@article {pezent2023AIS, title = {Multisensory Pseudo-Haptics for Rendering Manual Interactions with Virtual Objects}, journal = {Advanced Intelligent Systems}, volume = {n/a}, number = {n/a}, year = {2023}, pages = {2200303}, abstract = {

Recent advances in extended reality (XR) technologies make seeing and hearing virtual objects commonplace, yet strategies for synthesizing haptic interactions with virtual objects continue to be limited. Two design principles govern the rendering of believable and intuitive haptic feedback: movement through open space must feel {\textquotedblleft}free{\textquotedblright} while contact with virtual objects must feel stiff. Herein, a novel multisensory approach that conveys proprioception and effort through illusory visual feedback and refers to the wrist, via a bracelet interface, discrete and continuous interaction forces that would otherwise occur at the hands and fingertips, is presented. Results demonstrate that users reliably discriminate the stiffness of virtual buttons when provided with multisensory pseudohaptic feedback, comprising tactile pseudohaptic feedback (discrete vibrotactile feedback and continuous squeeze cues in a bracelet interface) and visual pseudohaptic illusions of touch interactions. Compared to the use of tactile or visual pseudohaptic feedback alone, multisensory pseudohaptic feedback expands the range of physical stiffnesses that are intuitively associated with the rendered virtual interactions and reduces individual differences in physical-to-virtual stiffness mappings. This multisensory approach, which leaves users{\textquoteright} hands unencumbered, provides a flexible framework for synthesizing a wide array of touch-enabled interactions in XR, with great potential for enhancing user experiences.

}, keywords = {augmented reality, bracelet, haptic interaction, haptics, Virtual reality, wearables}, doi = {https://doi.org/10.1002/aisy.202200303}, url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/aisy.202200303}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Advanced\%20Intelligent\%20Systems\%20-\%202023\%20-\%20Pezent\%20-\%20Multisensory\%20Pseudo\%E2\%80\%90Haptics\%20for\%20Rendering\%20Manual\%20Interactions\%20with\%20Virtual.pdf}, author = {Pezent, Evan and Macklin, Alix and Yau, Jeffrey M. and Colonnese, Nicholas and O{\textquoteright}Malley, Marcia K.} } @article {macklin2023toh, title = {Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device}, journal = {IEEE Transactions on Haptics}, volume = {16}, number = {3}, year = {2023}, month = {July-September}, pages = {424-435}, doi = {10.1109/TOH.2023.3303838}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Macklin\%20et\%20al.\%202023.pdf}, author = {Macklin, Alix S and Yau, Jeffrey M and Fischer-Baum, Simon and O{\textquoteright}Malley, Marcia K} } @article {legeza2022eval, title = {Evaluation of Robotic-Assisted Carotid Artery Stenting in a Virtual Model Using Motion-Based Performance Metrics}, journal = {Journal of Endovascular Therapy}, year = {2022}, pages = {15266028221125592}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Legaza_JET2022.pdf}, author = {Legeza, Peter T and Lettenberger, Ahalya B and Murali, Barathwaj and Johnson, Lianne R and Berczeli, Marton and Byrne, Michael D and Britz, Gavin and O{\textquoteright}Malley, Marcia K and Lumsden, Alan B} } @proceedings {2038, title = {Measuring Torque Production with a Robotic Exoskeleton during Cervical Transcutaneous Spinal Stimulation}, year = {2022}, month = {07/2022}, publisher = {IEEE}, address = {Rotterdam, Netherlands}, doi = {10.1109/ICORR55369.2022.9896477}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR_2022_Mahan_TSS_with_MAHI_ExoII.pdf}, author = {Erin Mahan and Nathan Dunkelberger and Jeonghoon Oh and Madison Simmons and Blesson Varghese and Dimitry Sayenko and Marcia K O{\textquoteright}Malley} } @proceedings {2012, title = {Comparing Manual and Robotic-Assisted Carotid Artery Stenting Using Motion-Based Performance Metrics}, year = {2021}, month = {2021}, pages = {1388-1391}, doi = {10.1109/EMBC46164.2021.9630895}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Lettenberger_EMBC_2021_motion-based-metrics-manual-robot.pdf}, author = {Lettenberger, Ahalya B. and Murali, Barathwaj and Legeza, Peter and Byrne, Michael D. and Lumsden, Alan B. and O{\textquoteright}Malley, Marcia K.} } @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} } @article {9563066, title = {Effect of Robotic Exoskeleton Motion Constraints on Upper Limb Muscle Synergies: A Case Study}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {29}, year = {2021}, pages = {2086-2095}, doi = {10.1109/TNSRE.2021.3118591}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/McDonald_TNSRE2021.pdf}, author = {Mcdonald, Craig G. and Fregly, Benjamin J. and O{\textquoteright}Malley, Marcia K.} } @article {2002, title = {Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability with a Tactile Sleeve}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {2}, year = {2021}, month = {April-June 2021}, pages = {328-334}, doi = {10.1109/TOH.2021.3079727}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Macklin_ToH2021.pdf}, author = {Macklin, Alix S. and Yau, Jeff and O{\textquoteright}Malley, Marcia K} } @article {9141429, title = {A Multi-sensory Approach to Present Phonemes as Language through a Wearable Haptic Device}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {1}, year = {2021}, month = {Jan-Mar 2021}, pages = {188-199}, doi = {10.1109/TOH.2020.3009581}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2020_Dunkelberger_small.pdf}, author = {N. Dunkelberger and J. L. Sullivan and J. Bradley and I. Manickam and G. Dasarathy and R. G. Baraniuk and M. K. O{\textquoteright}Malley} } @article {1993, title = {The SE-AssessWrist for robot-aided assessment of wrist stiffness and range of motion: Development and experimental validation}, journal = {Journal of Rehabilitation and Assistive Technologies Engineering}, volume = {8}, year = {2021}, month = {04/2021}, pages = {2055668320985774}, abstract = {

