@proceedings {1948, title = {The Influence of Cue Presentation Velocity on Skin Stretch Perception}, year = {2019}, month = {July}, keywords = {cue perceptibility, cue perception, haptic cues, Haptic interfaces, just noticeable difference, Likert surveys, method of constant stimuli, rice haptic rocker, rotational velocities, Skin, skin stretch cue presentation velocity, skin stretch cues, skin stretch perception, wearable haptic devices}, doi = {10.1109/WHC.2019.8816120}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Kim_2019_WorldHaptics_SkinStretchCueVelocity.pdf}, author = {S. Y. Kim and J. P. Clark and P. Kortum and M. K. O{\textquoteright}Malley} } @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 {8291748, title = {Evaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {23}, number = {2}, year = {2018}, pages = {604-613}, abstract = {

This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Z- width in haptic interfaces. We study the efficacy of Levant{\textquoteright}s differentiator as a velocity estimator, to allow passive implementation of higher stiffness virtual walls as compared to some of the commonly used velocity estimators in the field of haptics. We first experimentally demonstrate feasibility of Levant{\textquoteright}s differentiator as a velocity estimator for haptics applications by comparing Z-width performance achieved with Levant{\textquoteright}s differentiator and commonly used Finite Difference Method (FDM) cascaded with a lowpass filter. A novel Z-width plotting technique combining passivity and fidelity of haptic rendering is proposed, and used to compare the haptic device performance obtained with Levant{\textquoteright}s differentiator, FDM+lowpass filter, First Order Adaptive Windowing and Kalman filter based velocity estimation methods. Simulations and experiments conducted on a custom single degree of freedom haptic device demonstrate that the stiffest virtual walls are rendered with velocity estimated using Levant{\textquoteright}s differentiator, and highest wall rendering fidelity is achieved by First Order Adaptive Windowing based velocity estimation scheme.

}, keywords = {Estimation, Frequency division multiplexing, Haptic interfaces, Impedance, Kalman filters, Performance evaluation, Rendering (computer graphics)}, issn = {1083-4435}, doi = {10.1109/TMECH.2018.2805863}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/chawda2018ieee.pdf}, author = {V. Chawda and O. Celik and M. K. O{\textquoteright}Malley} } @article {8304762, title = {The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, number = {3}, year = {2018}, month = {2018}, pages = {2198-2205}, abstract = {

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called "hBracelet." It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user{\textquoteright}s arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. We also present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving telepresence.

}, keywords = {Actuators, Belts, Force, Haptic interfaces, Haptics and haptic interfaces, Human-Centered Robotics, Pulleys, Robots, Skin, Telerobotics and Teleoperation, Wearable Robots}, doi = {10.1109/LRA.2018.2810958}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/meli2018ieee.pdf}, author = {L. Meli and I. Hussain and M. Aurilio and M. Malvezzi and M. O{\textquoteright}Malley and D. Prattichizzo} } @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 {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 {1880, title = {Robotic training and clinical assessment of forearm and wrist movements after incomplete spinal cord injury: A case study}, year = {2011}, month = {June}, pages = {619-622}, abstract = {

The effectiveness of a robotic training device was evaluated in a 24-year-old male, cervical level four, ASIA Impairment Scale D injury. Robotic training of both upper extremities was provided for three hr/day for ten consecutive sessions using the RiceWrist, an electrically-actuated forearm and wrist haptic exoskeleton device that has been designed for rehabilitation applications. Training involved wrist flexion/extension, radial/ulnar deviation and forearm supination/pronation. Therapy sessions were tailored, based on the patient{\textquoteright}s movement capabilities for the wrist and forearm, progressed gradually by increasing number of repetitions and resistance. Outcome measures included the ASIA upper-extremity motor score, grip and pinch strength, the Jebsen-Taylor Hand Function test and the Functional Independence Measure. After the training, improvements were observed in pinch strength, and functional tasks. The data from one subject provides valuable information on the feasibility and effectiveness of robotic-assisted training of forearm and hand functions after incomplete spinal cord injury.

