TY - JOUR T1 - Defining Allowable Stimulus Ranges for Position and Force Controlled Cutaneous Cues JF - IEEE Transactions on Haptics Y1 - 2023 A1 - Clark, Janelle P A1 - O'Malley, Marcia K VL - 16 ER - 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 - Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements JF - Frontiers in Neurorobotics Y1 - 2023 A1 - Dunkelberger, Nathan A1 - Berning, Jeffrey A1 - Schearer, Eric M A1 - O'Malley, Marcia K VL - 17 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 - Multisensory Pseudo-Haptics for Rendering Manual Interactions with Virtual Objects JF - Advanced Intelligent Systems Y1 - 2023 A1 - Pezent, Evan A1 - Macklin, Alix A1 - Yau, Jeffrey M. A1 - Colonnese, Nicholas A1 - O’Malley, Marcia K. KW - augmented reality KW - bracelet KW - haptic interaction KW - haptics KW - Virtual reality KW - wearables AB -

Recent advances in extended reality (XR) technologies make seeing and hearing virtual objects commonplace, yet strategies for synthesizing haptic interactions with virtual objects continue to be limited. Two design principles govern the rendering of believable and intuitive haptic feedback: movement through open space must feel “free” while contact with virtual objects must feel stiff. Herein, a novel multisensory approach that conveys proprioception and effort through illusory visual feedback and refers to the wrist, via a bracelet interface, discrete and continuous interaction forces that would otherwise occur at the hands and fingertips, is presented. Results demonstrate that users reliably discriminate the stiffness of virtual buttons when provided with multisensory pseudohaptic feedback, comprising tactile pseudohaptic feedback (discrete vibrotactile feedback and continuous squeeze cues in a bracelet interface) and visual pseudohaptic illusions of touch interactions. Compared to the use of tactile or visual pseudohaptic feedback alone, multisensory pseudohaptic feedback expands the range of physical stiffnesses that are intuitively associated with the rendered virtual interactions and reduces individual differences in physical-to-virtual stiffness mappings. This multisensory approach, which leaves users' hands unencumbered, provides a flexible framework for synthesizing a wide array of touch-enabled interactions in XR, with great potential for enhancing user experiences.

VL - n/a UR - https://onlinelibrary.wiley.com/doi/abs/10.1002/aisy.202200303 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 - Touching reality: Bridging the user-researcher divide in upper-limb prosthetics JF - Science Robotics Y1 - 2023 A1 - J. D. Brown A1 - E. Battaglia A1 - S. Engdahl A1 - G. Levay A1 - A. C. Parks A1 - E. Skinner A1 - M. K. O’Malley AB -

Realistically improving upper-limb prostheses is only possible if we listen to users’ actual technological needs. Realistically improving upper-limb prostheses is only possible if we listen to users' actual technological needs.

VL - 8 UR - https://www.science.org/doi/abs/10.1126/scirobotics.adk9421 ER - TY - JOUR T1 - Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot JF - IEEE/ASME Transactions on Mechatronics Y1 - 2022 A1 - Dunkelberger, Nathan A1 - Berning, Jeffrey A1 - Dix, Kevin J. A1 - Ramirez, Samuel A. A1 - O'Malley, Marcia K. VL - 27 ER - TY - JOUR T1 - Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet JF - IEEE Transactions on Robotics Y1 - 2022 A1 - Pezent, Evan A1 - Agarwal, Priyanshu A1 - Hartcher-O’Brien, Jessica A1 - Colonnese, Nicholas A1 - O’Malley, Marcia K. VL - 38 ER - TY - Generic T1 - Effect of Focus Direction and Agency on Tactile Perceptibility T2 - Haptics: Science, Technology, Applications Y1 - 2022 A1 - Zook, Zane A. A1 - O'Malley, Marcia K. ED - Seifi, Hasti ED - Kappers, Astrid M. L. ED - Schneider, Oliver ED - Drewing, Knut ED - Pacchierotti, Claudio ED - Abbasimoshaei, Alireza ED - Huisman, Gijs ED - Kern, Thorsten A. AB -

Prior research has shown that the direction of a user's focus affects the perception of tactile cues. Additionally, user agency over touch stimulation has been shown to affect tactile perception. With the development of more complicated haptic and multi-sensory devices, simple tactile cues are rarely used in isolation and the effect of focus direction and of user agency on the perception of a sequence of tactile cues is unknown. In this study, we investigate the effect of both of these variables, focus direction and agency, on the perception of a cue sequence. We found that the direction of user focus and user sense of agency over tactile stimulation both had a significant effect on the accurate perception of a cue sequence. These results are presented in consideration for developing better haptic devices that account for users' focus on and control over these devices.

JF - Haptics: Science, Technology, Applications PB - Springer International Publishing CY - Cham SN - 978-3-031-06249-0 UR - https://link.springer.com/chapter/10.1007/978-3-031-06249-0_14#citeas 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 - JOUR T1 - Evaluation of Robotic-Assisted Carotid Artery Stenting in a Virtual Model Using Motion-Based Performance Metrics JF - Journal of Endovascular Therapy Y1 - 2022 A1 - Legeza, Peter T A1 - Lettenberger, Ahalya B A1 - Murali, Barathwaj A1 - Johnson, Lianne R A1 - Berczeli, Marton A1 - Byrne, Michael D A1 - Britz, Gavin A1 - O’Malley, Marcia K A1 - Lumsden, Alan B ER - 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 - JOUR T1 - Haptic feedback based on movement smoothness improves performance in a perceptual-motor task JF - IEEE Transactions on Haptics Y1 - 2022 A1 - Sullivan, Jennifer L A1 - Pandey, Shivam A1 - Byrne, Michael D A1 - O'Malley, Marcia K VL - 15 ER - TY - Generic T1 - Measuring Torque Production with a Robotic Exoskeleton during Cervical Transcutaneous Spinal Stimulation T2 - IEEE International Conference of Rehabilitation Robotics Y1 - 2022 A1 - Erin Mahan A1 - Nathan Dunkelberger A1 - Jeonghoon Oh A1 - Madison Simmons A1 - Blesson Varghese A1 - Dimitry Sayenko A1 - Marcia K O'Malley JF - IEEE International Conference of Rehabilitation Robotics PB - IEEE CY - Rotterdam, Netherlands ER - TY - JOUR T1 - Physical interaction as communication: Learning robot objectives online from human corrections JF - The International Journal of Robotics Research Y1 - 2022 A1 - Dylan P. Losey A1 - Andrea Bajcsy A1 - Marcia K. O’Malley A1 - Anca D. Dragan AB -

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state of the art treats these interactions as disturbances that the robot should reject or avoid. At best, these robots respond safely while the human interacts; but after the human lets go, these robots simply return to their original behavior. We recognize that physical human–robot interaction (pHRI) is often intentional: the human intervenes on purpose because the robot is not doing the task correctly. In this article, we argue that when pHRI is intentional it is also informative: the robot can leverage interactions to learn how it should complete the rest of its current task even after the person lets go. We formalize pHRI as a dynamical system, where the human has in mind an objective function they want the robot to optimize, but the robot does not get direct access to the parameters of this objective: they are internal to the human. Within our proposed framework human interactions become observations about the true objective. We introduce approximations to learn from and respond to pHRI in real-time. We recognize that not all human corrections are perfect: often users interact with the robot noisily, and so we improve the efficiency of robot learning from pHRI by reducing unintended learning. Finally, we conduct simulations and user studies on a robotic manipulator to compare our proposed approach with the state of the art. Our results indicate that learning from pHRI leads to better task performance and improved human satisfaction.

VL - 41 UR - https://doi.org/10.1177/02783649211050958 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 - Generic T1 - Comparing Manual and Robotic-Assisted Carotid Artery Stenting Using Motion-Based Performance Metrics T2 - 2021 43rd Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC) Y1 - 2021 A1 - Lettenberger, Ahalya B. A1 - Murali, Barathwaj A1 - Legeza, Peter A1 - Byrne, Michael D. A1 - Lumsden, Alan B. A1 - O’Malley, Marcia K. JF - 2021 43rd Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC) ER - TY - JOUR T1 - A decade retrospective of medical robotics research from 2010 to 2020 JF - Science Robotics Y1 - 2021 A1 - Dupont, Pierre E A1 - Nelson, Bradley J A1 - Goldfarb, Michael A1 - Hannaford, Blake A1 - Menciassi, Arianna A1 - O’Malley, Marcia K A1 - Simaan, Nabil A1 - Valdastri, Pietro A1 - Yang, Guang-Zhong VL - 6 ER - TY - JOUR T1 - Design and Characterization of a Passive Instrumented Hand JF - ASME Letters in Dynamic Systems and Control Y1 - 2021 A1 - Yousaf, Saad N A1 - Joshi, Victoria S A1 - Britt, John E A1 - Rose, Chad G A1 - O’Malley, Marcia K VL - 1 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 - Generic T1 - Electromyographic Classification to Control the SPAR Glove T2 - IFAC-PapersOnLine Y1 - 2021 A1 - Britt, John E A1 - O’Malley, Marcia K A1 - Rose, Chad G JF - IFAC-PapersOnLine VL - 54 ER - TY - Generic T1 - Enhancing Multi-Sensory Cue Salience and Perceptual Identification in a Wearable Haptic Device T2 - 2021 IEEE World Haptics Conference (WHC) Y1 - 2021 A1 - Alexander, Stephen A. A1 - Garcia, Roderico A1 - O’Malley, Marcia K. JF - 2021 IEEE World Haptics Conference (WHC) ER - TY - JOUR T1 - Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability with a Tactile Sleeve JF - IEEE Transactions on Haptics Y1 - 2021 A1 - Macklin, Alix S. A1 - Yau, Jeff A1 - O'Malley, Marcia K VL - 14 ER - TY - JOUR T1 - A Multi-sensory Approach to Present Phonemes as Language through a Wearable Haptic Device JF - IEEE Transactions on Haptics Y1 - 2021 A1 - N. Dunkelberger A1 - J. L. Sullivan A1 - J. Bradley A1 - I. Manickam A1 - G. Dasarathy A1 - R. G. Baraniuk A1 - M. K. O'Malley VL - 14 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 - The SE-AssessWrist for robot-aided assessment of wrist stiffness and range of motion: Development and experimental validation JF - Journal of Rehabilitation and Assistive Technologies Engineering Y1 - 2021 A1 - Andrew Erwin A1 - Craig G McDonald A1 - Nicholas Moser A1 - Marcia K O’Malley AB -

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.

VL - 8 UR - https://doi.org/10.1177/2055668320985774 ER - TY - JOUR T1 - Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury JF - Journal of Rehabilitation and Assistive Technologies Engineering Y1 - 2021 A1 - Kadivar, Zahra A1 - Beck, Christopher E A1 - Rovekamp, Roger N A1 - O’Malley, Marcia K VL - 8 ER - TY - Generic T1 - Snaptics: Low-Cost Open-Source Hardware for Wearable Multi-Sensory Haptics T2 - 2021 IEEE World Haptics Conference (WHC)2021 IEEE World Haptics Conference (WHC) Y1 - 2021 A1 - Zook, Zane A. A1 - Ozor-Ilo, Ozioma O. A1 - Zook, Gabriel T. A1 - O'Malley, Marcia K. JF - 2021 IEEE World Haptics Conference (WHC)2021 IEEE World Haptics Conference (WHC) PB - IEEE CY - Montreal, QC, Canada UR - https://ieeexplore.ieee.org/document/9517172/http://xplorestaging.ieee.org/ielx7/9517073/9517125/09517172.pdf?arnumber=9517172 ER - TY - JOUR T1 - Syntacts: Open-Source Software and Hardware for Audio-Controlled Haptics JF - IEEE Transactions on Haptics Y1 - 2021 A1 - E. Pezent A1 - B. Cambio A1 - M. K. O'Malley VL - 14 ER - TY - JOUR T1 - Velocity-Domain Motion Quality Measures for Surgical Performance Evaluation and Feedback JF - Journal of Medical Devices Y1 - 2021 A1 - Murali, Barathwaj A1 - Belvroy, Viony M A1 - Pandey, Shivam A1 - Bismuth, Jean A1 - Byrne, Michael D A1 - O'Malley, Marcia K VL - 15 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 - Generic T1 - Importance of Wrist Movement Direction in Performing Activities of Daily Living Efficiently T2 - 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) Y1 - 2020 A1 - Moser, Nicholas A1 - O’Malley, Marcia K A1 - Erwin, Andrew JF - 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) PB - IEEE ER - TY - JOUR T1 - In the Fundamentals of Endovascular and Vascular Surgery model motion metrics reliably differentiate competency JF - Journal of Vascular Surgery Y1 - 2020 A1 - Viony Belvroy A1 - Barathwaj Murali A1 - Malachi G. Sheahan A1 - Marcia K. O'Malley A1 - Jean Bismuth VL - 72 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 - JOUR T1 - A Myoelectric Control Interface for Upper-Limb Robotic Rehabilitation Following Spinal Cord Injury JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering Y1 - 2020 A1 - C. G. McDonald A1 - J. L. Sullivan A1 - T. A. Dennis A1 - M. K. O’Malley KW - Electromyography KW - injuries KW - Muscles KW - myoelectric control KW - pattern recognition KW - Rehabilitation robotics KW - Robot kinematics KW - Robot sensing systems KW - spinal cord injury KW - Wrist AB -

Spinal cord injury (SCI) is a widespread, life-altering injury leading to impairment of sensorimotor function that, while once thought to be permanent, is now being treated with the hope of one day being able to restore function. Surface electromyography (EMG) presents an opportunity to examine and promote human engagement at the neuromuscular level, enabling new protocols for intervention that could be combined with robotic rehabilitation, particularly when robot motion or force sensing may be unusable due to the user’s impairment. In this paper, a myoelectric control interface to an exoskeleton for the elbow and wrist was evaluated on a population of ten able-bodied participants and four individuals with cervical-level SCI. The ability of an EMG classifier to discern intended direction of motion in single-degree-of-freedom (DoF) and multi-DoF control modes was assessed for usability in a therapy-like setting. The classifier demonstrated high accuracy for able-bodied participants (averages over 99% for single-DoF and near 90% for multi-DoF), and performance in the SCI group was promising, warranting further study (averages ranging from 85% to 95% for single-DoF, and variable multi-DoF performance averaging around 60%). These results are encouraging for the future use of myoelectric interfaces in robotic rehabilitation for SCI.