IntroductionPhysical human-robot interaction offers a compelling platform for assessing recovery from neurological injury; however, robots currently used for assessment have typically been designed for the requirements of rehabilitation, not assessment. In this work, we present the design, control, and experimental validation of the SE-AssessWrist, which extends the capabilities of prior robotic devices to include complete wrist range of motion assessment in addition to stiffness evaluation.MethodsThe SE-AssessWrist uses a Bowden cable-based transmission in conjunction with series elastic actuation to increase device range of motion while not sacrificing torque output. Experimental validation of robot-aided wrist range of motion and stiffness assessment was carried out with five able-bodied individuals.ResultsThe SE-AssessWrist achieves the desired maximum wrist range of motion, while having sufficient position and zero force control performance for wrist biomechanical assessment. Measurements of two-degree-of-freedom wrist range of motion and stiffness envelopes revealed that the axis of greatest range of motion and least stiffness were oblique to the conventional anatomical axes, and approximately parallel to each other.ConclusionsSuch an assessment could be beneficial in the clinic, where standard clinical measures of recovery after neurological injury are subjective, labor intensive, and graded on an ordinal scale.

}, doi = {10.1177/2055668320985774}, url = {https://doi.org/10.1177/2055668320985774}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Erwin_SE-AssessWrist_press.pdf}, author = {Andrew Erwin and Craig G McDonald and Nicholas Moser and Marcia K O{\textquoteright}Malley} } @article {murali2021vel, title = {Velocity-Domain Motion Quality Measures for Surgical Performance Evaluation and Feedback}, journal = {Journal of Medical Devices}, volume = {15}, number = {1}, year = {2021}, pages = {011107}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/med_015_01_011107.pdf}, author = {Murali, Barathwaj and Belvroy, Viony M and Pandey, Shivam and Bismuth, Jean and Byrne, Michael D and O{\textquoteright}Malley, Marcia K} } @proceedings {2001, title = {Importance of Wrist Movement Direction in Performing Activities of Daily Living Efficiently}, year = {2020}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Moser2020EMBC_wrist_constrained_movement_0.pdf}, author = {Moser, Nicholas and O{\textquoteright}Malley, Marcia K and Erwin, Andrew} } @article {1969, title = {In the Fundamentals of Endovascular and Vascular Surgery model motion metrics reliably differentiate competency}, journal = {Journal of Vascular Surgery}, volume = {72}, number = {6}, year = {2020}, month = {12/2020}, pages = {2161-2165}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JVS2020_Belvroy_et_al.pdf}, author = {Viony Belvroy and Barathwaj Murali and Malachi G. Sheahan and Marcia K. O{\textquoteright}Malley and Jean Bismuth} } @article {9031340, title = {A Myoelectric Control Interface for Upper-Limb Robotic Rehabilitation Following Spinal Cord Injury}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {28}, number = {4}, year = {2020}, month = {April}, pages = {978-987}, abstract = {

