@article {JUMET2023100059, title = {Fluidically programmed wearable haptic textiles}, journal = {Device}, year = {2023}, pages = {100059}, abstract = {

Summary Haptic feedback offers a useful mode of communication in visually or auditorily noisy environments. The adoption of haptic devices in our everyday lives, however, remains limited, motivating research on haptic wearables constructed from materials that enable comfortable and lightweight form factors. Textiles, a material class fitting these needs and already ubiquitous in clothing, have begun to be used in haptics, but reliance on arrays of electromechanical controllers detracts from the benefits that textiles offer. Here, we mitigate the requirement for bulky hardware by developing a class of wearable haptic textiles capable of delivering high-resolution information on the basis of embedded fluidic programming. The designs of these haptic textiles enable tailorable amplitudinal, spatial, and temporal control. Combining these capabilities, we demonstrate wearables that deliver spatiotemporal cues in four directions with an average user accuracy of 87\%. Subsequent demonstrations of washability, repairability, and utility for navigational tasks exemplify the capabilities of our approach.

}, keywords = {analog control, fluidic control, haptic sleeve, human-machine interaction, human-robot interaction, Navigation, point force, smart textiles, spatiotemporal haptics, tactile cues}, issn = {2666-9986}, doi = {https://doi.org/10.1016/j.device.2023.100059}, url = {https://www.sciencedirect.com/science/article/pii/S2666998623000832}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DeviceJumet2023.pdf}, author = {Barclay Jumet and Zane A. Zook and Anas Yousaf and Anoop Rajappan and Doris Xu and Te Faye Yap and Nathaniel Fino and Zhen Liu and Marcia K. O{\textquoteright}Malley and Daniel J. Preston} } @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 {2057, title = {Explorations of wrist haptic feedback for AR/VR interactions with Tasbi}, year = {2022}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pezent_CHI_2022.pdf}, author = {Pezent, Evan and Gupta, Aakar and Duhaime, Hank and O{\textquoteright}Malley, Marcia and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nick} } @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.} } @article {yousaf2021design, title = {Design and Characterization of a Passive Instrumented Hand}, journal = {ASME Letters in Dynamic Systems and Control}, volume = {1}, number = {1}, year = {2021}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ALDSC-19-1082-1_Two_Col.pdf}, author = {Yousaf, Saad N and Joshi, Victoria S and Britt, John E and Rose, Chad G and O{\textquoteright}Malley, Marcia K} } @proceedings {britt2021emg, title = {Electromyographic Classification to Control the SPAR Glove}, volume = {54}, number = {20}, year = {2021}, pages = {244{\textendash}250}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Britt_MECC_IFAC_2021.pdf}, author = {Britt, John E and O{\textquoteright}Malley, Marcia K and Rose, Chad G} } @article {kadivar2021, title = {Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury}, journal = {Journal of Rehabilitation and Assistive Technologies Engineering}, volume = {8}, year = {2021}, pages = {20556683211002448}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Kadivar_Armstrong.pdf}, author = {Kadivar, Zahra and Beck, Christopher E and Rovekamp, Roger N and O{\textquoteright}Malley, Marcia K} } @proceedings {1978, title = {Explorations of Wrist Haptic Feedback for AR/VR Interactions with Tasbi}, year = {2020}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, keywords = {bracelet, haptics, multisensory, Virtual reality, wearables}, isbn = {9781450368193}, doi = {10.1145/3334480.3383151}, url = {https://doi.org/10.1145/3334480.3383151}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tasbi_chi2020_20200216_compressed.pdf}, author = {Pezent, Evan and O{\textquoteright}Malley, Marcia K. and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nicholas} } @proceedings {1962, title = {Design and Characterization of a Passive Instrumented Hand}, year = {2019}, month = {10/2019}, doi = {https://doi.org/10.1115/DSCC2019-9082}, url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59148/V001T05A007/1070466?searchresult=1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Instrumented_Hand_DSCC_Revised-compressed.pdf}, author = {Yousaf, Saad N and Joshi, Victoria S and Britt, John E and Rose, Chad G and O{\textquoteright}Malley, Marcia K} } @article {rose2018hybrid, title = {A Hybrid Rigid-Soft Hand Exoskeleton to Assist Functional Dexterity}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, number = {1}, year = {2019}, month = {01/2019}, pages = {73-80}, issn = {2377-3766}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose2018RA-L.pdf}, author = {Rose, Chad and O{\textquoteright}Malley, Marcia} } @proceedings {1945, title = {Tasbi: Multisensory Squeeze and Vibrotactile Wrist Haptics for Augmented and Virtual Reality}, year = {2019}, month = {July}, keywords = {augmented reality, computing interfaces, fully immerse users, hand interactions, Haptic interfaces, multisensory haptic wristband, multisensory squeeze, pseudohaptic effects, purely normal squeeze forces, sensory substitution device, Skin, Tactile feedback, Tasbi device, vibrotactile feedback, vibrotactile wrist haptics, virtual button, Virtual reality, virtual world, visual information, wearable devices}, doi = {10.1109/WHC.2019.8816098}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tasbi_whc2019.pdf}, author = {E. Pezent and A. Israr and M. Samad and S. Robinson and P. Agarwal and H. Benko and N. Colonnese} } @article {rose2018wrist, title = {Assessing Wrist Movement With Robotic Devices}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {26}, number = {8}, year = {2018}, pages = {1585{\textendash}1595}, abstract = {

