@article {1815, title = {Quantitative testing of fMRI-compatibility of an electrically active mechatronic device for robot-assisted sensorimotor protocols}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {65}, number = {7}, year = {2018}, pages = {1595-1606}, doi = {10.1109/TBME.2017.2741346}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8012485\&tag=1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Farrens2018\%20-\%20Quantitative\%20testing\%20fMRI-comp.pdf}, author = {Farrens, A.J. and Zonnino, A. and Erwin,Andrew and O{\textquoteright}Malley, M.K. and Johnson, C.L. and Ress, D. and Fabrizio Sergi} } @proceedings {1811, title = {The Effect of Robot Dynamics on Smoothness during Wrist Pointing}, year = {2017}, month = {08/2017}, publisher = {IEEE}, address = {London, England}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Erwin2017\%20-\%20Robot\%20impacts\%20movements.pdf}, author = {Erwin,Andrew and Pezent,Evan and Bradley,Joshua and O{\textquoteright}Malley, M.K.} } @proceedings {1816, title = {Improving robotic stroke rehabilitation by incorporating neural intent detection: Preliminary results from a clinical trial}, year = {2017}, month = {07/2018}, publisher = {IEEE}, address = {London, UK}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sullivan_ICORR\%202017_BMI\%20Exo.pdf}, author = {Sullivan, J.L. and Bhagat, N.A. and Yozbatiran, N. and Paranjape, R. and Losey, C.G. and Grossman, R.G. and Contreras-Vidal, J.L. and Francisco, G.E. and O{\textquoteright}Malley, M.K.} } @article {1809, title = {Kinesthetic feedback during 2DOF wrist movements via a novel MR-compatible robot}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {25}, number = {9}, year = {2017}, pages = {1489-1499}, doi = {10.1109/TNSRE.2016.2634585}, url = {http://ieeexplore.ieee.org/document/7763863/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Erwin2017\%20-\%20MR\%20SoftWrist_0.pdf}, author = {Erwin,Andrew and O{\textquoteright}Malley, M.K. and Ress, D. and Fabrizio Sergi} } @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} } @article {1768, title = {Smoothness of surgical tool tip motion correlates to skill in endovascular tasks}, journal = {IEEE Transactions on Human Machine Systems}, volume = {46}, number = {5}, year = {2016}, pages = {647-659}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/J23Estrada_press.pdf}, author = {Estrada, S. and Duran, C. and Schulz, D. and Bismuth, J. and Byrne, M.D. and O{\textquoteright}Malley, M.K.} } @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 {1752, title = {Design of a parallel-group balanced controlled trial to test the effects of assist-as-needed robotic therapy}, year = {2015}, month = {08/2015}, address = {Singapore}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi2015\%20-\%20Design\%20parallel\%20group\%20AAN\%20therapy.pdf}, author = {Sergi, F. and Pehlivan, A.U. and Fitle, K. and Nedley, K. and Yozbatiran, Nuray and Francisco,Gerard E. and O{\textquoteright}Malley, M.K.} } @proceedings {1756, title = {Development, control, and MRI-compatibility of the MR-SoftWrist}, year = {2015}, month = {08/2015}, pages = {187-192}, publisher = {IEEE}, address = {Singapore}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Erwin2015\%20-\%20MR\%20SoftWrist.pdf}, author = {Erwin,Andrew and O{\textquoteright}Malley, M.K. and Ress, D. and Fabrizio Sergi} } @article {1761, title = {An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback}, journal = {Journal of Neuroengineering and Rehabilitation}, volume = {12}, year = {2015}, doi = {10.1186/s12984-015-0098-1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Brown2015\%20-\%20Grip\%20force\%20regulation.pdf}, author = {J.D. Brown and A. Paek and M. Syed and O{\textquoteright}Malley, M.K. and P.A. Shewokis and J.L. Contreras-Vidal and R.B. Gillespie and A.J. Davis} } @article {1760, title = {An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization}, journal = {International Journal of Robotics Research}, volume = {34}, number = {14}, year = {2015}, pages = {1747-1772}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Agarwal2015\%20-\%20Index\%20finger\%20exo.pdf}, author = {Priyanshu Agarwal and Jonas Fox and Youngmok Yun and O{\textquoteright}Malley, M.K. and Ashish D. Deshpande} } @proceedings {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.} } @article {1764, title = {A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces}, journal = {ASME Journal of Dynamic Systems, Measurement, and Control }, volume = {137}, number = {2}, year = {2015}, doi = {10.1115/1.4028526}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Chawda2015\%20-\%20Selecting\%20cutoff\%20frequency.pdf}, author = {Chawda, Vinay and Ozkan Celik and O{\textquoteright}Malley, M.K.} } @article {1762, title = {The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the competent endovascular surgeon}, journal = {Journal of Vascular Surgery}, volume = {62}, number = {6}, year = {2015}, pages = {1660-1666}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/2015_JVS_Duran_press.pdf}, author = {Cassidy Duran and Sean Estrada and O{\textquoteright}Malley, M.K. and Malachi Sheahan and Murray Shames and Jason T Lee and Jean Bismuth} } @proceedings {1754, title = {Proportional sEMG based robotic assistance in an isolated wrist movement}, year = {2015}, month = {10/2015}, address = {Columbus, Ohio}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Atz2015\%20-\%20sEMG\%20based\%20robotic\%20assistance.pdf}, author = {Artz, E.J. and Blank, Amy A. and O{\textquoteright}Malley, M.K.} } @proceedings {1753, title = {A robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury}, year = {2015}, month = {05/2015}, address = {Seattle, Washington}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Fitle2015\%20-\%20Robotic\%20exo\%20for\%20UL\%20rehab\%20after\%20iSCI.pdf}, author = {Fitle, K. and Pehlivan, A.U. and O{\textquoteright}Malley, M.K.} } @proceedings {1767, title = {The role of auxiliary and referred haptic feedback in myoelectric control}, year = {2015}, month = {06/2015}, pages = {13-18}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Treadway2015\%20-\%20Haptic\%20feedback\%20myoelectric\%20control.pdf}, author = {Treadway, Emma and Gillespie, B and Bolger, D. and Blank, A. and O{\textquoteright}Malley, M.K. and Davis, A.} } @article {1763, title = {On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity}, journal = {Mechatronics}, volume = {26}, year = {2015}, pages = {64-75}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi2015\%20-\%20SEA\%20high\%20stiffness.pdf}, author = {Sergi, Fabrizio and O{\textquoteright}Malley, M.K.} } @article {1695, title = {Identifying Successful Motor Task Completion via Motion-Based Performance Metrics}, journal = {Human-Machine Systems, IEEE Transactions on}, volume = {44}, year = {2014}, pages = {139-145}, keywords = {Accelerometers, human{\textendash}computer interaction, motion analysis}, doi = {10.1109/THMS.2013.2290129}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/O\%27Malley_et_al_IEEE_Trans_HMS_PRESS.pdf}, author = {O{\textquoteright}Malley, M.K. and Purkayastha, S.N. and Howie, N. and Byrne, M.D.