Spinal cord injury (SCI) is a widespread, life-altering injury leading to impairment of sensorimotor function that, while once thought to be permanent, is now being treated with the hope of one day being able to restore function. Surface electromyography (EMG) presents an opportunity to examine and promote human engagement at the neuromuscular level, enabling new protocols for intervention that could be combined with robotic rehabilitation, particularly when robot motion or force sensing may be unusable due to the user{\textquoteright}s impairment. In this paper, a myoelectric control interface to an exoskeleton for the elbow and wrist was evaluated on a population of ten able-bodied participants and four individuals with cervical-level SCI. The ability of an EMG classifier to discern intended direction of motion in single-degree-of-freedom (DoF) and multi-DoF control modes was assessed for usability in a therapy-like setting. The classifier demonstrated high accuracy for able-bodied participants (averages over 99\% for single-DoF and near 90\% for multi-DoF), and performance in the SCI group was promising, warranting further study (averages ranging from 85\% to 95\% for single-DoF, and variable multi-DoF performance averaging around 60\%). These results are encouraging for the future use of myoelectric interfaces in robotic rehabilitation for SCI.

}, keywords = {Electromyography, injuries, Muscles, myoelectric control, pattern recognition, Rehabilitation robotics, Robot kinematics, Robot sensing systems, spinal cord injury, Wrist}, issn = {1558-0210}, doi = {10.1109/TNSRE.2020.2979743}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/TNSRE_2020_McDonald.pdf}, author = {C. G. McDonald and J. L. Sullivan and T. A. Dennis and M. K. O{\textquoteright}Malley} } @proceedings {1990, title = {Towards Automated Performance Assessment using Velocity-based Motion Quality Metrics}, year = {2020}, month = {11/2020}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ISMR_2020_Murali_et_al_FinalVersion_0.pdf}, author = {Barathwaj Murali and Viony Belvroy and Shivam Pandey and Michael D. Byrne and Jean Bismuth and Marcia K. O{\textquoteright}Malley} } @proceedings {1915, title = {A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist}, year = {2018}, month = {10/2018}, publisher = {ASME}, address = {Atlanta, GA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/EwrinDSCC2018-8963.pdf}, author = {Andrew Erwin and Nick Moser and Craig. G. McDonald and Marcia K. O{\textquoteright}Malley} } @article {1859, title = {Closure to {\textquotedblleft}A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction"}, journal = {ASME Applied Mechanics Reviews}, volume = {70}, number = {1}, year = {2018}, month = {02/2018}, abstract = {

In their discussion article on our review paper, Professors James Schmiedeler and Patrick Wensing have provided an insightful and informative perspective of the roles of intent detection, arbitration, and communication as three pillars of a framework for the implementation of shared control in physical human{\textendash}robot interaction (pHRI). The authors both have significant expertise and experience in robotics, bipedal walking, and robotic rehabilitation. Their commentary introduces commonalities between the themes of the review paper and issues in locomotion with the aid of an exoskeleton or lower-limb prostheses, and presents several important topics that warrant further exploration. These include mechanical design as it pertains to the physical coupling between human and robot, modeling the human to improve intent detection and the arbitration of control, and finite-state machines as an approach for implementation. In this closure, we provide additional thoughts and discussion of these topics as they relate to pHRI.

}, doi = {10.1115/1.4039225}, url = {http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2672398}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/amr_2018_closure.pdf}, author = {Dylan P. Losey and Craig G. McDonald and Edoardo Battaglia and Marcia K. O{\textquoteright}Malley} } @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} } @article {8304762, title = {The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, number = {3}, year = {2018}, month = {2018}, pages = {2198-2205}, abstract = {

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called "hBracelet." It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user{\textquoteright}s arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. We also present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving telepresence.

}, keywords = {Actuators, Belts, Force, Haptic interfaces, Haptics and haptic interfaces, Human-Centered Robotics, Pulleys, Robots, Skin, Telerobotics and Teleoperation, Wearable Robots}, doi = {10.1109/LRA.2018.2810958}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/meli2018ieee.pdf}, author = {L. Meli and I. Hussain and M. Aurilio and M. Malvezzi and M. O{\textquoteright}Malley and D. Prattichizzo} } @article {8305478, title = {Reflection on System Dynamics Principles Improves Student Performance in Haptic Paddle Labs}, journal = {IEEE Transactions on Education}, volume = {61}, number = {3}, year = {2018}, month = {08/2018}, pages = {245-252}, keywords = {abstract conceptualization, CE, computer aided instruction, concrete experience, educational courses, haptic devices, Haptic interfaces, haptics, lab report grades, laboratory, laboratory exercises, learning cycle, learning outcomes, low-cost educational tools, Mechanical engineering, mechanical engineering computing, mechanical engineering curricula, mechanical engineering curriculum, Mechatronics, mechatronics content, multiple student GPA quartiles, Performance evaluation, reflection, reflection phase, reflective curriculum, reflective observation, standard haptic paddle lab curriculum, standard nonreflective curriculum, Standards, student performance improvement, System dynamics, system dynamics principles, Tools, undergraduate, virtual environment rendering}, issn = {0018-9359}, doi = {10.1109/TE.2018.2804327}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose2018ieee-reflection.pdf}, author = {C. G. Rose and C. G. McDonald and J. P. Clark and M. K. O{\textquoteright}Malley} } @article {1858, title = {A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction}, journal = {ASME Applied Mechanics Reviews}, volume = {70}, number = {1}, year = {2018}, month = {02/2018}, abstract = {