VL - 28 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 - JOUR T1 - A review of methods for achieving upper limb movement following spinal cord injury through hybrid muscle stimulation and robotic assistance JF - Experimental Neurology Y1 - 2020 A1 - Dunkelberger, Nathan A1 - Schearer, Eric M A1 - O'Malley, Marcia K 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 - Spatially Separated Cutaneous Haptic Guidance for Training of a Virtual Sensorimotor Task T2 - 2020 IEEE Haptics Symposium (HAPTICS) Y1 - 2020 A1 - C. Smith A1 - E. Pezent A1 - M. K. O’Malley JF - 2020 IEEE Haptics Symposium (HAPTICS) ER - TY - Generic T1 - Towards Automated Performance Assessment using Velocity-based Motion Quality Metrics T2 - International Symposium on Medical Robotics (ISMR) Y1 - 2020 A1 - Barathwaj Murali A1 - Viony Belvroy A1 - Shivam Pandey A1 - Michael D. Byrne A1 - Jean Bismuth A1 - Marcia K. O'Malley JF - International Symposium on Medical Robotics (ISMR) 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 - Design and Characterization of a Passive Instrumented Hand T2 - ASME 2019 Dynamic Systems and Control Conference Y1 - 2019 A1 - Yousaf, Saad N A1 - Joshi, Victoria S A1 - Britt, John E A1 - Rose, Chad G A1 - O’Malley, Marcia K JF - ASME 2019 Dynamic Systems and Control Conference UR - https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59148/V001T05A007/1070466?searchresult=1 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 - Enabling Robots to Infer how End-Users Teach and Learn through Human-Robot Interaction JF - IEEE Robotics and Automation Letters Y1 - 2019 A1 - Losey, Dylan P A1 - O'Malley, Marcia K VL - 4 ER - TY - JOUR T1 - Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface JF - IEEE Transactions on Human-Machine Systems Y1 - 2019 A1 - O’Malley, Marcia K A1 - Byrne, Michael D A1 - Estrada, Sean A1 - Duran, Cassidy A1 - Schulz, Daryl A1 - Bismuth, Jean VL - 49 ER - TY - JOUR T1 - A Hybrid Rigid-Soft Hand Exoskeleton to Assist Functional Dexterity JF - IEEE Robotics and Automation Letters Y1 - 2019 A1 - Rose, Chad A1 - O'Malley, Marcia VL - 4 ER - TY - JOUR T1 - Improving short-term retention after robotic training by leveraging fixed-gain controllers JF - Journal of Rehabilitation and Assistive Technologies Engineering Y1 - 2019 A1 - Dylan P Losey A1 - Laura H Blumenschein A1 - Janelle P Clark A1 - Marcia K O’Malley KW - Control systems KW - haptic device KW - motor learning KW - neurorehabilitation KW - Robot-assisted rehabilitation AB -

IntroductionWhen developing control strategies for robotic rehabilitation, it is important that end-users who train with those strategies retain what they learn. Within the current state-of-the-art, however, it remains unclear what types of robotic controllers are best suited for promoting retention. In this work, we experimentally compare short-term retention in able-bodied end-users after training with two common types of robotic control strategies: fixed- and variable-gain controllers.MethodsOur approach is based on recent motor learning research, where reward signals are employed to reinforce the learning process. We extend this approach to now include robotic controllers, so that participants are trained with a robotic control strategy and auditory reward-based reinforcement on tasks of different difficulty. We then explore retention after the robotic feedback is removed.ResultsOverall, our results indicate that fixed-gain control strategies better stabilize able-bodied users’ motor adaptation than either a no controller baseline or variable-gain strategy. When breaking these results down by task difficulty, we find that assistive and resistive fixed-gain controllers lead to better short-term retention on less challenging tasks but have opposite effects on the learning and forgetting rates.ConclusionsThis suggests that we can improve short-term retention after robotic training with consistent controllers that match the task difficulty.

VL - 6 UR - https://doi.org/10.1177/2055668319866311 ER - TY - Generic T1 - The Influence of Cue Presentation Velocity on Skin Stretch Perception T2 - 2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - S. Y. Kim A1 - J. P. Clark A1 - P. Kortum A1 - M. K. O’Malley KW - cue perceptibility KW - cue perception KW - haptic cues KW - Haptic interfaces KW - just noticeable difference KW - Likert surveys KW - method of constant stimuli KW - rice haptic rocker KW - rotational velocities KW - Skin KW - skin stretch cue presentation velocity KW - skin stretch cues KW - skin stretch perception KW - wearable haptic devices JF - 2019 IEEE World Haptics Conference (WHC) ER - TY - JOUR T1 - Learning the Correct Robot Trajectory in Real-Time from Physical Human Interactions JF - ACM Transactions on Human-Robot Interaction (THRI) Y1 - 2019 A1 - Losey, Dylan P A1 - O'Malley, Marcia K VL - 9 ER - TY - Generic T1 - A Robotic Platform for 3D Forelimb Rehabilitation with Rats T2 - 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Y1 - 2019 A1 - Erwin, Andrew A1 - Gallegos, Chrystine A1 - Cao, Qilin A1 - O’Malley, Marcia K. JF - 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) ER - TY - Generic T1 - On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation T2 - 2019 International Conference on Robotics and Automation (ICRA) Y1 - 2019 A1 - Clark, Janelle P A1 - Lentini, Gianluca A1 - Barontini, Federica A1 - Catalano, Manuel G A1 - Bianchi, Matteo A1 - O’Malley, Marcia K AB - Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured. JF - 2019 International Conference on Robotics and Automation (ICRA) PB - IEEE ER - TY - JOUR T1 - Skin stretch haptic feedback to convey closure information in anthropomorphic, under-actuated upper limb soft prostheses JF - IEEE Transactions on Haptics Y1 - 2019 A1 - Battaglia, Edoardo A1 - Clark, Janelle A1 - Bianchi, Matteo A1 - Catalano, Manuel A1 - Bicchi, Antonio A1 - O'Malley, Marcia VL - 12 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 - JOUR T1 - Assessing Wrist Movement With Robotic Devices JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering Y1 - 2018 A1 - Rose, Chad G A1 - Pezent, Evan A1 - Kann, Claudia K A1 - Deshpande, Ashish D A1 - O’Malley, Marcia K AB -

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectory-level measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Last, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

VL - 26 ER - TY - Generic T1 - A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist T2 - ASME Dynamic Systems and Controls Conference Y1 - 2018 A1 - Andrew Erwin A1 - Nick Moser A1 - Craig. G. McDonald A1 - Marcia K. O'Malley JF - ASME Dynamic Systems and Controls Conference PB - ASME CY - Atlanta, GA ER - TY - JOUR T1 - Closure to “A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction" JF - ASME Applied Mechanics Reviews Y1 - 2018 A1 - Dylan P. Losey A1 - Craig G. McDonald A1 - Edoardo Battaglia A1 - Marcia K. O'Malley AB -

In their discussion article on our review paper, Professors James Schmiedeler and Patrick Wensing have provided an insightful and informative perspective of the roles of intent detection, arbitration, and communication as three pillars of a framework for the implementation of shared control in physical human–robot interaction (pHRI). The authors both have significant expertise and experience in robotics, bipedal walking, and robotic rehabilitation. Their commentary introduces commonalities between the themes of the review paper and issues in locomotion with the aid of an exoskeleton or lower-limb prostheses, and presents several important topics that warrant further exploration. These include mechanical design as it pertains to the physical coupling between human and robot, modeling the human to improve intent detection and the arbitration of control, and finite-state machines as an approach for implementation. In this closure, we provide additional thoughts and discussion of these topics as they relate to pHRI.

VL - 70 UR - http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2672398 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 - 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 - Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback T2 - 2018 IEEE International Conference on Robotics and Automation (ICRA)2018 IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2018 A1 - Zook, Zane A. A1 - Okamura, Allison M. A1 - Kamikawa, Yasuhisa AB -

Latency and refresh rate are known to adversely affect human force perception in bilateral teleoperators and virtual environments using kinesthetic force feedback, motivating the use of sensory substitution of force. The purpose of this study is to quantify the effects of latency and refresh rate on force perception using sensory substitution by skin deformation feedback. A force-controlled skin deformation feedback device was attached to a 3-degree-of-freedom kinesthetic force feedback device used for position tracking and gravity support. A human participant study was conducted to determine the effects of latency and refresh rate on perceived stiffness and damping with skin deformation feedback. Participants compared two virtual objects: a comparison object with stiffness or damping that could be tuned by the participant, and a reference object with either added latency or reduced refresh rate. Participants modified the stiffness or damping of the tunable object until it resembled the stiffness or damping of the reference object. We found that added latency and reduced refresh rate both increased perceived stiffness but had no effect on perceived damping. Specifically, participants felt significantly different stiffness when the latency exceeded 300 ms and the refresh rate dropped below 16.6 Hz. The impact of latency and refresh rate on force perception via skin deformation feedback was significantly less than what has been previously shown for kinesthetic force feedback.

JF - 2018 IEEE International Conference on Robotics and Automation (ICRA)2018 IEEE International Conference on Robotics and Automation (ICRA) PB - IEEE CY - Brisbane, QLD UR - https://ieeexplore.ieee.org/document/8462883/http://xplorestaging.ieee.org/ielx7/8449910/8460178/08462883.pdf?arnumber=8462883 ER - TY - JOUR T1 - Electromagnetic tracking of flexible robotic catheters enables "assisted navigation" and brings automation to endovascular navigation in an in vitro study JF - Journal of vascular surgery Y1 - 2018 A1 - Schwein, Adeline A1 - Kramer, Benjamin A1 - Chinnadurai, Ponraj A1 - Virmani, Neha A1 - Walker, Sean A1 - O'Malley, Marcia A1 - Lumsden, Alan B A1 - Bismuth, Jean VL - 67 UR - https://doi.org/10.1016/j.jvs.2017.01.072 ER - TY - JOUR T1 - Evaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance JF - IEEE/ASME Transactions on Mechatronics Y1 - 2018 A1 - V. Chawda A1 - O. Celik A1 - M. K. O'Malley KW - Estimation KW - Frequency division multiplexing KW - Haptic interfaces KW - Impedance KW - Kalman filters KW - Performance evaluation KW - Rendering (computer graphics) AB -

This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Z- width in haptic interfaces. We study the efficacy of Levant's differentiator as a velocity estimator, to allow passive implementation of higher stiffness virtual walls as compared to some of the commonly used velocity estimators in the field of haptics. We first experimentally demonstrate feasibility of Levant's differentiator as a velocity estimator for haptics applications by comparing Z-width performance achieved with Levant's differentiator and commonly used Finite Difference Method (FDM) cascaded with a lowpass filter. A novel Z-width plotting technique combining passivity and fidelity of haptic rendering is proposed, and used to compare the haptic device performance obtained with Levant's differentiator, FDM+lowpass filter, First Order Adaptive Windowing and Kalman filter based velocity estimation methods. Simulations and experiments conducted on a custom single degree of freedom haptic device demonstrate that the stiffest virtual walls are rendered with velocity estimated using Levant's differentiator, and highest wall rendering fidelity is achieved by First Order Adaptive Windowing based velocity estimation scheme.

VL - 23 ER - TY - JOUR T1 - The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb JF - IEEE Robotics and Automation Letters Y1 - 2018 A1 - L. Meli A1 - I. Hussain A1 - M. Aurilio A1 - M. Malvezzi A1 - M. O'Malley A1 - D. Prattichizzo KW - Actuators KW - Belts KW - Force KW - Haptic interfaces KW - Haptics and haptic interfaces KW - Human-Centered Robotics KW - Pulleys KW - Robots KW - Skin KW - Telerobotics and Teleoperation KW - Wearable Robots AB -

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called "hBracelet." It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user's arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. We also present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving telepresence.

VL - 3 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 - Including Uncertainty when Learning from Human Corrections T2 - 2nd Annual Conference on Robot Learning Y1 - 2018 A1 - Losey, Dylan P A1 - O'Malley, Marcia K JF - 2nd Annual Conference on Robot Learning CY - Zurich, Switzerland ER - TY - Generic T1 - Learning from Physical Human Corrections, One Feature at a Time T2 - Human-Robot Interaction Y1 - 2018 A1 - Andrea Bajcsy A1 - Dylan P. Losey A1 - Marcia K. O'Malley A1 - Anca D. Dragan AB -

We focus on learning robot objective functions from human guidance: specifically, from physical corrections provided by the person while the robot is acting. Objective functions are typically parametrized in terms of features, which capture aspects of the task that might be important. When the person intervenes to correct the robot's behavior, the robot should update its understanding of which features matter, how much, and in what way. Unfortunately, real users do not provide optimal corrections that isolate exactly what the robot was doing wrong. Thus, when receiving a correction, it is difficult for the robot to determine which features the person meant to correct, and which features were changed unintentionally. In this paper, we propose to improve the efficiency of robot learning during physical interactions by reducing unintended learning. Our approach allows the human-robot team to focus on learning one feature at a time, unlike state-of-the-art techniques that update all features at once. We derive an online method for identifying the single feature which the human is trying to change during physical interaction, and experimentally compare this one-at-a-time approach to the all-at-once baseline in a user study. Our results suggest that users teaching one-at-a-time perform better, especially in tasks that require changing multiple features.

JF - Human-Robot Interaction PB - ACM/IEEE CY - Chicago, USA 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 - JOUR T1 - Reflection on System Dynamics Principles Improves Student Performance in Haptic Paddle Labs JF - IEEE Transactions on Education Y1 - 2018 A1 - C. G. Rose A1 - C. G. McDonald A1 - J. P. Clark A1 - M. K. O’Malley KW - abstract conceptualization KW - CE KW - computer aided instruction KW - concrete experience KW - educational courses KW - haptic devices KW - Haptic interfaces KW - haptics KW - lab report grades KW - laboratory KW - laboratory exercises KW - learning cycle KW - learning outcomes KW - low-cost educational tools KW - Mechanical engineering KW - mechanical engineering computing KW - mechanical engineering curricula KW - mechanical engineering curriculum KW - Mechatronics KW - mechatronics content KW - multiple student GPA quartiles KW - Performance evaluation KW - reflection KW - reflection phase KW - reflective curriculum KW - reflective observation KW - standard haptic paddle lab curriculum KW - standard nonreflective curriculum KW - Standards KW - student performance improvement KW - System dynamics KW - system dynamics principles KW - Tools KW - undergraduate KW - virtual environment rendering VL - 61 ER - TY - JOUR T1 - A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction JF - ASME Applied Mechanics Reviews Y1 - 2018 A1 - Dylan P. Losey A1 - Craig G. McDonald A1 - Edoardo Battaglia A1 - Marcia K. O'Malley AB -

As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of robotics in healthcare, where we find telerobotic devices in the operating room facilitating dexterous surgical procedures, exoskeletons in the rehabilitation domain as walking aids and upper-limb movement assist devices, and even robotic limbs that are physically integrated with amputees who seek to restore their independence and mobility. In each of these scenarios, the physical coupling between human and robot, often termed physical human robot interaction (pHRI), facilitates new human performance capabilities and creates an opportunity to explore the sharing of task execution and control between humans and robots. In this review, we provide a unifying view of human and robot sharing task execution in scenarios where collaboration and cooperation between the two entities are necessary, and where the physical coupling of human and robot is a vital aspect. We define three key themes that emerge in these shared control scenarios, namely, intent detection, arbitration, and feedback. First, we explore methods for how the coupled pHRI system can detect what the human is trying to do, and how the physical coupling itself can be leveraged to detect intent. Second, once the human intent is known, we explore techniques for sharing and modulating control of the coupled system between robot and human operator. Finally, we survey methods for informing the human operator of the state of the coupled system, or the characteristics of the environment with which the pHRI system is interacting. At the conclusion of the survey, we present two case studies that exemplify shared control in pHRI systems, and specifically highlight the approaches used for the three key themes of intent detection, arbitration, and feedback for applications of upper limb robotic rehabilitation and haptic feedback from a robotic prosthesis for the upper limb.

