@article {9788113, title = {Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {27}, number = {4}, year = {2022}, month = {06/2022}, pages = {1829-1836}, doi = {10.1109/TMECH.2022.3175507}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Dunkelberger_TMECH_AIM.pdf}, author = {Dunkelberger, Nathan and Berning, Jeffrey and Dix, Kevin J. and Ramirez, Samuel A. and O{\textquoteright}Malley, Marcia K.} } @proceedings {2023, title = {Effect of Focus Direction and Agency on Tactile Perceptibility}, year = {2022}, publisher = {Springer International Publishing}, address = {Cham}, abstract = {

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

}, isbn = {978-3-031-06249-0}, url = {https://link.springer.com/chapter/10.1007/978-3-031-06249-0_14$\#$citeas}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/EuroHaptics_2022_Zook_Focus_Direction_And_Agency_Haptics.pdf}, author = {Zook, Zane A. and O{\textquoteright}Malley, Marcia K.}, editor = {Seifi, Hasti and Kappers, Astrid M. L. and Schneider, Oliver and Drewing, Knut and Pacchierotti, Claudio and Abbasimoshaei, Alireza and Huisman, Gijs and Kern, Thorsten A.} } @inbook {2020, title = {A Textile-Based Approach to Wearable Haptic Devices}, booktitle = {2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}, year = {2022}, doi = {10.1109/RoboSoft54090.2022.9762149}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Jumet_RoboSoft2022.pdf}, author = {Jumet, Barclay and Zook, Zane A. and Xu, Doris and Fino, Nathaniel and Rajappan, Anoop and Schara, Mark W. and Berning, Jeffrey and Escobar, Nicolas and O{\textquoteright}Malley, Marcia K. and Preston, Daniel J.} } @proceedings {2014, title = {Snaptics: Low-Cost Open-Source Hardware for Wearable Multi-Sensory Haptics}, year = {2021}, publisher = {IEEE}, address = {Montreal, QC, Canada}, doi = {10.1109/WHC49131.2021.9517172}, url = {https://ieeexplore.ieee.org/document/9517172/http://xplorestaging.ieee.org/ielx7/9517073/9517125/09517172.pdf?arnumber=9517172}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Snaptics_2021.pdf}, author = {Zook, Zane A. and Ozor-Ilo, Ozioma O. and Zook, Gabriel T. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1956, title = {A Cutaneous Haptic Cue Characterization Testbed}, year = {2019}, publisher = {IEEE}, address = {Tokyo, Japan}, doi = {10.1109/WHC.2019.8816086}, url = {https://ieeexplore.ieee.org/document/8816086/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816086.pdf?arnumber=8816086}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/A_Cutaneous_Haptic_Cue_Characterization_Testbed_smaller_0.pdf}, author = {Fleck, Joshua J. and Zook, Zane A. and Andrew Low and O{\textquoteright}Malley, Marcia K.} } @proceedings {1946, title = {Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze}, year = {2019}, publisher = {IEEE}, address = {Tokyo, Japan}, doi = {10.1109/WHC.2019.8816139}, url = {https://ieeexplore.ieee.org/document/8816139/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816139.pdf?arnumber=8816139}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Effect-Interference-Zook.pdf}, author = {Zook, Zane A. and Fleck, Joshua J. and Andrew Low and O{\textquoteright}Malley, Marcia K.} } @proceedings {1902, title = {Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery}, volume = {II}, year = {2018}, month = {June 13-16}, pages = {289-301}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

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

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/dunkelberger\%202018\%20eurohaptics\%20compressed.pdf}, author = {Dunkelberger, Nathan and Bradley, Joshua and Sullivan, Jennifer L. and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @proceedings {1901, title = {The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception}, volume = {II}, year = {2018}, month = {06/2018}, pages = {125-134}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