As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of robotics in healthcare, where we find telerobotic devices in the operating room facilitating dexterous surgical procedures, exoskeletons in the rehabilitation domain as walking aids and upper-limb movement assist devices, and even robotic limbs that are physically integrated with amputees who seek to restore their independence and mobility. In each of these scenarios, the physical coupling between human and robot, often termed physical human robot interaction (pHRI), facilitates new human performance capabilities and creates an opportunity to explore the sharing of task execution and control between humans and robots. In this review, we provide a unifying view of human and robot sharing task execution in scenarios where collaboration and cooperation between the two entities are necessary, and where the physical coupling of human and robot is a vital aspect. We define three key themes that emerge in these shared control scenarios, namely, intent detection, arbitration, and feedback. First, we explore methods for how the coupled pHRI system can detect what the human is trying to do, and how the physical coupling itself can be leveraged to detect intent. Second, once the human intent is known, we explore techniques for sharing and modulating control of the coupled system between robot and human operator. Finally, we survey methods for informing the human operator of the state of the coupled system, or the characteristics of the environment with which the pHRI system is interacting. At the conclusion of the survey, we present two case studies that exemplify shared control in pHRI systems, and specifically highlight the approaches used for the three key themes of intent detection, arbitration, and feedback for applications of upper limb robotic rehabilitation and haptic feedback from a robotic prosthesis for the upper limb.

}, doi = {DOI: 10.1115/1.4039145}, url = {http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2671581}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/amr_2018_review.pdf}, author = {Dylan P. Losey and Craig G. McDonald and Edoardo Battaglia and Marcia K. O{\textquoteright}Malley} } @proceedings {1885, title = {A Cable-based Series Elastic Actuator with Conduit Sensor for Wearable Exoskeletons}, year = {2017}, month = {05/2017}, publisher = {IEEE}, address = {Singapore}, keywords = {actuation system design, Actuators, cable tension control, cable tension measurement, cable-based series elastic actuator, cable-conduit transmission, cables (mechanical), compliance control, compliant force sensor, conduit sensor, DC motor, DC motors, deflection measurement, dynamic effect, Exoskeletons, Feedback, flexible cable conduit transmission, Force, Force control, force sensors, full wearable exosuit, gearbox, Hall effect sensors, Hall effect transducers, human arm, human-robot interaction, Impedance, Magnetic flux, physical assistance, robot dynamics, Robots, series elastic force sensor, soft exosuit, soft wearable exoskeleton, springs (mechanical), translational steel compression spring, transmission conduit, user interface, virtual impedance, wearable robotic device}, doi = {10.1109/ICRA.2017.7989790}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/blumenschein2017ieee.pdf}, author = {L. H. Blumenschein and C. G. McDonald and M. K. O{\textquoteright}Malley} } @proceedings {1823, title = {Characterization of Surface Electromyography Patterns of Healthy and Incomplete Spinal Cord Injury Subjects Interacting with an Upper-Extremity Exoskeleton}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

Rehabilitation exoskeletons may make use of myoelectric control to restore in patients with significant motor impairment following a spinal cord injury (SCI) a sense of volitional control over their limb - a crucial component for recovery of movement. Little investigation has been done into the feasibility of using surface electromyography (sEMG) as an exoskeleton control interface for SCI patients, whose impairment manifests in a highly variable way across the patient population. We have demonstrated that by using only a small subset of features extracted from eight bipolar electrodes recording on the upper arm and forearm muscles, we can achieve high predictive accuracy for the intended direction of motion. Five healthy subjects and two SCI subjects performed voluntary isometric contractions while wearing an exoskeleton for the wrist and elbow joints, generating six distinct single and multi-DoF motions in a total of sixteen possible directions. Using linear discriminant analysis, classification performance was then evaluated using randomly selected holdout test data from the same recording session. Commonalities across subjects, both healthy and SCI, were analyzed at the levels of selected features and the values of commonly selected features. Future work will be to investigate group-specific classification of SCI subjects{\textquoteright} intended movements for use in the real-time control of a rehabilitation exoskeleton.

