TY - Generic T1 - Explorations of wrist haptic feedback for AR/VR interactions with Tasbi T2 - Adjunct Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology Y1 - 2022 A1 - Pezent, Evan A1 - Gupta, Aakar A1 - Duhaime, Hank A1 - O'Malley, Marcia A1 - Israr, Ali A1 - Samad, Majed A1 - Robinson, Shea A1 - Agarwal, Priyanshu A1 - Benko, Hrvoje A1 - Colonnese, Nick JF - Adjunct Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology ER - TY - Generic T1 - Explorations of Wrist Haptic Feedback for AR/VR Interactions with Tasbi T2 - Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems Y1 - 2020 A1 - Pezent, Evan A1 - O’Malley, Marcia K. A1 - Israr, Ali A1 - Samad, Majed A1 - Robinson, Shea A1 - Agarwal, Priyanshu A1 - Benko, Hrvoje A1 - Colonnese, Nicholas KW - bracelet KW - haptics KW - multisensory KW - Virtual reality KW - wearables JF - Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems PB - Association for Computing Machinery CY - New York, NY, USA SN - 9781450368193 UR - https://doi.org/10.1145/3334480.3383151 ER - TY - JOUR T1 - Multi-Sensory Stimuli Improve Distinguishability of Cutaneous Haptic Cues JF - IEEE Transactions on Haptics Y1 - 2020 A1 - Sullivan, Jennifer L A1 - Dunkelberger, Nathan A1 - Bradley, Joshua A1 - Young, Joseph A1 - Israr, Ali A1 - Lau, Frances A1 - Klumb, Keith A1 - Abnousi, Freddy A1 - O'Malley, Marcia K VL - 13 ER - TY - Generic T1 - Tasbi: Multisensory Squeeze and Vibrotactile Wrist Haptics for Augmented and Virtual Reality T2 - 2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - E. Pezent A1 - A. Israr A1 - M. Samad A1 - S. Robinson A1 - P. Agarwal A1 - H. Benko A1 - N. Colonnese KW - augmented reality KW - computing interfaces KW - fully immerse users KW - hand interactions KW - Haptic interfaces KW - multisensory haptic wristband KW - multisensory squeeze KW - pseudohaptic effects KW - purely normal squeeze forces KW - sensory substitution device KW - Skin KW - Tactile feedback KW - Tasbi device KW - vibrotactile feedback KW - vibrotactile wrist haptics KW - virtual button KW - Virtual reality KW - virtual world KW - visual information KW - wearable devices JF - 2019 IEEE World Haptics Conference (WHC) ER - TY - Generic T1 - Conveying Language Through Haptics: A Multi-sensory Approach T2 - International Symposium on Wearable Computing ISWC Y1 - 2018 A1 - Dunkelberger, Nathan A1 - Sullivan, Jenny A1 - Bradley, Joshua A1 - Walling, Nickolas P A1 - Manickam, Indu A1 - Dasarathy, Gautam A1 - Israr, Ali A1 - Lau, Frances W. Y. A1 - Klumb, Keith A1 - Knott, Brian A1 - Abnousi, Freddy A1 - Baraniuk, Richard A1 - O'Malley, Marcia K KW - haptics KW - multi-sensory KW - speech KW - wearable JF - International Symposium on Wearable Computing ISWC PB - ACM CY - Singapore SN - 978-1-4503-5967-2 UR - http://doi.acm.org/10.1145/3267242.3267244 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 - Generic T1 - On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic Device T2 - Wearable Robotics: Challenges and Trends Y1 - 2017 A1 - Kadivar, Zahra A1 - Beck, Christopher E. A1 - Rovekamp, Roger N. A1 - O'Malley, Marcia K. A1 - Joyce, Charles A. ED - González-Vargas, José ED - Ibáñez, Jaime ED - Contreras-Vidal, Jose L. ED - van der Kooij, Herman ED - Pons, José Luis AB -

Treatment intensity has a profound effect on motor recovery following neurological injury. The use of robotics has potential to automate these labor-intensive therapy procedures that are typically performed by physical therapists. Further, the use of wearable robotics offers an aspect of portability that may allow for rehabilitation outside the clinic. The authors have developed a soft, portable, lightweight upper extremity wearable robotic device to provide motor rehabilitation of patients with affected upper limbs due to traumatic brain injury (TBI). A key feature of the device demonstrated in this paper is the isolation of shoulder and elbow movements necessary for effective rehabilitation interventions. Herein is presented a feasibility study with one subject and demonstration of the device's ability to provide safe, comfortable, and controlled upper extremity movements. Moreover, it is shown that by decoupling shoulder and elbow motions, desired isolated joint actuation can be achieved.