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

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/rose2018ieee-wrist.pdf}, author = {Rose, Chad G and Pezent, Evan and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @proceedings {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} } @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} } @article {8305478, title = {Reflection on System Dynamics Principles Improves Student Performance in Haptic Paddle Labs}, journal = {IEEE Transactions on Education}, volume = {61}, number = {3}, year = {2018}, month = {08/2018}, pages = {245-252}, keywords = {abstract conceptualization, CE, computer aided instruction, concrete experience, educational courses, haptic devices, Haptic interfaces, haptics, lab report grades, laboratory, laboratory exercises, learning cycle, learning outcomes, low-cost educational tools, Mechanical engineering, mechanical engineering computing, mechanical engineering curricula, mechanical engineering curriculum, Mechatronics, mechatronics content, multiple student GPA quartiles, Performance evaluation, reflection, reflection phase, reflective curriculum, reflective observation, standard haptic paddle lab curriculum, standard nonreflective curriculum, Standards, student performance improvement, System dynamics, system dynamics principles, Tools, undergraduate, virtual environment rendering}, issn = {0018-9359}, doi = {10.1109/TE.2018.2804327}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose2018ieee-reflection.pdf}, author = {C. G. Rose and C. G. McDonald and J. P. Clark and M. K. O{\textquoteright}Malley} } @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 {1903, title = {Toward improved surgical training: Delivering smoothness feedback using haptic cues}, year = {2018}, month = {03/2018}, pages = {241-246}, publisher = {IEEE}, address = {San Francisco, CA}, abstract = {

Surgery is a challenging domain for motor skill acquisition, and compounding this difficulty is the often delayed and qualitative nature of feedback that is provided to trainees. In this paper, we explore the effectiveness of providing real-time feedback of movement smoothness, a characteristic associated with skilled and coordinated movement, via a vibrotactile cue. Subjects performed a mirror-tracing task that requires coordination and dexterity similar in nature to that required in endovascular surgery. Movement smoothness, measured by spectral arc length, a frequency-domain measure of movement smoothness, was encoded in a vibrotactile cue. Performance of the mirror tracing task with smoothness-based feedback was compared to position-based feedback (where the subject was alerted when they moved outside the path boundary) and to a no-feedback control condition. Although results of this pilot study failed to indicate a statistically significant effect of smoothness-based feedback on performance, subjects receiving smoothness-based feedback altered their task completion strategies to improve speed and accuracy, while those receiving position-based feedback or no feedback only improved in terms of increased accuracy. In tasks such as surgery where both speed and accuracy are vital to positive patient outcomes, the provision of smoothness-based feedback to the surgeon has the potential to positively influence performance.

}, keywords = {biomechanics, biomedical education, computer based training, coordinated movement, delayed nature, dexterity, Feedback, frequency-domain measure, haptic cues, Haptic interfaces, Measurement, medical computing, mirror tracing task, mirror-tracing task, Mirrors, motor skill acquisition, movement smoothness, Navigation, qualitative nature, real-time feedback, skilled movement, smoothness-based feedback, spectral arc length, surgery, surgical training, Task analysis, training, vibrotactile cue}, doi = {10.1109/HAPTICS.2018.8357183}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/jantscher\%202018\%20ieee.pdf}, author = {W. H. Jantscher and S. Pandey and P. Agarwal and S. H. Richardson and B. R. Lin and M. D. Byrne and M. K. O{\textquoteright}Malley} } @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 {1923, title = {Combining functional electrical stimulation and a powered exoskeleton to control elbow flexion}, year = {2017}, month = {11/2017}, pages = {87-88}, keywords = {Elbow, elbow flexion, Exoskeletons, extension trajectory, functional electrical stimulation, hybrid FES, hybrid system, Iron, medical robotics, Muscles, neuromuscular stimulation, Patient rehabilitation, robotic exoskeleton system, Robots, Torque, Trajectory, upper-limb paralysis}, doi = {10.1109/WEROB.2017.8383860}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Wolf2017werob.pdf}, author = {D. Wolf and N. Dunkelberger and C. G. McDonald and K. Rudy and C. Beck and M. K. O{\textquoteright}Malley and E. Schearer} } @proceedings {1820, title = {Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module{\textquoteright}s capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module{\textquoteright}s performance and operational considerations support its use in a wide range of future clinical investigations.