} } @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.} } @article {1718, title = {Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays}, year = {2014}, keywords = {adaptive control, Communication channels, Delay effects, delay systems, delays, Force, Force measurement, Ports (Computers), robust stability, Synchronization, telerobotics, time-varying systems}, doi = {10.1109/TMECH.2014.2317946}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/TMECH_Chawda2014_press.pdf}, author = {Chawda, V. and O{\textquoteright}Malley, M.K.} } @proceedings {1705, title = {Adaptive control of a serial-in-parallel robotic rehabilitation device}, year = {2013}, month = {June}, keywords = {absolute error performance, Adaptation models, adaptive control, closed form dynamic model, control system synthesis, Equations, Feedback, feedback gain, forearm rehabilitation, generalized coordinates, Manipulators, Mathematical model, medical robotics, model-based adaptive controller implementation, movement-based wrist, neurological injuries, Patient rehabilitation, RiceWrist, Robot kinematics, sensorimotor training, serial-in-parallel robot rehabilitation mechanism, serial-in-parallel robotic rehabilitation device, Trajectory, trajectory control, trajectory tracking performance, upper extremity robotic rehabilitation, Vectors}, doi = {10.1109/ICORR.2013.6650412}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pehlivan_AAN_ICORR2013.pdf}, author = {Pehlivan, A.U. and Sergi, F. and O{\textquoteright}Malley, M.K.} } @article {6197239, title = {Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {18}, number = {2}, year = {2013}, pages = {812-817}, keywords = {Acceleration, Accelerometer-based displacement sensing, Accelerometers, Accuracy, artificial proprioception, differential accelerometers, displacement measurement, double integrator, feedforward, feedforward control, frequency domain system identification, high resolution optical encoder, kinesthetic illusions, parametric transfer function model, prosthetics, real-time dynamic displacement sensing, Sensors, speaker-based tendon vibrator control, tendon vibrator, Tendons, Transfer functions, vibration control, Vibrations}, issn = {1083-4435}, doi = {10.1109/TMECH.2012.2195326}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Celik_Gilbert_O\%27Malley_TMECH2013.pdf}, author = {Celik, O. and Gilbert, H.B. and O{\textquoteright}Malley, M.K.} } @article {1696, title = {Human-Scale Motion Capture with an Accelerometer-Based Gaming Controller}, journal = {Journal of Robotics and Mechatronics}, volume = {25}, number = {3}, year = {2013}, month = {03/2013}, pages = {458-465}, chapter = {458}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRM_PRESS_Purkayastha-et-al_2013.pdf}, author = {Purkayastha, Sagar N and Byrne, Michael D and O{\textquoteright}Malley, M.K.} } @proceedings {1471, title = {On the Correlation between Motion Data Captured from Low-Cost Gaming Controller and High Precision Encoders}, year = {2012}, month = {8/2012}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/EMBS2012_FINAL_Purkayastha.pdf}, author = {S.N. Purkayastha and M.D. Byrne and O{\textquoteright}Malley, M.K.} } @proceedings {1472, title = {Mechanical Design of RiceWrist-S: a Forearm-Wrist Exoskeleton for Stroke and Spinal Cord Injury Rehabilitation}, year = {2012}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/BIOROB_2012_Pehlivan_press.pdf}, author = {A.U. Pehlivan and S. Lee and O{\textquoteright}Malley, M.K.} } @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 {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 {1476, title = {Effect of Progressive Visual Error Amplification on Human Motor Adaptation}, year = {2011}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR11_Sung-O\%27Malley-PRESS.pdf}, author = {C. Sung and O{\textquoteright}Malley, M.K.} } @proceedings {1049, title = {Efficacy of Shared-Control Guidance Paradigms for Robot-Mediated Training}, year = {2011}, address = {Istanbul, Turkey}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1049-HAP11_0064_FI.pdf}, author = {Powell, Dane and O{\textquoteright}Malley, M.K.} } @proceedings {1475, title = {Motor Skill Acquisition in a Virtual Gaming Environment}, year = {2011}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/howie2011hfes.pdf}, author = {N. Howie and S.N. Purkayastha and M.D. Byrne and O{\textquoteright}Malley, M.K.} } @proceedings {1474, title = {A Neuromuscular Elbow Model for Analysis of Force and Movement Variability in Slow Movements}, year = {2011}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/celik2011ieee.pdf}, author = {O. Celik and O{\textquoteright}Malley, M.K.} } @proceedings {1477, title = {Rate of human motor adaptation under varying system dynamics}, year = {2011}, month = {june}, doi = {10.1109/WHC.2011.5945480}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ahmetcan2011haptics.pdf}, author = {Erdogan, A. and Israr, A. and O{\textquoteright}Malley, M.K. and Patoglu, V.} } @article {1079, title = {Vision-Based Force Sensing for Nanomanipulation}, journal = {IEEE /ASME Transactions on Mechatronics}, year = {2011}, type = {Journal Article}, abstract = {A vision-based algorithm for estimating tip interaction forces on a deflected Atomic Force Microscope (AFM) cantilever is described. Specifically, we propose that the algorithm can estimate forces acting on an Atomic Force Microscope (AFM) cantilever being used as a nanomanipulator inside a Scanning Electron Microscope (SEM). The vision based force sensor can provide force feedback in real-time, a feature absent in many SEMs. A methodology based on cantilever slope detection is used to estimate the forces acting on the cantilever tip. The technique was tested on a scaled model of the nanoscale AFM cantilever and verified using theoretical estimates as well as direct strain measurements. Artificial SEM noise was introduced in the macroscale images to characterize our sensor under varying levels of noise and other SEM effects. Prior knowledge about the cantilever is not required, and the algorithm runs independent of human input. The method is shown to be effective under varying noise levels, and demonstrates improving performance as magnification levels are decreased. Therefore, we conclude that the vision-based force sensing algorithm is best suited for continuous operation of the SEM, fast scanning rates, and large fields-of-view associated with low magnification levels.}, issn = {1083-4435 }, doi = {10.1109/TMECH.2010.2093535}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5692832}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1079-05692832.pdf}, author = {Vinay Chawda and O{\textquoteright}Malley, M.K.} } @proceedings {899, title = {Analysis and comparison of low cost gaming controllers for motion analysis}, year = {2010}, month = {07/2010}, address = {Montreal, Canada}, abstract = {