}, issn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009240}, url = {http://ieeexplore.ieee.org/abstract/document/8009240/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcdonald_2017_characterization.pdf}, author = {McDonald, Craig G and Dennis, Troy A and O{\textquoteright}Malley, Marcia K} } @proceedings {1923, title = {Combining functional electrical stimulation and a powered exoskeleton to control elbow flexion}, year = {2017}, month = {11/2017}, pages = {87-88}, keywords = {Elbow, elbow flexion, Exoskeletons, extension trajectory, functional electrical stimulation, hybrid FES, hybrid system, Iron, medical robotics, Muscles, neuromuscular stimulation, Patient rehabilitation, robotic exoskeleton system, Robots, Torque, Trajectory, upper-limb paralysis}, doi = {10.1109/WEROB.2017.8383860}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Wolf2017werob.pdf}, author = {D. Wolf and N. Dunkelberger and C. G. McDonald and K. Rudy and C. Beck and M. K. O{\textquoteright}Malley and E. Schearer} } @proceedings {1813, title = {A bio-inspired algorithm for identifying unknown kinematics from a discrete set of candidate models by using collision detection}, year = {2016}, pages = {418-423}, abstract = {

Many robots are composed of interchangeable modular components, each of which can be independently controlled, and collectively can be disassembled and reassembled into new configurations. When assembling these modules into an open kinematic chain, there are some discrete choices dictated by the module geometry; for example, the order in which the modules are placed, the axis of rotation of each module with respect to the previous module, and/or the overall shape of the assembled robot. Although it might be straightforward for a human user to provide this information, there is also a practical benefit in the robot autonomously identifying these unknown, discrete forward kinematics. To date, a variety of techniques have been proposed to identify unknown kinematics; however, these methods cannot be directly applied during situations where we seek to identify the correct model amid a discrete set of options. In this paper, we introduce a method specifically for finding discrete robot kinematics, which relies on collision detection, and is inspired by the biological concepts of body schema and evolutionary algorithms. Under the proposed method, the robot maintains a population of possible models, stochastically identifies a motion which best distinguishes those models, and then performs that motion while checking for a collision. Models which correctly predicted whether a collision would occur produce candidate models for the next iteration. Using this algorithm during simulations with a Baxter robot, we were able to correctly determine the order of the links in 84\% of trials while exploring around 0.01\% of all possible models, and we were able to correctly determine the axes of rotation in 94\% of trials while exploring \< 0.1\% of all possible models.

}, isbn = {978-1-5090-3287-7}, issn = {978-1-5090-3287-7}, doi = {10.1109/BIOROB.2016.7523663}, url = {http://ieeexplore.ieee.org/abstract/document/7523663/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/BioRob_2016_Algorithm.pdf}, author = {Dylan P. Losey and C. G. McDonald and Marcia K. O{\textquoteright}Malley} } @article {1829, title = {A Time-Domain Approach To Control Of Series Elastic Actuators: Adaptive Torque And Passivity-Based Impedance Control}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {21}, number = {4}, year = {2016}, pages = {2085 - 2096}, abstract = {

Robots are increasingly designed to physically interact with humans in unstructured environments, and as such must operate both accurately and safely. Leveraging compliant actuation, typically in the form of series elastic actuators (SEAs), can guarantee this required level of safety. To date, a number of frequency-domain techniques have been proposed which yield effective SEA torque and impedance control; however, these methods are accompanied by undesirable stability constraints. In this paper, we instead focus on a time-domain approach to the control of SEAs, and adapt two existing control techniques for SEA platforms. First, a model reference adaptive controller is developed, which requires no prior knowledge of system parameters and can specify desired closed-loop torque characteristics. Second, the time-domain passivity approach is modified to control desired impedances in a manner that temporarily allows the SEA to passively render impedances greater than the actuator{\textquoteright}s intrinsic stiffness. This approach also provides conditions for passivity when augmenting any stable SEA torque controller with an arbitrary impedance. The resultant techniques are experimentally validated on a custom prototype SEA.

