@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 {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} } @proceedings {05239144488, title = {Design of a haptic arm exoskeleton for training and rehabilitation}, volume = {73}, number = {2 PART B}, year = {2004}, note = {

Haptic arm exoskeleton;Inertia;Structural stiffness;Kinesthetic feedback;

}, pages = {1011 - 1018}, address = {Anaheim, CA, United States}, abstract = {

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Copyright {\textcopyright} 2004 by ASME.

}, keywords = {Actuators, Bandwidth, Damping, Degrees of freedom (mechanics), Friction, Human computer interaction, Kinematics, Robotic arms, Robots, Sensors, Stiffness}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/gupta2004asme.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} }