TY - JOUR T1 - Fluidically programmed wearable haptic textiles JF - Device Y1 - 2023 A1 - Barclay Jumet A1 - Zane A. Zook A1 - Anas Yousaf A1 - Anoop Rajappan A1 - Doris Xu A1 - Te Faye Yap A1 - Nathaniel Fino A1 - Zhen Liu A1 - Marcia K. O’Malley A1 - Daniel J. Preston KW - analog control KW - fluidic control KW - haptic sleeve KW - human-machine interaction KW - human-robot interaction KW - Navigation KW - point force KW - smart textiles KW - spatiotemporal haptics KW - tactile cues AB -

Summary Haptic feedback offers a useful mode of communication in visually or auditorily noisy environments. The adoption of haptic devices in our everyday lives, however, remains limited, motivating research on haptic wearables constructed from materials that enable comfortable and lightweight form factors. Textiles, a material class fitting these needs and already ubiquitous in clothing, have begun to be used in haptics, but reliance on arrays of electromechanical controllers detracts from the benefits that textiles offer. Here, we mitigate the requirement for bulky hardware by developing a class of wearable haptic textiles capable of delivering high-resolution information on the basis of embedded fluidic programming. The designs of these haptic textiles enable tailorable amplitudinal, spatial, and temporal control. Combining these capabilities, we demonstrate wearables that deliver spatiotemporal cues in four directions with an average user accuracy of 87%. Subsequent demonstrations of washability, repairability, and utility for navigational tasks exemplify the capabilities of our approach.

UR - https://www.sciencedirect.com/science/article/pii/S2666998623000832 ER - TY - JOUR T1 - Mechanofluidic Instability-Driven Wearable Textile Vibrotactor JF - IEEE Transactions on Haptics Y1 - 2023 A1 - Fino, Nathaniel A1 - Jumet, Barclay A1 - Zook, Zane A A1 - Preston, Daniel J A1 - O'Malley, Marcia K ER - TY - JOUR T1 - Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device JF - IEEE Transactions on Haptics Y1 - 2023 A1 - Macklin, Alix S A1 - Yau, Jeffrey M A1 - Fischer-Baum, Simon A1 - O'Malley, Marcia K VL - 16 ER - TY - Generic T1 - A Soft Approach to Convey Vibrotactile Feedback in Wearables Through Mechanical Hysteresis T2 - 2023 IEEE International Conference on Soft Robotics (RoboSoft) Y1 - 2023 A1 - Fino, Nathaniel A1 - Zook, Zane A A1 - Jumet, Barclay A1 - Preston, Daniel J A1 - O'Malley, Marcia K JF - 2023 IEEE International Conference on Soft Robotics (RoboSoft) PB - IEEE ER - TY - JOUR T1 - Effect of Tactile Masking on Multi-Sensory Haptic Perception JF - IEEE Transactions on Haptics Y1 - 2022 A1 - Zook, Zane A1 - Fleck, Joshua A1 - O'Malley, Marcia K VL - 15 UR - https://ieeexplore.ieee.org/document/9540350/http://xplorestaging.ieee.org/ielx7/4543165/4543166/09540350.pdf?arnumber=9540350 JO - IEEE Trans. Haptics ER - TY - CHAP T1 - A Textile-Based Approach to Wearable Haptic Devices T2 - 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) Y1 - 2022 A1 - Jumet, Barclay A1 - Zook, Zane A. A1 - Xu, Doris A1 - Fino, Nathaniel A1 - Rajappan, Anoop A1 - Schara, Mark W. A1 - Berning, Jeffrey A1 - Escobar, Nicolas A1 - O'Malley, Marcia K. A1 - Preston, Daniel J. JF - 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) ER - TY - JOUR T1 - Effect of Robotic Exoskeleton Motion Constraints on Upper Limb Muscle Synergies: A Case Study JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering Y1 - 2021 A1 - Mcdonald, Craig G. A1 - Fregly, Benjamin J. A1 - O’Malley, Marcia K. VL - 29 ER - TY - JOUR T1 - Effects of Interfering Cue Separation Distance and Amplitude on the Haptic Detection of Skin Stretch JF - IEEE Transactions on Haptics Y1 - 2021 A1 - Low, Andrew Kin Wei A1 - Zook, Zane A1 - Fleck, Joshua A1 - O'Malley, Marcia K AB -