JF - Wearable Robotics: Challenges and Trends PB - Springer International Publishing CY - Springer, Cham VL - 16 SN - 978-3-319-46532-6 ER - TY - Generic T1 - Acumen: An open-source testbed for cyber-physical systems research T2 - EAI International Conference on CYber physiCaL systems, iOt and sensors Networks Y1 - 2015 A1 - Walid Taha A1 - Adam Duracz A1 - Yingfu Zeng A1 - Kevin Atkinson A1 - Ferenc A.Bartha A1 - Paul Brauner A1 - Jan Duracz A1 - Fei Xu A1 - Robert Cartwright A1 - Michal Konecny A1 - Eugenio Moggi A1 - Jawad Masood A1 - Pererik Andreasson A1 - Jun Inoue A1 - Anita Santanna A1 - Roland Philippsen A1 - Alexandre Chapoutot A1 - O'Malley, M.K. A1 - Aaron Ames A1 - Veronica Gaspes A1 - Lise Hvatum A1 - Shyam Mehta A1 - Henrik Eriksson A1 - Christian Grante JF - EAI International Conference on CYber physiCaL systems, iOt and sensors Networks ER - TY - Generic T1 - Rate of human motor adaptation under varying system dynamics T2 - World Haptics Conference (WHC), 2011 IEEE Y1 - 2011 A1 - Erdogan, A. A1 - Israr, A. A1 - O'Malley, M.K. A1 - Patoglu, V. JF - World Haptics Conference (WHC), 2011 IEEE ER - TY - Generic T1 - Discrimination of consonant articulation location by tactile stimulation of the forearm T2 - Haptics Symposium, 2010 IEEE Y1 - 2010 A1 - Wong, E.Y. A1 - Ali Israr A1 - O'Malley, M.K. KW - consonant articulation location KW - dorsal forearm skin KW - Haptic interfaces KW - localized vibrations map KW - psychology KW - speech KW - speech processing KW - spoken consonants KW - tactile cues KW - tactile sensors KW - tactile stimulation KW - touch (physiological) JF - Haptics Symposium, 2010 IEEE ER - TY - Generic T1 - Mathematical Equations as Executable Models of Mechanical Systems Y1 - 2010 A1 - Angela Yun Zhu A1 - Edwin Westbrook A1 - Jun Inoue A1 - Alexandre Chapoutot A1 - Cherif Salama A1 - Marisa Peralta A1 - Travis Martin A1 - Walid Taha A1 - Robert Cartwright A1 - O'Malley, M.K. AB -

Cyber-physical systems comprise digital components that directly interact with a physical environment. Specifying the behavior desired of such systems requires analytical modeling of physical phenomena. Similarly, testing them requires simulation of continuous systems. While numerous tools support later stages of developing simulation codes, there is still a large gap between analytical modeling and building running simulators. This gap significantly impedes the ability of scientists and engineers to develop novel cyber-physical systems. We propose bridging this gap by automating the mapping from analytical models to simulation codes. Focusing on mechanical systems as an important class of models of physical systems, we study the form of analytical models that arise in this domain, along with the process by which domain experts map them to executable codes. We show that the key steps needed to automate this mapping are 1) a light-weight analysis to partially direct equations, 2) a binding-time analysis, and 3) an efficient implementation of symbolic differentiation. As such, our work pinpoints and highlights a number of limitations in the state of the art in tool support of simulation, and shows how some of these limitations can be overcome.

ER - TY - Generic T1 - Designing and Implementation of a Tactile Respiratory Management System T2 - 26th Annual Meeting of The Houston Society for Engineering in Medicine and Biology Y1 - 2009 A1 - Dillon P. Eng A1 - Ali Israr A1 - O'Malley, M.K. JF - 26th Annual Meeting of The Houston Society for Engineering in Medicine and Biology ER - TY - Generic T1 - Effects of Force and Displacement Cues while Adapting in a Rhythmic Motor Task T2 - Understanding the Human Hand for Advancing Robotic Manipulation, Workshop at Robotics: Science and Systems 2009 Y1 - 2009 A1 - Ali Israr A1 - Hakan Kapson A1 - Volkan Patoglu A1 - O'Malley, M.K. AB -

 

This paper explores the effects of magnitude and phase cues on human motor adaptation. Participants were asked to excite virtual second-order systems at their resonance frequencies via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback conditions. Their motor adaptations were studied through catch trials. The results indicate that, i) humans adapt to a nominal virtual system resonant frequency, ii) humans shift to higher and lower natural frequencies during catch trials regardless of feedback modality and force cues, iii) humans can detect changes in natural frequency when gain, magnitude, and phase cues are manipulated independently, and iv) humans are able to detect changes in natural frequency when the feedback (visual or visual plus haptic) is delayed such that the phase shift between the nominal system and catch trial system is zero.