}, issn = {1083-4435}, doi = {10.1109/TMECH.2016.2557727}, url = {http://ieeexplore.ieee.org/abstract/document/7457670/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Losey_TMECH.pdf}, author = {Dylan P. Losey and Andrew Erwin and Craig G. McDonald and Fabrizio Sergi and Marcia K. O{\textquoteright}Malley} } @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} } @proceedings {1842, title = {Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks}, year = {2015}, publisher = {IEEE}, address = {Singapore}, doi = { 10.1109/ICORR.2015.7281200}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR15_0190_MS_0.pdf}, author = {Rose, Chad G. and Sergi, Fabrizio and Yun, Youngmok and Madden, Kaci and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @proceedings {1766, title = {Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators}, year = {2015}, month = {09/2015}, pages = {1646-1651}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Mehling2015\%20-\%20Leveraging\%20DOB\%20SEAs.pdf}, author = {Mehling, J.S. and James Holley and O{\textquoteright}Malley, M.K.} } @proceedings {1751, title = { A model matching framework for the synthesis of series elastic actuator impedance control}, year = {2014}, month = {06/2014}, pages = {249-254}, publisher = {IEEE}, address = {Palermo}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Mehling2014\%20-\%20Model\%20matching\%20framework\%20SEA.pdf}, author = {Mehling, J.S. and O{\textquoteright}Malley, M.K.} } @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} } @proceedings {1704, title = {Modeling Basic Aspects of Cyber-Physical Systems, Part II}, year = {2013}, address = {Tokyo, Japan}, abstract = {
We continue to consider the question of what
language features are needed to effectively model cyber-physical
systems (CPS). In previous work, we proposed using a core
language as a way to study this question, and showed how
several basic aspects of CPS can be modeled clearly in a
language with a small set of constructs. This paper reports
on the result of our analysis of two, more complex, case studies
from the domain of rigid body dynamics. The first one, a
quadcopter, illustrates that previously proposed core language
can support larger, more interesting systems than previously
shown. The second one, a serial robot, provides a concrete
example of why we should add language support for static
partial derivatives, namely that it would significantly improve
the way models of rigid body dynamics can be expressed.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/paper\%20\%285\%29.pdf}, author = {Yingfu Zeng and Rose, Chad G. and Paul Branner and Walid Taha and Jawad Masood and Roland Philippsen and Marcia K. O{\textquoteright}Malley and Robert Cartwright} } @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 {mathequations, title = {Mathematical Equations as Executable Models of Mechanical Systems}, year = {2010}, abstract = {

Cyber-physical systems comprise digital components that directly interact with a physical environment. Specifying the behavior desired of such systems requires analytical modeling of physical phenomena. Similarly, testing them requires simulation of continuous systems. While numerous tools support later stages of developing simulation codes, there is still a large gap between analytical modeling and building running simulators. This gap significantly impedes the ability of scientists and engineers to develop novel cyber-physical systems. We propose bridging this gap by automating the mapping from analytical models to simulation codes. Focusing on mechanical systems as an important class of models of physical systems, we study the form of analytical models that arise in this domain, along with the process by which domain experts map them to executable codes. We show that the key steps needed to automate this mapping are 1) a light-weight analysis to partially direct equations, 2) a binding-time analysis, and 3) an efficient implementation of symbolic differentiation. As such, our work pinpoints and highlights a number of limitations in the state of the art in tool support of simulation, and shows how some of these limitations can be overcome.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/zhu2010ieee.pdf}, author = {Angela Yun Zhu and Edwin Westbrook and Jun Inoue and Alexandre Chapoutot and Cherif Salama and Marisa Peralta and Travis Martin and Walid Taha and Robert Cartwright and O{\textquoteright}Malley, M.K.} } @proceedings {mcstravick2007im, title = {Improving Interdisciplinary Capstone Design Projects with Cooperative Learning in the Medi-Fridge Project}, year = {2007}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcstravick2007asee.pdf}, author = {Mcstravick, David and O{\textquoteright}Malley, Marcia K.} } @proceedings {072310640904, title = {Experimental system identification of force reflecting hand controller}, year = {2006}, note = {

Manipulator design;Environmental impedance;Sinusoidal sweep torque input;

}, pages = {9 -}, address = {Chicago, IL, United States}, abstract = {

This paper describes the combined time and frequency domain identification of the first three degrees-of-freedom (DOF) of a six degree-of-freedom force reflecting hand controller (FRHC). The FRHC is used to teleoperate Robonaut, a humanoid robotic assistant developed by NASA, via a bilateral teleoperation architecture. Three of the six DOF of the FRHC are independently identified due to the decoupled nature of the manipulator design. The frequency response for each axis is acquired by coupling a known environmental impedance to the joint axis and then applying a sinusoidal sweep torque input. Several data sets are averaged in the frequency domain to obtain an averaged frequency response. A coherence analysis is then performed and data with low coherence values are ignored for subsequent analysis and model fitting. The paper describes the use of coherence data to ensure acceptable model fits for transfer function estimation. Results of the identification experiments are presented, including implications of assumptions of decoupling and linearity. In addition, frequency and time domain validations for each axis model are performed using data sets excluded from the parameter estimation, with strong correlation. Copyright {\textcopyright} 2006 by ASME.