Multi-sensory haptic cues, which contain several types of tactile stimuli that are presented concurrently to the user, have been shown to be useful for conveying information-rich cues. One limitation of multi-sensory cues is that user perception of individual cue components can be hindered by more salient components of the composite cue. In this paper, we investigate how amplitude and distance between cues affect the perception of multi-sensory haptic cues. Specifically, participants' absolute threshold perception of stretch cues was measured in the presence of interfering squeeze cues using a modular testbed. We evaluated ten conditions of varying interference amplitude and distance between cues. We found that interference cue amplitude and distance between cues both have a statistically significant effect on the absolute perception of stretch cues. As interference cue amplitude increases, and as distance between cues decreases, absolute perception of stretch cues worsens. These results inform design considerations for future wearable multi-sensory haptic devices, so that cue salience can be maximized and interference effects minimized.

VL - 14 UR - https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4543165https://ieeexplore.ieee.org/document/9415164/http://xplorestaging.ieee.org/ielx7/4543165/4543166/09415164.pdf?arnumber=9415164 JO - IEEE Trans. Haptics ER - TY - JOUR T1 - Myoelectric Control and Neuromusculoskeletal Modeling: Complementary Technologies for Rehabilitation Robotics JF - Current Opinion in Biomedical Engineering Y1 - 2021 A1 - Jeffrey Berning A1 - Gerard E. Francisco A1 - Shuo-Hsiu Chang A1 - Benjamin J. Fregly A1 - Marcia K. O'Malley KW - Electromyography KW - neuromusculoskeletal modeling KW - robotic rehabilitation KW - upper limb motor impairment AB -

Stroke and spinal cord injury (SCI) are a leading cause of disability in the United States, and researchers have pursued using robotic devices to aid rehabilitation efforts for resulting upper-extremity impairments. To date, however, robotic rehabilitation of the upper limb has produced only limited improvement in functional outcomes compared to traditional therapy. This paper explores the potential of myoelectric control and neuromusculoskeletal modeling for robotic rehabilitation using the current state of the art of each individual field as evidence. Continuing advances in the fields of myoelectric control and neuromusculoskeletal modeling offer opportunities for further improvements of rehabilitation robot control strategies. Specifically, personalized neuromusculoskeletal models driven by a subject’s electromyography signals may provide accurate predictions of the subject’s muscle forces and joint moments which, when used to design novel control strategies, could yield new approaches to robotic therapy for stroke and SCI that surpass the efficacy of traditional therapy.

UR - https://www.sciencedirect.com/science/article/pii/S2468451121000532 ER - TY - JOUR T1 - Neural activity modulations and motor recovery following brain-exoskeleton interface mediated stroke rehabilitation JF - NeuroImage: Clinical Y1 - 2020 A1 - Nikunj A. Bhagat A1 - Nuray Yozbatiran A1 - Jennifer L. Sullivan A1 - Ruta Paranjape A1 - Colin Losey A1 - Zachary Hernandez A1 - Zafer Keser A1 - Robert Grossman A1 - Gerard E. Francisco A1 - Marcia K. O'Malley A1 - Jose L. Contreras-Vidal KW - Brain-machine interface KW - Clinical trial KW - Exoskeletons KW - Movement related cortical potentials KW - stroke rehabilitation AB -

