@article {dunkelberger2023, title = {Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements}, journal = {Frontiers in Neurorobotics}, volume = {17}, year = {2023}, pages = {1127783}, doi = {10.3389/fnbot.2023.1127783}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Frontiers_2023_Dunkelberger_hybridFESexo.pdf}, author = {Dunkelberger, Nathan and Berning, Jeffrey and Schearer, Eric M and O{\textquoteright}Malley, Marcia K} } @article {sciro_brown2023, title = {Touching reality: Bridging the user-researcher divide in upper-limb prosthetics}, journal = {Science Robotics}, volume = {8}, number = {83}, year = {2023}, pages = {eadk9421}, abstract = {

Realistically improving upper-limb prostheses is only possible if we listen to users{\textquoteright} actual technological needs. Realistically improving upper-limb prostheses is only possible if we listen to users{\textquoteright} actual technological needs.

}, doi = {10.1126/scirobotics.adk9421}, url = {https://www.science.org/doi/abs/10.1126/scirobotics.adk9421}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/SciRoboticsBrown2023_prosthesis_users.pdf}, author = {J. D. Brown and E. Battaglia and S. Engdahl and G. Levay and A. C. Parks and E. Skinner and M. K. O{\textquoteright}Malley} } @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.} } @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} } @article {2016, title = {Haptic feedback based on movement smoothness improves performance in a perceptual-motor task}, journal = {IEEE Transactions on Haptics}, volume = {15}, number = {2}, year = {2022}, month = {2022}, pages = {382-391}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2021_Sullivan_haptic-feedback-smoothness-MT5.pdf}, author = {Sullivan, Jennifer L and Pandey, Shivam and Byrne, Michael D and O{\textquoteright}Malley, Marcia K} } @proceedings {2038, title = {Measuring Torque Production with a Robotic Exoskeleton during Cervical Transcutaneous Spinal Stimulation}, year = {2022}, month = {07/2022}, publisher = {IEEE}, address = {Rotterdam, Netherlands}, doi = {10.1109/ICORR55369.2022.9896477}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ICORR_2022_Mahan_TSS_with_MAHI_ExoII.pdf}, author = {Erin Mahan and Nathan Dunkelberger and Jeonghoon Oh and Madison Simmons and Blesson Varghese and Dimitry Sayenko and Marcia K O{\textquoteright}Malley} } @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 {dupont2021decade, title = {A decade retrospective of medical robotics research from 2010 to 2020}, journal = {Science Robotics}, volume = {6}, number = {60}, year = {2021}, pages = {eabi8017}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/scirobotics2021abi8017.pdf}, author = {Dupont, Pierre E and Nelson, Bradley J and Goldfarb, Michael and Hannaford, Blake and Menciassi, Arianna and O{\textquoteright}Malley, Marcia K and Simaan, Nabil and Valdastri, Pietro and Yang, Guang-Zhong} } @article {9141429, title = {A Multi-sensory Approach to Present Phonemes as Language through a Wearable Haptic Device}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {1}, year = {2021}, month = {Jan-Mar 2021}, pages = {188-199}, doi = {10.1109/TOH.2020.3009581}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2020_Dunkelberger_small.pdf}, author = {N. Dunkelberger and J. L. Sullivan and J. Bradley and I. Manickam and G. Dasarathy and R. G. Baraniuk and M. K. O{\textquoteright}Malley} } @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} } @article {1969, title = {In the Fundamentals of Endovascular and Vascular Surgery model motion metrics reliably differentiate competency}, journal = {Journal of Vascular Surgery}, volume = {72}, number = {6}, year = {2020}, month = {12/2020}, pages = {2161-2165}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JVS2020_Belvroy_et_al.pdf}, author = {Viony Belvroy and Barathwaj Murali and Malachi G. Sheahan and Marcia K. O{\textquoteright}Malley and Jean Bismuth} } @article {1961, title = {Multi-Sensory Stimuli Improve Distinguishability of Cutaneous Haptic Cues}, journal = {IEEE Transactions on Haptics}, volume = {13}, number = {2}, year = {2020}, month = {April-June 2020}, pages = {286-297}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sullivan_ToH_2020_multi-sensory.pdf}, author = {Sullivan, Jennifer L and Dunkelberger, Nathan and Bradley, Joshua and Young, Joseph and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy and O{\textquoteright}Malley, Marcia K} } @article {9031340, title = {A Myoelectric Control Interface for Upper-Limb Robotic Rehabilitation Following Spinal Cord Injury}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {28}, number = {4}, year = {2020}, month = {April}, pages = {978-987}, abstract = {