Gaming controllers are attractive devices for research due to their onboard sensing capabilities and low cost. However, a proper quantitative analysis regarding their suitability for motion capture has yet to be conducted. In this paper, a detailed analysis of the sensors of two of these controllers, the Nintendo Wiimote and the Sony Playstation 3 Sixaxis is presented. The acceleration data from the sensors were plotted and compared with computed acceleration data derived from a high resolution encoder, then correlated to determine the performance of the gaming controllers. The results show high correlation between the acceleration data of the sensors and the computed acceleration, and more consistency in the sensors of the Sixaxis. The applications of the findings are discussed with respect to potential research ventures.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/899-AIM\%20final\%20conference\%20version.pdf}, author = {Purkayastha, Sagar N and Eckenstein, Nick and Byrne, Michael D and O{\textquoteright}Malley, M.K.} } @proceedings {773, title = {Co-presentation of Force Cues for Skill Transfer via Shared-control Systems}, year = {2010}, abstract = {

During training and rehabilitation with haptic devices, it is often necessary to simultaneously present force cues arising from different haptic models (such as guidance cues and environmental forces). Multiple force cues are typically summed to produce a single output force, which conveys only relative information about the original force cues and may not be useful to trainees. Two force copresentation paradigms are proposed as potential solutions to this problem: temporal separation of force cues, where one type of force is overlaid with the other in staggered pulses, and spatial separation, where the forces are presented via multiple haptic devices. A generalized model for separating task and guidance forces in a virtual environment is also proposed. In a pilot study where sixteen participants were trained in a dynamic target-hitting task using these co-presentation paradigms, simple summation was in fact most effective at eliciting skill transfer in most respects. Spatial separation imposed the lowest overall workload on participants, however, and might thus be more appropriate than summation in tasks with other significant physical or mental demands. Temporal separation was relatively inferior at eliciting skill transfer, but it is hypothesized that this paradigm would have performed considerably better in a non-rhythmic task, and the need for further research is indicated.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/773-Submission.pdf}, author = {Powell, Dane and O{\textquoteright}Malley, M.K.} } @proceedings {5444681, title = {Discrimination of consonant articulation location by tactile stimulation of the forearm}, year = {2010}, month = {25-26}, pages = {47 -54}, keywords = {consonant articulation location, dorsal forearm skin, Haptic interfaces, localized vibrations map, psychology, speech, speech processing, spoken consonants, tactile cues, tactile sensors, tactile stimulation, touch (physiological)}, doi = {10.1109/HAPTIC.2010.5444681}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS10_Wong-Israr-O\%27Malley.pdf}, author = {Wong, E.Y. and Ali Israr and O{\textquoteright}Malley, M.K.} } @article {917, title = {Incorporating simulation in vascular surgery education}, journal = {Journal of vascular surgery : official publication, the Society for Vascular Surgery [and] International Society for Cardiovascular Surgery, North American Chapter}, year = {2010}, month = {2010/08/05}, pages = { - }, publisher = {Mosby-Year Book}, isbn = {0741-5214}, url = {http://linkinghub.elsevier.com/retrieve/pii/S0741521410013054?showall=true}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/bismuth2010jvascsurg.pdf}, author = {Jean Bismuth and Michael A. Donovan and O{\textquoteright}Malley, M.K. and Hosam F. El Sayed and Joseph J. Naoum and Eric K. Peden and Mark G. Davies and Alan B. Lumsden} } @proceedings {912, title = {Long-term double integration of acceleration for position sensing and frequency domain system identification}, year = {2010}, address = {Montr{\'e}al, Canada}, abstract = {