Brain-machine interfaces (BMI) based on scalp EEG have the potential to promote cortical plasticity following stroke, which has been shown to improve motor recovery outcomes. However, the efficacy of BMI enabled robotic training for upper-limb recovery is seldom quantified using clinical, EEG-based, and kinematics-based metrics. Further, a movement related neural correlate that can predict the extent of motor recovery still remains elusive, which impedes the clinical translation of BMI-based stroke rehabilitation. To address above knowledge gaps, 10 chronic stroke individuals with stable baseline clinical scores were recruited to participate in 12 therapy sessions involving a BMI enabled powered exoskeleton for elbow training. On average, 132 ± 22 repetitions were performed per participant, per session. BMI accuracy across all sessions and subjects was 79 ± 18% with a false positives rate of 23 ± 20%. Post-training clinical assessments found that FMA for upper extremity and ARAT scores significantly improved over baseline by 3.92 ± 3.73 and 5.35 ± 4.62 points, respectively. Also, 80% participants (7 with moderate-mild impairment, 1 with severe impairment) achieved minimal clinically important difference (MCID: FMA-UE >5.2 or ARAT >5.7) during the course of the study. Kinematic measures indicate that, on average, participants’ movements became faster and smoother. Moreover, modulations in movement related cortical potentials, an EEG-based neural correlate measured contralateral to the impaired arm, were significantly correlated with ARAT scores (ρ = 0.72, p < 0.05) and marginally correlated with FMA-UE (ρ = 0.63, p = 0.051). This suggests higher activation of ipsi-lesional hemisphere post-intervention or inhibition of competing contra-lesional hemisphere, which may be evidence of neuroplasticity and cortical reorganization following BMI mediated rehabilitation therapy.

VL - 28 UR - http://www.sciencedirect.com/science/article/pii/S2213158220303399 ER - TY - CHAP T1 - Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy T2 - Robotics Research Y1 - 2020 A1 - Farrell, Logan C A1 - Dennis, Troy A A1 - Badger, Julia A1 - O’Malley, Marcia K JF - Robotics Research PB - Springer ER - TY - Generic T1 - A Cutaneous Haptic Cue Characterization Testbed T2 - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - Fleck, Joshua J. A1 - Zook, Zane A. A1 - Andrew Low A1 - O'Malley, Marcia K. JF - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) PB - IEEE CY - Tokyo, Japan UR - https://ieeexplore.ieee.org/document/8816086/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816086.pdf?arnumber=8816086 ER - TY - Generic T1 - Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze T2 - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - Zook, Zane A. A1 - Fleck, Joshua J. A1 - Andrew Low A1 - O'Malley, Marcia K. JF - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) PB - IEEE CY - Tokyo, Japan UR - https://ieeexplore.ieee.org/document/8816139/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816139.pdf?arnumber=8816139 ER - TY - JOUR T1 - Spatially Separating Haptic Guidance from Task Dynamics through Wearable Devices. JF - IEEE Trans Haptics Y1 - 2019 A1 - Pezent, Evan A1 - Fani, Simone A1 - Clark, Janelle A1 - Bianchi, Matteo A1 - OMalley, Marcia K AB -

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.

VL - 12 ER - TY - Generic T1 - Cycloidal Geartrain In-Use Efficiency Study T2 - International Design Engineering Technical Conferences IDETC Y1 - 2018 A1 - Farrell, Logan C A1 - Holley, James A1 - Bluethmann, William A1 - O’Malley, Marcia K JF - International Design Engineering Technical Conferences IDETC PB - American Society of Mechanical Engineers CY - Quebec, Canada ER - TY - Generic T1 - Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery T2 - EuroHaptics Y1 - 2018 A1 - Dunkelberger, Nathan A1 - Bradley, Joshua A1 - Sullivan, Jennifer L. A1 - Israr, Ali A1 - Lau, Frances A1 - Klumb, Keith A1 - Abnousi, Freddy A1 - O'Malley, Marcia K. ED - Prattichizzo, Domenico ED - Shinoda, Hiroyuki ED - Tan, Hong Z. ED - Ruffaldi, Emanuele ED - Frisoli, Antonio AB -