}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009333}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/0263_0.pdf}, author = {Pezent, Evan and Rose, Chad G. and Deshpande, Ashish D 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 {1818, title = {Estimating anatomical wrist joint motion with a robotic exoskeleton}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

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

}, issn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009450}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose_2017_Estimating.pdf}, author = {Rose, Chad G. and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @article {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} } @proceedings {1817, title = {Maintaining Subject Engagement during Robotic Rehabilitation with a Minimal Assist-as-Needed (mAAN) Controller}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

One challenge of robotic rehabilitation interventions is devising ways to encourage and maintain high levels of subject involvement over long duration therapy sessions. Assist-as-needed controllers have been proposed which modulate robot intervention in movements based on measurements of subject involvement. This paper presents a minimal assist-as-needed controller, which modulates allowable error bounds and robot intervention based on sensorless force measurement accomplished through a nonlinear disturbance observer. While similar algorithms have been validated using healthy subjects, this paper presents a validation of the proposed mAAN control algorithm{\textquoteright}s ability to encourage user involvement with an impaired individual. User involvement is inferred from muscle activation, measured via surface electromyography (EMG). Experimental validation shows increased EMG muscle activation when using the proposed mAAN algorithm compared to non-adaptive algorithms.

}, issn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009222}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pehlivan_2017_Maintaining.pdf}, author = {Ali Utku Pehlivan and Dylan P. Losey and Rose, Chad G.} } @article {1784, title = {Modeling Electromechanical Aspects of Cyber-Physical Systems}, journal = {Journal of Software Engineering for Robotics (JOSER)}, volume = {7}, number = {1}, year = {2016}, month = {07/2016}, pages = {100-119}, chapter = {100}, abstract = {

Model-based tools have the potential to significantly improve the process of developing novel cyber-physical systems (CPS). In this paper, we consider the question of what language features are needed to model such systems. We use a small, experimental hybrid systems modeling language to show how a number of basic and pervasive aspects of cyber-physical systems can be modeled concisely using the small set of language constructs. We then consider four, more complex, case studies from the domain of robotics. The first, a quadcopter, illustrates that these constructs can support the modeling of interesting systems. The second, a serial robot, provides a concrete example of why it is important to support static partial derivatives, namely, that it significantly improves the way models of rigid body dynamics can be expressed. The third, a linear solenoid actuator, illustrates the language{\textquoteright}s ability to integrate multiphysics subsystems. The fourth and final, a compass gait biped, shows how a hybrid system with non-trivial dynamics is modeled. Through this analysis, the work establishes a strong connection between the engineering needs of the CPS domain and the language features that can address these needs. The study builds the case for why modeling languages can be improved by integrating several features, most notably, partial derivatives, differentiation without duplication, and support for equations. These features do not appear to be addressed in a satisfactory manner in mainstream modeling and simulation tools.

}, keywords = {Cyber-Physical Systems, Domain-Specific Language}, issn = {2035-3928}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/102-585-1-PB.pdf}, author = {Yingfu Zeng and Rose, Chad G. and Walid Taha and Adam Duracz and Kevin Atkinson and Roland Philippsen and Robert Cartwright and Marcia O{\textquoteright}Malley} } @proceedings {1842, title = {Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks}, year = {2015}, publisher = {IEEE}, address = {Singapore}, doi = { 10.1109/ICORR.2015.7281200}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR15_0190_MS_0.pdf}, author = {Rose, Chad G. and Sergi, Fabrizio and Yun, Youngmok and Madden, Kaci and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @proceedings {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} } @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.} } @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 {1704, title = {Modeling Basic Aspects of Cyber-Physical Systems, Part II}, year = {2013}, address = {Tokyo, Japan}, abstract = {
We continue to consider the question of what
language features are needed to effectively model cyber-physical
systems (CPS). In previous work, we proposed using a core
language as a way to study this question, and showed how
several basic aspects of CPS can be modeled clearly in a
language with a small set of constructs. This paper reports
on the result of our analysis of two, more complex, case studies
from the domain of rigid body dynamics. The first one, a
quadcopter, illustrates that previously proposed core language
can support larger, more interesting systems than previously
shown. The second one, a serial robot, provides a concrete
example of why we should add language support for static
partial derivatives, namely that it would significantly improve
the way models of rigid body dynamics can be expressed.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/paper\%20\%285\%29.pdf}, author = {Yingfu Zeng and Rose, Chad G. and Paul Branner and Walid Taha and Jawad Masood and Roland Philippsen and Marcia K. O{\textquoteright}Malley and Robert Cartwright} } @proceedings {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.} } @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 {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 {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 {o2006assessing, title = {Assessing and inducing neuroplasticity with transcranial magnetic stimulation and robotics for motor function}, journal = {Archives of physical medicine and rehabilitation}, volume = {87}, number = {12}, year = {2006}, month = {12/2006}, pages = {59{\textendash}66}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2006neuroplasticity.pdf}, author = {O{\textquoteright}Malley, Marcia K and Ro, Tony and Levin, Harvey S} }