 

JF - Understanding the Human Hand for Advancing Robotic Manipulation, Workshop at Robotics: Science and Systems 2009 CY - Seattle, WA ER - TY - Generic T1 - Effects of Magnitude and Phase Cues on Human Motor Adaptation T2 - The third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference Y1 - 2009 A1 - Ali Israr A1 - Hakan Kapson A1 - Volkan Patoglu A1 - O'Malley, M.K. KW - catch trials KW - internal models KW - motor adaptation KW - Rhythmic motion AB -

Recent findings have shown that humans can adapt their internal control model to account for the changing dynamics of systems they manipulate. In this paper, we explore the effects of magnitude and phase cues on human motor adaptation. In our experiments, participants excite virtual second-order systems at resonance via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback conditions. Then, we change the virtual system parameters and observe the resulting motor adaptation in catch trials. Through four experimental conditions we demonstrate the effects of magnitude and phase cues on human motor adaptation. First, we show that humans adapt to a nominal virtual system resonant frequency. Second, humans shift to higher and lower natural frequencies during catch trials regardless of feedback modality and force cues. Third, participants can detect changes in natural frequency when gain, magnitude, and phase cues are manipulated independently. Fourth, participants are able to detect changes in natural frequency when the feedback (visual or visual plus haptic) is delayed such that the phase shift between the nominal system and catch trial system is zero. The persistent ability of participants to perform system identification of the dynamic systems which they control, regardless of the cue that is conveyed, demonstrates the human’s versatility with regard to manual control situations. We intend to further investigate human motor adaptation and the time for adaptation in order to improve the efficacy of shared control methodologies for training and rehabilitation in haptic virtual environments.

JF - The third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference PB - IEEE CY - Salt Lake city, Utah ER - TY - JOUR T1 - Expertise-Based Performance Measures in a Virtual Training Environment JF - Presence Y1 - 2009 A1 - Joel C. Huegel A1 - Ozkan Celik A1 - Ali Israr A1 - O'Malley, M.K. AB -

This paper introduces and validates quantitative performance measures for a rhythmic target-hitting task. These performance measures are derived from a detailed analysis of human performance during a month-long training experiment where participants learned to operate a 2-DOF haptic interface in a virtual environment to execute a manual control task. The motivation for the analysis presented in this paper is to determine measures of participant performance that capture the key skills of the task. This analysis of performance indicates that two quantitative measures—trajectory error and input frequency—capture the key skills of the target-hitting task, as the results show a strong correlation between the performance measures and the task objective of maximizing target hits. The performance trends were further explored by grouping the participants based on expertise and examining trends during training in terms of these measures. In future work, these measures will be used as inputs to a haptic guidance scheme that adjusts its control gains based on a real-time assessment of human performance of the task. Such guidance schemes will be incorporated into virtual training environments for humans to develop manual skills for domains such as surgery, physical therapy, and sports.

PB - MIT Press VL - 18 SN - 1054-7460 UR - http://dx.doi.org/10.1162/pres.18.6.449 IS - 6 N1 - doi: 10.1162/pres.18.6.449 ER - TY - Generic T1 - Implementing Haptic Feedback Environments from High-level Descriptions Y1 - 2009 A1 - Angela Yun Zhu A1 - Jun Inoue A1 - Marisa Peralta A1 - Walid Taha A1 - O'Malley, M.K. A1 - Powell, Dane ER - TY - Generic T1 - A Low Cost Vibrotactile Array to Manage Respiratory Motion T2 - The third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference Y1 - 2009 A1 - Ali Israr A1 - Dillon P. Eng A1 - Sastry S. Vedam A1 - O'Malley, M.K. KW - Tactile feedback KW - vibrotactile array AB -

We present a tactile Respiratory Management System (tRMS) to manage and control breathing patterns of cancer patients undergoing radiation therapy. The system comprises of an array of small vibrating motors and a control box that supplies power to and provides a control interface for up to twelve motors through the parallel port of a standard personal computer. The vibrotactile array can be fastened along the forearm, arm, thigh, leg or abdomen in any configuration using Velcro and fabric wraps. All motors are operated in a binary fashion, i.e. on or off, with quick response time and perceivable vibration magnitudes. The tRMS system is inexpensive and portable, providing spatiotemporal variations in tactile cues to regulate respiratory motion during radiotherapy. The system will also be used in future psychophysical studies to determine effective use of tactile cues to control human motor actions.

JF - The third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference PB - IEEE CY - Salt Lake city, Utah ER - TY - JOUR T1 - Passive and Active Discrimination of Natural Frequency of Virtual Dynamic System JF - IEEE Transactions on Haptics Y1 - 2009 A1 - Ali Israr A1 - Yanfang Li A1 - Volkan Patoglu A1 - O'Malley, M.K. VL - 2 ER - TY - Generic T1 - Passive and active kinesthetic perception just-noticeable-difference for natural frequency of virtual dynamic systems T2 - 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) Y1 - 2008 A1 - Yanfang Li A1 - Ali Israr A1 - Volkan Patoglu A1 - O'Malley, M.K. KW - Haptic interfaces KW - visual perception AB -

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.

JF - 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) PB - IEEE CY - Reno, NE, USA UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4479908 N1 -

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;

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