This paper presents a novel, wearable, and multi-sensory haptic feedback system intended to support the transmission of large sets of haptic cues that are accurately perceived by the human user. Previous devices have focused on the optimization of haptic cue transmission using a single modality and have typically employed arrays of haptic tactile actuators to maximize information throughput to a user. However, when large cue sets are to be transmitted, perceptual interference between transmitted cues can decrease the efficacy of single-sensory systems. Therefore, we present MISSIVE (Multi-sensory Interface of Stretch, Squeeze, and Integrated Vibration Elements), a wearable system that conveys multi-sensory haptic cues to the user's upper arm, allowing for increased perceptual accuracy compared to a single-sensory vibrotactile array of a comparable size, conveying the same number of cues. Our multi-sensory haptic cues are comprised of concurrently rendered, yet perceptually distinct elements: radial squeeze, lateral skin stretch, and localized cutaneous vibration. Our experiments demonstrate that our approach can increase perceptual accuracy compared to a single-sensory vibrotactile system of comparable size and that users prefer MISSIVE.

JF - EuroHaptics PB - Springer International Publishing CY - Pisa, Italy VL - II SN - 978-3-319-93399-3 ER - TY - JOUR T1 - Quantitative testing of fMRI-compatibility of an electrically active mechatronic device for robot-assisted sensorimotor protocols JF - IEEE Transactions on Biomedical Engineering Y1 - 2018 A1 - Farrens, A.J. A1 - Zonnino, A. A1 - Erwin,Andrew A1 - O'Malley, M.K. A1 - Johnson, C.L. A1 - Ress, D. A1 - Fabrizio Sergi VL - 65 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8012485&tag=1 ER - TY - Generic T1 - The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception T2 - EuroHaptics Y1 - 2018 A1 - Clark, Janelle P. A1 - Kim, Sung Y. A1 - O'Malley, Marcia K. ED - Prattichizzo, Domenico ED - Shinoda, Hiroyuki ED - Tan, Hong Z. ED - Ruffaldi, Emanuele ED - Frisoli, Antonio AB -

Skin stretch, when mapped to joint position, provides haptic feedback using a mechanism similar to our sense of proprioception . Rocker-type skin stretch devices typically actuate in the lateral direction of the arm, though during limb movement stretch about joint angles is in the longitudinal direction. In this paper, human perceptual performance in a target-hitting task is compared for two orientations of the Rice Haptic Rocker. The longitudinal direction is expected to be more intuitive due to the biological similarities, creating a more effective form of haptic feedback. The rockers are placed on the upper arm, and convey the position of a cursor among five vertically aligned targets. The longitudinal orientation results in smaller errors compared to the lateral case. Additionally, the outer targets were reached with less error than the inner targets for the longitudinal rocker. This result suggests longitudinal stretch is more easily discerned than laterally oriented stretch.

JF - EuroHaptics PB - Springer International Publishing CY - Pisa, Italy VL - II SN - 978-3-319-93399-3 ER - TY - Generic T1 - Separating haptic guidance from task dynamics: A practical solution via cutaneous devices T2 - Haptics Symposium (HAPTICS) Y1 - 2018 A1 - Pezent, Evan A1 - Fani, Simone A1 - Bradley, Joshua A1 - Bianchi, Matteo A1 - O'Malley, Marcia K JF - Haptics Symposium (HAPTICS) PB - IEEE CY - San Francisco, CA ER - TY - JOUR T1 - Effects of assist-as-needed upper extremity robotic therapy after incomplete spinal cord injury: a parallel-group controlled trial JF - Frontiers in Neurobotics Y1 - 2017 A1 - John M. Frullo A1 - Jared Elinger A1 - Ali Utku Pehlivan A1 - Kyle Fitle A1 - Kathryn Nedley A1 - Gerard Francisco A1 - Fabrizio Sergi A1 - Marcia K. O'Malley VL - 11 ER - TY - Generic T1 - Improving robotic stroke rehabilitation by incorporating neural intent detection: Preliminary results from a clinical trial T2 - International Conference on Rehabilitation Robotics (ICORR) Y1 - 2017 A1 - Sullivan, J.L. A1 - Bhagat, N.A. A1 - Yozbatiran, N. A1 - Paranjape, R. A1 - Losey, C.G. A1 - Grossman, R.G. A1 - Contreras-Vidal, J.L. A1 - Francisco, G.E. A1 - O'Malley, M.K. JF - International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - London, UK ER - TY - JOUR T1 - Robot-Assisted Training of Arm and Hand Movement Shows Functional Improvements for Incomplete Cervical Spinal Cord Injury JF - American Journal of Physical Medicine & Rehabilitation Y1 - 2017 A1 - Francisco, Gerard E A1 - Yozbatiran, Nuray A1 - Berliner, Jeffrey A1 - OʼMalley, Marcia K A1 - Pehlivan, Ali Utku A1 - Kadivar, Zahra A1 - Fitle, Kyle A1 - Boake, Corwin VL - 96 UR - https://doi.org/10.1097/PHM.0000000000000815 ER - TY - Generic T1 - Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy T2 - International Symposium on Robotics Research (ISRR) Y1 - 2017 A1 - Logan C. Farrell A1 - Troy A. Dennis A1 - Julia A. Badger A1 - Marcia K. O'Malley KW - Dexterous Hand KW - Grasp KW - Humanoid KW - Manipulation KW - Synergy AB -

