@proceedings {2054, title = {A Soft Approach to Convey Vibrotactile Feedback in Wearables Through Mechanical Hysteresis}, year = {2023}, publisher = {IEEE}, doi = {10.1109/RoboSoft55895.2023.10122072}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Fino_2023_Robosoft.pdf}, author = {Fino, Nathaniel and Zook, Zane A and Jumet, Barclay and Preston, Daniel J and O{\textquoteright}Malley, Marcia K} } @article {1993, title = {The SE-AssessWrist for robot-aided assessment of wrist stiffness and range of motion: Development and experimental validation}, journal = {Journal of Rehabilitation and Assistive Technologies Engineering}, volume = {8}, year = {2021}, month = {04/2021}, pages = {2055668320985774}, abstract = {

IntroductionPhysical human-robot interaction offers a compelling platform for assessing recovery from neurological injury; however, robots currently used for assessment have typically been designed for the requirements of rehabilitation, not assessment. In this work, we present the design, control, and experimental validation of the SE-AssessWrist, which extends the capabilities of prior robotic devices to include complete wrist range of motion assessment in addition to stiffness evaluation.MethodsThe SE-AssessWrist uses a Bowden cable-based transmission in conjunction with series elastic actuation to increase device range of motion while not sacrificing torque output. Experimental validation of robot-aided wrist range of motion and stiffness assessment was carried out with five able-bodied individuals.ResultsThe SE-AssessWrist achieves the desired maximum wrist range of motion, while having sufficient position and zero force control performance for wrist biomechanical assessment. Measurements of two-degree-of-freedom wrist range of motion and stiffness envelopes revealed that the axis of greatest range of motion and least stiffness were oblique to the conventional anatomical axes, and approximately parallel to each other.ConclusionsSuch an assessment could be beneficial in the clinic, where standard clinical measures of recovery after neurological injury are subjective, labor intensive, and graded on an ordinal scale.

}, doi = {10.1177/2055668320985774}, url = {https://doi.org/10.1177/2055668320985774}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Erwin_SE-AssessWrist_press.pdf}, author = {Andrew Erwin and Craig G McDonald and Nicholas Moser and Marcia K O{\textquoteright}Malley} } @article {kadivar2021, title = {Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury}, journal = {Journal of Rehabilitation and Assistive Technologies Engineering}, volume = {8}, year = {2021}, pages = {20556683211002448}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Kadivar_Armstrong.pdf}, author = {Kadivar, Zahra and Beck, Christopher E and Rovekamp, Roger N and O{\textquoteright}Malley, Marcia K} } @proceedings {2014, title = {Snaptics: Low-Cost Open-Source Hardware for Wearable Multi-Sensory Haptics}, year = {2021}, publisher = {IEEE}, address = {Montreal, QC, Canada}, doi = {10.1109/WHC49131.2021.9517172}, url = {https://ieeexplore.ieee.org/document/9517172/http://xplorestaging.ieee.org/ielx7/9517073/9517125/09517172.pdf?arnumber=9517172}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Snaptics_2021.pdf}, author = {Zook, Zane A. and Ozor-Ilo, Ozioma O. and Zook, Gabriel T. and O{\textquoteright}Malley, Marcia K.} } @article {9117187, title = {Syntacts: Open-Source Software and Hardware for Audio-Controlled Haptics}, journal = {IEEE Transactions on Haptics}, volume = {14}, number = {1}, year = {2021}, month = {Jan-Mar 2021}, pages = {225-233}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Syntacts.pdf}, author = {E. Pezent and B. Cambio and M. K. O{\textquoteright}Malley} } @inbook {1979, title = {Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy}, booktitle = {Robotics Research}, year = {2020}, pages = {541{\textendash}553}, publisher = {Springer}, organization = {Springer}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/farrell2020simply.pdf}, author = {Farrell, Logan C and Dennis, Troy A and Badger, Julia and O{\textquoteright}Malley, Marcia K} } @proceedings {1982, title = {Spatially Separated Cutaneous Haptic Guidance for Training of a Virtual Sensorimotor Task}, year = {2020}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_HS_2020_Smith_OpenWrist_CUFF_Training__shared__compressed.pdf}, author = {C. Smith and E. Pezent and M. K. O{\textquoteright}Malley} } @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 = {

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.