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

}, keywords = {Electromyography, injuries, Muscles, myoelectric control, pattern recognition, Rehabilitation robotics, Robot kinematics, Robot sensing systems, spinal cord injury, Wrist}, issn = {1558-0210}, doi = {10.1109/TNSRE.2020.2979743}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/TNSRE_2020_McDonald.pdf}, author = {C. G. McDonald and J. L. Sullivan and T. A. Dennis and M. K. O{\textquoteright}Malley} } @article {BHAGAT2020102502, title = {Neural activity modulations and motor recovery following brain-exoskeleton interface mediated stroke rehabilitation}, journal = {NeuroImage: Clinical}, volume = {28}, year = {2020}, pages = {102502}, abstract = {

Brain-machine interfaces (BMI) based on scalp EEG have the potential to promote cortical plasticity following stroke, which has been shown to improve motor recovery outcomes. However, the efficacy of BMI enabled robotic training for upper-limb recovery is seldom quantified using clinical, EEG-based, and kinematics-based metrics. Further, a movement related neural correlate that can predict the extent of motor recovery still remains elusive, which impedes the clinical translation of BMI-based stroke rehabilitation. To address above knowledge gaps, 10 chronic stroke individuals with stable baseline clinical scores were recruited to participate in 12 therapy sessions involving a BMI enabled powered exoskeleton for elbow training. On average, 132\ {\textpm}\ 22 repetitions were performed per participant, per session. BMI accuracy across all sessions and subjects was 79\ {\textpm}\ 18\% with a false positives rate of 23\ {\textpm}\ 20\%. Post-training clinical assessments found that FMA for upper extremity and ARAT scores significantly improved over baseline by 3.92\ {\textpm}\ 3.73 and 5.35\ {\textpm}\ 4.62 points, respectively. Also, 80\% participants (7 with moderate-mild impairment, 1 with severe impairment) achieved minimal clinically important difference (MCID: FMA-UE \>5.2 or ARAT \>5.7) during the course of the study. Kinematic measures indicate that, on average, participants{\textquoteright} movements became faster and smoother. Moreover, modulations in movement related cortical potentials, an EEG-based neural correlate measured contralateral to the impaired arm, were significantly correlated with ARAT scores (ρ\ =\ 0.72, p\ \<\ 0.05) and marginally correlated with FMA-UE (ρ\ =\ 0.63, p\ =\ 0.051). This suggests higher activation of ipsi-lesional hemisphere post-intervention or inhibition of competing contra-lesional hemisphere, which may be evidence of neuroplasticity and cortical reorganization following BMI mediated rehabilitation therapy.

}, keywords = {Brain-machine interface, Clinical trial, Exoskeletons, Movement related cortical potentials, stroke rehabilitation}, issn = {2213-1582}, doi = {https://doi.org/10.1016/j.nicl.2020.102502}, url = {http://www.sciencedirect.com/science/article/pii/S2213158220303399}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/NeuroImage_2020_Bhagat_BMI_EEG_exo.pdf}, author = {Nikunj A. Bhagat and Nuray Yozbatiran and Jennifer L. Sullivan and Ruta Paranjape and Colin Losey and Zachary Hernandez and Zafer Keser and Robert Grossman and Gerard E. Francisco and Marcia K. O{\textquoteright}Malley and Jose L. Contreras-Vidal} } @article {dunkelberger2020, title = {A review of methods for achieving upper limb movement following spinal cord injury through hybrid muscle stimulation and robotic assistance}, journal = {Experimental Neurology}, year = {2020}, pages = {113274}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Dunkelberger-et-al-2020.pdf}, author = {Dunkelberger, Nathan and Schearer, Eric M and O{\textquoteright}Malley, Marcia K} } @proceedings {1982, title = {Spatially Separated Cutaneous Haptic Guidance for Training of a Virtual Sensorimotor Task}, year = {2020}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_HS_2020_Smith_OpenWrist_CUFF_Training__shared__compressed.pdf}, author = {C. Smith and E. Pezent and M. K. O{\textquoteright}Malley} } @article {o2019expert, title = {Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface}, journal = {IEEE Transactions on Human-Machine Systems}, volume = {49}, number = {4}, year = {2019}, pages = {388{\textendash}394}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/THMS2019_O\%27Malley-et-al.pdf}, author = {O{\textquoteright}Malley, Marcia K and Byrne, Michael D and Estrada, Sean and Duran, Cassidy and Schulz, Daryl and Bismuth, Jean} } @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} } @proceedings {1913, title = {Conveying Language Through Haptics: A Multi-sensory Approach}, year = {2018}, month = {10/2018}, publisher = {ACM}, address = {Singapore}, keywords = {haptics, multi-sensory, speech, wearable}, isbn = {978-1-4503-5967-2}, doi = {10.1145/3267242.3267244}, url = {http://doi.acm.org/10.1145/3267242.3267244}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/NathanDunkelberger_ISWC.pdf}, author = {Dunkelberger, Nathan and Sullivan, Jenny and Bradley, Joshua and Walling, Nickolas P and Manickam, Indu and Dasarathy, Gautam and Israr, Ali and Lau, Frances W. Y. and Klumb, Keith and Knott, Brian and Abnousi, Freddy and Baraniuk, Richard and O{\textquoteright}Malley, Marcia K} } @article {PMID:28583735, title = {Electromagnetic tracking of flexible robotic catheters enables "assisted navigation" and brings automation to endovascular navigation in an in vitro study}, journal = {Journal of vascular surgery}, volume = {67}, number = {4}, year = {2018}, month = {06/2017}, pages = {1274{\textendash}1281}, issn = {0741-5214}, doi = {10.1016/j.jvs.2017.01.072}, url = {https://doi.org/10.1016/j.jvs.2017.01.072}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Schwein2017JVS.pdf}, author = {Schwein, Adeline and Kramer, Benjamin and Chinnadurai, Ponraj and Virmani, Neha and Walker, Sean and O{\textquoteright}Malley, Marcia and Lumsden, Alan B and Bismuth, Jean} } @proceedings {1902, title = {Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery}, volume = {II}, year = {2018}, month = {June 13-16}, pages = {289-301}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