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.

 

JF - International Symposium on Robotics Research (ISRR) CY - Puerto Varas, Chile ER - TY - JOUR T1 - White matter changes in corticospinal tract associated with improvement in arm and hand functions in incomplete cervical spinal cord injury: pilot case series JF - Spinal Cord Series and Cases Y1 - 2017 A1 - Yozbatiran, Nuray A1 - Keser, Zafer A1 - Hasan, Khader A1 - Stampas, Argyrios A1 - Korupolu, Radha A1 - Kim, Sam A1 - O'Malley, Marcia K A1 - Fregni, Felipe A1 - Francisco, Gerard E VL - 3 UR - https://doi.org/10.1038/scsandc.2017.28 ER - TY - JOUR T1 - Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors JF - Frontiers in Neuroscience Y1 - 2016 A1 - Bhagat, N.A. A1 - Venkatakrishnan, A. A1 - Abibullaev, B. A1 - Artz, E.J. A1 - Yozbatiran, N. A1 - Blank, A.A. A1 - French, J. A1 - Karmonik, C. A1 - Grossman, R.G. A1 - O'Malley, M.K. A1 - Francisco, G. A1 - Contreras-Vidal, J.L. VL - 10 ER - TY - JOUR T1 - Transcranial direct current stimulation (tDCS) of the primary motor cortex and robot-assisted arm training in chronic incomplete cervical spinal cord injury: A proof of concept sham-randomized clinical study JF - NeuroRehabilitation Y1 - 2016 A1 - Nuray Yozbatirana A1 - Zafer Keser A1 - Matthew Davis A1 - Argyrios Stampas A1 - Marcia K. O’Malley A1 - Catherine Cooper-Hay A1 - Joel Fronteraa A1 - Felipe Fregni A1 - Gerard E. Francisco VL - 39 ER - TY - Generic T1 - Design of a parallel-group balanced controlled trial to test the effects of assist-as-needed robotic therapy T2 - IEEE International Conference on Rehabilitation Robotics (ICORR) Y1 - 2015 A1 - Sergi, F. A1 - Pehlivan, A.U. A1 - Fitle, K. A1 - Nedley, K. A1 - Yozbatiran, Nuray A1 - Francisco,Gerard E. A1 - O'Malley, M.K. JF - IEEE International Conference on Rehabilitation Robotics (ICORR) CY - Singapore ER - TY - JOUR T1 - An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization JF - International Journal of Robotics Research Y1 - 2015 A1 - Priyanshu Agarwal A1 - Jonas Fox A1 - Youngmok Yun A1 - O'Malley, M.K. A1 - Ashish D. Deshpande VL - 34 ER - TY - Generic T1 - A robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2015 A1 - Fitle, K. A1 - Pehlivan, A.U. A1 - O'Malley, M.K. JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Seattle, Washington ER - TY - JOUR T1 - Current Trends in Robot-Assisted Upper-Limb Stroke Rehabilitation: Promoting Patient Engagement in Therapy JF - Current Physical Medicine and Rehabilitation Reports Y1 - 2014 A1 - Amy A Blank A1 - James A French A1 - Ali Utku Pehlivan A1 - Marcia K O’Malley ER - TY - Generic T1 - Design and characterization of a haptic paddle for dynamics education T2 - Haptics Symposium (HAPTICS), 2014 IEEE Y1 - 2014 A1 - Rose, Chad G. A1 - French, James A. A1 - O'Malley, Marcia K. JF - Haptics Symposium (HAPTICS), 2014 IEEE ER - TY - JOUR T1 - Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury JF - Robotica Y1 - 2014 A1 - Pehlivan,Ali Utku A1 - Sergi,Fabrizio A1 - Erwin,Andrew A1 - Yozbatiran,Nuray A1 - Francisco,Gerard E. A1 - O'Malley,Marcia K. VL - 32 UR - http://journals.cambridge.org/article_S0263574714001490 ER - TY - Generic T1 - Detecting movement intent from scalp EEG in a novel upper limb robotic rehabilitation system for stroke T2 - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Y1 - 2014 A1 - N. A. Bhagat A1 - J. French A1 - A. Venkatakrishnan A1 - N. Yozbatiran A1 - G. E. Francisco A1 - M. K. O'Malley A1 - J. L. Contreras-Vidal KW - Accuracy KW - Adult KW - bioelectric potentials KW - brain-computer interfaces KW - closed loop systems KW - closed-loop