}, 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} } @proceedings {1892, title = {Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy}, year = {2017}, month = {12/2017}, address = {Puerto Varas, Chile}, abstract = {

Despite rapid advancements in dexterity and mechanical design, the utility of humanoid robots outside of a controlled laboratory setting is limited in part due to the complexity involved in programming robots to grasp common objects. There exists a need for an efficient method to command high degree-of-freedom (DoF) position-controlled dexterous manipulators to grasp a range of objects such that explicit models are not needed for every interaction. The authors propose a method termed geometrical synergies that, similar to the neuroscience concept of postural synergies, aims to decrease the commanded DoF of the humanoid hand. In the geometrical synergy approach, the method relies on grasp design based on intuitive measurements of the object to be grasped, in contrast to postural synergy methods that focus on the principal components of human grasps to determine robot hand joint commands. For this paper, a synergy was designed to grasp cylinder-shaped objects. Using the SynGrasp toolbox, a model of a twelve-DoF hand was created to perform contact analysis around a small set of cylinders dened by a single variable, diameter. Experiments were performed with the robot to validate and update the synergy-based models. Successful manipulation of a large range of cylindrical objects not previously introduced to the robot was demonstrated. This geometric synergy-based grasp planning method can be applied to any position-controlled humanoid hand to decrease the number of commanded DoF based on simple, measureable inputs in order to grasp commonly shaped objects. This method has the potential to vastly expand the library of objects the robot can manipulate.

}, keywords = {Dexterous Hand, Grasp, Humanoid, Manipulation, Synergy}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/farrell2017simply.pdf}, author = {Logan C. Farrell and Troy A. Dennis and Julia A. Badger and Marcia K. O{\textquoteright}Malley} } @article {1768, title = {Smoothness of surgical tool tip motion correlates to skill in endovascular tasks}, journal = {IEEE Transactions on Human Machine Systems}, volume = {46}, number = {5}, year = {2016}, pages = {647-659}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/J23Estrada_press.pdf}, author = {Estrada, S. and Duran, C. and Schulz, D. and Bismuth, J. and Byrne, M.D. and O{\textquoteright}Malley, M.K.} } @proceedings {1826, title = {SOM and LVQ classification of endovascular surgeons using motion-based metrics}, year = {2016}, month = {01/2016}, pages = {227-237}, abstract = {

An increase in the prevalence of endovascular surgery requires a growing number of proficient surgeons. Current endovascular surgeon evaluation techniques are subjective and time-consuming; as a result, there is a demand for an objective and automated evaluation procedure. Leveraging reliable movement metrics and tool-tip data acquisition, we here use neural network techniques such as LVQs and SOMs to identify the mapping between surgeons{\textquoteright} motion data and imposed rating scales. Using LVQs, only 50\ \% testing accuracy was achieved. SOM visualization of this inadequate generalization, however, highlights limitations of the present rating scale and sheds light upon the differences between traditional skill groupings and neural network clusters. In particular, our SOM clustering both exhibits more truthful segmentation and demonstrates which metrics are most indicative of surgeon ability, providing an outline for more rigorous evaluation strategies.

}, issn = {978-3-319-28517-7}, doi = {https://doi.org/10.1007/978-3-319-28518-4_20}, url = {https://link.springer.com/chapter/10.1007/978-3-319-28518-4_20}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/WSOM_2016.pdf}, author = {Kramer, B.D. and Dylan P. Losey and Marcia K. O{\textquoteright}Malley} } @article {1763, title = {On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity}, journal = {Mechatronics}, volume = {26}, year = {2015}, pages = {64-75}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Sergi2015\%20-\%20SEA\%20high\%20stiffness.pdf}, author = {Sergi, Fabrizio and O{\textquoteright}Malley, M.K.} } @article {6878466, title = {A Subject-Adaptive Controller for Wrist Robotic Rehabilitation}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {20}, number = {3}, year = {2015}, pages = {1338 - 1350}, keywords = {adaptive control, Exoskeletons, Force, Iron, Medical treatment, nonlinear systems, parallel mechanisms, robot dynamics, robotic rehabilitation, Robots, Trajectory, Vectors, Wrist}, issn = {1083-4435}, doi = {10.1109/TMECH.2014.2340697}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tmech-pehlivan-press.pdf}, author = {Pehlivan, A.U. and Sergi, F. and OMalley, M.K.} } @proceedings {1721, title = {SYSTEM CHARACTERIZATION OF MAHI EXO-II: A ROBOTIC EXOSKELETON FOR UPPER EXTREMITY REHABILITATION}, year = {2014}, publisher = {ASME}, address = {San Antonio, TX}, abstract = {
This paper presents the performance characterization of the MAHI Exo-II, an upper extremity exoskeleton for stroke and
spinal cord injury (SCI) rehabilitation, as a means to validate its clinical implementation and to provide depth to the literature on the performance characteristics of upper extremity exoskeletons. Individuals with disabilities arising from stroke and SCI need rehabilitation of the elbow, forearm, and wrist to restore the ability to independently perform activities of daily living (ADL). Robotic rehabilitation has been proposed to address the need for high intensity, long duration therapy and has shown promising results for upper limb proximal joints. However, upper limb distal joints have historically not benefitted from the same focus. The MAHI Exo-II, designed to address this shortcoming, has undergone a static and dynamic performance characterization, which shows that it exhibits the requisite qualities for a rehabilitation robot and is comparable to other state-of-the-art designs.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/DSCC2014-6267.pdf}, author = {French, James A. and Rose, Chad G. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1706, title = {System characterization of RiceWrist-S: A forearm-wrist exoskeleton for upper extremity rehabilitation}, year = {2013}, month = {June}, keywords = {Actuators, closed loop position performance, closed loop systems, distal joints, Exoskeletons, forearm rehabilitation, forearm-wrist exoskeleton, Friction, haptic interface design, Joints, medical robotics, neurological lesions, neurophysiology, Patient rehabilitation, position control, prosthetics, RiceWrist-S, robotic rehabilitation, Robots, serial mechanisms, spatial resolution, spinal cord injury, spinal cord injury rehabilitation, stroke, stroke rehabilitation, system characterization, Torque, torque output, upper extremity rehabilitation, Wrist, wrist rehabilitation}, doi = {10.1109/ICORR.2013.6650462}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pehlivan_RW-S_ICORR2013.pdf}, author = {Pehlivan, Ali Utku and Rose, Chad G. and O{\textquoteright}Malley, Marcia K.} } @proceedings {1294, title = {Spatial and Temporal Movement Characteristics after Robotic Training of Arm and Hand: A Case Study of a Person with Incomplete Spinal Cord Injury}, year = {2011}, month = {09/2011}, address = {San Francisco, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1294-IROS\%202011\%20Eng\%20Kadivar.pdf}, author = {D.P. Eng and Z. Kadivar and J.L. Sullivan and A.U. Pehlivan and M.K. O{\textquoteright}Malley and G.E. Francisco and N.Yozbatiran} } @inbook {1868, title = {Surgical Robotics: Innovations, Development, and Shortcomings}, booktitle = {Pumps and Pipes}, year = {2011}, pages = {33-44}, publisher = {Springer US}, organization = {Springer US}, address = {Boston, MA}, abstract = {