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

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/912-Gilbert2010AIM.pdf}, author = {Gilbert, Hunter B and Ozkan Celik and O{\textquoteright}Malley, M.K.} } @proceedings {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.} } @article {911, title = {Normalized movement quality measures for therapeutic robots strongly correlate with clinical motor impairment measures}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {18}, number = {4}, year = {2010}, pages = {433-444}, abstract = {In this paper, we analyze the correlations between four clinical measures (Fugl{\textendash}Meyer upper extremity scale, Motor Activity Log, Action Research Arm Test, and Jebsen-Taylor Hand Function Test) and four robotic measures (smoothness of movement, trajectory error, average number of target hits per minute, and mean tangential speed), used to assess motor recovery. Data were gathered as part of a hybrid robotic and traditional upper extremity rehabilitation program for nine stroke patients. Smoothness of movement and trajectory error, temporally and spatially normalized measures of movement quality defined for point-to-point movements, were found to have significant moderate to strong correlations with all four of the clinical measures. The strong correlations suggest that smoothness of movement and trajectory error may be used to compare outcomes of different rehabilitation protocols and devices effectively, provide improved resolution for tracking patient progress compared to only pre- and post-treatment measurements, enable accurate adaptation of therapy based on patient progress, and deliver immediate and useful feedback to the patient and therapist.}, url = {http://dx.doi.org/10.1109/TNSRE.2010.2047600}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/911-Celik2010TNSRE.pdf}, author = {Ozkan Celik and O{\textquoteright}Malley, M.K. and Boake, Corwin and H.S. Levin and Yozbatiran, Nuray and Reistetter, Timothy} } @proceedings {1746, title = {Progressive haptic and visual guidance for training in a virtual dynamic task}, year = {2010}, month = {March}, keywords = {Design engineering, dynamic motor skill, Error correction, expertise-based performance measures, Feedback, Fixtures, Haptic interfaces, haptic virtual environment, input frequency, Mechatronics, Performance analysis, progressive guidance controller, progressive haptic guidance, progressive visual guidance, Protocols, Rehabilitation robotics, skill component measures, target-hitting task, training protocol, trajectory error, virtual dynamic task, virtual environment, Virtual reality, visual guidance scheme}, doi = {10.1109/HAPTIC.2010.5444632}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Huegel2010HS.pdf}, author = {Huegel, J.C. and O{\textquoteright}Malley, M.K.} } @proceedings {111, title = {Compact and low-cost tendon vibrator for inducing proprioceptive illusions}, year = {2009}, month = {03/2009}, publisher = {IEEE}, address = {Salt Lake City, Utah}, abstract = {

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

}, keywords = {artificial proprioception, proprioceptive illusions, tendon vibration}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/111-Celik2009WHC.pdf}, author = {Ozkan Celik and O{\textquoteright}Malley, M.K. and Brent Gillespie and Shewokis, Patricia A. and Contreras-Vidal, Jose Luis} } @proceedings {290, title = {Designing and Implementation of a Tactile Respiratory Management System}, year = {2009}, month = {03/2009}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/290-HSEMB_Abstract_final.pdf}, author = {Dillon P. Eng and Ali Israr and O{\textquoteright}Malley, M.K.} } @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 {856, title = {Expertise-Based Performance Measures in a Virtual Training Environment}, journal = {Presence}, volume = {18}, year = {2009}, note = {doi: 10.1162/pres.18.6.449}, month = {2009/12/01}, pages = {449 - 467}, publisher = {MIT Press}, abstract = {

This paper introduces and validates quantitative performance measures for a rhythmic target-hitting task. These performance measures are derived from a detailed analysis of human performance during a month-long training experiment where participants learned to operate a 2-DOF haptic interface in a virtual environment to execute a manual control task. The motivation for the analysis presented in this paper is to determine measures of participant performance that capture the key skills of the task. This analysis of performance indicates that two quantitative measures{\textemdash}trajectory error and input frequency{\textemdash}capture the key skills of the target-hitting task, as the results show a strong correlation between the performance measures and the task objective of maximizing target hits. The performance trends were further explored by grouping the participants based on expertise and examining trends during training in terms of these measures. In future work, these measures will be used as inputs to a haptic guidance scheme that adjusts its control gains based on a real-time assessment of human performance of the task. Such guidance schemes will be incorporated into virtual training environments for humans to develop manual skills for domains such as surgery, physical therapy, and sports.

}, isbn = {1054-7460}, url = {http://dx.doi.org/10.1162/pres.18.6.449}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/856-Huegel2009Presence.pdf}, author = {Joel C. Huegel and Ozkan Celik and Ali Israr and O{\textquoteright}Malley, M.K.} } @proceedings {529, title = {Impact of visual error augmentation methods on task performance and motor adaptation}, year = {2009}, pages = {793-798}, abstract = {