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

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/dunkelberger\%202018\%20eurohaptics\%20compressed.pdf}, author = {Dunkelberger, Nathan and Bradley, Joshua and Sullivan, Jennifer L. and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @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 {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 {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} } @article {1798, title = {Effects of assist-as-needed upper extremity robotic therapy after incomplete spinal cord injury: a parallel-group controlled trial}, journal = {Frontiers in Neurobotics}, volume = {11}, number = {26}, year = {2017}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/fnbot-11-00026.pdf}, author = {John M. Frullo and Jared Elinger and Ali Utku Pehlivan and Kyle Fitle and Kathryn Nedley and Gerard Francisco and Fabrizio Sergi and Marcia K. O{\textquoteright}Malley} } @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 {PMID:28944083, title = {White matter changes in corticospinal tract associated with improvement in arm and hand functions in incomplete cervical spinal cord injury: pilot case series}, journal = {Spinal Cord Series and Cases}, volume = {3}, year = {2017}, pages = {17028}, issn = {2058-6124}, doi = {10.1038/scsandc.2017.28}, url = {https://doi.org/10.1038/scsandc.2017.28}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Yozbatiran2017SpinalCordSeries.pdf}, author = {Yozbatiran, Nuray and Keser, Zafer and Hasan, Khader and Stampas, Argyrios and Korupolu, Radha and Kim, Sam and O{\textquoteright}Malley, Marcia K and Fregni, Felipe and Francisco, Gerard E} } @article {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.} } @article {1829, title = {A Time-Domain Approach To Control Of Series Elastic Actuators: Adaptive Torque And Passivity-Based Impedance Control}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {21}, number = {4}, year = {2016}, pages = {2085 - 2096}, abstract = {

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

}, issn = {1083-4435}, doi = {10.1109/TMECH.2016.2557727}, url = {http://ieeexplore.ieee.org/abstract/document/7457670/}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Losey_TMECH.pdf}, author = {Dylan P. Losey and Andrew Erwin and Craig G. McDonald and Fabrizio Sergi and Marcia K. O{\textquoteright}Malley} } @article {1787, title = {Transcranial direct current stimulation (tDCS) of the primary motor cortex and robot-assisted arm training in chronic incomplete cervical spinal cord injury: A proof of concept sham-randomized clinical study}, journal = {NeuroRehabilitation}, volume = {39}, year = {2016}, pages = {401{\textendash}411}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/TDCS_2016_Neurorehab.pdf}, author = {Nuray Yozbatirana and Zafer Keser and Matthew Davis and Argyrios Stampas and Marcia K. O{\textquoteright}Malley and Catherine Cooper-Hay and Joel Fronteraa and Felipe Fregni and Gerard E. Francisco} } @proceedings {1765, title = {Acumen: An open-source testbed for cyber-physical systems research}, year = {2015}, month = {10/2015}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/cyclone15Taha.pdf}, author = {Walid Taha and Adam Duracz and Yingfu Zeng and Kevin Atkinson and Ferenc A.Bartha and Paul Brauner and Jan Duracz and Fei Xu and Robert Cartwright and Michal Konecny and Eugenio Moggi and Jawad Masood and Pererik Andreasson and Jun Inoue and Anita Santanna and Roland Philippsen and Alexandre Chapoutot and O{\textquoteright}Malley, M.K. and Aaron Ames and Veronica Gaspes and Lise Hvatum and Shyam Mehta and Henrik Eriksson and Christian Grante} } @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 {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 {1723, title = {Interaction control capabilities of an MR-compatible compliant actuator for wrist sensorimotor protocols during fMRI}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {20}, number = {6}, year = {2015}, pages = {2678-2690}, abstract = {