}, keywords = {age 24 yr, arm motor function recovery, ASIA upper-extremity motor score, biomechanics, clinical assessment, electrically-actuated forearm, Forearm, forearm movement, forearm pronation, forearm supination, functional independence measure, functional tasks, grip, Haptic interfaces, Humans, injuries, Jebsen-Taylor hand function test, Joints, Male, medical robotics, Medical treatment, Muscles, neurophysiology, patient movement capabilities, Patient rehabilitation, Patient treatment, pinch strength, radial-ulnar deviation, rehabilitation applications, robotic training, Robots, Spinal Cord Injuries, spinal cord injury, training, Wrist, wrist extension, wrist flexion, wrist haptic exoskeleton device, wrist movement, Young Adult}, doi = {10.1109/ICORR.2011.5975425}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/yozbatiran2011ieee.pdf}, author = {N. Yozbatiran and J. Berliner and C. Boake and M. K. O{\textquoteright}Malley and Z. Kadivar and G. E. Francisco} } @proceedings {5444681, title = {Discrimination of consonant articulation location by tactile stimulation of the forearm}, year = {2010}, month = {25-26}, pages = {47 -54}, keywords = {consonant articulation location, dorsal forearm skin, Haptic interfaces, localized vibrations map, psychology, speech, speech processing, spoken consonants, tactile cues, tactile sensors, tactile stimulation, touch (physiological)}, doi = {10.1109/HAPTIC.2010.5444681}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS10_Wong-Israr-O\%27Malley.pdf}, author = {Wong, E.Y. and Ali Israr 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.} } @proceedings {9872945, title = {Passive and active kinesthetic perception just-noticeable-difference for natural frequency of virtual dynamic systems}, year = {2008}, note = {

active kinesthetic perception;passive kinesthetic perception;just-noticeable-difference;virtual second order dynamic systems;degree-of-freedom haptic device;haptic sensory feedback;virtual resonance task;visual feedback;

}, month = {03/2008}, pages = {25 - 31}, publisher = {IEEE}, address = {Reno, NE, USA}, abstract = {

This paper investigates the just-noticeable-difference (JND) for natural frequency of virtual second order dynamic systems. Using a one degree-of-freedom haptic device, visual and/or haptic sensory feedback were presented during interactions with the system. Participants were instructed to either perceive passively or actively excite the system in order to discriminate natural frequencies. The JND for this virtual resonance task ranged from 3.99 \% to 6.96 \% for reference frequencies of 1 Hz and 2 Hz. Results show that sensory feedback has a significant effect on JND in passive perception, with combined visual and haptic feedback enabling the best discrimination performance. In active perception, there is no significant difference on JND with haptic and combined visual and haptic feedback. There is also no significant difference between active perception and passive perception for this JND experiment. The presentation of systems with equivalent natural frequencies but different spring stiffness resulted in no large bias toward larger stiffness and no significant difference in JND for equivalent systems. This finding indicates that human participants do not discriminate natural frequency based on the maximum force magnitude perceived, as indicated by prior studies.

}, keywords = {Haptic interfaces, visual perception}, issn = {978-1-4244-2005-6}, doi = {10.1109/HAPTICS.2008.4479908}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4479908}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/58-HapticSymposium2008_Li.pdf}, author = {Yanfang Li and Ali Israr and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @proceedings {082211289622, title = {Disturbance observer based closed loop force control for haptic feedback}, volume = {9 PART B}, year = {2007}, note = {

Disturbance observer;Haptic feedback;Pseudostatic interactions;

}, pages = {1343 - 1349}, address = {Seattle, WA, United States}, abstract = {

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. In this paper, we propose the use of a nonlinear disturbance observer for estimation of contact forces during haptic interactions. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. The feedback of contact force information further enables implementation of advanced robot force control techniques such as robust hybrid impedance and admittance control. Simulation and experimental results, utilizing a PHANToM Premium 1.0A haptic interface, are presented to demonstrate the efficacy of the proposed approach. Copyright {\textcopyright} 2007 by ASME.