VL - 70 UR - http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2671581 ER - TY - Generic T1 - The rice haptic rocker: Altering the perception of skin stretch through mapping and geometric design T2 - Haptics Symposium Y1 - 2018 A1 - Clark, Janelle P A1 - Kim, Sung Y A1 - O’Malley, Marcia K AB -

Skin stretch haptic devices are well-suited for transmitting information through touch, a promising avenue in prosthetic research, addressing the lack of feedback in myoelectric designs. Rocker-based skin stretch devices have been proposed for sensory substitution and navigational feedback, but the designs vary in their geometry. Other works create torsional stretch, and utilize nonlinear mappings to enhance perception. This work investigates parameters of rocker geometry and mapping functions, and how they impact user perception. We hypothesize that perceptual changes are dependent on the choice of stretch increment sizes over the range of motion. The rocker geometry is varied with an offset between the rotational and geometric axes, and three rocker designs are evaluated during a targeting task implemented with a nonlinear or linear mapping. The rockers with no offset and a positive offset (wide) perform better than the negative offset (narrow) case, though the mapping method does not affect target accuracy.

JF - Haptics Symposium PB - IEEE CY - San Francisco, CA 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 - Generic T1 - Toward improved surgical training: Delivering smoothness feedback using haptic cues T2 - Haptics Symposium (HAPTICS) Y1 - 2018 A1 - W. H. Jantscher A1 - S. Pandey A1 - P. Agarwal A1 - S. H. Richardson A1 - B. R. Lin A1 - M. D. Byrne A1 - M. K. O'Malley KW - biomechanics KW - biomedical education KW - computer based training KW - coordinated movement KW - delayed nature KW - dexterity KW - Feedback KW - frequency-domain measure KW - haptic cues KW - Haptic interfaces KW - Measurement KW - medical computing KW - mirror tracing task KW - mirror-tracing task KW - Mirrors KW - motor skill acquisition KW - movement smoothness KW - Navigation KW - qualitative nature KW - real-time feedback KW - skilled movement KW - smoothness-based feedback KW - spectral arc length KW - surgery KW - surgical training KW - Task analysis KW - training KW - vibrotactile cue AB -

Surgery is a challenging domain for motor skill acquisition, and compounding this difficulty is the often delayed and qualitative nature of feedback that is provided to trainees. In this paper, we explore the effectiveness of providing real-time feedback of movement smoothness, a characteristic associated with skilled and coordinated movement, via a vibrotactile cue. Subjects performed a mirror-tracing task that requires coordination and dexterity similar in nature to that required in endovascular surgery. Movement smoothness, measured by spectral arc length, a frequency-domain measure of movement smoothness, was encoded in a vibrotactile cue. Performance of the mirror tracing task with smoothness-based feedback was compared to position-based feedback (where the subject was alerted when they moved outside the path boundary) and to a no-feedback control condition. Although results of this pilot study failed to indicate a statistically significant effect of smoothness-based feedback on performance, subjects receiving smoothness-based feedback altered their task completion strategies to improve speed and accuracy, while those receiving position-based feedback or no feedback only improved in terms of increased accuracy. In tasks such as surgery where both speed and accuracy are vital to positive patient outcomes, the provision of smoothness-based feedback to the surgeon has the potential to positively influence performance.

JF - Haptics Symposium (HAPTICS) PB - IEEE CY - San Francisco, CA ER - TY - JOUR T1 - Trajectory deformations from physical human–robot interaction JF - IEEE Transactions on Robotics Y1 - 2018 A1 - Dylan P. Losey A1 - Marcia K. O'Malley AB -

Robots are finding new applications where physical interaction with a human is necessary, such as manufacturing, healthcare, and social tasks. Accordingly, the field of physical human–robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that—despite provisions for the human to modify the robot’s current trajectory—the human cannot affect the robot’s future desired trajectory through pHRI. In this paper, we present an algorithm for physically interactive trajectory deformations which, when combined with impedance control, allows the human to modulate both the actual and desired trajectories of the robot. Unlike related works, our method explicitly deforms the future desired trajectory based on forces applied during pHRI, but does not require constant human guidance. We present our approach and verify that this method is compatible with traditional impedance control. Next, we use constrained optimization to derive the deformation shape. Finally, we describe an algorithm for real-time implementation, and perform simulations to test the arbitration parameters. Experimental results demonstrate reduction in the human’s effort and improvement in the movement quality when compared to pHRI with impedance control alone.

VL - 34 UR - http://ieeexplore.ieee.org/document/8115323/ ER - TY - Generic T1 - A Ball and Beam Module for a Haptic Paddle Education Platform T2 - ASME Dynamic Systems and Controls Conference (DSCC) Y1 - 2017 A1 - Rose, Chad G. A1 - Bucki, Nathan L. A1 - O'Malley, Marcia K. AB -
Single degree of freedom force-feedback mechatronic devices, often called haptic paddles, are used in university curriculum
as well as massive open online courses (MOOCs). While devices differ based on the goals of a given course, broadly speaking
they provide hands-on learning for students studying mechatronics and dynamics. We introduce the third iteration of the
Haptic Paddle at Rice University, which has been modified to improve haptic performance and robustness. The modifications
to the design increased device up time as well as the devices Z-width. The performance improvement enables the addition of
experimental plants to the haptic paddle base, which can be directed at advanced dynamics and controls courses, or special
topics in mechatronics and haptics. The first module, a Haptic Ball and Beam, adds an underactuated plant for teleoperation or
more complex control structures, and a testbed for haptic motor learning experiments in undergraduate coursework.
JF - ASME Dynamic Systems and Controls Conference (DSCC) PB - ASME CY - Tysons, VA ER - TY - Generic T1 - A Cable-based Series Elastic Actuator with Conduit Sensor for Wearable Exoskeletons T2 - International Conference on Robotics and Automation (ICRA) Y1 - 2017 A1 - L. H. Blumenschein A1 - C. G. McDonald A1 - M. K. O'Malley KW - actuation system design KW - Actuators KW - cable tension control KW - cable tension measurement KW - cable-based series elastic actuator KW - cable-conduit transmission KW - cables (mechanical) KW - compliance control KW - compliant force sensor KW - conduit sensor KW - DC motor KW - DC motors KW - deflection measurement KW - dynamic effect KW - Exoskeletons KW - Feedback KW - flexible cable conduit transmission KW - Force KW - Force control KW - force sensors KW - full wearable exosuit KW - gearbox KW - Hall effect sensors KW - Hall effect transducers KW - human arm KW - human-robot interaction KW - Impedance KW - Magnetic flux KW - physical assistance KW - robot dynamics KW - Robots KW - series elastic force sensor KW - soft exosuit KW - soft wearable exoskeleton KW - springs (mechanical) KW - translational steel compression spring KW - transmission conduit KW - user interface KW - virtual impedance KW - wearable robotic device JF - International Conference on Robotics and Automation (ICRA) PB - IEEE CY - Singapore ER - TY - Generic T1 - Characterization of Surface Electromyography Patterns of Healthy and Incomplete Spinal Cord Injury Subjects Interacting with an Upper-Extremity Exoskeleton T2 - International Conference on Rehabilitation Robotics (ICORR) Y1 - 2017 A1 - McDonald, Craig G A1 - Dennis, Troy A A1 - O'Malley, Marcia K AB -

Rehabilitation exoskeletons may make use of myoelectric control to restore in patients with significant motor impairment following a spinal cord injury (SCI) a sense of volitional control over their limb - a crucial component for recovery of movement. Little investigation has been done into the feasibility of using surface electromyography (sEMG) as an exoskeleton control interface for SCI patients, whose impairment manifests in a highly variable way across the patient population. We have demonstrated that by using only a small subset of features extracted from eight bipolar electrodes recording on the upper arm and forearm muscles, we can achieve high predictive accuracy for the intended direction of motion. Five healthy subjects and two SCI subjects performed voluntary isometric contractions while wearing an exoskeleton for the wrist and elbow joints, generating six distinct single and multi-DoF motions in a total of sixteen possible directions. Using linear discriminant analysis, classification performance was then evaluated using randomly selected holdout test data from the same recording session. Commonalities across subjects, both healthy and SCI, were analyzed at the levels of selected features and the values of commonly selected features. Future work will be to investigate group-specific classification of SCI subjects' intended movements for use in the real-time control of a rehabilitation exoskeleton.

JF - International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - London, UK UR - http://ieeexplore.ieee.org/abstract/document/8009240/ ER - TY - Generic T1 - Combining functional electrical stimulation and a powered exoskeleton to control elbow flexion T2 - International Symposium on Wearable Robotics and Rehabilitation (WeRob) Y1 - 2017 A1 - D. Wolf A1 - N. Dunkelberger A1 - C. G. McDonald A1 - K. Rudy A1 - C. Beck A1 - M. K. O'Malley A1 - E. Schearer KW - Elbow KW - elbow flexion KW - Exoskeletons KW - extension trajectory KW - functional electrical stimulation KW - hybrid FES KW - hybrid system KW - Iron KW - medical robotics KW - Muscles KW - neuromuscular stimulation KW - Patient rehabilitation KW - robotic exoskeleton system KW - Robots KW - Torque KW - Trajectory KW - upper-limb paralysis JF - International Symposium on Wearable Robotics and Rehabilitation (WeRob) ER - TY - Generic T1 - Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation T2 - International Conference on Rehabilitation Robotics (ICORR) Y1 - 2017 A1 - Pezent, Evan A1 - Rose, Chad G. A1 - Deshpande, Ashish D A1 - O'Malley, Marcia K AB -

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'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's performance and operational considerations support its use in a wide range of future clinical investigations.

JF - International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - London, UK SN - 978-1-5386-2296-4 ER - TY - Generic T1 - The Effect of Robot Dynamics on Smoothness during Wrist Pointing T2 - International Conference on Rehabilitation Robotics (ICORR) Y1 - 2017 A1 - Erwin,Andrew A1 - Pezent,Evan A1 - Bradley,Joshua A1 - O'Malley, M.K. JF - International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - London, England 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 - Effects of Discretization on the K-Width of Series Elastic Actuators T2 - International Conference on Robotics and Automation (ICRA) Y1 - 2017 A1 - Dylan P. Losey A1 - Marcia K. O'Malley AB -

Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when interacting with a robotic device, and, in particular, the robot's perceived stiffness can be controlled by changing the elastic element's equilibrium position. In this paper, we explore the K-Width of SEAs, while specifically focusing on how discretization inherent in the computer-control architecture affects the system's passivity. We first propose a hybrid model for a single degree-of-freedom (DoF) SEA based on prior hybrid models for rigid haptic systems. Next, we derive a closed-form bound on the K-Width of SEAs that is a generalization of known constraints for both rigid haptic systems and continuous time SEA models. This bound is first derived under a continuous time approximation, and is then numerically supported with discrete time analysis. Finally, experimental results validate our finding that large pure masses are the most destabilizing operator in human-SEA interactions, and demonstrate the accuracy of our theoretical K-Width bound.

JF - International Conference on Robotics and Automation (ICRA) PB - IEEE CY - Singapore SN - 978-1-5090-4633-1 UR - http://ieeexplore.ieee.org/abstract/document/7989054/ 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 - Estimating anatomical wrist joint motion with a robotic exoskeleton T2 - Rehabilitation Robotics (ICORR), 2017 International Conference on Y1 - 2017 A1 - Rose, Chad G. A1 - Kann, Claudia K A1 - Deshpande, Ashish D A1 - O'Malley, Marcia K AB -

Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multi-articular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

JF - Rehabilitation Robotics (ICORR), 2017 International Conference on PB - IEEE CY - London, UK 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 - Kinesthetic feedback during 2DOF wrist movements via a novel MR-compatible robot JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering Y1 - 2017 A1 - Erwin,Andrew A1 - O'Malley, M.K. A1 - Ress, D. A1 - Fabrizio Sergi VL - 25 UR - http://ieeexplore.ieee.org/document/7763863/ ER - TY - Generic T1 - Learning Robot Objectives from Physical Human Interaction T2 - Conference on Robot Learning (CoRL) Y1 - 2017 A1 - Andrea Bajcsy A1 - Dylan P. Losey A1 - Marcia K. O'Malley A1 - Anca D. Dragan KW - learning from demonstration KW - physical human-robot interaction AB -

When humans and robots work in close proximity, physical interaction is inevitable. Traditionally, robots treat physical interaction as a disturbance, and resume their original behavior after the interaction ends. In contrast, we argue that physical human interaction is informative: it is useful information about how the robot should be doing its task. We formalize learning from such interactions as a dynamical system in which the task objective has parameters that are part of the hidden state, and physical human interactions are observations about these parameters. We derive an online approximation of the robot’s optimal policy in this system, and test it in a user study. The results suggest that learning from physical interaction leads to better robot task performance with less human effort.

JF - Conference on Robot Learning (CoRL) PB - PMLR CY - Mountain View, CA UR - http://proceedings.mlr.press/v78/bajcsy17a.html ER - TY - Generic T1 - The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand T2 - World Haptics Conference (WHC) Y1 - 2017 A1 - Edoardo Battaglia A1 - Janelle P. Clark A1 - Matteo Bianchi A1 - Manuel G. Catalano A1 - Antonio Bicchi A1 - Marcia K. O'Malley JF - World Haptics Conference (WHC) PB - IEEE CY - Munich, Germany 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 - Generic T1 - Toward training surgeons with motion-based feedback: Initial validation of smoothness as a measure of motor learning T2 - Human Factors and Ergonomics Society Annual Meeting Y1 - 2017 A1 - Shivam Pandey A1 - Michael D. Byrne A1 - William H. Jantscher A1 - Marcia K. O’Malley A1 - Priyanshu Agarwal AB -

Surgery is a challenging domain for motor skill acquisition. A critical contributing factor in this difficulty is that feedback is often delayed from performance and qualitative in nature. Collection of highdensity motion information may offer a solution. Metrics derived from this motion capture, in particular indices of movement smoothness, have been shown to correlate with task outcomes in multiple domains, including endovascular surgery. The open question is whether providing feedback based on these metrics can be used to accelerate learning. In pursuit of that goal, we examined the relationship between a motion metric that is computationally simple to compute—spectral arc length—and performance on a simple but challenging motor task, mirror tracing. We were able to replicate previous results showing that movement smoothness measures are linked to overall performance, and now have performance thresholds to use in subsequent work on using these metrics for training.