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

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/clark\%202018\%20eurohaptics\%20reduced.pdf}, author = {Clark, Janelle P. and Kim, Sung Y. and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @proceedings {1828, title = {A Ball and Beam Module for a Haptic Paddle Education Platform}, year = {2017}, month = {10/2017}, publisher = {ASME}, address = {Tysons, VA}, abstract = {
Single degree of freedom force-feedback mechatronic devices,\ often called haptic paddles, are used in university curriculum
as well as massive open online courses (MOOCs). While devices\ differ based on the goals of a given course, broadly speaking
they provide hands-on learning for students studying mechatronics\ and dynamics. We introduce the third iteration of the
Haptic Paddle at Rice University, which has been modified to\ improve haptic performance and robustness. The modifications
to the design increased device up time as well as the devices Z-width.\ The performance improvement enables the addition of
experimental plants to the haptic paddle base, which can be directed\ at advanced dynamics and controls courses, or special
topics in mechatronics and haptics. The first module, a Haptic\ Ball and Beam, adds an underactuated plant for teleoperation or
more complex control structures, and a testbed for haptic motor\ learning experiments in undergraduate coursework.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DSCC_BB_HP_Platform-min.pdf}, author = {Rose, Chad G. and Bucki, Nathan L. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1884, title = {On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic Device}, volume = {16}, year = {2017}, pages = {89-94}, publisher = {Springer International Publishing}, address = {Springer, Cham}, abstract = {