This paper describes the mechatronic design and characterization of a novel MR-compatible actuation system designed for a parallel force-feedback exoskeleton for measurement and/or assistance of wrist pointing movements during functional neuroimaging. The developed actuator is based on the interposition of custom compliant elements in series between a non-backdrivable MR-compatible ultrasonic piezoelectric motor and the actuator output. The inclusion of physical compliance allows estimation of interaction force, enabling force-feedback control and stable rendering of a wide range of haptic environments during continuous scanning. Through accurate inner-loop

velocity compensation and force-feedback control, the actuator is capable of displaying both a low-impedance, subject-in-charge mode, and a high stiffness mode. These modes enable the execution of shared haptic protocols during continuous fMRI.\ 

The detailed experimental characterization of the actuation system is presented, including a backdrivability analysis, demonstrating an achievable impedance range of 22 dB, within a bandwidth of 4 Hz (for low stiffness). The stiffness control bandwidth depends on the specific value of stiffness: a bandwidth of 4 Hz is achieved at low stiffness (10\% of the physical springs stiffness), while 8 Hz is demonstrated at higher stiffness. Moreover, coupled stability is demonstrated also for stiffness values substantially (25\%) higher than the physical stiffness of the spring. Finally, compatibility tests conducted in a 3T scanner are presented, validating the potential of inclusion of the actuator in an exoskeleton system for support of wrist movements during continuous MR scanning, without significant reduction in image quality.

}, keywords = {compliant actuators., Force control, functional MRI (fMRI), MR-compatible robotics}, doi = {10.1109/TMECH.2015.2389222}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/MR-compatible_actuator_v3.pdf}, author = {Fabrizio Sergi and Andrew Erwin and Marcia K. O{\textquoteright}Malley} } @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} } @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 {6878466, title = {A Subject-Adaptive Controller for Wrist Robotic Rehabilitation}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {20}, number = {3}, year = {2015}, pages = {1338 - 1350}, keywords = {adaptive control, Exoskeletons, Force, Iron, Medical treatment, nonlinear systems, parallel mechanisms, robot dynamics, robotic rehabilitation, Robots, Trajectory, Vectors, Wrist}, issn = {1083-4435}, doi = {10.1109/TMECH.2014.2340697}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tmech-pehlivan-press.pdf}, author = {Pehlivan, A.U. and Sergi, F. and OMalley, M.K.} } @article {7080902, title = {Tactile Feedback of Object Slip Facilitates Virtual Object Manipulation}, journal = {Haptics, IEEE Transactions on}, volume = {PP}, number = {99}, year = {2015}, pages = {1-1}, keywords = {Force, force feedback, haptics, Phantoms, prosthetics, slip feedback, tactile sensors, vibrotactile feedback, Visualization}, issn = {1939-1412}, doi = {10.1109/TOH.2015.2420096}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WalkerToH2015small.pdf}, author = {Walker, J. and Blank, A. and Shewokis, P. and O{\textquoteright}Malley, M.} } @proceedings {1743, title = {Compliant force-feedback actuation for accurate robot-mediated sensorimotor interaction protocols during fMRI}, year = {2014}, month = {08/2014}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi2014\%20-\%201DOF\%20MR\%20devices.pdf}, author = {Fabrizio Sergi and Andrew Erwin and Brian Cera and Marcia K. O{\textquoteright}Malley} } @article {ROB:9438993, title = {Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury}, journal = {Robotica}, volume = {32}, year = {2014}, month = {12}, pages = {1415{\textendash}1431}, issn = {1469-8668}, doi = {10.1017/S0263574714001490}, url = {http://journals.cambridge.org/article_S0263574714001490}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/rob1400149_Press.pdf}, author = {Pehlivan,Ali Utku and Sergi,Fabrizio and Erwin,Andrew and Yozbatiran,Nuray and Francisco,Gerard E. and O{\textquoteright}Malley,Marcia K.} } @proceedings {1883, title = {On the development of objective metrics for surgical skills evaluation based on tool motion}, year = {2014}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/estrada2014ieee.pdf}, author = {Estrada, Sean and O{\textquoteright}Malley, Marcia K and Duran, Cassidy and Schulz, Daryl and Bismuth, Jean} } @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.} } @article {1864, title = {Upper Extremity Exoskeletons for Robot Aided Rehabilitation}, journal = {Mechanical Engineering}, volume = {136}, number = {9}, year = {2014}, month = {09}, pages = {S6-S11}, abstract = {