JF - Human Factors and Ergonomics Society Annual Meeting VL - 61 UR - https://doi.org/10.1177/1541931213601747 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 - Generic T1 - A bio-inspired algorithm for identifying unknown kinematics from a discrete set of candidate models by using collision detection T2 - Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on Y1 - 2016 A1 - Dylan P. Losey A1 - C. G. McDonald A1 - Marcia K. O'Malley AB -

Many robots are composed of interchangeable modular components, each of which can be independently controlled, and collectively can be disassembled and reassembled into new configurations. When assembling these modules into an open kinematic chain, there are some discrete choices dictated by the module geometry; for example, the order in which the modules are placed, the axis of rotation of each module with respect to the previous module, and/or the overall shape of the assembled robot. Although it might be straightforward for a human user to provide this information, there is also a practical benefit in the robot autonomously identifying these unknown, discrete forward kinematics. To date, a variety of techniques have been proposed to identify unknown kinematics; however, these methods cannot be directly applied during situations where we seek to identify the correct model amid a discrete set of options. In this paper, we introduce a method specifically for finding discrete robot kinematics, which relies on collision detection, and is inspired by the biological concepts of body schema and evolutionary algorithms. Under the proposed method, the robot maintains a population of possible models, stochastically identifies a motion which best distinguishes those models, and then performs that motion while checking for a collision. Models which correctly predicted whether a collision would occur produce candidate models for the next iteration. Using this algorithm during simulations with a Baxter robot, we were able to correctly determine the order of the links in 84% of trials while exploring around 0.01% of all possible models, and we were able to correctly determine the axes of rotation in 94% of trials while exploring < 0.1% of all possible models.

JF - Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on SN - 978-1-5090-3287-7 UR - http://ieeexplore.ieee.org/abstract/document/7523663/ 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 - Flexible robotics with electromagnetic tracking improve safety and efficiency during in vitro endovascular navigation JF - Journal of Vascular Surgery Y1 - 2016 A1 - Adeline Schwein A1 - Kramer, B.D. A1 - Ponraj Chinnadurai A1 - Sean Walker A1 - O'Malley, M.K. A1 - Alan Lumsden A1 - Jean Bismuth VL - 63 ER - TY - Generic T1 - Improving the retention of motor skills after reward-based reinforcement by incorporating haptic guidance and error augmentation T2 - Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on Y1 - 2016 A1 - Dylan P. Losey A1 - Laura H. Blumenschein A1 - Marcia K. O'Malley AB -

There has been significant research aimed at leveraging programmable robotic devices to provide haptic assistance or augmentation to a human user so that new motor skills can be trained efficiently and retained long after training has concluded. The success of these approaches has been varied, and retention of skill is typically not significantly better for groups exposed to these controllers during training. These findings point to a need to incorporate a more complete understanding of human motor learning principles when designing haptic interactions with the trainee. Reward-based reinforcement has been studied for its role in improving retention of skills. Haptic guidance, which assists a user to complete a task, and error augmentation, which exaggerates error in order to enhance feedback to the user, have been shown to be beneficial for training depending on the task difficulty, subject ability, and task type. In this paper, we combine the presentation of reward-based reinforcement with these robotic controllers to evaluate their impact on retention of motor skill in a visual rotation task with tunable difficulty using either fixed or moving targets. We found that with the reward-based feedback paradigm, both haptic guidance and error augmentation led to better retention of the desired visuomotor offset during a simple task, while during a more complex task, only subjects trained with haptic guidance demonstrated performance superior to those trained without a controller.

JF - Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on SN - 978-1-5090-3287-7 UR - http://ieeexplore.ieee.org/abstract/document/7523735/ ER - TY - JOUR T1 - Minimal assist-as-needed controller for upper limb robotic rehabilitation JF - IEEE Transactions on Robotics Y1 - 2016 A1 - Ali Utku Pehlivan A1 - Dylan P. Losey A1 - Marcia K. O'Malley AB -

Robotic rehabilitation of the upper limb following neurological injury is most successful when subjects are engaged in the rehabilitation protocol. Developing assistive control strategies that maximize subject participation is accordingly an active area of research, with aims to promote neural plasticity and, in turn, increase the potential for recovery of motor coordination. Unfortunately, state-of-the-art control strategies either ignore more complex subject capabilities or assume underlying patterns govern subject behavior and may therefore intervene suboptimally. In this paper, we present a minimal assist-as-needed (mAAN) controller for upper limb rehabilitation robots. The controller employs sensorless force estimation to dynamically determine subject inputs without any underlying assumptions as to the nature of subject capabilities and computes a corresponding assistance torque with adjustable ultimate bounds on position error. Our adaptive input estimation scheme is shown to yield fast, stable, and accurate measurements regardless of subject interaction and exceeds the performance of current approaches that estimate only position-dependent force inputs from the user. Two additional algorithms are introduced in this paper to further promote active participation of subjects with varying degrees of impairment. First, a bound modification algorithm is described, which alters allowable error. Second, a decayed disturbance rejection algorithm is presented, which encourages subjects who are capable of leading the reference trajectory. The mAAN controller and accompanying algorithms are demonstrated experimentally with healthy subjects in the RiceWrist-S exoskeleton.

VL - 32 UR - http://ieeexplore.ieee.org/abstract/document/7360218/ ER - TY - JOUR T1 - Modeling Electromechanical Aspects of Cyber-Physical Systems JF - Journal of Software Engineering for Robotics (JOSER) Y1 - 2016 A1 - Yingfu Zeng A1 - Rose, Chad G. A1 - Walid Taha A1 - Adam Duracz A1 - Kevin Atkinson A1 - Roland Philippsen A1 - Robert Cartwright A1 - Marcia O'Malley KW - Cyber-Physical Systems KW - Domain-Specific Language AB -

Model-based tools have the potential to significantly improve the process of developing novel cyber-physical systems (CPS). In this paper, we consider the question of what language features are needed to model such systems. We use a small, experimental hybrid systems modeling language to show how a number of basic and pervasive aspects of cyber-physical systems can be modeled concisely using the small set of language constructs. We then consider four, more complex, case studies from the domain of robotics. The first, a quadcopter, illustrates that these constructs can support the modeling of interesting systems. The second, a serial robot, provides a concrete example of why it is important to support static partial derivatives, namely, that it significantly improves the way models of rigid body dynamics can be expressed. The third, a linear solenoid actuator, illustrates the language’s ability to integrate multiphysics subsystems. The fourth and final, a compass gait biped, shows how a hybrid system with non-trivial dynamics is modeled. Through this analysis, the work establishes a strong connection between the engineering needs of the CPS domain and the language features that can address these needs. The study builds the case for why modeling languages can be improved by integrating several features, most notably, partial derivatives, differentiation without duplication, and support for equations. These features do not appear to be addressed in a satisfactory manner in mainstream modeling and simulation tools.

VL - 7 ER - TY - JOUR T1 - Smoothness of surgical tool tip motion correlates to skill in endovascular tasks JF - IEEE Transactions on Human Machine Systems Y1 - 2016 A1 - Estrada, S. A1 - Duran, C. A1 - Schulz, D. A1 - Bismuth, J. A1 - Byrne, M.D. A1 - O'Malley, M.K. VL - 46 ER - TY - Generic T1 - SOM and LVQ classification of endovascular surgeons using motion-based metrics T2 - Workshop on Self-Organizing Maps (WSOM) Y1 - 2016 A1 - Kramer, B.D. A1 - Dylan P. Losey A1 - Marcia K. O'Malley AB -

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’ 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.

JF - Workshop on Self-Organizing Maps (WSOM) UR - https://link.springer.com/chapter/10.1007/978-3-319-28518-4_20 ER - TY - JOUR T1 - A Time-Domain Approach To Control Of Series Elastic Actuators: Adaptive Torque And Passivity-Based Impedance Control JF - IEEE/ASME Transactions on Mechatronics Y1 - 2016 A1 - Dylan P. Losey A1 - Andrew Erwin A1 - Craig G. McDonald A1 - Fabrizio Sergi A1 - Marcia K. O'Malley AB -

Robots are increasingly designed to physically interact with humans in unstructured environments, and as such must operate both accurately and safely. Leveraging compliant actuation, typically in the form of series elastic actuators (SEAs), can guarantee this required level of safety. To date, a number of frequency-domain techniques have been proposed which yield effective SEA torque and impedance control; however, these methods are accompanied by undesirable stability constraints. In this paper, we instead focus on a time-domain approach to the control of SEAs, and adapt two existing control techniques for SEA platforms. First, a model reference adaptive controller is developed, which requires no prior knowledge of system parameters and can specify desired closed-loop torque characteristics. Second, the time-domain passivity approach is modified to control desired impedances in a manner that temporarily allows the SEA to passively render impedances greater than the actuator's intrinsic stiffness. This approach also provides conditions for passivity when augmenting any stable SEA torque controller with an arbitrary impedance. The resultant techniques are experimentally validated on a custom prototype SEA.

VL - 21 UR - http://ieeexplore.ieee.org/abstract/document/7457670/ 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 - 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 - Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks T2 - Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on Y1 - 2015 A1 - Rose, Chad G. A1 - Sergi, Fabrizio A1 - Yun, Youngmok A1 - Madden, Kaci A1 - Deshpande, Ashish D A1 - O'Malley, Marcia K JF - Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on PB - IEEE CY - Singapore 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 - Generic T1 - Development, control, and MRI-compatibility of the MR-SoftWrist T2 - IEEE International Conference on Rehabilitation Robotics (ICORR) Y1 - 2015 A1 - Erwin,Andrew A1 - O'Malley, M.K. A1 - Ress, D. A1 - Fabrizio Sergi JF - IEEE International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - Singapore ER - TY - JOUR T1 - An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback JF - Journal of Neuroengineering and Rehabilitation Y1 - 2015 A1 - J.D. Brown A1 - A. Paek A1 - M. Syed A1 - O'Malley, M.K. A1 - P.A. Shewokis A1 - J.L. Contreras-Vidal A1 - R.B. Gillespie A1 - A.J. Davis VL - 12 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 - JOUR T1 - Interaction control capabilities of an MR-compatible compliant actuator for wrist sensorimotor protocols during fMRI JF - IEEE/ASME Transactions on Mechatronics Y1 - 2015 A1 - Fabrizio Sergi A1 - Andrew Erwin A1 - Marcia K. O'Malley KW - compliant actuators. KW - Force control KW - functional MRI (fMRI) KW - MR-compatible robotics AB -

This paper describes the mechatronic design and characterization of a novel MR-compatible actuation system designed for a parallel force-feedback exoskeleton for measurement and/or assistance of wrist pointing movements during functional neuroimaging. The developed actuator is based on the interposition of custom compliant elements in series between a non-backdrivable MR-compatible ultrasonic piezoelectric motor and the actuator output. The inclusion of physical compliance allows estimation of interaction force, enabling force-feedback control and stable rendering of a wide range of haptic environments during continuous scanning. Through accurate inner-loop

velocity compensation and force-feedback control, the actuator is capable of displaying both a low-impedance, subject-in-charge mode, and a high stiffness mode. These modes enable the execution of shared haptic protocols during continuous fMRI. 

The detailed experimental characterization of the actuation system is presented, including a backdrivability analysis, demonstrating an achievable impedance range of 22 dB, within a bandwidth of 4 Hz (for low stiffness). The stiffness control bandwidth depends on the specific value of stiffness: a bandwidth of 4 Hz is achieved at low stiffness (10% of the physical springs stiffness), while 8 Hz is demonstrated at higher stiffness. Moreover, coupled stability is demonstrated also for stiffness values substantially (25%) higher than the physical stiffness of the spring. Finally, compatibility tests conducted in a 3T scanner are presented, validating the potential of inclusion of the actuator in an exoskeleton system for support of wrist movements during continuous MR scanning, without significant reduction in image quality.