brain-machine interfaces KW - Computer-Assisted KW - diseases KW - electroencephalography KW - Electromyography KW - Exoskeletons KW - hemiparesis KW - Humans KW - Male KW - medical robotics KW - medical signal detection KW - medical signal processing KW - Middle Aged KW - Movement KW - movement intent detection KW - neurophysiology KW - Paresis KW - Patient rehabilitation KW - Robotics KW - Robots KW - scalp electroencephalography KW - Signal Processing KW - stroke KW - stroke rehabilitation KW - Support Vector Machine KW - Support vector machines KW - training KW - Upper Extremity KW - upper extremity dysfunction KW - upper limb robotic rehabilitation system KW - Young Adult JF - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society ER - TY - Generic T1 - SYSTEM CHARACTERIZATION OF MAHI EXO-II: A ROBOTIC EXOSKELETON FOR UPPER EXTREMITY REHABILITATION T2 - ASME Dynamic Systems and Controls Conference (DSCC) Y1 - 2014 A1 - French, James A. A1 - Rose, Chad G. A1 - O'Malley, Marcia K. AB -
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.
JF - ASME Dynamic Systems and Controls Conference (DSCC) PB - ASME CY - San Antonio, TX ER - TY - Generic T1 - A Pre-Clinical Framework for Neural Control of a Therapeutic Upper-Limb Exoskeleton T2 - IEEE EMBS Conference on Neural Engineering Y1 - 2013 A1 - Amy Blank A1 - Marcia K. O’Malley A1 - Gerard E. Francisco A1 - Jose L. Contreras-Vidal JF - IEEE EMBS Conference on Neural Engineering ER - TY - Generic T1 - The RiceWrist Grip: A Means to Measure Grip Strength of Patients Using the RiceWrist Y1 - 2012 A1 - Ryan Quincy A1 - Andrew Erwin A1 - A.U. Pehlivan A1 - Yozbatiran, Nuray A1 - Gerard Francisco A1 - Marcia K. O'Malley ER - TY - JOUR T1 - RiceWrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Tetraplegic Persons with Spinal Cord Injury JF - International Journal of Biological Engineering Y1 - 2012 A1 - Z. Kadivar A1 - J.L. Sullivan A1 - D.P. Eng A1 - A.U. Pehlivan A1 - O'Malley, M.K. A1 - N. Yozbatiran A1 - G.E. Francisco VL - 2 JO - International Journal of Biological Engineering ER - TY - JOUR T1 - Robotic training and clinical assessment of upper extremity movements after spinal cord injury; a single case report JF - Journal of Rehabilitation Medicine Y1 - 2012 A1 - Yozbatiran, Nuray A1 - Berliner, J. A1 - O'Malley, M.K. A1 - Pehlivan, A.U. A1 - Z. Kadivar A1 - Boake, Corwin A1 - Gerard E. Francisco VL - 44 ER - TY - Generic T1 - Robotic training and clinical assessment of forearm and wrist movements after incomplete spinal cord injury: A case study T2 - 2011 IEEE International Conference on Rehabilitation Robotics Y1 - 2011 A1 - N. Yozbatiran A1 - J. Berliner A1 - C. Boake A1 - M. K. O'Malley A1 - Z. Kadivar A1 - G. E. Francisco KW - age 24 yr KW - arm motor function recovery KW - ASIA upper-extremity motor score KW - biomechanics KW - clinical assessment KW - electrically-actuated forearm KW - Forearm KW - forearm movement KW - forearm pronation KW - forearm supination KW - functional independence measure KW - functional tasks KW - grip KW - Haptic interfaces KW - Humans KW - injuries KW - Jebsen-Taylor hand function test KW - Joints KW - Male KW - medical robotics KW - Medical treatment KW - Muscles KW - neurophysiology KW - patient movement capabilities KW - Patient rehabilitation KW - Patient treatment KW - pinch strength KW - radial-ulnar deviation KW - rehabilitation applications KW - robotic training KW - Robots KW - Spinal Cord Injuries KW - spinal cord injury KW - training KW - Wrist KW - wrist extension KW - wrist flexion KW - wrist haptic exoskeleton device KW - wrist movement KW - Young Adult AB -