}, keywords = {Computer simulation, Force control, Haptic interfaces, Robotics, Robustness (control systems)}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/50-gupta-imece07.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K. and Volkan Patoglu} } @article {06199869875, title = {Shared control in haptic systems for performance enhancement and training}, journal = {Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME}, volume = {128}, number = {1}, year = {2006}, note = {

Virtual environments;Mass-spring-damper;System dynamics;Shared control;

}, pages = {75 - 85}, chapter = {75}, abstract = {

This paper presents a shared-control interaction paradigm for haptic interface systems, with experimental data from two user studies. Shared control, evolved from its initial telerobotics applications, is adapted as a form of haptic assistance in that the haptic device contributes to execution of a dynamic manual target-hitting task via force commands from an automatic controller. Compared to haptic virtual environments, which merely display the physics of the virtual system, or to passive methods of haptic assistance for performance enhancement based on virtual fixtures, the shared-control approach offers a method for actively demonstrating desired motions during virtual environment interactions. The paper presents a thorough review of the literature related to haptic assistance. In addition, two experiments were conducted to independently verify the efficacy of the shared-control approach for performance enhancement and improved training effectiveness of the task. In the first experiment, shared control is found to be as effective as virtual fixtures for performance enhancement, with both methods resulting in significantly better performance in terms of time between target hits for the manual target-hitting task than sessions where subjects feel only the forces arising from the mass-spring-damper system dynamics. Since shared control is more general than virtual fixtures, this approach may be extremely beneficial for performance enhancement in virtual environments. In terms of training enhancement, shared control and virtual fixtures were no better than practice in an unassisted mode. For manual control tasks, such as the one described in this paper, shared control is beneficial for performance enhancement, but may not be viable for enhancing training effectiveness. Copyright \© 2006 by ASME.

}, keywords = {Control equipment, Damping, Data reduction, Haptic interfaces, Robotics, Robots}, issn = {0022-0434}, doi = {10.1115/1.2168160 }, url = {http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal\&id=JDSMAA000128000001000075000001\&idtype=cvips\&gifs=yes}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/52-00\%20-\%20JDSMC\%20Shared\%20control.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta and Gen, Matthew and Yanfang Li} } @article {8627855, title = {On the ability of humans to haptically identify and discriminate real and simulated objects}, journal = {Presence (USA)}, volume = {14}, number = {3}, year = {2005}, note = {real object;simulated object;human subject;haptic interface;haptic simulation;size-identification task;virtual surface stiffness;}, pages = {366 - 76}, abstract = {

The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between different-sized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of the haptic simulation. Results indicate that performance of size-identification tasks with haptic-interface hardware capable of a minimum of 3 N of maximum force output can approach performance in real environments, but fails short when virtual surface stiffness is limited. For size-discrimination tasks, performance in simulated environments was consistently lower than performance in a comparable real environment. Interestingly, significant variations in the fidelity of the haptic simulation do not appear to significantly alter the ability of a subject to identify or discriminate between the types of simulated objects described herein

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1162/105474605323384690}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005teleop.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {8529772, title = {Human-machine admittance and transparency adaptation in passive user interaction with a haptic interface}, year = {2005}, note = {

human-machine admittance;transparency adaptation;passive user interaction;haptic interface;force amplitude;passive user induced interactions;event-based haptic interactions;virtual environments;force amplitudes;transparency bandwidth;

}, month = {03/2005}, pages = {283 - 9}, address = {Pisa, Italy}, abstract = {

This paper addresses human adaptation to changes in coupling impedance and force amplitude during passive user induced (PUI) interactions with a haptic interface. PUI interactions are characterized as event-based haptic interactions or haptic recordings that are replayed to the user. In the study, virtual environments are displayed to passive users with variable coupling stiffness and force amplitudes, and transparency bandwidth and human-machine admittance are measured. Results indicate that transparency bandwidth and the human-machine admittance do not change significantly for permutations of force amplitudes and coupling impedances, nor do they vary significantly across users. The reason for this invariance is that, during a PUI interaction, users tend approach a similar displacement profile. As a result, all users will have similar apparent admittance and transparency. The findings give sufficient justification for the use of universal compensators that improve transparency bandwidth, and that can be designed based solely on a priori transparency measurements for a typical user

}, keywords = {Haptic interfaces, Human computer interaction, Manipulators, Virtual reality}, doi = {10.1109/WHC.2005.76}, url = {http://www2.computer.org/portal/web/csdl/doi/10.1109/WHC.2005.76}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/64-00\%20-\%20Human-machine\%20admittance\%20and\%20transparency\%20adaptation\%20in\%20passive\%20user\%20interaction\%20with\%20-\%20mcjunk.pdf}, author = {McJunkin, Samuel and Yanfang Li and O{\textquoteright}Malley, M.K.} } @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} } @article {03507772035, title = {Haptic feedback applications for robonaut}, journal = {Industrial Robot}, volume = {30}, number = {6}, year = {2003}, note = {Haptic feedback;Humanoid robot;Teleoperator;}, pages = {531 - 542}, 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 Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot{\textquoteright}s workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