VL - 20 ER - TY - JOUR T1 - Kinematics effectively delineate accomplished users of endovascular robotics with a physical training model JF - Journal of Vascular Surgery Y1 - 2015 A1 - Cassidy Duran A1 - Sean Estrada A1 - Marcia O'Malley A1 - Alan B. Lumsden A1 - Jean Bismuth VL - 61 ER - TY - Generic T1 - Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Y1 - 2015 A1 - Mehling, J.S. A1 - James Holley A1 - O'Malley, M.K. JF - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ER - TY - JOUR T1 - A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces JF - ASME Journal of Dynamic Systems, Measurement, and Control Y1 - 2015 A1 - Chawda, Vinay A1 - Ozkan Celik A1 - O'Malley, M.K. VL - 137 ER - TY - JOUR T1 - The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the competent endovascular surgeon JF - Journal of Vascular Surgery Y1 - 2015 A1 - Cassidy Duran A1 - Sean Estrada A1 - O'Malley, M.K. A1 - Malachi Sheahan A1 - Murray Shames A1 - Jason T Lee A1 - Jean Bismuth VL - 62 ER - TY - Generic T1 - Proportional sEMG based robotic assistance in an isolated wrist movement T2 - ASME Dynamic Systems and Control Conference (DSCC) Y1 - 2015 A1 - Artz, E.J. A1 - Blank, Amy A. A1 - O'Malley, M.K. JF - ASME Dynamic Systems and Control Conference (DSCC) CY - Columbus, Ohio 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 - Generic T1 - The role of auxiliary and referred haptic feedback in myoelectric control T2 - IEEE World Haptics Conference (WHC) Y1 - 2015 A1 - Treadway, Emma A1 - Gillespie, B A1 - Bolger, D. A1 - Blank, A. A1 - O'Malley, M.K. A1 - Davis, A. JF - IEEE World Haptics Conference (WHC) ER - TY - JOUR T1 - On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity JF - Mechatronics Y1 - 2015 A1 - Sergi, Fabrizio A1 - O'Malley, M.K. VL - 26 ER - TY - JOUR T1 - A Subject-Adaptive Controller for Wrist Robotic Rehabilitation JF - Mechatronics, IEEE/ASME Transactions on Y1 - 2015 A1 - Pehlivan, A.U. A1 - Sergi, F. A1 - OMalley, M.K. KW - adaptive control KW - Exoskeletons KW - Force KW - Iron KW - Medical treatment KW - nonlinear systems KW - parallel mechanisms KW - robot dynamics KW - robotic rehabilitation KW - Robots KW - Trajectory KW - Vectors KW - Wrist VL - 20 ER - TY - JOUR T1 - Tactile Feedback of Object Slip Facilitates Virtual Object Manipulation JF - Haptics, IEEE Transactions on Y1 - 2015 A1 - Walker, J. A1 - Blank, A. A1 - Shewokis, P. A1 - O'Malley, M. KW - Force KW - force feedback KW - haptics KW - Phantoms KW - prosthetics KW - slip feedback KW - tactile sensors KW - vibrotactile feedback KW - Visualization VL - PP ER - TY - Generic T1 - Compensating position drift in Time Domain Passivity Approach based teleoperation T2 - Haptics Symposium (HAPTICS), 2014 IEEE Y1 - 2014 A1 - Chawda, Vinay A1 - Ha Van Quang A1 - O'Malley, Marcia K. A1 - Ryu, Jee-Hwan JF - Haptics Symposium (HAPTICS), 2014 IEEE ER - TY - Generic T1 - Compliant force-feedback actuation for accurate robot-mediated sensorimotor interaction protocols during fMRI T2 - International Conference on Biomedical Robotics and Biomechatronics (BioRob) Y1 - 2014 A1 - Fabrizio Sergi A1 - Andrew Erwin A1 - Brian Cera A1 - Marcia K. O'Malley JF - International Conference on Biomedical Robotics and Biomechatronics (BioRob) PB - IEEE 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 - On the development of objective metrics for surgical skills evaluation based on tool motion T2 - Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on Y1 - 2014 A1 - Estrada, Sean A1 - O'Malley, Marcia K A1 - Duran, Cassidy A1 - Schulz, Daryl A1 - Bismuth, Jean JF - Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on PB - IEEE ER - TY - JOUR T1 - Identifying Successful Motor Task Completion via Motion-Based Performance Metrics JF - Human-Machine Systems, IEEE Transactions on Y1 - 2014 A1 - O'Malley, M.K. A1 - Purkayastha, S.N. A1 - Howie, N. A1 - Byrne, M.D. KW - Accelerometers KW - human–computer interaction KW - motion analysis VL - 44 ER - TY - Generic T1 - A model matching framework for the synthesis of series elastic actuator impedance control T2 - 22nd Mediterranean Conference of Control and Automation (MED) Y1 - 2014 A1 - Mehling, J.S. A1 - O'Malley, M.K. JF - 22nd Mediterranean Conference of Control and Automation (MED) PB - IEEE CY - Palermo ER - TY - JOUR T1 - Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays Y1 - 2014 A1 - Chawda, V. A1 - O'Malley, M.K. KW - adaptive control KW - Communication channels KW - Delay effects KW - delay systems KW - delays KW - Force KW - Force measurement KW - Ports (Computers) KW - robust stability KW - Synchronization KW - telerobotics KW - time-varying systems ER - TY - CHAP T1 - Robotics as a Tool for Training and Assessment of Surgical Skill T2 - Computational Surgery and Dual Training Y1 - 2014 A1 - O'Malley, Marcia K. A1 - Celik, Ozkan A1 - Huegel, Joel C. A1 - Byrne, Michael D. A1 - Bismuth, Jean A1 - Dunkin, Brian J. A1 - Goh, Alvin C. A1 - Miles, Brian J. ED - Garbey, Marc ED - Bass, Barbara Lee ED - Berceli, Scott ED - Collet, Christophe ED - Cerveri, Pietro KW - Assessment KW - Human–robot interaction KW - Manual KW - Performance measures KW - Rehabilitation robotics KW - Robotics KW - Simulators KW - Skill KW - Skill training KW - Surgical KW - Tasks KW - Virtual reality JF - Computational Surgery and Dual Training PB - Springer New York SN - 978-1-4614-8647-3 UR - http://dx.doi.org/10.1007/978-1-4614-8648-0_24 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 - Tactile feedback of object slip improves performance in a grasp and hold task T2 - Haptics Symposium (HAPTICS), 2014 IEEE Y1 - 2014 A1 - Walker, Julie M. A1 - Blank, Amy A. A1 - Shewokis, Patricia A. A1 - O'Malley, Marcia K. JF - Haptics Symposium (HAPTICS), 2014 IEEE ER - TY - JOUR T1 - Upper Extremity Exoskeletons for Robot Aided Rehabilitation JF - Mechanical Engineering Y1 - 2014 A1 - Sergi,Fabrizio A1 - Blank,Amy A1 - O'Malley,Marcia KW - 5400:Research & development KW - 9190:United States KW - Cost reduction KW - Engineering–Mechanical Engineering KW - Medical research KW - Neurological disorders KW - Robotics KW - United States–US AB -

Neurological injuries, including stroke and spinal cord injury, typically result in significant motor impairments. These impairments negatively impact an individual's movement coordination, in turn affecting their ability to function independently. Intensively repetitous motion training has proven to restore some motor function after neurological injuries. This training is often labor-intensive and costly. By enabling therapists to train their patients intensively through consistent, repeatable movements, robotic rehabilitation systems offer a cost-effective solution requiring less labor and effort. The design of upper limb robotic therapy devices has been a topic of research for over two decades. Early devices were end-effector based, and guided the motion of a patient's hand to desired positions. Hardware and software designs emphasized the safety of the robotic devices, using control methods specifically designed to ensure safe interaction forces between the user and the device.

VL - 136 SN - 00256501 UR - https://search.proquest.com/docview/1559578916?accountid=7064 ER - TY - JOUR T1 - Vary Slow Motion: Effect of Task Forces on Movement Variability and Implications for a Novel Skill Augmentation Mechanism JF - IEEE Robotics and Automation Magazine Y1 - 2014 A1 - Ozkan Celik A1 - Marcia K. O'Malley ER - TY - CHAP T1 - Workload and Performance Analyses with Haptic and Visually Guided Training in a Dynamic Motor Skill Task T2 - Computational Surgery and Dual Training Y1 - 2014 A1 - Huegel, Joel C. A1 - O'Malley, Marcia K. ED - Garbey, Marc ED - Bass, Barbara Lee ED - Berceli, Scott ED - Collet, Christophe ED - Cerveri, Pietro KW - force feedback KW - Haptics guidance KW - Joystick KW - Motor skill KW - performance KW - Skill acquisition KW - training KW - virtual environment KW - Workload JF - Computational Surgery and Dual Training PB - Springer New York SN - 978-1-4614-8647-3 UR - http://dx.doi.org/10.1007/978-1-4614-8648-0_25 ER - TY - Generic T1 - Adaptive control of a serial-in-parallel robotic rehabilitation device T2 - Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on Y1 - 2013 A1 - Pehlivan, A.U. A1 - Sergi, F. A1 - O'Malley, M.K. KW - absolute error performance KW - Adaptation models KW - adaptive control KW - closed form dynamic model KW - control system synthesis KW - Equations KW - Feedback KW - feedback gain KW - forearm rehabilitation KW - generalized coordinates KW - Manipulators KW - Mathematical model KW - medical robotics KW - model-based adaptive controller implementation KW - movement-based wrist KW - neurological injuries KW - Patient rehabilitation KW - RiceWrist KW - Robot kinematics KW - sensorimotor training KW - serial-in-parallel robot rehabilitation mechanism KW - serial-in-parallel robotic rehabilitation device KW - Trajectory KW - trajectory control KW - trajectory tracking performance KW - upper extremity robotic rehabilitation KW - Vectors JF - Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on ER - TY - Generic T1 - Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot T2 - International Conference on Rehabilitation Robotics Y1 - 2013 A1 - Fabrizio Sergi A1 - Melissa M. Lee A1 - Marcia K. O'Malley JF - International Conference on Rehabilitation Robotics ER - TY - JOUR T1 - Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers JF - Mechatronics, IEEE/ASME Transactions on Y1 - 2013 A1 - Celik, O. A1 - Gilbert, H.B. A1 - O'Malley, M.K. KW - Acceleration KW - Accelerometer-based displacement sensing KW - Accelerometers KW - Accuracy KW - artificial proprioception KW - differential accelerometers KW - displacement measurement KW - double integrator KW - feedforward KW - feedforward control KW - frequency domain system identification KW - high resolution optical encoder KW - kinesthetic illusions KW - parametric transfer function model KW - prosthetics KW - real-time dynamic displacement sensing KW - Sensors KW - speaker-based tendon vibrator control KW - tendon vibrator KW - Tendons KW - Transfer functions KW - vibration control KW - Vibrations VL - 18 ER - TY - JOUR T1 - Human-Scale Motion Capture with an Accelerometer-Based Gaming Controller JF - Journal of Robotics and Mechatronics Y1 - 2013 A1 - Purkayastha, Sagar N A1 - Byrne, Michael D A1 - O'Malley, M.K. VL - 25 ER - TY - Generic T1 - Interaction control for rehabilitation robotics via a low-cost force sensing handle T2 - 6th Annual ASME Dynamic Systems and Controls Conference Y1 - 2013 A1 - Andrew Erwin A1 - Fabrizio Sergi A1 - Vinay Chawda A1 - Marcia K. O'Malley JF - 6th Annual ASME Dynamic Systems and Controls Conference CY - Palo Alto, CA ER - TY - Generic T1 - Interaction control of a non-backdriveable MR-compatible actuator through series elasticity T2 - ASME 2013 Dynamic Systems and Control Conference Y1 - 2013 A1 - Sergi, Fabrizio A1 - Chawda, Vinay A1 - O’Malley, Marcia K JF - ASME 2013 Dynamic Systems and Control Conference PB - American Society of Mechanical Engineers ER - TY - Generic T1 - A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces T2 - 6th Annual ASME Dynamic Systems and Controls Conference Y1 - 2013 A1 - Vinay Chawda A1 - Ozkan Celik A1 - Marcia K. O'Malley JF - 6th Annual ASME Dynamic Systems and Controls Conference CY - Palo Alto, CA ER - TY - Generic T1 - Modeling Basic Aspects of Cyber-Physical Systems, Part II T2 - The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) Y1 - 2013 A1 - Yingfu Zeng A1 - Rose, Chad G. A1 - Paul Branner A1 - Walid Taha A1 - Jawad Masood A1 - Roland Philippsen A1 - Marcia K. O'Malley A1 - Robert Cartwright AB -
We continue to consider the question of what
language features are needed to effectively model cyber-physical
systems (CPS). In previous work, we proposed using a core
language as a way to study this question, and showed how
several basic aspects of CPS can be modeled clearly in a
language with a small set of constructs. This paper reports
on the result of our analysis of two, more complex, case studies
from the domain of rigid body dynamics. The first one, a
quadcopter, illustrates that previously proposed core language
can support larger, more interesting systems than previously
shown. The second one, a serial robot, provides a concrete
example of why we should add language support for static
partial derivatives, namely that it would significantly improve
the way models of rigid body dynamics can be expressed.
JF - The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) CY - Tokyo, Japan 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 - Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device T2 - IEEE Engineering in Medicine and Biology Conference Y1 - 2013 A1 - Andrew Y. Paek A1 - Jeremy D. Brown A1 - R. B. Gillespie A1 - Marcia K. O'Malley A1 - Patricia A. Shewokis A1 - Jose L. Contreras-Vidal JF - IEEE Engineering in Medicine and Biology Conference ER - TY - Generic T1 - System characterization of RiceWrist-S: A forearm-wrist exoskeleton for upper extremity rehabilitation T2 - Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on Y1 - 2013 A1 - Pehlivan, Ali Utku A1 - Rose, Chad G. A1 - O'Malley, Marcia K. KW - Actuators KW - closed loop position performance KW - closed loop systems KW - distal joints KW - Exoskeletons KW - forearm rehabilitation KW - forearm-wrist exoskeleton KW - Friction KW - haptic interface design KW - Joints KW - medical robotics KW - neurological lesions KW - neurophysiology KW - Patient rehabilitation KW - position control KW - prosthetics KW - RiceWrist-S KW - robotic rehabilitation KW - Robots KW - serial mechanisms KW - spatial resolution KW - spinal cord injury KW - spinal cord injury rehabilitation KW - stroke KW - stroke rehabilitation KW - system characterization KW - Torque KW - torque output KW - upper extremity rehabilitation KW - Wrist KW - wrist rehabilitation JF - Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on ER - TY - Generic T1 - Understanding the Role of Haptic Feedback in a Teleoperated Grasp and Lift Task T2 - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) Y1 - 2013 A1 - Jeremy D. Brown A1 - Andrew Paek A1 - Mashaal Syed A1 - Marcia K. O'Malley A1 - Patricia Shewokis A1 - Jose L. Contreras-Vidal A1 - R. B. Gillespie AB -

Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.

JF - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) ER - TY - Generic T1 - Vibrotactile Feedback of Pose Error Enhances Myoelectric Control of a Prosthetic Hand T2 - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) Y1 - 2013 A1 - Ryan Christiansen A1 - Jose Luis Contreras-Vidal A1 - R B Gillespie A1 - Patricia Shewokis A1 - Marcia K. O'Malley JF - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) ER - TY - Generic T1 - On the Correlation between Motion Data Captured from Low-Cost Gaming Controller and High Precision Encoders T2 - IEEE EMBC Y1 - 2012 A1 - S.N. Purkayastha A1 - M.D. Byrne A1 - O'Malley, M.K. JF - IEEE EMBC ER - TY - Generic T1 - Mechanical Design of RiceWrist-S: a Forearm-Wrist Exoskeleton for Stroke and Spinal Cord Injury Rehabilitation T2 - IEEE BioROB Y1 - 2012 A1 - A.U. Pehlivan A1 - S. Lee A1 - O'Malley, M.K. JF - IEEE BioROB ER - TY - JOUR T1 - Outcomes of Recent Efforts at Rice University to Incorporate Entrepreneurship Concepts into Interdisciplinary Capstone Design JF - International Journal of Engineering Education Y1 - 2012 A1 - Z.M. Oden A1 - O'Malley, M.K. A1 - G. Woods A1 - T. Kraft A1 - B. Burke VL - 28 ER - TY - Generic T1 - On the Performance of Passivity-based Control of Haptic Displays Employing Levant's Differentiator for Velocity Estimation T2 - IEEE Haptics Symposium Y1 - 2012 A1 - Vinay Chawda A1 - Marcia K. O'Malley AB -

In impedance-type haptic interfaces, encoders are typically employed to provide high resolution position measurements from which velocity is estimated, most commonly via the finite difference method (FDM). This velocity estimation technique performs reliably, unless very fast sampling is required, in which case noise or delay due to filtering of the position signals reduces accuracy in the estimate. Despite this limitation, FDM is attractive because it is a passive process, and therefore the passivity of the overall system can be guaranteed. Levant's differentiator is a viable alternative to FDM, and exhibits increased accuracy in velocity estimation at high sample rates compared to FDM. However, the passivity of this nonlinear velocity estimation technique cannot be shown using conventional methods. In this paper, we employ a time domain passivity framework to analyze and enforce passive behavior of Levant's differentiator for haptic displays in discrete time. The performance of this approach is explored both in simulation and experimentally on a custom made one degree-of-freedom haptic interface. Results demonstrate the effectiveness of the time domain passivity approach for compensating the active behavior observed with use of Levant's differentiator for velocity estimation.

