = {July}, keywords = {cue perceptibility, cue perception, haptic cues, Haptic interfaces, just noticeable difference, Likert surveys, method of constant stimuli, rice haptic rocker, rotational velocities, Skin, skin stretch cue presentation velocity, skin stretch cues, skin stretch perception, wearable haptic devices}, doi = {10.1109/WHC.2019.8816120}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Kim_2019_WorldHaptics_SkinStretchCueVelocity.pdf}, author = {S. Y. Kim and J. P. Clark and P. Kortum and M. K. O{\textquoteright}Malley} } @article {rose2018wrist, title = {Assessing Wrist Movement With Robotic Devices}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {26}, number = {8}, year = {2018}, pages = {1585{\textendash}1595}, abstract = {

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectory-level measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Last, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/rose2018ieee-wrist.pdf}, author = {Rose, Chad G and Pezent, Evan and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @proceedings {1913, title = {Conveying Language Through Haptics: A Multi-sensory Approach}, year = {2018}, month = {10/2018}, publisher = {ACM}, address = {Singapore}, keywords = {haptics, multi-sensory, speech, wearable}, isbn = {978-1-4503-5967-2}, doi = {10.1145/3267242.3267244}, url = {http://doi.acm.org/10.1145/3267242.3267244}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/NathanDunkelberger_ISWC.pdf}, author = {Dunkelberger, Nathan and Sullivan, Jenny and Bradley, Joshua and Walling, Nickolas P and Manickam, Indu and Dasarathy, Gautam and Israr, Ali and Lau, Frances W. Y. and Klumb, Keith and Knott, Brian and Abnousi, Freddy and Baraniuk, Richard and O{\textquoteright}Malley, Marcia K} } @proceedings {1935, title = {Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback}, year = {2018}, publisher = {IEEE}, address = {Brisbane, QLD}, abstract = {

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

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

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.

}, 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} } @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 {1884, title = {On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic Device}, volume = {16}, year = {2017}, pages = {89-94}, publisher = {Springer International Publishing}, address = {Springer, Cham}, abstract = {

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

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

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

}, issn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009450}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose_2017_Estimating.pdf}, author = {Rose, Chad G. and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @article {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} } @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 {1759, title = {Flexible robotics with electromagnetic tracking improve safety and efficiency during in vitro endovascular navigation}, journal = {Journal of Vascular Surgery}, volume = {63}, number = {1}, year = {2016}, pages = {285-286}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Schwein2016\%20-\%20Flexible\%20robotics\%20tracking.pdf}, author = {Adeline Schwein and Kramer, B.D. and Ponraj Chinnadurai and Sean Walker and O{\textquoteright}Malley, M.K. and Alan Lumsden and Jean Bismuth} } @proceedings {1826, title = {SOM and LVQ classification of endovascular surgeons using motion-based metrics}, year = {2016}, month = {01/2016}, pages = {227-237}, abstract = {

An increase in the prevalence of endovascular surgery requires a growing number of proficient surgeons. Current endovascular surgeon evaluation techniques are subjective and time-consuming; as a result, there is a demand for an objective and automated evaluation procedure. Leveraging reliable movement metrics and tool-tip data acquisition, we here use neural network techniques such as LVQs and SOMs to identify the mapping between surgeons{\textquoteright} motion data and imposed rating scales. Using LVQs, only 50\ \% testing accuracy was achieved. SOM visualization of this inadequate generalization, however, highlights limitations of the present rating scale and sheds light upon the differences between traditional skill groupings and neural network clusters. In particular, our SOM clustering both exhibits more truthful segmentation and demonstrates which metrics are most indicative of surgeon ability, providing an outline for more rigorous evaluation strategies.

}, issn = {978-3-319-28517-7}, doi = {https://doi.org/10.1007/978-3-319-28518-4_20}, url = {https://link.springer.com/chapter/10.1007/978-3-319-28518-4_20}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WSOM_2016.pdf}, author = {Kramer, B.D. and Dylan P. Losey and Marcia K. O{\textquoteright}Malley} } @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 {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 {1480, title = {Outcomes of Recent Efforts at Rice University to Incorporate Entrepreneurship Concepts into Interdisciplinary Capstone Design}, journal = {International Journal of Engineering Education}, volume = {28}, year = {2012}, pages = {1-5}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/oden2012ijee.pdf}, author = {Z.M. Oden and O{\textquoteright}Malley, M.K. and G. Woods and T. Kraft and B. Burke} } @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 {1295, title = {Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements}, year = {2011}, month = {02/2011}, address = {Newport Beach, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1295-MMVR18-Kadivar_Z.pdf}, author = {Zahra KADIVAR and Cynthia SUNG and Zachary THOMPSON and Marcia O{\textquoteright}MALLEY and Michael LIEBSCHNER and Deng, Zhigang} } @proceedings {1478, title = {Design of a low-cost series elastic actuator for multi-robot manipulation}, year = {2011}, month = {may}, doi = {10.1109/ICRA.2011.5980534}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/campbell2011ieee.pdf}, author = {Campbell, E. and Kong, Z.C. and Hered, W. and Lynch, A.J. and O{\textquoteright}Malley, M.K. and McLurkin, J.} } @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 {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} } @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} } @inbook {1868, title = {Surgical Robotics: Innovations, Development, and Shortcomings}, booktitle = {Pumps and Pipes}, year = {2011}, pages = {33-44}, publisher = {Springer US}, organization = {Springer US}, address = {Boston, MA}, abstract = {

Robotic devices have been used in the industrial field for over 40 years, while their introduction has been slower into the medical field with many requirements driven by the nature of human tissue and safety. These surgical assistance systems provide intelligent, versatile tools that augment a physician{\textquoteright}s ability to treat patients. Steerable robotic catheters may overcome many of the limitations of standard catheter technology, enhance target vessel cannulation, and reduce instrumentation, while improving overall physician performance. External robotics allows access to a body cavity through percutaneous ports with a high precision, high magnification manipulation of tissue. Robotics-driven imaging systems enhance dynamic data acquisition and provide high speed integration, facilitating image-guided navigation and augmenting other robotic systems. A lack of haptics remains a significant safety issue.