We hypothesized that augmenting the visual error feedback provided to subjects training in a point-to-point reaching task under visual distortion would improve the amount and speed of adaptation. Previous studies showing that human learning is error-driven and that visual error augmentation can improve the rate at which subjects decrease their trajectory error in such a task provided the motivation for our study. In a controlled experiment, subjects were required to perform point-to- point reaching movements in the presence of a rotational visual distortion. The amount and speed of their adaptation to this distortion were calculated based on two performance measures: trajectory error and hit time. We tested how three methods of error augmentation (error amplification, traditional error offsetting, and progressive error offsetting) affected the amount and speed of adaptation, and additionally propose definitions for {\textquotedblleft}amount{\textquotedblright} and {\textquotedblleft}speed{\textquotedblright} of adaptation in an absolute sense that are more practical than definitions used in previous studies. It is concluded that traditional error offsetting promotes the fastest learning, while error amplification promotes the most complete learning. Progressive error offsetting, a novel method, resulted in slower training than the control group, but we hypothesize that it could be improved with further tuning and indicate a need for further study of this method. These results have implications for improvement in motor skill learning across many fields, including rehabilitation after stroke, surgical training, and teleoperation.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/529-Celik2009ICORRpublished.pdf}, author = {Ozkan Celik and Powell, Dane and O{\textquoteright}Malley, M.K.} } @proceedings {920, title = {Implementing Haptic Feedback Environments from High-level Descriptions}, year = {2009}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/zhu2009shoes.pdf}, author = {Angela Yun Zhu and Jun Inoue and Marisa Peralta and Walid Taha and O{\textquoteright}Malley, M.K. and Powell, Dane} } @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 {674, title = {Intermittency of slow arm movements increases in distal direction}, year = {2009}, pages = {4499-4504}, address = {St. Louis, MO}, abstract = {

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

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/674-Celik2009IROS.pdf}, author = {Ozkan Celik and Gu, Qin and Deng, Zhigang and O{\textquoteright}Malley, M.K.} } @proceedings {108, title = {A Low Cost Vibrotactile Array to Manage Respiratory Motion}, year = {2009}, month = {03/2009}, publisher = {IEEE}, address = {Salt Lake city, Utah}, abstract = {

We present a tactile Respiratory Management System (tRMS) to manage and control breathing patterns of cancer patients undergoing radiation therapy. The system comprises of an array of small vibrating motors and a control box that supplies power to and provides a control interface for up to twelve motors through the parallel port of a standard personal computer. The vibrotactile array can be fastened along the forearm, arm, thigh, leg or abdomen in any configuration using Velcro and fabric wraps. All motors are operated in a binary fashion, i.e. on or off, with quick response time and perceivable vibration magnitudes. The tRMS system is inexpensive and portable, providing spatiotemporal variations in tactile cues to regulate respiratory motion during radiotherapy. The system will also be used in future psychophysical studies to determine effective use of tactile cues to control human motor actions.

}, keywords = {Tactile feedback, vibrotactile array}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/108-0236.pdf}, author = {Ali Israr and Dillon P. Eng and Sastry S. Vedam and O{\textquoteright}Malley, M.K.} } @proceedings {528, title = {Movement intermittency and variability in human arm movements}, year = {2009}, pages = {30-31}, address = {Seattle, WA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/528-Celik2009RSS_workshop_abstract.pdf}, author = {Ozkan Celik and Gu, Qin and Deng, Zhigang and O{\textquoteright}Malley, M.K.} } @article {103, title = {Negative Efficacy of Fixed Gain Error Reducing Shared Control for Training in Virtual Environments}, journal = {ACM Transactions on Applied Perception}, volume = {6}, number = {1}, year = {2009}, month = {01/2009}, abstract = {

Virtual reality with haptic feedback provides a safe and versatile practice medium for many manual control tasks. Haptic guidance has been shown to improve performance of manual control tasks in virtual environments; however, the efficacy of haptic guidance for training in virtual environments has not been studied conclusively. This article presents experimental results that show negative efficacy of haptic guidance during training in virtual environments. The haptic guidance in this study is a fixed-gain error-reducing shared controller, with the control effort overlaid on the dynamics of the manual control task during training. Performance of the target-hitting manual control task in the absence of guidance is compared for three training protocols. One protocol contained no haptic guidance and represented virtual practice. Two protocols utilized haptic guidance, varying the duration of exposure to guidance during the training sessions. Exposure to the fixed-gain error-reducing shared controller had a detrimental effect on performance of the target-hitting task at the conclusion of a month-long training protocol, regardless of duration of exposure. While the shared controller was designed with knowledge of the task and an intuitive sense of the motions required to achieve good performance, the results indicate that the acquisition of motor skill is a complex phenomenon that is not aided with haptic guidance during training as implemented in this experiment.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/103-Li-Patoglu-O\%27Malley_TAP_6\%281\%29_2009FINAL.pdf}, author = {Yanfang Li and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @article {102, title = {Passive and Active Discrimination of Natural Frequency of Virtual Dynamic System}, journal = {IEEE Transactions on Haptics}, volume = {2}, number = {1}, year = {2009}, month = {02/2009}, pages = {40-51}, doi = {10.1109/TOH.2008.21}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/102-Israr-Li-Patoglu-O\%27Malley_IEEEToH_2\%281\%29_2009FINAL.pdf}, author = {Ali Israr and Yanfang Li and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {109, title = {Progressive shared control for training in virtual environments}, year = {2009}, month = {03/2009}, pages = {332-337}, publisher = {IEEE}, address = {Salt Lake City, UT, USA}, keywords = {Haptic interface, performance, shared control, training}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/109-LiPSC-WHC.pdf}, author = {Yanfang Li and Joel C. Huegel and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {530, title = {Validation of a smooth movement model for a human reaching task}, year = {2009}, pages = {799-804}, abstract = {