Neurological injuries, including stroke and spinal cord injury, typically result in significant motor impairments. These impairments negatively impact an individual{\textquoteright}s movement coordination, in turn affecting their ability to function independently. Intensively repetitous motion training has proven to restore some motor function after neurological injuries. This training is often labor-intensive and costly. By enabling therapists to train their patients intensively through consistent, repeatable movements, robotic rehabilitation systems offer a cost-effective solution requiring less labor and effort. The design of upper limb robotic therapy devices has been a topic of research for over two decades. Early devices were end-effector based, and guided the motion of a patient{\textquoteright}s hand to desired positions. Hardware and software designs emphasized the safety of the robotic devices, using control methods specifically designed to ensure safe interaction forces between the user and the device.

}, keywords = {5400:Research \& development, 9190:United States, Cost reduction, Engineering{\textendash}Mechanical Engineering, Medical research, Neurological disorders, Robotics, United States{\textendash}US}, isbn = {00256501}, url = {https://search.proquest.com/docview/1559578916?accountid=7064}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/sergi2014asmesmall.pdf}, author = {Sergi,Fabrizio and Blank,Amy and O{\textquoteright}Malley,Marcia} } @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.} } @proceedings {1650, title = {Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot}, year = {2013}, month = {06/2013}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi_SEA_paper_2.pdf}, author = {Fabrizio Sergi and Melissa M. Lee and Marcia K. O{\textquoteright}Malley} } @proceedings {1703, title = {Interaction control for rehabilitation robotics via a low-cost force sensing handle}, year = {2013}, address = {Palo Alto, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Erwin2013\%20-\%20RiceWrist-Grip.pdf}, author = {Andrew Erwin and Fabrizio Sergi and Vinay Chawda and Marcia K. O{\textquoteright}Malley} } @proceedings {1891, title = {Interaction control of a non-backdriveable MR-compatible actuator through series elasticity}, year = {2013}, publisher = {American Society of Mechanical Engineers}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/sergi2013asme.pdf}, author = {Sergi, Fabrizio and Chawda, Vinay and O{\textquoteright}Malley, Marcia K} } @proceedings {1684, title = {Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device}, year = {2013}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Paek\%20EMBC\%202013.pdf}, author = {Andrew Y. Paek and Jeremy D. Brown and R. B. Gillespie and Marcia K. O{\textquoteright}Malley and Patricia A. Shewokis and Jose L. Contreras-Vidal} } @proceedings {1685, title = {Understanding the Role of Haptic Feedback in a Teleoperated Grasp and Lift Task}, year = {2013}, month = {04/2013}, pages = {271-276}, abstract = {

Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WH2013_FINAL_PRESS_Brown_et_al.pdf}, author = {Jeremy D. Brown and Andrew Paek and Mashaal Syed and Marcia K. O{\textquoteright}Malley and Patricia Shewokis and Jose L. Contreras-Vidal and R. B. Gillespie} } @proceedings {1686, title = {Vibrotactile Feedback of Pose Error Enhances Myoelectric Control of a Prosthetic Hand}, year = {2013}, month = {04/2013}, pages = {531-536}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WH2013_FINAL_PRESS_Christiansen_et_al.pdf}, author = {Ryan Christiansen and Jose Luis Contreras-Vidal and R B Gillespie and Patricia Shewokis and Marcia K. O{\textquoteright}Malley} } @proceedings {1881, title = {Preliminary Results in Virtual Testing for Smart Buildings}, year = {2012}, publisher = {Springer Berlin Heidelberg}, address = {Berlin, Heidelberg}, abstract = {

Smart buildings promise to revolutionize the way we live. Applications ranging from climate control to fire management can have significant impact on the quality and cost of these services. However, a smart building and any technology with direct effect on the safety of its occupants must undergo extensive testing. Virtual testing by means of computer simulation can significantly reduce the cost of testing and, as a result, accelerate the development of novel applications. Unfortunately, building physically-accurate simulation codes can be labor intensive.

