@article {clark2023asr, title = {Defining Allowable Stimulus Ranges for Position and Force Controlled Cutaneous Cues}, journal = {IEEE Transactions on Haptics}, volume = {16}, number = {3}, year = {2023}, month = {July-September}, pages = {353-364}, doi = {10.1109/TOH.2023.3286306}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2023_Clark_AllowableStimulusRangeSMALL.pdf}, author = {Clark, Janelle P and O{\textquoteright}Malley, Marcia K} } @article {9788113, title = {Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {27}, number = {4}, year = {2022}, month = {06/2022}, pages = {1829-1836}, doi = {10.1109/TMECH.2022.3175507}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Dunkelberger_TMECH_AIM.pdf}, author = {Dunkelberger, Nathan and Berning, Jeffrey and Dix, Kevin J. and Ramirez, Samuel A. and O{\textquoteright}Malley, Marcia K.} } @article {PezentTRO2022, title = {Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet}, journal = {IEEE Transactions on Robotics}, volume = {38}, number = {5}, year = {2022}, pages = {2962-2978}, doi = {10.1109/TRO.2022.3164840}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_TRO_2022_Pezent_Tasbi.pdf}, author = {Pezent, Evan and Agarwal, Priyanshu and Hartcher-O{\textquoteright}Brien, Jessica and Colonnese, Nicholas and O{\textquoteright}Malley, Marcia K.} } @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 {yousaf2021design, title = {Design and Characterization of a Passive Instrumented Hand}, journal = {ASME Letters in Dynamic Systems and Control}, volume = {1}, number = {1}, year = {2021}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/ALDSC-19-1082-1_Two_Col.pdf}, author = {Yousaf, Saad N and Joshi, Victoria S and Britt, John E and Rose, Chad G and O{\textquoteright}Malley, Marcia K} } @proceedings {1962, title = {Design and Characterization of a Passive Instrumented Hand}, year = {2019}, month = {10/2019}, doi = {https://doi.org/10.1115/DSCC2019-9082}, url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59148/V001T05A007/1070466?searchresult=1}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Instrumented_Hand_DSCC_Revised-compressed.pdf}, author = {Yousaf, Saad N and Joshi, Victoria S and Britt, John E and Rose, Chad G and O{\textquoteright}Malley, Marcia K} } @proceedings {1820, title = {Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module{\textquoteright}s capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module{\textquoteright}s performance and operational considerations support its use in a wide range of future clinical investigations.

}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009333}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/0263_0.pdf}, author = {Pezent, Evan and Rose, Chad G. and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @article {1777, title = {Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors}, journal = {Frontiers in Neuroscience}, volume = {10}, year = {2016}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/FINS2016.pdf}, author = {Bhagat, N.A. and Venkatakrishnan, A. and Abibullaev, B. and Artz, E.J. and Yozbatiran, N. and Blank, A.A. and French, J. and Karmonik, C. and Grossman, R.G. and O{\textquoteright}Malley, M.K. and Francisco, G. and Contreras-Vidal, J.L.} } @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} } @proceedings {1713, title = {Design and characterization of a haptic paddle for dynamics education}, year = {2014}, month = {Feb}, doi = {10.1109/HAPTICS.2014.6775465}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/HS2014_HapticPaddle_Rose_Press.pdf}, author = {Rose, Chad G. and French, James A. and O{\textquoteright}Malley, Marcia K.} } @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 {1882, title = {Detecting movement intent from scalp EEG in a novel upper limb robotic rehabilitation system for stroke}, year = {2014}, month = {08/2014}, keywords = {Accuracy, Adult, bioelectric potentials, brain-computer interfaces, closed loop systems, closed-loop brain-machine interfaces, Computer-Assisted, diseases, electroencephalography, Electromyography, Exoskeletons, hemiparesis, Humans, Male, medical robotics, medical signal detection, medical signal processing, Middle Aged, Movement, movement intent detection, neurophysiology, Paresis, Patient rehabilitation, Robotics, Robots, scalp electroencephalography, Signal Processing, stroke, stroke rehabilitation, Support Vector Machine, Support vector machines, training, Upper Extremity, upper extremity dysfunction, upper limb robotic rehabilitation system, Young Adult}, doi = {10.1109/EMBC.2014.6944532}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/bhagat2014ieee.pdf}, author = {N. A. Bhagat and J. French and A. Venkatakrishnan and N. Yozbatiran and G. E. Francisco and M. K. O{\textquoteright}Malley and J. L. Contreras-Vidal} } @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 {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} } @article {6197239, title = {Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {18}, number = {2}, year = {2013}, pages = {812-817}, keywords = {Acceleration, Accelerometer-based displacement sensing, Accelerometers, Accuracy, artificial proprioception, differential accelerometers, displacement measurement, double integrator, feedforward, feedforward control, frequency domain system identification, high resolution optical encoder, kinesthetic illusions, parametric transfer function model, prosthetics, real-time dynamic displacement sensing, Sensors, speaker-based tendon vibrator control, tendon vibrator, Tendons, Transfer functions, vibration control, Vibrations}, issn = {1083-4435}, doi = {10.1109/TMECH.2012.2195326}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Celik_Gilbert_O\%27Malley_TMECH2013.pdf}, author = {Celik, O. and Gilbert, H.B. and O{\textquoteright}Malley, M.K.} } @proceedings {1478, title = {Design of a low-cost series elastic actuator for multi-robot manipulation}, year = {2011}, month = {may}, doi = {10.1109/ICRA.2011.5980534}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/campbell2011ieee.pdf}, author = {Campbell, E. and Kong, Z.C. and Hered, W. and Lynch, A.J. and O{\textquoteright}Malley, M.K. and McLurkin, J.} } @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.} } @article {1699, title = {Disturbance observer-based force estimation for haptic feedback}, journal = {ASME Journal of Dynamic Systems, Measurement and Control}, volume = {133}, year = {2010}, month = {12/2010}, pages = {014505-1--014505-4}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Gupta_O\%27Malley_2011_JDSMC_dist_obs_PRESS.pdf}, author = {Abhishek Gupta and Marcia K. O{\textquoteright}Malley} } @proceedings {290, title = {Designing and Implementation of a Tactile Respiratory Management System}, year = {2009}, month = {03/2009}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/290-HSEMB_Abstract_final.pdf}, author = {Dillon P. Eng and Ali Israr 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 {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 {071210493824, title = {Design of a haptic arm exoskeleton for training and rehabilitation}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {11}, number = {3}, year = {2006}, note = {

Arm exoskeletons;Apparent inertia;Design methodology;

}, pages = {280 - 289}, 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 space and weight limitations, workspace requirements, and the kinematic constraints placed on the device by the human arm. These constraints impose conflicting design requirements on the engineer attempting to design an arm exoskeleton. In this paper, the authors present a detailed review of the requirements and constraints that are involved in the design of a high-quality haptic arm exoskeleton. In this context, the design of a five-degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments is 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. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. As a training tool, the device provides a means to implement flexible, repeatable, and safe training methodologies. \© 2006 IEEE.

}, keywords = {Damping, Degrees of freedom (mechanics), Joints (anatomy), Patient rehabilitation, Robot applications, Sensory perception, Stiffness}, url = {http://dx.doi.org/10.1109/TMECH.2006.875558}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/47-IEEEASME_HapticArmExoskeleton.pdf}, author = {Abhishek Gupta and O{\textquoteright}Malley, M.K.} } @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.} }