@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 {1746, title = {Progressive haptic and visual guidance for training in a virtual dynamic task}, year = {2010}, month = {March}, keywords = {Design engineering, dynamic motor skill, Error correction, expertise-based performance measures, Feedback, Fixtures, Haptic interfaces, haptic virtual environment, input frequency, Mechatronics, Performance analysis, progressive guidance controller, progressive haptic guidance, progressive visual guidance, Protocols, Rehabilitation robotics, skill component measures, target-hitting task, training protocol, trajectory error, virtual dynamic task, virtual environment, Virtual reality, visual guidance scheme}, doi = {10.1109/HAPTIC.2010.5444632}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Huegel2010HS.pdf}, author = {Huegel, J.C. and O{\textquoteright}Malley, M.K.} } @article {080611080561, title = {Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training}, journal = {International Journal of Robotics Research}, volume = {27}, number = {2}, year = {2008}, note = {

Feedback wrist exoskeleton;Neurological injuries;

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

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

}, keywords = {Control systems, Degrees of freedom (mechanics), Feedback, Neurology, Physical therapy, Systems analysis}, url = {http://dx.doi.org/10.1177/0278364907084261}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/48-IJRR-Feb-2008-small.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu and Burgar, Charles} } @proceedings {04278244649, title = {Comparison of human haptic size discrimination performance in simulated environments with varying levels of force and stiffness}, year = {2004}, note = {

Size discrimination experiments;Machine quality;Haptic devices;

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

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

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

Robonauts;Haptic feedback;Cooperative manipulation;

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

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

}, keywords = {Computer simulation, Feedback, Haptic interfaces, Human computer interaction, Robots, Statistical methods}, url = {http://dx.doi.org/10.1109/HAPTIC.2004.1287185}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/glassmire2004haptics.pdf}, author = {John Glassmire and O{\textquoteright}Malley, M.K. and William Bluethmann and Robert O. Ambrose} }