}, keywords = {Degrees of freedom (mechanics), Force measurement, Frequency domain analysis, Identification (control systems), Remote control, Robotics}, author = {Zumbado, Fernando and McJunkin, Samuel and O{\textquoteright}Malley, M.K.} } @proceedings {8529772, title = {Human-machine admittance and transparency adaptation in passive user interaction with a haptic interface}, year = {2005}, note = {

human-machine admittance;transparency adaptation;passive user interaction;haptic interface;force amplitude;passive user induced interactions;event-based haptic interactions;virtual environments;force amplitudes;transparency bandwidth;

}, month = {03/2005}, pages = {283 - 9}, address = {Pisa, Italy}, abstract = {

This paper addresses human adaptation to changes in coupling impedance and force amplitude during passive user induced (PUI) interactions with a haptic interface. PUI interactions are characterized as event-based haptic interactions or haptic recordings that are replayed to the user. In the study, virtual environments are displayed to passive users with variable coupling stiffness and force amplitudes, and transparency bandwidth and human-machine admittance are measured. Results indicate that transparency bandwidth and the human-machine admittance do not change significantly for permutations of force amplitudes and coupling impedances, nor do they vary significantly across users. The reason for this invariance is that, during a PUI interaction, users tend approach a similar displacement profile. As a result, all users will have similar apparent admittance and transparency. The findings give sufficient justification for the use of universal compensators that improve transparency bandwidth, and that can be designed based solely on a priori transparency measurements for a typical user

}, keywords = {Haptic interfaces, Human computer interaction, Manipulators, Virtual reality}, doi = {10.1109/WHC.2005.76}, url = {http://www2.computer.org/portal/web/csdl/doi/10.1109/WHC.2005.76}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/64-00\%20-\%20Human-machine\%20admittance\%20and\%20transparency\%20adaptation\%20in\%20passive\%20user\%20interaction\%20with\%20-\%20mcjunk.pdf}, author = {McJunkin, Samuel and Yanfang Li and O{\textquoteright}Malley, M.K.} } @proceedings {06169823659, title = {Transparency extension in haptic interfaces via adaptive dynamics cancellation}, volume = {74 DSC}, number = {2 PART B}, year = {2005}, note = {

Transparency extension;Robotic manipulators;Transparency transfer function (TTF);Model cancellation techniques;

}, pages = {1581 - 1587}, address = {Orlando, FL, United States}, abstract = {

Haptic interfaces are a class of robotic manipulators that display force feedback to enhance the realism of virtual environment displays. However, these manipulators often fail to effectively replicate the real world environment due to dynamic limitations of the manipulator itself. The ratio of the simulated to transmitted environment impedance is defined as the transparency transfer function (TTF), and can be used to quantify the effectiveness of a haptic device in displaying the simulated environment. The TTF is ideally equal to one for the bandwidth of human proprioception. In this work, a method is presented that increases TTF bandwidth via cancellation of dynamics with an adaptive model. This adaptive model is based on the kinematics and dynamics of a PHANToM haptic interface with assumed joint stiffness and damping added. The Lagrangian of the PHANToM is reformulated into a regressor matrix containing the state variables multiplied by a parameter vector. A least-squares approach is used to estimate the parameter vector by assuming that errors in force output are due to the manipulator dynamics. The parameter estimate is then used in the original model to provide a feed-forward cancellation of the manipulator dynamics. Software simulation using data from passive user interactions shows that the model cancellation technique improves bandwidth up to 35 Hz versus 7 Hz without compensation. Finally, this method has a distinct advantage when compared with other compensation methodsfor haptic interactions because it does not rely on linear assumptions near a particular operating point and will adapt to capture unmodeled features. Copyright {\textcopyright} 2005 by ASME.

}, keywords = {Adaptive control systems, Computer simulation, Linear systems, Manipulators, Mathematical models, Transfer functions}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcjunkin2005asme.pdf}, author = {McJunkin, Samuel and Speich, John E. and O{\textquoteright}Malley, M.K.} } @proceedings {05359336514, title = {Transparency of a phantom premium haptic interface for active and passive human interaction}, volume = {5}, year = {2005}, note = {

Active user induced (AUI);Phantom manipulators;Human operators;

}, pages = {3060 - 3065}, address = {Portland, OR, United States}, abstract = {

This paper compares two methods for determining the transparency bandwidth of an impedance based haptic interface with a Phantom 1.0A haptic device. Active user induced (AUI) interaction tests, where the system excitation is generated by a human user, show that transparency bandwidth is limited to approximately 2 Hz. Passive user induced (PUI) interaction tests, where the system excitation is generated by the haptic device with a passive human operator, show that bandwidth can extend up to 50 Hz. Experimental results show that the apparent bandwidth limitations for the AUI interaction tests are dependent on the human user{\textquoteright}s inability to excite higher frequencies. Consequently, this measurement approach is insufficient for determining system bandwidth of the human operator-haptic interface system. Furthermore, data seem to indicate that there is no appreciable difference in the ability of the Phantom manipulator to display environmental impedances in either AUI or PUI interactions regardless of the user. {\textcopyright} 2005 AACC.