}, isbn = {978-3-642-29154-8}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/bruneau2012lnicst.pdf}, author = {Bruneau, Julien and Consel, Charles and O{\textquoteright}Malley, Marcia and Taha, Walid and Hannourah, Wail Masry}, editor = {S{\'e}nac, Patrick and Ott, Max and Seneviratne, Aruna} } @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} } @proceedings {1295, title = {Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements}, year = {2011}, month = {02/2011}, address = {Newport Beach, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1295-MMVR18-Kadivar_Z.pdf}, author = {Zahra KADIVAR and Cynthia SUNG and Zachary THOMPSON and Marcia O{\textquoteright}MALLEY and Michael LIEBSCHNER and Deng, Zhigang} } @proceedings {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 {1293, title = {Robotic Training and Kinematic Analysis of Arm and Hand after Incomplete Spinal Cord Injury: A Case Study.}, year = {2011}, month = {06/2011}, address = {Zurich Switzerland}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1293-PID1757607\%5B1\%5D.pdf}, author = {Z. Kadivar and J.L. Sullivan and D.P. Eng and A.U. Pehlivan and M.K. O{\textquoteright}Malley and N. Yozbatiran and G.E.Francisco} } @proceedings {1294, title = {Spatial and Temporal Movement Characteristics after Robotic Training of Arm and Hand: A Case Study of a Person with Incomplete Spinal Cord Injury}, year = {2011}, month = {09/2011}, address = {San Francisco, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1294-IROS\%202011\%20Eng\%20Kadivar.pdf}, author = {D.P. Eng and Z. Kadivar and J.L. Sullivan and A.U. Pehlivan and M.K. O{\textquoteright}Malley and G.E. Francisco and N.Yozbatiran} } @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 {mathequations, title = {Mathematical Equations as Executable Models of Mechanical Systems}, year = {2010}, abstract = {

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

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/zhu2010ieee.pdf}, author = {Angela Yun Zhu and Edwin Westbrook and Jun Inoue and Alexandre Chapoutot and Cherif Salama and Marisa Peralta and Travis Martin and Walid Taha and Robert Cartwright and O{\textquoteright}Malley, M.K.} } @proceedings {1876, title = {Toward improved sensorimotor integration and learning using upper-limb prosthetic devices}, year = {2010}, pages = {5077-5080}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Gillespie2010ieee.pdf}, author = {Gillespie, R Brent and Contreras-Vidal, Jose Luis and Shewokis, Patricia A and O{\textquoteright}Malley, Marcia K and Brown, Jeremy D and Agashe, Harshavardhan and Gentili, Rodolphe and Davis, Alicia} } @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 {1873, title = {Functionally biarticular control for smart prosthetics}, year = {2009}, pages = {627-628}, publisher = {IEEE}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/gillespie2009IEEE.pdf}, author = {Gillespie, Brent and Baker, John and O{\textquoteright}Malley, Marcia and Shewokis, Patricia and Contreras-Vidal, Jose Luis} } @article {101, title = {Improved Haptic Fidelity via Reduced Sampling Period with an FPGA-Based Real-Time Hardware Platform }, journal = {ASME Journal of Computing and Information Science in Engineering}, volume = {9}, number = {1}, year = {2009}, note = {
Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform
Marcia K. O{\textquoteright}Malley, Kevin S. Sevcik, and Emilie Kopp, J. Comput. Inf. Sci. Eng. 9, 011002 (2009), DOI:10.1115/1.3072904


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

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

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

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

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

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

}, keywords = {Computer operating systems, Damping, Field programmable gate arrays (FPGA), Multitasking, Real time systems, Virtual reality}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/56-IMECE2007-42085.pdf}, author = {Sevcik, Kevin S. and Kopp, E and O{\textquoteright}Malley, M.K.} } @proceedings {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 {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 {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 {1869, title = {Current challenges in the control of haptic interfaces and bilateral teleoperation systems}, year = {2003}, pages = {743-750}, publisher = {American Society of Mechanical Engineers}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/speich2003asme.pdf}, author = {Speich, John E and O{\textquoteright}Malley, Marcia K} }