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

}, isbn = {978-3-319-46532-6}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/kadivar2016werob.pdf}, author = {Kadivar, Zahra and Beck, Christopher E. and Rovekamp, Roger N. and O{\textquoteright}Malley, Marcia K. and Joyce, Charles A.}, editor = {Gonz{\'a}lez-Vargas, Jos{\'e} and Ib{\'a}{\~n}ez, Jaime and Contreras-Vidal, Jose L. and van der Kooij, Herman and Pons, Jos{\'e} Luis} } @proceedings {1712, title = {Compensating position drift in Time Domain Passivity Approach based teleoperation}, year = {2014}, month = {Feb}, doi = {10.1109/HAPTICS.2014.6775454}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS2014_PositionDrift_Chawda_Press.pdf}, author = {Chawda, Vinay and Ha Van Quang and O{\textquoteright}Malley, Marcia K. and Ryu, Jee-Hwan} } @proceedings {1713, title = {Design and characterization of a haptic paddle for dynamics education}, year = {2014}, month = {Feb}, doi = {10.1109/HAPTICS.2014.6775465}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS2014_HapticPaddle_Rose_Press.pdf}, author = {Rose, Chad G. and French, James A. and O{\textquoteright}Malley, Marcia K.} } @inbook {1701, title = {Robotics as a Tool for Training and Assessment of Surgical Skill}, booktitle = {Computational Surgery and Dual Training}, year = {2014}, pages = {365-375}, publisher = {Springer New York}, organization = {Springer New York}, keywords = {Assessment, Human{\^a}{\texteuro}{\textquotedblleft}robot interaction, Manual, Performance measures, Rehabilitation robotics, Robotics, Simulators, Skill, Skill training, Surgical, Tasks, Virtual reality}, isbn = {978-1-4614-8647-3}, doi = {10.1007/978-1-4614-8648-0_24}, url = {http://dx.doi.org/10.1007/978-1-4614-8648-0_24}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/CRISP_O\%27Malley_et_al_120611updated.pdf}, author = {O{\textquoteright}Malley, Marcia K. and Celik, Ozkan and Huegel, Joel C. and Byrne, Michael D. and Bismuth, Jean and Dunkin, Brian J. and Goh, Alvin C. and Miles, Brian J.}, editor = {Garbey, Marc and Bass, Barbara Lee and Berceli, Scott and Collet, Christophe and Cerveri, Pietro} } @proceedings {1721, title = {SYSTEM CHARACTERIZATION OF MAHI EXO-II: A ROBOTIC EXOSKELETON FOR UPPER EXTREMITY REHABILITATION}, year = {2014}, publisher = {ASME}, address = {San Antonio, TX}, abstract = {
This paper presents the performance characterization of the MAHI Exo-II, an upper extremity exoskeleton for stroke and
spinal cord injury (SCI) rehabilitation, as a means to validate its clinical implementation and to provide depth to the literature on the performance characteristics of upper extremity exoskeletons. Individuals with disabilities arising from stroke and SCI need rehabilitation of the elbow, forearm, and wrist to restore the ability to independently perform activities of daily living (ADL). Robotic rehabilitation has been proposed to address the need for high intensity, long duration therapy and has shown promising results for upper limb proximal joints. However, upper limb distal joints have historically not benefitted from the same focus. The MAHI Exo-II, designed to address this shortcoming, has undergone a static and dynamic performance characterization, which shows that it exhibits the requisite qualities for a rehabilitation robot and is comparable to other state-of-the-art designs.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DSCC2014-6267.pdf}, author = {French, James A. and Rose, Chad G. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1711, title = {Tactile feedback of object slip improves performance in a grasp and hold task}, year = {2014}, month = {Feb}, doi = {10.1109/HAPTICS.2014.6775499}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS2014_SensoryFeedback_Walker_Press.pdf}, author = {Walker, Julie M. and Blank, Amy A. and Shewokis, Patricia A. and O{\textquoteright}Malley, Marcia K.} } @inbook {1700, title = {Workload and Performance Analyses with Haptic and Visually Guided Training in a Dynamic Motor Skill Task}, booktitle = {Computational Surgery and Dual Training}, year = {2014}, pages = {377-387}, publisher = {Springer New York}, organization = {Springer New York}, keywords = {force feedback, Haptics guidance, Joystick, Motor skill, performance, Skill acquisition, training, virtual environment, Workload}, isbn = {978-1-4614-8647-3}, doi = {10.1007/978-1-4614-8648-0_25}, url = {http://dx.doi.org/10.1007/978-1-4614-8648-0_25}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Huegel-NFVWTLX-CRISP.pdf}, author = {Huegel, Joel C. and O{\textquoteright}Malley, Marcia K.}, editor = {Garbey, Marc and Bass, Barbara Lee and Berceli, Scott and Collet, Christophe and Cerveri, Pietro} } @proceedings {1706, title = {System characterization of RiceWrist-S: A forearm-wrist exoskeleton for upper extremity rehabilitation}, year = {2013}, month = {June}, keywords = {Actuators, closed loop position performance, closed loop systems, distal joints, Exoskeletons, forearm rehabilitation, forearm-wrist exoskeleton, Friction, haptic interface design, Joints, medical robotics, neurological lesions, neurophysiology, Patient rehabilitation, position control, prosthetics, RiceWrist-S, robotic rehabilitation, Robots, serial mechanisms, spatial resolution, spinal cord injury, spinal cord injury rehabilitation, stroke, stroke rehabilitation, system characterization, Torque, torque output, upper extremity rehabilitation, Wrist, wrist rehabilitation}, doi = {10.1109/ICORR.2013.6650462}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pehlivan_RW-S_ICORR2013.pdf}, author = {Pehlivan, Ali Utku and Rose, Chad G. and O{\textquoteright}Malley, Marcia K.} } @inbook {1868, title = {Surgical Robotics: Innovations, Development, and Shortcomings}, booktitle = {Pumps and Pipes}, year = {2011}, pages = {33-44}, publisher = {Springer US}, organization = {Springer US}, address = {Boston, MA}, abstract = {

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

}, isbn = {978-1-4419-6012-2}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Bismuth2011pumpspipes.pdf}, author = {Bismuth, Jean and O{\textquoteright}Malley, Marcia K.}, editor = {Davies, Mark G. and Lumsden, Alan B. and Kline, William E. and Kakadiaris, Ioannis} } @proceedings {mcstravick2007im, title = {Improving Interdisciplinary Capstone Design Projects with Cooperative Learning in the Medi-Fridge Project}, year = {2007}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/mcstravick2007asee.pdf}, author = {Mcstravick, David and O{\textquoteright}Malley, Marcia K.} }