}, keywords = {Acoustic impedance, Bandwidth, Manipulators}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/60-Full\%20Text.pdf}, author = {McJunkin, Samuel and O{\textquoteright}Malley, M.K. and Speich, John E.} } @proceedings {06169823803, title = {Virtual lab for system identification of an electromechanical system}, volume = {74 DSC}, number = {1 PART A}, year = {2005}, note = {

Virtual instrument (vi);Identification laboratory;Virtual Lab (VL);

}, pages = {705 - 712}, address = {Orlando, FL, United States}, abstract = {

A stand-alone virtual instrument (vi) has been developed to augment an experimental system identification laboratory exercise in a required mechanical engineering course on system dynamics. The Virtual Lab (VL) was used productively as a post-lab exercise in conjunction with an existing laboratory experiment for system identification. The VL can be formatted as a standalone file, which the students can download and access at their convenience, without the need for LabVIEW software. The virtual lab presented in this paper used the experimental identification of a transfer function for an xy recorder developed at Rose-Hulman Institute of Technology. In the original Rose-Hulman experiment, students view a video of the acquisition of frequency response data for an X-Y recorder. Then, students complete a detailed optimization procedure using Microsoft Excel in order to determine system parameters for two transfer function models. This paper describes using the Virtual Lab to extend the original lab exercise into an interactive mode. The students complete the Microsoft Excel part of the exercise, but then repeat the optimization using brute force via the LabVIEW based VL developed by the authors, rather than using the optimization toolbox in Excel. With the VL, students can see in real-time the effects of each unknown parameter on the frequency response plot, thus providing additional insight into the relationships between these parameters and the behavior of the electromechanical system. This feature is notably absent in the Microsoft Excel portion of the exercise. Although this exercise uses simple dynamic models, the combination of Excel and LabVIEW approaches provide an insightful introduction to experimental system identification. In this paper, details of the VL are presented, including the functionality of the VL and methodologies for disseminating the VL as a stand-alone piece of software. Finally some assessment results for the original (Excel version) and VL methods of presenting the laboratory exercise are discussed. Copyright {\textcopyright} 2005 by ASME.

}, keywords = {Computer software, Data acquisition, Mathematical models, Mechanical engineering, Real time systems, Students}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005asme.pdf}, author = {O{\textquoteright}Malley, M.K. and David M. McStravick} } @proceedings {04448428417, title = {Virtual labs in the engineering curriculum}, year = {2004}, note = {

Engineering curriculum;Real-time parametric changes;Graphical interfaces;Virtual labs;

}, pages = {15293 - 15304}, address = {Salt Lake City, UT, United States}, abstract = {

Computer simulations have been developed for use as student exercises to illustrate concepts required for various engineering courses. These simulations or Virtual Labs are highly graphical and interactive to help undergraduate students understand basic concepts by graphically solving problems and by visualization of real-time parametric changes. These Virtual Labs (or VL{\textquoteright}s) can be used productively in conjunction with existing laboratory experiments as pre-lab exercises, but the more important benefit is realized in cases of concepts that have no experimental support and in courses that traditionally do not have an associated laboratory course. These VL{\textquoteright}s are generated in the software package Lab VIEW, which offers graphical interfaces for the student and can be formatted as standalone files, which the students can download and access at their convenience, without the need for Lab VIEW software. Currently five VL{\textquoteright}s have been generated and several have been evaluated by students in appropriate classes.

}, keywords = {Computer programming languages, Computer simulation, Curricula, Data reduction, Graphic methods, Students, Visualization}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcstravick2004asee.pdf}, author = {David M. McStravick and O{\textquoteright}Malley, M.K.} } @proceedings {70, title = {Simulated Bilateral Teleoperation of Robonaut}, year = {2003}, address = {Long Beach, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/70-PV2003_6272.pdf}, author = {O{\textquoteright}Malley, M.K. and Kelsey J. Hughes and D. F. Magruder and Robert O. Ambrose} }