JF - IEEE Haptics Symposium PB - IEEE CY - Vancouver, BC, Canada SN - 978-1-4673-0808-3 ER - TY - Generic T1 - Preliminary Results in Virtual Testing for Smart Buildings T2 - Mobile and Ubiquitous Systems: Computing, Networking, and Services Y1 - 2012 A1 - Bruneau, Julien A1 - Consel, Charles A1 - O'Malley, Marcia A1 - Taha, Walid A1 - Hannourah, Wail Masry ED - Sénac, Patrick ED - Ott, Max ED - Seneviratne, Aruna AB -

Smart buildings promise to revolutionize the way we live. Applications ranging from climate control to fire management can have significant impact on the quality and cost of these services. However, a smart building and any technology with direct effect on the safety of its occupants must undergo extensive testing. Virtual testing by means of computer simulation can significantly reduce the cost of testing and, as a result, accelerate the development of novel applications. Unfortunately, building physically-accurate simulation codes can be labor intensive.

JF - Mobile and Ubiquitous Systems: Computing, Networking, and Services PB - Springer Berlin Heidelberg CY - Berlin, Heidelberg SN - 978-3-642-29154-8 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 - JOUR T1 - The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms JF - {IEEE} Transactions on Haptics Y1 - 2012 A1 - Powell, Dane A1 - Marcia K. O'Malley AB -

Shared-control haptic guidance is a common form of robot-mediated training used to teach novice subjects to perform dynamic tasks. Shared-control guidance is distinct from more traditional guidance controllers, such as virtual fixtures, in that it provides novices with real-time visual and haptic feedback from a real or virtual expert. Previous studies have shown varying levels of training efficacy using shared-control guidance paradigms; it is hypothesized that these mixed results are due to interactions between specific guidance implementations ( {amp;\#x201C;paradigms} {amp;\#x201D;)} and tasks. This work proposes a novel guidance paradigm taxonomy intended to help classify and compare the multitude of implementations in the literature, as well as a revised proxy rendering model to allow for the implementation of more complex guidance paradigms. The efficacies of four common paradigms are compared in a controlled study with 50 healthy subjects and two dynamic tasks. The results show that guidance paradigms must be matched to a task's dynamic characteristics to elicit effective training and low workload. Based on these results, we provide suggestions for the future development of improved haptic guidance paradigms.

VL - 5 ER - TY - Generic T1 - Application of Levant’s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces T2 - IEEE World Haptics Conference 2011 Y1 - 2011 A1 - Vinay Chawda A1 - Ozkan Celik A1 - Marcia K. O'Malley JF - IEEE World Haptics Conference 2011 PB - IEEE CY - Istanbul, Turkey ER - TY - Generic T1 - Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements T2 - MMVR18 Y1 - 2011 A1 - Zahra KADIVAR A1 - Cynthia SUNG A1 - Zachary THOMPSON A1 - Marcia O’MALLEY A1 - Michael LIEBSCHNER A1 - Deng, Zhigang JF - MMVR18 CY - Newport Beach, CA ER - TY - Generic T1 - Design of a low-cost series elastic actuator for multi-robot manipulation T2 - Robotics and Automation (ICRA), 2011 IEEE International Conference on Y1 - 2011 A1 - Campbell, E. A1 - Kong, Z.C. A1 - Hered, W. A1 - Lynch, A.J. A1 - O'Malley, M.K. A1 - McLurkin, J. JF - Robotics and Automation (ICRA), 2011 IEEE International Conference on ER - TY - Generic T1 - Effect of Progressive Visual Error Amplification on Human Motor Adaptation T2 - IEEE International Conference on Rehabilitation Robotics (ICORR) Y1 - 2011 A1 - C. Sung A1 - O'Malley, M.K. JF - IEEE International Conference on Rehabilitation Robotics (ICORR) ER - TY - Generic T1 - Efficacy of Shared-Control Guidance Paradigms for Robot-Mediated Training T2 - IEEE World Haptics Conference Y1 - 2011 A1 - Powell, Dane A1 - O'Malley, M.K. JF - IEEE World Haptics Conference CY - Istanbul, Turkey ER - TY - Generic T1 - A Lyapunov Approach for SOSM Based Velocity Estimation and its Application to Improve Bilateral Teleoperation Performance T2 - Proceedings of the ASME 2011 Dynamic Systems and Control Conference Y1 - 2011 A1 - Vinay Chawda A1 - Marcia K. O'Malley JF - Proceedings of the ASME 2011 Dynamic Systems and Control Conference ER - TY - Generic T1 - Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation T2 - Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on Y1 - 2011 A1 - Pehlivan, Ali Utku A1 - Celik, Ozkan A1 - O'Malley, Marcia K JF - Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on PB - IEEE ER - TY - Generic T1 - Motor Skill Acquisition in a Virtual Gaming Environment T2 - 55th Annual Meeting of the Human Factors and Ergonomics Society Y1 - 2011 A1 - N. Howie A1 - S.N. Purkayastha A1 - M.D. Byrne A1 - O'Malley, M.K. JF - 55th Annual Meeting of the Human Factors and Ergonomics Society ER - TY - Generic T1 - A Neuromuscular Elbow Model for Analysis of Force and Movement Variability in Slow Movements T2 - IEEE EMBC Y1 - 2011 A1 - O. Celik A1 - O'Malley, M.K. JF - IEEE EMBC 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 - 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 - Robotic Training and Kinematic Analysis of Arm and Hand after Incomplete Spinal Cord Injury: A Case Study. T2 - IEEE ICORR Y1 - 2011 A1 - Z. Kadivar A1 - J.L. Sullivan A1 - D.P. Eng A1 - A.U. Pehlivan A1 - M.K. O’Malley A1 - N. Yozbatiran A1 - G.E.Francisco JF - IEEE ICORR CY - Zurich Switzerland 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 - CHAP T1 - Surgical Robotics: Innovations, Development, and Shortcomings T2 - Pumps and Pipes Y1 - 2011 A1 - Bismuth, Jean A1 - O'Malley, Marcia K. ED - Davies, Mark G. ED - Lumsden, Alan B. ED - Kline, William E. ED - Kakadiaris, Ioannis AB -

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'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.

JF - Pumps and Pipes PB - Springer US CY - Boston, MA SN - 978-1-4419-6012-2 ER - TY - JOUR T1 - Vision-Based Force Sensing for Nanomanipulation JF - IEEE /ASME Transactions on Mechatronics Y1 - 2011 A1 - Vinay Chawda A1 - O'Malley, M.K. AB - A vision-based algorithm for estimating tip interaction forces on a deflected Atomic Force Microscope (AFM) cantilever is described. Specifically, we propose that the algorithm can estimate forces acting on an Atomic Force Microscope (AFM) cantilever being used as a nanomanipulator inside a Scanning Electron Microscope (SEM). The vision based force sensor can provide force feedback in real-time, a feature absent in many SEMs. A methodology based on cantilever slope detection is used to estimate the forces acting on the cantilever tip. The technique was tested on a scaled model of the nanoscale AFM cantilever and verified using theoretical estimates as well as direct strain measurements. Artificial SEM noise was introduced in the macroscale images to characterize our sensor under varying levels of noise and other SEM effects. Prior knowledge about the cantilever is not required, and the algorithm runs independent of human input. The method is shown to be effective under varying noise levels, and demonstrates improving performance as magnification levels are decreased. Therefore, we conclude that the vision-based force sensing algorithm is best suited for continuous operation of the SEM, fast scanning rates, and large fields-of-view associated with low magnification levels. UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5692832 ER - TY - Generic T1 - Work in progress—Implementing and evaluating efforts to engage interdisciplinary teams to solve real-world design challenges T2 - Frontiers in Education Conference (FIE), 2011 Y1 - 2011 A1 - Oden, Z Maria A1 - O'Malley, Marcia K A1 - Woods, Gary L A1 - Volz, Tracy M JF - Frontiers in Education Conference (FIE), 2011 PB - IEEE ER - TY - Generic T1 - Analysis and comparison of low cost gaming controllers for motion analysis T2 - IEEE/ASME Advanced Intelligent Mechatronics (AIM 2010) Y1 - 2010 A1 - Purkayastha, Sagar N A1 - Eckenstein, Nick A1 - Byrne, Michael D A1 - O'Malley, M.K. AB -

Gaming controllers are attractive devices for research due to their onboard sensing capabilities and low cost. However, a proper quantitative analysis regarding their suitability for motion capture has yet to be conducted. In this paper, a detailed analysis of the sensors of two of these controllers, the Nintendo Wiimote and the Sony Playstation 3 Sixaxis is presented. The acceleration data from the sensors were plotted and compared with computed acceleration data derived from a high resolution encoder, then correlated to determine the performance of the gaming controllers. The results show high correlation between the acceleration data of the sensors and the computed acceleration, and more consistency in the sensors of the Sixaxis. The applications of the findings are discussed with respect to potential research ventures.

JF - IEEE/ASME Advanced Intelligent Mechatronics (AIM 2010) CY - Montreal, Canada ER - TY - Generic T1 - Co-presentation of Force Cues for Skill Transfer via Shared-control Systems T2 - 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) Y1 - 2010 A1 - Powell, Dane A1 - O'Malley, M.K. AB -

During training and rehabilitation with haptic devices, it is often necessary to simultaneously present force cues arising from different haptic models (such as guidance cues and environmental forces). Multiple force cues are typically summed to produce a single output force, which conveys only relative information about the original force cues and may not be useful to trainees. Two force copresentation paradigms are proposed as potential solutions to this problem: temporal separation of force cues, where one type of force is overlaid with the other in staggered pulses, and spatial separation, where the forces are presented via multiple haptic devices. A generalized model for separating task and guidance forces in a virtual environment is also proposed. In a pilot study where sixteen participants were trained in a dynamic target-hitting task using these co-presentation paradigms, simple summation was in fact most effective at eliciting skill transfer in most respects. Spatial separation imposed the lowest overall workload on participants, however, and might thus be more appropriate than summation in tasks with other significant physical or mental demands. Temporal separation was relatively inferior at eliciting skill transfer, but it is hypothesized that this paradigm would have performed considerably better in a non-rhythmic task, and the need for further research is indicated.

JF - 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) 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 - JOUR T1 - Disturbance observer-based force estimation for haptic feedback JF - ASME Journal of Dynamic Systems, Measurement and Control Y1 - 2010 A1 - Abhishek Gupta A1 - Marcia K. O'Malley VL - 133 ER - TY - Generic T1 - A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy T2 - ASME 2010 Dynamic Systems and Control Conference Y1 - 2010 A1 - Thompson, Zachary J A1 - Johnson, Kevin L A1 - Overby, Nicolas A1 - Chidi, Jessica I A1 - Pryor, William K A1 - O’Malley, Marcia K JF - ASME 2010 Dynamic Systems and Control Conference PB - American Society of Mechanical Engineers ER - TY - JOUR T1 - Incorporating simulation in vascular surgery education JF - Journal of vascular surgery : official publication, the Society for Vascular Surgery [and] International Society for Cardiovascular Surgery, North American Chapter Y1 - 2010 A1 - Jean Bismuth A1 - Michael A. Donovan A1 - O'Malley, M.K. A1 - Hosam F. El Sayed A1 - Joseph J. Naoum A1 - Eric K. Peden A1 - Mark G. Davies A1 - Alan B. Lumsden PB - Mosby-Year Book SN - 0741-5214 UR - http://linkinghub.elsevier.com/retrieve/pii/S0741521410013054?showall=true ER - TY - Generic T1 - Long-term double integration of acceleration for position sensing and frequency domain system identification T2 - IEEE/ASME Advanced Intelligent Mechatronics (AIM 2010) Y1 - 2010 A1 - Gilbert, Hunter B A1 - Ozkan Celik A1 - O'Malley, M.K. AB -

We present results from successful implementation of long-term (>10 seconds) real-time integration of acceleration to measure position. We evaluated two analog circuit designs for double integration of an acceleration signal. Our circuit design features three high-pass filters and two first order integrators, leading to a critically damped double integrator. The second design we have implemented is a second order underdamped integrator reported in the literature. Accuracy of both circuits in sensing position based on only accelerometer readings was experimentally evaluated by comparison with encoder readings. We conclude that a critically damped double integrator coupled with an accelerometer is well-suited for frequency domain system identification, thanks to reliable position measurement capability with minimal interference to system dynamics.

JF - IEEE/ASME Advanced Intelligent Mechatronics (AIM 2010) CY - Montréal, Canada 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 - JOUR T1 - Normalized movement quality measures for therapeutic robots strongly correlate with clinical motor impairment measures JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering Y1 - 2010 A1 - Ozkan Celik A1 - O'Malley, M.K. A1 - Boake, Corwin A1 - H.S. Levin A1 - Yozbatiran, Nuray A1 - Reistetter, Timothy AB - In this paper, we analyze the correlations between four clinical measures (Fugl–Meyer upper extremity scale, Motor Activity Log, Action Research Arm Test, and Jebsen-Taylor Hand Function Test) and four robotic measures (smoothness of movement, trajectory error, average number of target hits per minute, and mean tangential speed), used to assess motor recovery. Data were gathered as part of a hybrid robotic and traditional upper extremity rehabilitation program for nine stroke patients. Smoothness of movement and trajectory error, temporally and spatially normalized measures of movement quality defined for point-to-point movements, were found to have significant moderate to strong correlations with all four of the clinical measures. The strong correlations suggest that smoothness of movement and trajectory error may be used to compare outcomes of different rehabilitation protocols and devices effectively, provide improved resolution for tracking patient progress compared to only pre- and post-treatment measurements, enable accurate adaptation of therapy based on patient progress, and deliver immediate and useful feedback to the patient and therapist. VL - 18 UR - http://dx.doi.org/10.1109/TNSRE.2010.2047600 ER - TY - Generic T1 - A Preliminary ACT-R model of a continuous motor task T2 - Proceedings of the Human Factors and Ergonomics Society Annual Meeting Y1 - 2010 A1 - Byrne, Michael D A1 - O'Malley, Marcia K A1 - Gallagher, Melissa A A1 - Purkayastha, Sagar N A1 - Howie, Nicole A1 - Huegel, Joel C JF - Proceedings of the Human Factors and Ergonomics Society Annual Meeting PB - SAGE Publications Sage CA: Los Angeles, CA ER - TY - Generic T1 - Progressive haptic and visual guidance for training in a virtual dynamic task T2 - Haptics Symposium, 2010 IEEE Y1 - 2010 A1 - Huegel, J.C. A1 - O'Malley, M.K. KW - Design engineering KW - dynamic motor skill KW - Error correction KW - expertise-based performance measures KW - Feedback KW - Fixtures KW - Haptic interfaces KW - haptic virtual environment KW - input frequency KW - Mechatronics KW - Performance analysis KW - progressive guidance controller KW - progressive haptic guidance KW - progressive visual guidance KW - Protocols KW - Rehabilitation robotics KW - skill component measures KW - target-hitting task KW - training protocol KW - trajectory error KW - virtual dynamic task KW - virtual environment KW - Virtual reality KW - visual guidance scheme JF - Haptics Symposium, 2010 IEEE ER - TY - Generic T1 - Toward improved sensorimotor integration and learning using upper-limb prosthetic devices T2 - Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE Y1 - 2010 A1 - Gillespie, R Brent A1 - Contreras-Vidal, Jose Luis A1 - Shewokis, Patricia A A1 - O'Malley, Marcia K A1 - Brown, Jeremy D A1 - Agashe, Harshavardhan A1 - Gentili, Rodolphe A1 - Davis, Alicia JF - Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE PB - IEEE ER - TY - Generic T1 - Compact and low-cost tendon vibrator for inducing proprioceptive illusions T2 - The Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference Y1 - 2009 A1 - Ozkan Celik A1 - O'Malley, M.K. A1 - Brent Gillespie A1 - Shewokis, Patricia A. A1 - Contreras-Vidal, Jose Luis KW - artificial proprioception KW - proprioceptive illusions KW - tendon vibration AB -

Recent literature suggests that inducing proprioceptive movement illusions with predefined movement trajectories via tendon vibration requires use of multiple vibrators and precisely controlled frequency profiles. In this study, we report the design, modeling and control of a compact, low-cost tendon vibrator and illustrate its capability of accurately following time-varying frequency profiles. During the demonstration, participants will test the vibrator to experience illusory elbow flexion.