}, isbn = {978-1-4419-6012-2}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Bismuth2011pumpspipes.pdf}, author = {Bismuth, Jean and O{\textquoteright}Malley, Marcia K.}, editor = {Davies, Mark G. and Lumsden, Alan B. and Kline, William E. and Kakadiaris, Ioannis} } @proceedings {526, title = {Effects of Force and Displacement Cues while Adapting in a Rhythmic Motor Task}, year = {2009}, pages = {32-33}, address = {Seattle, WA}, abstract = {

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

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

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

}, keywords = {catch trials, internal models, motor adaptation, Rhythmic motion}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/107-0156.pdf}, author = {Ali Israr and Hakan Kapson and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @article {101, title = {Improved Haptic Fidelity via Reduced Sampling Period with an FPGA-Based Real-Time Hardware Platform }, journal = {ASME Journal of Computing and Information Science in Engineering}, volume = {9}, number = {1}, year = {2009}, note = {
Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform
Marcia K. O{\textquoteright}Malley, Kevin S. Sevcik, and Emilie Kopp, J. Comput. Inf. Sci. Eng. 9, 011002 (2009), DOI:10.1115/1.3072904


}, month = {03/2009}, abstract = {

A haptic virtual environment is considered to be high-fidelity when the environment is perceived by the user to be realistic. For environments featuring rigid objects, perception of a high degree of realism often occurs when the free space of the simulated environment feels free and when surfaces intended to be rigid are perceived as such. Because virtual surfaces (often called virtual walls) are typically modeled as simple unilateral springs, the rigidity of the virtual surface depends on the stiffness of the spring model. For impedance-based haptic interfaces, the stiffness of the virtual surface is limited by the damping and friction inherent in the device, the sampling rate of the control loop, and the quantization of sensor data. If stiffnesses greater than the limit for a particular device are exceeded, the interaction between the human user and the virtual surface via the haptic device becomes nonpassive. We propose a computational platform that increases the sampling rate of the system, thereby increasing the maximum achievable virtual surface stiffness, and subsequently the fidelity of the rendered virtual surfaces. We describe the modification of a PHANToM Premium 1.0 commercial haptic interface to enable computation by a real-time operating system (RTOS) that utilizes a field programmable gate array (FPGA) for data acquisition between the haptic interface hardware and computer. Furthermore, we explore the performance of the FPGA serving as a standalone system for communication and computation. The RTOS system enables a sampling rate for the PHANToM that is 20 times greater than that achieved using the \“out of the box\” commercial hardware system, increasing the maximum achievable surface stiffness twofold. The FPGA platform enables sampling rates of up to 400 times greater, and stiffnesses over 6 times greater than those achieved with the commercial system. The proposed computational platforms will enable faster sampling rates for any haptic device, thereby improving the fidelity of virtual environments.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/101-JCISE\%20proof\%20FINAL\%202-09.pdf}, author = {O{\textquoteright}Malley, M.K. and Sevcik, Kevin S. and Kopp, E} } @proceedings {082211289621, title = {Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform (IMECE)}, volume = {9 PART B}, year = {2007}, note = {

Real Time Operating System (RTOS) control system;Proprietary control card;

}, pages = {1335 - 1342}, address = {Seattle, WA, United States}, abstract = {

Impedance based haptic interfaces face inherent challenges in displaying stiff virtual environments. Fidelity of a virtual environment is enhanced by stiff virtual walls combined with low damping and passive behavior of the interface. However, the stiffness of virtual walls displayed on an impedance based interface is limited by the damping inherent in the controller, the sampling rate of the control loop, and the quantization of the controller{\textquoteright}s position. Attempting to display a stiffness larger than this limiting value destroys the passivity of the interface, leading to active controller behavior and eventually closed loop instability. We propose a method of increasing the fidelity of a PHANToM Premium 1.0 commercial haptic interface by controlling it via a Field Programmable Gate Array (FPGA) both alone and with a Real Time Operating System (RTOS) control system. This custom controller enjoys several benefits over the standard control achieved via a proprietary control card in a Multitasking OS, including reduced system overhead and deterministic loop rate timing. The performance of the proposed FPGA/RTOS controller compares favorably with the performance of an FPGA/Multitasking OS controller. The FPGA/RTOS controller achieves control loop rates an order of magnitude greater than that of the proprietary controller, allowing virtual walls to be displayed with greatly increased stiffnesses, while retaining the passivity and low damping of the PHANToM interface. Copyright {\textcopyright} 2007 by ASME.

}, keywords = {Computer operating systems, Damping, Field programmable gate arrays (FPGA), Multitasking, Real time systems, Virtual reality}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/56-IMECE2007-42085.pdf}, author = {Sevcik, Kevin S. and Kopp, E and O{\textquoteright}Malley, M.K.} } @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} } @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} }