This paper presents the experiment design, results, and analysis of a human user study that tests and validates the minimum hand jerk (MHJ) model for a human forearm reaching movement task when manipulating a multi-mass object. This work validates and extends prior work that demonstrated the MHJ criteria, a mathematical approach to human movement modeling, more accurately represents movements with multi-mass objects than the alternate optimally smooth transport (OST) model. To validate the prior work, we developed a visual and haptic virtual environment with a five-mass system with friction connected by springs and viscous dampers. The point to point reaching task we implemented required participants to move their hand with the set of masses to a target position, thereby generating movement profiles for analysis. Our experimental design uniquely extends the application of the MHJ criteria to forearm pronation movements and our results show that the MHJ model holds. Our extension to forearm movements and the more general MHJ criteria are economic models of human movements applicable to fields such as computer animation and virtual environments.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/530-Huegel2009ICORRpublished.pdf}, author = {Joel C. Huegel and Lynch, Andrew and O{\textquoteright}Malley, M.K.} } @proceedings {110, title = {Visual Versus Haptic Progressive Guidance For Training In A Virtual Dynamic Task}, year = {2009}, month = {03/2009}, publisher = {IEEE}, address = {Salt Lake City, UT, USA}, keywords = {Haptic interface, training, virtual environment}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/110-Huegel-ProgDemo-WHC.pdf}, author = {Joel C. Huegel and O{\textquoteright}Malley, M.K.} } @proceedings {celik_comparison, title = {Comparison of robotic and clinical motor function improvement measures for sub-acute stroke patients}, year = {2008}, pages = {2477{\textendash}2482}, address = {Pasadena, CA}, abstract = {

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

}, keywords = {robotic rehabilitation}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/74-CelikICRA2008.pdf}, author = {Ozkan Celik and O{\textquoteright}Malley, M.K. and Boake, Corwin and H.S. Levin and Fischer, Steven and Reistetter, Timothy} } @article {080611080561, title = {Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training}, journal = {International Journal of Robotics Research}, volume = {27}, number = {2}, year = {2008}, note = {

Feedback wrist exoskeleton;Neurological injuries;

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

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

}, keywords = {Control systems, Degrees of freedom (mechanics), Feedback, Neurology, Physical therapy, Systems analysis}, url = {http://dx.doi.org/10.1177/0278364907084261}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/48-IJRR-Feb-2008-small.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu and Burgar, Charles} } @inbook {105, title = {Haptic Interfaces}, booktitle = {HCI: Beyond the GUI}, year = {2008}, pages = {25-74}, publisher = {Morgan-Kaufman Publisher}, organization = {Morgan-Kaufman Publisher}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/105-Kortum02Gupta-O\%27Malley.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {9872945, title = {Passive and active kinesthetic perception just-noticeable-difference for natural frequency of virtual dynamic systems}, year = {2008}, note = {

active kinesthetic perception;passive kinesthetic perception;just-noticeable-difference;virtual second order dynamic systems;degree-of-freedom haptic device;haptic sensory feedback;virtual resonance task;visual feedback;

}, month = {03/2008}, pages = {25 - 31}, publisher = {IEEE}, address = {Reno, NE, USA}, abstract = {

This paper investigates the just-noticeable-difference (JND) for natural frequency of virtual second order dynamic systems. Using a one degree-of-freedom haptic device, visual and/or haptic sensory feedback were presented during interactions with the system. Participants were instructed to either perceive passively or actively excite the system in order to discriminate natural frequencies. The JND for this virtual resonance task ranged from 3.99 \% to 6.96 \% for reference frequencies of 1 Hz and 2 Hz. Results show that sensory feedback has a significant effect on JND in passive perception, with combined visual and haptic feedback enabling the best discrimination performance. In active perception, there is no significant difference on JND with haptic and combined visual and haptic feedback. There is also no significant difference between active perception and passive perception for this JND experiment. The presentation of systems with equivalent natural frequencies but different spring stiffness resulted in no large bias toward larger stiffness and no significant difference in JND for equivalent systems. This finding indicates that human participants do not discriminate natural frequency based on the maximum force magnitude perceived, as indicated by prior studies.

}, keywords = {Haptic interfaces, visual perception}, issn = {978-1-4244-2005-6}, doi = {10.1109/HAPTICS.2008.4479908}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4479908}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/58-HapticSymposium2008_Li.pdf}, author = {Yanfang Li and Ali Israr and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {082211289622, title = {Disturbance observer based closed loop force control for haptic feedback}, volume = {9 PART B}, year = {2007}, note = {

Disturbance observer;Haptic feedback;Pseudostatic interactions;

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

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

}, keywords = {Computer simulation, Force control, Haptic interfaces, Robotics, Robustness (control systems)}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/50-gupta-imece07.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu} } @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.} } @inbook {104, title = {Principles of human-machine interfaces and interactions}, booktitle = {Life Science Automation: Fundamentals and Applications}, year = {2007}, pages = {101-125}, publisher = {Artech House Publishers}, organization = {Artech House Publishers}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2007lifescienceauto.pdf}, author = {O{\textquoteright}Malley, M.K.} } @inbook {106, title = {Robotic Exoskeletons for Upper Extremity Rehabilitation}, booktitle = {Rehabilitation Robotics}, year = {2007}, pages = {371-396}, publisher = {I-Tech Education and Publishing}, organization = {I-Tech Education and Publishing}, address = {Vienna, Austria}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/106-robotic_exoskeletons_Gupta_O\%27Malley.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @proceedings {073510787453, title = {Towards just noticeable differences for natural frequency of manually excited virtual dynamic systems}, year = {2007}, note = {

Graphical displays;Virtual mass spring systems;Dynamic properties;

}, month = {03/2007}, pages = {569 - 570}, publisher = {IEEE}, address = {Tsukuba, Japan}, abstract = {

This paper explores the experiment design to determine a human{\textquoteright}s ability to discriminate the natural frequency of manually excited virtual dynamic systems. We use a one degree-of-freedom haptic interface with a coupled graphical display to render a virtual mass-spring system, which is excited by the human operator using his/her dominant hand. The results from the preliminary experiment indicate a JND value of approximately 8\%. However, results also indicate that excitation strategies have a significant effect on the discrimination threshold determination of this dynamic property. In this paper, along with a discussion of the preliminary results, a refined experiment design that accounts for different factors influencing the discrimination of manually excited natural frequency is presented. {\textcopyright} 2007 IEEE.