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 - 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 - Generic T1 - On the efficacy of haptic guidance schemes for human motor learning T2 - World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany Y1 - 2009 A1 - Patoglu, Volkan A1 - Li, Yvonne A1 - O’Malley, Marcia K JF - World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany PB - Springer 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 - Functionally biarticular control for smart prosthetics T2 - EuroHaptics Conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint Y1 - 2009 A1 - Gillespie, Brent A1 - Baker, John A1 - O'Malley, Marcia A1 - Shewokis, Patricia A1 - Contreras-Vidal, Jose Luis JF - EuroHaptics Conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint PB - IEEE ER - TY - Generic T1 - Impact of visual error augmentation methods on task performance and motor adaptation T2 - IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009) Y1 - 2009 A1 - Ozkan Celik A1 - Powell, Dane A1 - O'Malley, M.K. AB -

We hypothesized that augmenting the visual error feedback provided to subjects training in a point-to-point reaching task under visual distortion would improve the amount and speed of adaptation. Previous studies showing that human learning is error-driven and that visual error augmentation can improve the rate at which subjects decrease their trajectory error in such a task provided the motivation for our study. In a controlled experiment, subjects were required to perform point-to- point reaching movements in the presence of a rotational visual distortion. The amount and speed of their adaptation to this distortion were calculated based on two performance measures: trajectory error and hit time. We tested how three methods of error augmentation (error amplification, traditional error offsetting, and progressive error offsetting) affected the amount and speed of adaptation, and additionally propose definitions for “amount” and “speed” of adaptation in an absolute sense that are more practical than definitions used in previous studies. It is concluded that traditional error offsetting promotes the fastest learning, while error amplification promotes the most complete learning. Progressive error offsetting, a novel method, resulted in slower training than the control group, but we hypothesize that it could be improved with further tuning and indicate a need for further study of this method. These results have implications for improvement in motor skill learning across many fields, including rehabilitation after stroke, surgical training, and teleoperation.

JF - IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009) 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 - JOUR T1 - Improved Haptic Fidelity via Reduced Sampling Period with an FPGA-Based Real-Time Hardware Platform JF - ASME Journal of Computing and Information Science in Engineering Y1 - 2009 A1 - O'Malley, M.K. A1 - Sevcik, Kevin S. A1 - Kopp, E AB -

A haptic virtual environment is considered to be high-fidelity when the environment is perceived by the user to be realistic. For environments featuring rigid objects, perception of a high degree of realism often occurs when the free space of the simulated environment feels free and when surfaces intended to be rigid are perceived as such. Because virtual surfaces (often called virtual walls) are typically modeled as simple unilateral springs, the rigidity of the virtual surface depends on the stiffness of the spring model. For impedance-based haptic interfaces, the stiffness of the virtual surface is limited by the damping and friction inherent in the device, the sampling rate of the control loop, and the quantization of sensor data. If stiffnesses greater than the limit for a particular device are exceeded, the interaction between the human user and the virtual surface via the haptic device becomes nonpassive. We propose a computational platform that increases the sampling rate of the system, thereby increasing the maximum achievable virtual surface stiffness, and subsequently the fidelity of the rendered virtual surfaces. We describe the modification of a PHANToM Premium 1.0 commercial haptic interface to enable computation by a real-time operating system (RTOS) that utilizes a field programmable gate array (FPGA) for data acquisition between the haptic interface hardware and computer. Furthermore, we explore the performance of the FPGA serving as a standalone system for communication and computation. The RTOS system enables a sampling rate for the PHANToM that is 20 times greater than that achieved using the “out of the box” commercial hardware system, increasing the maximum achievable surface stiffness twofold. The FPGA platform enables sampling rates of up to 400 times greater, and stiffnesses over 6 times greater than those achieved with the commercial system. The proposed computational platforms will enable faster sampling rates for any haptic device, thereby improving the fidelity of virtual environments.

VL - 9 N1 -
Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform
Marcia K. O'Malley, Kevin S. Sevcik, and Emilie Kopp, J. Comput. Inf. Sci. Eng. 9, 011002 (2009), DOI:10.1115/1.3072904


ER - TY - Generic T1 - Intermittency of slow arm movements increases in distal direction T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) Y1 - 2009 A1 - Ozkan Celik A1 - Gu, Qin A1 - Deng, Zhigang A1 - O'Malley, M.K. AB -

When analyzed in the tangential speed domain, human movements exhibit a multi-peaked speed profile which is commonly interpreted as evidence for submovements. At slow speeds, the number of the peaks increases and the peaks also become more distinct, corresponding to non-smoothness or intermittency in the movement. In this study, we evaluate two potential sources proposed in the literature for the origins of movement intermittency and conclude that intermittency is more likely due to noise in the neuromuscular system as opposed to a central movement planner that generates intermittent plans. This conclusion is based on the assumption that the central planner would be expected to introduce similar levels of intermittency for different joints, while accumulating noise in the neuromuscular circuitry would be expected to exhibit itself as increase in noise in distal direction. We have used a 3D motion capture system to record trajectories of fingertip, wrist, elbow and shoulder as five participants completed a simple manual circular tracking task at various constant speed levels. Statistical analyses indicated that movement intermittency, quantified by a number of peaks metric, increased in distal direction, supporting the noise model for origins of intermittency. Movement speed was determined to have a significant effect on intermittency, while orientation of the task plane showed no significance.

JF - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) CY - St. Louis, MO 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 - Generic T1 - Movement intermittency and variability in human arm movements T2 - Understanding the Human Hand for Advancing Robotic Manipulation, Workshop at Robotics: Science and Systems (RSS) Conference 2009 Y1 - 2009 A1 - Ozkan Celik A1 - Gu, Qin A1 - Deng, Zhigang A1 - O'Malley, M.K. JF - Understanding the Human Hand for Advancing Robotic Manipulation, Workshop at Robotics: Science and Systems (RSS) Conference 2009 CY - Seattle, WA ER - TY - JOUR T1 - Negative Efficacy of Fixed Gain Error Reducing Shared Control for Training in Virtual Environments JF - ACM Transactions on Applied Perception Y1 - 2009 A1 - Yanfang Li A1 - Volkan Patoglu A1 - O'Malley, M.K. AB -

Virtual reality with haptic feedback provides a safe and versatile practice medium for many manual control tasks. Haptic guidance has been shown to improve performance of manual control tasks in virtual environments; however, the efficacy of haptic guidance for training in virtual environments has not been studied conclusively. This article presents experimental results that show negative efficacy of haptic guidance during training in virtual environments. The haptic guidance in this study is a fixed-gain error-reducing shared controller, with the control effort overlaid on the dynamics of the manual control task during training. Performance of the target-hitting manual control task in the absence of guidance is compared for three training protocols. One protocol contained no haptic guidance and represented virtual practice. Two protocols utilized haptic guidance, varying the duration of exposure to guidance during the training sessions. Exposure to the fixed-gain error-reducing shared controller had a detrimental effect on performance of the target-hitting task at the conclusion of a month-long training protocol, regardless of duration of exposure. While the shared controller was designed with knowledge of the task and an intuitive sense of the motions required to achieve good performance, the results indicate that the acquisition of motor skill is a complex phenomenon that is not aided with haptic guidance during training as implemented in this experiment.

VL - 6 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 - Progressive shared control for training in virtual environments T2 - Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, (WHC'09) Y1 - 2009 A1 - Yanfang Li A1 - Joel C. Huegel A1 - Volkan Patoglu A1 - O'Malley, M.K. KW - Haptic interface KW - performance KW - shared control KW - training JF - Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, (WHC'09) PB - IEEE CY - Salt Lake City, UT, USA ER - TY - Generic T1 - Validation of a smooth movement model for a human reaching task T2 - IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009) Y1 - 2009 A1 - Joel C. Huegel A1 - Lynch, Andrew A1 - O'Malley, M.K. AB -

This paper presents the experiment design, results, and analysis of a human user study that tests and validates the minimum hand jerk (MHJ) model for a human forearm reaching movement task when manipulating a multi-mass object. This work validates and extends prior work that demonstrated the MHJ criteria, a mathematical approach to human movement modeling, more accurately represents movements with multi-mass objects than the alternate optimally smooth transport (OST) model. To validate the prior work, we developed a visual and haptic virtual environment with a five-mass system with friction connected by springs and viscous dampers. The point to point reaching task we implemented required participants to move their hand with the set of masses to a target position, thereby generating movement profiles for analysis. Our experimental design uniquely extends the application of the MHJ criteria to forearm pronation movements and our results show that the MHJ model holds. Our extension to forearm movements and the more general MHJ criteria are economic models of human movements applicable to fields such as computer animation and virtual environments.

JF - IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009) ER - TY - Generic T1 - Visual Versus Haptic Progressive Guidance For Training In A Virtual Dynamic Task T2 - Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, (WHC'09) Y1 - 2009 A1 - Joel C. Huegel A1 - O'Malley, M.K. KW - Haptic interface KW - training KW - virtual environment JF - Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, (WHC'09) PB - IEEE CY - Salt Lake City, UT, USA 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 - TY - JOUR T1 - Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training JF - International Journal of Robotics Research Y1 - 2008 A1 - Abhishek Gupta A1 - O'Malley, M.K. A1 - Volkan Patoglu A1 - Burgar, Charles KW - Control systems KW - Degrees of freedom (mechanics) KW - Feedback KW - Neurology KW - Physical therapy KW - Systems analysis AB -

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.

VL - 27 UR - http://dx.doi.org/10.1177/0278364907084261 N1 -

Feedback wrist exoskeleton;Neurological injuries;

ER - TY - CHAP T1 - Haptic Interfaces T2 - HCI: Beyond the GUI Y1 - 2008 A1 - O'Malley, M.K. A1 - Abhishek Gupta JF - HCI: Beyond the GUI PB - Morgan-Kaufman Publisher 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;

ER - TY - Generic T1 - Disturbance observer based closed loop force control for haptic feedback T2 - ASME International Mechanical Engineering Congress and Exposition, Proceedings Y1 - 2007 A1 - Abhishek Gupta A1 - O'Malley, M.K. A1 - Volkan Patoglu KW - Computer simulation KW - Force control KW - Haptic interfaces KW - Robotics KW - Robustness (control systems) AB -

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 © 2007 by ASME.

JF - ASME International Mechanical Engineering Congress and Exposition, Proceedings CY - Seattle, WA, United States VL - 9 PART B N1 -

Disturbance observer;Haptic feedback;Pseudostatic interactions;

ER - TY - Generic T1 - Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform (IMECE) T2 - ASME International Mechanical Engineering Congress and Exposition, Proceedings Y1 - 2007 A1 - Sevcik, Kevin S. A1 - Kopp, E A1 - O'Malley, M.K. KW - Computer operating systems KW - Damping KW - Field programmable gate arrays (FPGA) KW - Multitasking KW - Real time systems KW - Virtual reality AB -

Impedance based haptic interfaces face inherent challenges in displaying stiff virtual environments. Fidelity of a virtual environment is enhanced by stiff virtual walls combined with low damping and passive behavior of the interface. However, the stiffness of virtual walls displayed on an impedance based interface is limited by the damping inherent in the controller, the sampling rate of the control loop, and the quantization of the controller's position. Attempting to display a stiffness larger than this limiting value destroys the passivity of the interface, leading to active controller behavior and eventually closed loop instability. We propose a method of increasing the fidelity of a PHANToM Premium 1.0 commercial haptic interface by controlling it via a Field Programmable Gate Array (FPGA) both alone and with a Real Time Operating System (RTOS) control system. This custom controller enjoys several benefits over the standard control achieved via a proprietary control card in a Multitasking OS, including reduced system overhead and deterministic loop rate timing. The performance of the proposed FPGA/RTOS controller compares favorably with the performance of an FPGA/Multitasking OS controller. The FPGA/RTOS controller achieves control loop rates an order of magnitude greater than that of the proprietary controller, allowing virtual walls to be displayed with greatly increased stiffnesses, while retaining the passivity and low damping of the PHANToM interface. Copyright © 2007 by ASME.

JF - ASME International Mechanical Engineering Congress and Exposition, Proceedings CY - Seattle, WA, United States VL - 9 PART B N1 -

Real Time Operating System (RTOS) control system;Proprietary control card;

ER - TY - Generic T1 - Improving Interdisciplinary Capstone Design Projects with Cooperative Learning in the Medi-Fridge Project Y1 - 2007 A1 - Mcstravick, David A1 - O'Malley, Marcia K. ER - TY - CHAP T1 - Principles of human-machine interfaces and interactions T2 - Life Science Automation: Fundamentals and Applications Y1 - 2007 A1 - O'Malley, M.K. JF - Life Science Automation: Fundamentals and Applications PB - Artech House Publishers ER - TY - CHAP T1 - Robotic Exoskeletons for Upper Extremity Rehabilitation T2 - Rehabilitation Robotics Y1 - 2007 A1 - Abhishek Gupta A1 - O'Malley, M.K. JF - Rehabilitation Robotics PB - I-Tech Education and Publishing CY - Vienna, Austria ER - TY - Generic T1 - Towards just noticeable differences for natural frequency of manually excited virtual dynamic systems T2 - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (WHC'07) Y1 - 2007 A1 - Yanfang Li A1 - Volkan Patoglu A1 - Huang, Deborah A1 - O'Malley, M.K. KW - Display devices KW - Dynamical systems KW - Natural frequencies AB -

This paper explores the experiment design to determine a human's ability to discriminate the natural frequency of manually excited virtual dynamic systems. We use a one degree-of-freedom haptic interface with a coupled graphical display to render a virtual mass-spring system, which is excited by the human operator using his/her dominant hand. The results from the preliminary experiment indicate a JND value of approximately 8%. However, results also indicate that excitation strategies have a significant effect on the discrimination threshold determination of this dynamic property. In this paper, along with a discussion of the preliminary results, a refined experiment design that accounts for different factors influencing the discrimination of manually excited natural frequency is presented. © 2007 IEEE.