}, keywords = {Computer control systems, Feedback control, Haptic interfaces, Robotics, Space applications, Telecontrol equipment}, url = {http://dx.doi.org/10.1108/01439910310506800}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IndustrialRobotO\%27Malley-Ambrose2003.pdf}, author = {O{\textquoteright}Malley, M.K. and Robert O. Ambrose} } @proceedings {7780496, title = {Passive and active assistance for human performance of a simulated underactuated dynamic task}, year = {2003}, note = {

simulated underactuated dynamic task;machine-mediated training;virtual fixtures;active assist;haptic feedback;visual feedback;

}, pages = {348 - 55}, address = {Los Angeles, CA, USA}, abstract = {

Machine-mediated training of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback real-time in order to elicit desired motions. This work investigates human performance in a Fitts{\textquoteright} type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system{\textquoteright}s own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2003.1191308}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003HAPTICS.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {7971173, title = {Skill transfer in a simulated underactuated dynamic task}, year = {2003}, note = {

underactuated dynamic system;Fitts{\textquoteright} type;skill transfer;haptic feedback;

}, pages = {315 - 20}, address = {Millbrae, CA, USA}, abstract = {

Machine-mediated teaching of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback in order to elicit desired motions. This work investigates skill transfer from assisted to unassisted modes for a Fitts{\textquoteright} type targeting task with an underactuated dynamic system. Performance, in terms of between target tap times, is measured during an unassisted baseline session and during various types of assisted training sessions. It is hypothesized that passive and active assist modes that are implemented during training of a dynamic task could improve skill transfer to a real environment or unassisted simulation of the task. Results indicate that transfer of skill is slight but significant for the assisted training modes

}, keywords = {computer based training, Haptic interfaces, learning (artificial intelligence), Virtual reality}, url = {http://dx.doi.org/10.1109/ROMAN.2003.1251864}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2003ieeeskilltrans.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {7254453, title = {Comparison of human haptic size identification and discrimination performance in real and simulated environments}, year = {2002}, note = {

human performance;size identification;size discrimination;simulated environments;haptic interface;machine performance levels;machine parameters;sub-optimal virtual environment;real environment;perception tasks;perceptual information;machine quality;maximum end-point force;system bandwidth;time delay;

}, pages = {10 - 17}, address = {Orlando, FL, USA}, abstract = {

The performance levels of human subjects in size identification and discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a three degree-of-freedom haptic interface, developed at Vanderbilt University. The results indicate that performance of the size identification and discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below-maximum machine performance levels for three machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum end-point force, system bandwidth and time delay

}, keywords = {delay estimation, force feedback, Haptic interfaces, human factors, mechanoception, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2002.998935}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeehumanhaptic.pdf}, author = {Marcia Kilchenman and Michael Goldfarb} } @article {02427145860, title = {The effect of force saturation on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {7}, number = {3}, year = {2002}, note = {Force saturation effect;Haptic perception;Force feedback;}, pages = {280 - 288}, abstract = {

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

}, keywords = {Computer control systems, Computer simulation, Feedback control, Haptic interfaces, Identification (control systems), Nonlinear control systems, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2002.802725}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {7379354, title = {The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces}, volume = {vol.2}, year = {2002}, note = {

surface stiffness;virtual surface stiffness;haptic perception;time delays;size identification;perceived surface hardness;haptic interfaces;

}, pages = {1255 - 60}, address = {Washington, DC, USA}, abstract = {

This paper presents a two-part study of the effects of virtual surface stiffness on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of surface stiffness, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between virtual surface stiffness and simulation quality in terms of perceived surface hardness. Results of experiments to test human haptic perception for varying virtual surface stiffnesses indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user at relatively low levels of virtual surface stiffness. Subjects, however, can perceive improvements in perceived simulated surface hardness as stiffness levels are increased in the range of achievable parameters for this hardware. The authors draw several conclusions about the allowable time delays in a haptic interface system based on the results of the surface stiffness experiments

}, keywords = {delays, Haptic interfaces, human factors, Virtual reality}, url = {http://dx.doi.org/10.1109/ROBOT.2002.1014715}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeesurfacestiffness.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} }