}, keywords = {Display devices, Dynamical systems, Natural frequencies}, doi = {10.1109/WHC.2007.118}, url = {http://dx.doi.org/10.1109/WHC.2007.118}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/59-00\%20-\%20Towards\%20Just\%20Noticeable\%20Differences\%20for\%20Natural\%20Frequency\%20of\%20Manually\%20Excited\%20Virtual\%20Dynamic\%20Systems.pdf}, author = {Yanfang Li and Volkan Patoglu and Huang, Deborah and O{\textquoteright}Malley, M.K.} } @proceedings {064610244127, title = {Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course}, year = {2006}, note = {

Electromechanical systems;LabVIEW graphical programming languages;

}, pages = {147 - 152}, address = {Alexandria, VA, United States}, abstract = {

This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. {\textcopyright} 2006 IEEE.

}, keywords = {Computer hardware, Curricula, Dynamic programming, Interactive computer systems, Virtual reality}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/35-getPDF.pdf}, author = {Kevin Bowen and O{\textquoteright}Malley, M.K.} } @article {14, title = {Assessing and Inducing Neuroplasticity with TMS and Robotics}, journal = {Archives of Physical Medicine and Rehabilitation, Supplement 2 / Neuroplasticity and Brain Imaging Research: Implications for Rehabilitation}, volume = {87(12)}, year = {2006}, pages = {59-66}, url = {http://linkinghub.elsevier.com/retrieve/pii/S0003999306012792}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/14-PIIS0003999306012792.pdf}, author = {O{\textquoteright}Malley, M.K. and T. Ro and H.S. Levin} } @article {071210493824, title = {Design of a haptic arm exoskeleton for training and rehabilitation}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {11}, number = {3}, year = {2006}, note = {

Arm exoskeletons;Apparent inertia;Design methodology;

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

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

}, keywords = {Damping, Degrees of freedom (mechanics), Joints (anatomy), Patient rehabilitation, Robot applications, Sensory perception, Stiffness}, url = {http://dx.doi.org/10.1109/TMECH.2006.875558}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/47-IEEEASME_HapticArmExoskeleton.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @proceedings {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 {075210997323, title = {Haptic Interfaces for a LabVIEW-based System Dynamics Course}, year = {2006}, note = {

Labview;Course content;Laboratory exercises;Haptic paddles;

}, address = {Chicago, IL, United States}, abstract = {

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. The paper will present some details of the laboratory components, and preliminary assessment of learning outcomes using this laboratory series compared to more traditional modular labs used in prior years. {\textcopyright} American Society for Engineering Education, 2006.

}, keywords = {Computer programming languages, Electromechanical devices, Engineering education, Learning systems, Mechanical engineering, Students, Virtual reality}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/36-ASEE2006-paper-O\%27Malley\%20session\%201526.pdf}, author = {Kevin Bowen and O{\textquoteright}Malley, M.K.} } @proceedings {sledd_perf_2006, title = {Performance Enhancement of a Haptic Arm Exoskeleton}, year = {2006}, pages = {375{\textemdash}381}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/68-SleddOMalleyHAPTICS06final.pdf}, author = {Alan Sledd and O{\textquoteright}Malley, M.K.} } @proceedings {072310640980, title = {The RiceWrist: A distal upper extremity rehabilitation robot for stroke therapy}, year = {2006}, note = {

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

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

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

}, keywords = {Degrees of freedom (mechanics), Graphical user interfaces, Human rehabilitation equipment, Patient treatment}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/46-00\%20-\%20IMECE2006-16103-O\%27Malley.pdf}, author = {O{\textquoteright}Malley, M.K. and Alan Sledd and Abhishek Gupta and Volkan Patoglu and Joel C. Huegel and Burgar, Charles} } @proceedings {li_shared_2006, title = {Shared Control for Training in Virtual Environments: Learning Through Demonstration?}, year = {2006}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/73-00\%20-\%20Li_Patoglu_OMalley_Eurohaptics06.pdf}, author = {Yanfang Li and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @article {06199869875, title = {Shared control in haptic systems for performance enhancement and training}, journal = {Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME}, volume = {128}, number = {1}, year = {2006}, note = {

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

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

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

}, keywords = {Control equipment, Damping, Data reduction, Haptic interfaces, Robotics, Robots}, issn = {0022-0434}, doi = {10.1115/1.2168160 }, url = {http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal\&id=JDSMAA000128000001000075000001\&idtype=cvips\&gifs=yes}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/52-00\%20-\%20JDSMC\%20Shared\%20control.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta and Gen, Matthew and Yanfang Li} } @article {71, title = {A Study of Perceptual Performance in Haptic Virtual Environments}, journal = {Journal of Robotics and Mechatronics}, volume = {18(4)}, year = {2006}, pages = {467-475}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/71-Rb18-4-2617.pdf}, author = {O{\textquoteright}Malley, M.K. and Gina Upperman} } @proceedings {072310640927, title = {Vision based force sensing for nanorobotic manipulation}, year = {2006}, note = {