Robotic devices have been used in the industrial field for over 40 years, while their introduction has been slower into the medical field with many requirements driven by the nature of human tissue and safety. These surgical assistance systems provide intelligent, versatile tools that augment a physician{\textquoteright}s ability to treat patients. Steerable robotic catheters may overcome many of the limitations of standard catheter technology, enhance target vessel cannulation, and reduce instrumentation, while improving overall physician performance. External robotics allows access to a body cavity through percutaneous ports with a high precision, high magnification manipulation of tissue. Robotics-driven imaging systems enhance dynamic data acquisition and provide high speed integration, facilitating image-guided navigation and augmenting other robotic systems. A lack of haptics remains a significant safety issue.

}, isbn = {978-1-4419-6012-2}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Bismuth2011pumpspipes.pdf}, author = {Bismuth, Jean and O{\textquoteright}Malley, Marcia K.}, editor = {Davies, Mark G. and Lumsden, Alan B. and Kline, William E. and Kakadiaris, Ioannis} } @proceedings {li_shared_2006, title = {Shared Control for Training in Virtual Environments: Learning Through Demonstration?}, year = {2006}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/73-00\%20-\%20Li_Patoglu_OMalley_Eurohaptics06.pdf}, author = {Yanfang Li and Volkan Patoglu and O{\textquoteright}Malley, M.K.} } @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 {71, title = {A Study of Perceptual Performance in Haptic Virtual Environments}, journal = {Journal of Robotics and Mechatronics}, volume = {18(4)}, year = {2006}, pages = {467-475}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/71-Rb18-4-2617.pdf}, author = {O{\textquoteright}Malley, M.K. and Gina Upperman} } @proceedings {omalley_sh_2005, title = {Shared control for upper extremity rehabilitation in virtual environments}, year = {2005}, month = {11/2015}, pages = {pp 1673-1681}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005asmeshared.pdf}, author = {O{\textquoteright}Malley, M.K.} } @proceedings {1191334, title = {Simplified authoring of 3D haptic content for the World Wide Web}, year = {2003}, month = {03/2003}, pages = {428-429}, keywords = {authoring systems, Haptic interface, Internet, Internet browser, modeling language, programming, scripting, three-dimensional content, three-dimensional haptic scenes, virtual reality languages 3D haptic content authoring, VRML, Web page}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/161-getPDF.pdf}, author = {O{\textquoteright}Malley, M.K. and Shannon Hughes} } @proceedings {70, title = {Simulated Bilateral Teleoperation of Robonaut}, year = {2003}, address = {Long Beach, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/70-PV2003_6272.pdf}, author = {O{\textquoteright}Malley, M.K. and Kelsey J. Hughes and D. F. Magruder and Robert O. Ambrose} } @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} }