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'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.

JF - 2011 IEEE International Conference on Rehabilitation Robotics ER - TY - Generic T1 - Spatial and Temporal Movement Characteristics after Robotic Training of Arm and Hand: A Case Study of a Person with Incomplete Spinal Cord Injury T2 - IEEE IROS Y1 - 2011 A1 - D.P. Eng A1 - Z. Kadivar A1 - J.L. Sullivan A1 - A.U. Pehlivan A1 - M.K. O’Malley A1 - G.E. Francisco A1 - N.Yozbatiran JF - IEEE IROS CY - San Francisco, CA ER - TY - Generic T1 - Comparison of robotic and clinical motor function improvement measures for sub-acute stroke patients T2 - IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008). Y1 - 2008 A1 - Ozkan Celik A1 - O'Malley, M.K. A1 - Boake, Corwin A1 - H.S. Levin A1 - Fischer, Steven A1 - Reistetter, Timothy KW - robotic rehabilitation AB -

In this paper, preliminary results in motor function improvement for four sub-acute stroke patients that underwent a hybrid robotic and traditional rehabilitation program are presented. The therapy program was scheduled for three days a week, four hours per day (approximately 60% traditional constraint induced therapy activities and 40% robotic therapy). A haptic joystick was used to implement four different operating modes for robotic therapy: unassisted (U), constrained (C), assisted (A), and resisted (R) modes. A target hitting task involving the positioning of a pointer on twelve targets was completed by the patients. Two different robotic measures were utilized to quantify the motor function improvement through the sessions: trajectory error (TE) and smoothness of movement (SM). Fugl-Meyer (FM) and motor activity log (MAL) scales were used as clinical measures. Analysis of results showed that the group demonstrates a significant motor function improvement with respect to both clinical and robotic measures. Regression analyses were carried out on corresponding clinical and robotic measure result pairs. A significant relation between FM scale and robotic measures was found for both of the analyzed modes. Regression of robotic measures on MAL scores resulted in no significance. A regression analysis that compared the two clinical measures revealed a very low agreement. Our findings suggest that it might be possible to obtain objective robotic measures that are significantly correlated to widely-used and reliable clinical measures in considerably different operating modes and control schemes.

JF - IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008). CY - Pasadena, CA ER -