Nanomanipulation;Nanoassembly;

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

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

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

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

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1162/105474605323384690}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005teleop.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {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 {omalley_sh_2005, title = {Shared control for upper extremity rehabilitation in virtual environments}, year = {2005}, month = {11/2015}, pages = {pp 1673-1681}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005asmeshared.pdf}, author = {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 {04278244649, title = {Comparison of human haptic size discrimination performance in simulated environments with varying levels of force and stiffness}, year = {2004}, note = {

Size discrimination experiments;Machine quality;Haptic devices;

}, pages = {169 - 175}, address = {Chicago, IL, United States}, abstract = {

The performance levels of human subjects in size discrimination experiments in virtual environments with varying levels of stiffness and force saturation are presented. The virtual environments are displayed with a Phantom desktop three degree-of-freedom haptic interface. Performance was measured at below maximum machine performance levels for two machine parameters: maximum endpoint force and maximum virtual surface stiffness. The tabulated scores for the size discrimination in the sub-optimal virtual environments, except for those of the lowest stiffness, 100 N/m, were found to be comparable to that in the highest-quality virtual environment. This supports previous claims that haptic interface hardware may be able to convey, for this perceptual task, sufficient perceptual information to the user with relatively low levels of machine quality in terms of these parameters, as long as certain minimum levels, 1.0 N force and 220 N/m stiffness, are met.

}, keywords = {Computer simulation, Computer software, Degrees of freedom (mechanics), Feedback, Haptic interfaces, Human engineering, Stiffness}, url = {http://dx.doi.org/10.1109/HAPTIC.2004.1287193}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/upperman2004haptics.pdf}, author = {Gina Upperman and Suzuki, Atsushi and O{\textquoteright}Malley, M.K.} } @proceedings {04278244642, title = {Cooperative manipulation between humans and teleoperated agents}, year = {2004}, note = {

Robonauts;Haptic feedback;Cooperative manipulation;

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

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

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

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

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

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

}, keywords = {Actuators, Bandwidth, Damping, Degrees of freedom (mechanics), Friction, Human computer interaction, Kinematics, Robotic arms, Robots, Sensors, Stiffness}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/gupta2004asme.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @article {04338307919, title = {The effect of virtual surface stiffness on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {9}, number = {2}, year = {2004}, note = {

Virtual surface stiffness;Haptic perception;Design specifications;Haptic interface hardware;

}, pages = {448 - 454}, abstract = {

This brief presents a quantitative study of the effects of virtual surface stiffness in a simulated haptic environment on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross section ridges. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum level of virtual surface stiffness in the simulation increases. Further, test subjects appeared to reach a limit in their perception capabilities at maximum stiffness levels of 300 to 400 N/m, while the hardware was capable of 1000 N/m of maximum virtual surface stiffness. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of virtual surface stiffness. \© 2004 IEEE.

}, keywords = {Computer aided design, Computer hardware, Computer simulation, Degrees of freedom (mechanics), Manipulators, Object recognition, Sensory perception, Specifications, Stiffness, Surface properties, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2004.828625}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/44-09tmech02omalley-print.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {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.} } @article {03507772035, title = {Haptic feedback applications for robonaut}, journal = {Industrial Robot}, volume = {30}, number = {6}, year = {2003}, note = {Haptic feedback;Humanoid robot;Teleoperator;}, pages = {531 - 542}, abstract = {

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA{\textquoteright}s Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot{\textquoteright}s workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

}, keywords = {Computer control systems, Feedback control, Haptic interfaces, Robotics, Space applications, Telecontrol equipment}, url = {http://dx.doi.org/10.1108/01439910310506800}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IndustrialRobotO\%27Malley-Ambrose2003.pdf}, author = {O{\textquoteright}Malley, M.K. and Robert O. Ambrose} } @proceedings {7780496, title = {Passive and active assistance for human performance of a simulated underactuated dynamic task}, year = {2003}, note = {

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

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

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

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2003.1191308}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003HAPTICS.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {1191334, title = {Simplified authoring of 3D haptic content for the World Wide Web}, year = {2003}, month = {03/2003}, pages = {428-429}, keywords = {authoring systems, Haptic interface, Internet, Internet browser, modeling language, programming, scripting, three-dimensional content, three-dimensional haptic scenes, virtual reality languages 3D haptic content authoring, VRML, Web page}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/161-getPDF.pdf}, author = {O{\textquoteright}Malley, M.K. and Shannon Hughes} } @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} } @proceedings {7971173, title = {Skill transfer in a simulated underactuated dynamic task}, year = {2003}, note = {

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

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

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

}, keywords = {computer based training, Haptic interfaces, learning (artificial intelligence), Virtual reality}, url = {http://dx.doi.org/10.1109/ROMAN.2003.1251864}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003ieeeskilltrans.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @article {02427145860, title = {The effect of force saturation on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {7}, number = {3}, year = {2002}, note = {Force saturation effect;Haptic perception;Force feedback;}, pages = {280 - 288}, abstract = {

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

}, keywords = {Computer control systems, Computer simulation, Feedback control, Haptic interfaces, Identification (control systems), Nonlinear control systems, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2002.802725}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {7379354, title = {The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces}, volume = {vol.2}, year = {2002}, note = {

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

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

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

}, keywords = {delays, Haptic interfaces, human factors, Virtual reality}, url = {http://dx.doi.org/10.1109/ROBOT.2002.1014715}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeesurfacestiffness.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} }