@proceedings {1938,
	title = {On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation},
	year = {2019},
	publisher = {IEEE},
	abstract = {Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured.},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/Clark_2019_ICRA_TeleimpedanceWithHaptics_0.pdf},
	author = {Clark, Janelle P and Lentini, Gianluca and Barontini, Federica and Catalano, Manuel G and Bianchi, Matteo and O{\textquoteright}Malley, Marcia K}
}
@article {article,
	title = {Skin stretch haptic feedback to convey closure information in anthropomorphic, under-actuated upper limb soft prostheses},
	journal = {IEEE Transactions on Haptics},
	volume = {12},
	number = {4},
	year = {2019},
	month = {2019 December},
	pages = {508 - 520},
	doi = {10.1109/TOH.2019.2915075},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/Battaglia_ToH_2019.pdf},
	author = {Battaglia, Edoardo and Clark, Janelle and Bianchi, Matteo and Catalano, Manuel and Bicchi, Antonio and O{\textquoteright}Malley, Marcia}
}
@article {1934,
	title = {Spatially Separating Haptic Guidance from Task Dynamics through Wearable Devices.},
	journal = {IEEE Trans Haptics},
	volume = {12},
	number = {4},
	year = {2019},
	month = {2019 December},
	pages = {581 - 593},
	abstract = {<p>Haptic devices have a high potential for delivering tailored training to novices. These devices can simulate forces associated with real-world tasks, or provide guidance forces that convey task completion and learning strategies. It has been shown, however, that providing both task forces and guidance forces simultaneously through the same haptic interface can lead to novices depending on guidance, being unable to demonstrate skill transfer, or learning the wrong task altogether. This work presents a novel solution whereby task forces are relayed via a kinesthetic haptic interface, while guidance forces are spatially separated through a cutaneous skin stretch modality. We explore different methods of delivering cutaneous based guidance to subjects in a dynamic trajectory following task. We next compare cutaneous guidance to kinesthetic guidance, as is traditional to spatially separated assistance. We further investigate the role of placing cutaneous guidance ipsilateral versus contralateral to the task force device. The efficacies of each guidance condition are compared by examining subject error and movement smoothness. Results show that cutaneous guidance can be as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.</p>},
	issn = {2329-4051},
	doi = {10.1109/TOH.2019.2919281},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent_toh2019.pdf},
	author = {Pezent, Evan and Fani, Simone and Clark, Janelle and Bianchi, Matteo and OMalley, Marcia K}
}
@proceedings {1921,
	title = {Separating haptic guidance from task dynamics: A practical solution via cutaneous devices},
	year = {2018},
	month = {03/2018},
	publisher = {IEEE},
	address = {San Francisco, CA},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent2018hs.pdf},
	author = {Pezent, Evan and Fani, Simone and Bradley, Joshua and Bianchi, Matteo and O{\textquoteright}Malley, Marcia K}
}