JF - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (WHC'07) PB - IEEE CY - Tsukuba, Japan UR - http://dx.doi.org/10.1109/WHC.2007.118 N1 -

Graphical displays;Virtual mass spring systems;Dynamic properties;

ER - TY - Generic T1 - Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course T2 - 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2006 A1 - Kevin Bowen A1 - O'Malley, M.K. KW - Computer hardware KW - Curricula KW - Dynamic programming KW - Interactive computer systems KW - Virtual reality AB -

This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. © 2006 IEEE.

JF - 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems CY - Alexandria, VA, United States N1 -

Electromechanical systems;LabVIEW graphical programming languages;

ER - TY - JOUR T1 - Assessing and Inducing Neuroplasticity with TMS and Robotics JF - Archives of Physical Medicine and Rehabilitation, Supplement 2 / Neuroplasticity and Brain Imaging Research: Implications for Rehabilitation Y1 - 2006 A1 - O'Malley, M.K. A1 - T. Ro A1 - H.S. Levin VL - 87(12) UR - http://linkinghub.elsevier.com/retrieve/pii/S0003999306012792 ER - TY - JOUR T1 - Assessing and inducing neuroplasticity with transcranial magnetic stimulation and robotics for motor function JF - Archives of physical medicine and rehabilitation Y1 - 2006 A1 - O'Malley, Marcia K A1 - Ro, Tony A1 - Levin, Harvey S VL - 87 ER - TY - JOUR T1 - Design of a haptic arm exoskeleton for training and rehabilitation JF - IEEE/ASME Transactions on Mechatronics Y1 - 2006 A1 - Abhishek Gupta A1 - O'Malley, M.K. KW - Damping KW - Degrees of freedom (mechanics) KW - Joints (anatomy) KW - Patient rehabilitation KW - Robot applications KW - Sensory perception KW - Stiffness AB -

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.

VL - 11 UR - http://dx.doi.org/10.1109/TMECH.2006.875558 N1 -

Arm exoskeletons;Apparent inertia;Design methodology;

ER - TY - Generic T1 - Experimental system identification of force reflecting hand controller T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2006 A1 - Zumbado, Fernando A1 - McJunkin, Samuel A1 - O'Malley, M.K. KW - Degrees of freedom (mechanics) KW - Force measurement KW - Frequency domain analysis KW - Identification (control systems) KW - Remote control KW - Robotics AB -

This paper describes the combined time and frequency domain identification of the first three degrees-of-freedom (DOF) of a six degree-of-freedom force reflecting hand controller (FRHC). The FRHC is used to teleoperate Robonaut, a humanoid robotic assistant developed by NASA, via a bilateral teleoperation architecture. Three of the six DOF of the FRHC are independently identified due to the decoupled nature of the manipulator design. The frequency response for each axis is acquired by coupling a known environmental impedance to the joint axis and then applying a sinusoidal sweep torque input. Several data sets are averaged in the frequency domain to obtain an averaged frequency response. A coherence analysis is then performed and data with low coherence values are ignored for subsequent analysis and model fitting. The paper describes the use of coherence data to ensure acceptable model fits for transfer function estimation. Results of the identification experiments are presented, including implications of assumptions of decoupling and linearity. In addition, frequency and time domain validations for each axis model are performed using data sets excluded from the parameter estimation, with strong correlation. Copyright © 2006 by ASME.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Chicago, IL, United States N1 -

Manipulator design;Environmental impedance;Sinusoidal sweep torque input;

ER - TY - Generic T1 - Haptic Interfaces for a LabVIEW-based System Dynamics Course T2 - ASEE Annual Conference and Exposition Y1 - 2006 A1 - Kevin Bowen A1 - O'Malley, M.K. KW - Computer programming languages KW - Electromechanical devices KW - Engineering education KW - Learning systems KW - Mechanical engineering KW - Students KW - Virtual reality AB -

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. The paper will present some details of the laboratory components, and preliminary assessment of learning outcomes using this laboratory series compared to more traditional modular labs used in prior years. © American Society for Engineering Education, 2006.

JF - ASEE Annual Conference and Exposition CY - Chicago, IL, United States N1 -

Labview;Course content;Laboratory exercises;Haptic paddles;

ER - TY - Generic T1 - Performance Enhancement of a Haptic Arm Exoskeleton T2 - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2006 A1 - Alan Sledd A1 - O'Malley, M.K. JF - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems ER - TY - Generic T1 - The RiceWrist: A distal upper extremity rehabilitation robot for stroke therapy T2 - ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition Y1 - 2006 A1 - O'Malley, M.K. A1 - Alan Sledd A1 - Abhishek Gupta A1 - Volkan Patoglu A1 - Joel C. Huegel A1 - Burgar, Charles KW - Degrees of freedom (mechanics) KW - Graphical user interfaces KW - Human rehabilitation equipment KW - Patient treatment AB -

This paper presents the design and kinematics of a four degree-of-freedom upper extremity rehabilitation robot for stroke therapy, to be used in conjunction with the Mirror Image Movement Enabler (MIME) system. The RiceWrist is intended to provide robotic therapy via force-feedback during range-of-motion tasks. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension, and radial and ulnar deviation in a compact design with low friction and backlash. Joint range of motion and torque output of the electricmotor driven device is matched to human capabilities. The paper describes the design of the device, along with three control modes that allow for various methods of interaction between the patient and the robotic device. Passive, triggered, and active-constrained modes, such as those developed for MIME, allow for therapist control of therapy protocols based on patient capability and progress. Also presented is the graphical user interface for therapist control of the interactions modes of the RiceWrist, basic experimental protocol, and preliminary experimental results. Copyright © 2006 by ASME.

JF - ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition PB - ASME CY - Chicago, IL, United States N1 -

Mirror Image Movement Enabler (MIME) system;Rehabilitation robot;Robotic therapy;

ER - TY - Generic T1 - Shared Control for Training in Virtual Environments: Learning Through Demonstration? T2 - Proceedings of EuroHaptics 2006 Y1 - 2006 A1 - Yanfang Li A1 - Volkan Patoglu A1 - O'Malley, M.K. JF - Proceedings of EuroHaptics 2006 ER - TY - JOUR T1 - Shared control in haptic systems for performance enhancement and training JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME Y1 - 2006 A1 - O'Malley, M.K. A1 - Abhishek Gupta A1 - Gen, Matthew A1 - Yanfang Li KW - Control equipment KW - Damping KW - Data reduction KW - Haptic interfaces KW - Robotics KW - Robots AB -

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.

VL - 128 UR - http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000128000001000075000001&idtype=cvips&gifs=yes N1 -

Virtual environments;Mass-spring-damper;System dynamics;Shared control;

ER - TY - JOUR T1 - A Study of Perceptual Performance in Haptic Virtual Environments JF - Journal of Robotics and Mechatronics Y1 - 2006 A1 - O'Malley, M.K. A1 - Gina Upperman VL - 18(4) ER - TY - Generic T1 - Vision based force sensing for nanorobotic manipulation T2 - ASME Dynamic Systems and Control Division, 2006 Internatiomal Mechanical Engineering Congress and Exposition. Y1 - 2006 A1 - Abhishek Gupta A1 - Volkan Patoglu A1 - O'Malley, M.K. KW - Atomic force microscopy KW - Force measurement KW - Manipulators KW - Nanoparticles KW - Nanotechnology KW - Scanning electron microscopy AB -

Over the last decade, considerable interest has been generated in building and manipulating nanoscale structures. Applications of nanomanipulation include study of nanoparticles, molecules, DNA and viruses, and bottom-up nanoassembly. We propose a Nanomanipulation System using the Zyvex S100 nanomanipulator, -which operates within a scanning electron microscope (SEM), as its primary component. The primary advantage of the S100 setup over standard scanning probe microscopy based nanomanipulators is the ability to see the object during manipulation. Relying on visual feedback alone to control the nanomanipulator is not preferable due to perceptual limitations of depth and contact within the SEM. To improve operator performance over visual feedback alone, an impedance-controlled bilateral teleoperation setup is envisioned. Lack of on-board force sensors on the S100 system is the primary hindrance in the realization of the proposed architecture. In this paper, we present a computer vision based force sensing scheme. The advantages of this sensing strategy include its low cost and lack of requirement of hardware modifications). Force sensing is implemented using an atomic force microscopy (AFM) probe attached to the S100 end-effector. Deformation of the cantilever probe is monitored using a Hough transform based algorithm. These deformations are mapped to corresponding end-effector forces following the Euler-Bernoulli beam mechanics model. The forces thus sensed can be used to provide force-feedback to the operator through a master manipulator. Copyright © 2006 by ASME.

JF - ASME Dynamic Systems and Control Division, 2006 Internatiomal Mechanical Engineering Congress and Exposition. CY - Chicago, IL, United States N1 -

Nanomanipulation;Nanoassembly;

ER - TY - JOUR T1 - On the ability of humans to haptically identify and discriminate real and simulated objects JF - Presence (USA) Y1 - 2005 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Haptic interfaces KW - Virtual reality AB -

The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between different-sized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of the haptic simulation. Results indicate that performance of size-identification tasks with haptic-interface hardware capable of a minimum of 3 N of maximum force output can approach performance in real environments, but fails short when virtual surface stiffness is limited. For size-discrimination tasks, performance in simulated environments was consistently lower than performance in a comparable real environment. Interestingly, significant variations in the fidelity of the haptic simulation do not appear to significantly alter the ability of a subject to identify or discriminate between the types of simulated objects described herein

VL - 14 UR - http://dx.doi.org/10.1162/105474605323384690 N1 - real object;simulated object;human subject;haptic interface;haptic simulation;size-identification task;virtual surface stiffness; ER - TY - Generic T1 - Human-machine admittance and transparency adaptation in passive user interaction with a haptic interface T2 - First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) Y1 - 2005 A1 - McJunkin, Samuel A1 - Yanfang Li A1 - O'Malley, M.K. KW - Haptic interfaces KW - Human computer interaction KW - Manipulators KW - Virtual reality AB -

This paper addresses human adaptation to changes in coupling impedance and force amplitude during passive user induced (PUI) interactions with a haptic interface. PUI interactions are characterized as event-based haptic interactions or haptic recordings that are replayed to the user. In the study, virtual environments are displayed to passive users with variable coupling stiffness and force amplitudes, and transparency bandwidth and human-machine admittance are measured. Results indicate that transparency bandwidth and the human-machine admittance do not change significantly for permutations of force amplitudes and coupling impedances, nor do they vary significantly across users. The reason for this invariance is that, during a PUI interaction, users tend approach a similar displacement profile. As a result, all users will have similar apparent admittance and transparency. The findings give sufficient justification for the use of universal compensators that improve transparency bandwidth, and that can be designed based solely on a priori transparency measurements for a typical user

JF - First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) CY - Pisa, Italy UR - http://www2.computer.org/portal/web/csdl/doi/10.1109/WHC.2005.76 N1 -

human-machine admittance;transparency adaptation;passive user interaction;haptic interface;force amplitude;passive user induced interactions;event-based haptic interactions;virtual environments;force amplitudes;transparency bandwidth;

ER - TY - Generic T1 - Shared control for upper extremity rehabilitation in virtual environments T2 - Proc. ASME Int. Mechanical Engineering Congress Expo Y1 - 2005 A1 - O'Malley, M.K. JF - Proc. ASME Int. Mechanical Engineering Congress Expo ER - TY - Generic T1 - Transparency extension in haptic interfaces via adaptive dynamics cancellation T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2005 A1 - McJunkin, Samuel A1 - Speich, John E. A1 - O'Malley, M.K. KW - Adaptive control systems KW - Computer simulation KW - Linear systems KW - Manipulators KW - Mathematical models KW - Transfer functions AB -

Haptic interfaces are a class of robotic manipulators that display force feedback to enhance the realism of virtual environment displays. However, these manipulators often fail to effectively replicate the real world environment due to dynamic limitations of the manipulator itself. The ratio of the simulated to transmitted environment impedance is defined as the transparency transfer function (TTF), and can be used to quantify the effectiveness of a haptic device in displaying the simulated environment. The TTF is ideally equal to one for the bandwidth of human proprioception. In this work, a method is presented that increases TTF bandwidth via cancellation of dynamics with an adaptive model. This adaptive model is based on the kinematics and dynamics of a PHANToM haptic interface with assumed joint stiffness and damping added. The Lagrangian of the PHANToM is reformulated into a regressor matrix containing the state variables multiplied by a parameter vector. A least-squares approach is used to estimate the parameter vector by assuming that errors in force output are due to the manipulator dynamics. The parameter estimate is then used in the original model to provide a feed-forward cancellation of the manipulator dynamics. Software simulation using data from passive user interactions shows that the model cancellation technique improves bandwidth up to 35 Hz versus 7 Hz without compensation. Finally, this method has a distinct advantage when compared with other compensation methodsfor haptic interactions because it does not rely on linear assumptions near a particular operating point and will adapt to capture unmodeled features. Copyright © 2005 by ASME.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Orlando, FL, United States VL - 74 DSC N1 -

Transparency extension;Robotic manipulators;Transparency transfer function (TTF);Model cancellation techniques;

ER - TY - Generic T1 - Transparency of a phantom premium haptic interface for active and passive human interaction T2 - Proceedings of the American Control Conference Y1 - 2005 A1 - McJunkin, Samuel A1 - O'Malley, M.K. A1 - Speich, John E. KW - Acoustic impedance KW - Bandwidth KW - Manipulators AB -

This paper compares two methods for determining the transparency bandwidth of an impedance based haptic interface with a Phantom 1.0A haptic device. Active user induced (AUI) interaction tests, where the system excitation is generated by a human user, show that transparency bandwidth is limited to approximately 2 Hz. Passive user induced (PUI) interaction tests, where the system excitation is generated by the haptic device with a passive human operator, show that bandwidth can extend up to 50 Hz. Experimental results show that the apparent bandwidth limitations for the AUI interaction tests are dependent on the human user's inability to excite higher frequencies. Consequently, this measurement approach is insufficient for determining system bandwidth of the human operator-haptic interface system. Furthermore, data seem to indicate that there is no appreciable difference in the ability of the Phantom manipulator to display environmental impedances in either AUI or PUI interactions regardless of the user. © 2005 AACC.

JF - Proceedings of the American Control Conference CY - Portland, OR, United States VL - 5 N1 -

Active user induced (AUI);Phantom manipulators;Human operators;

ER - TY - Generic T1 - Virtual lab for system identification of an electromechanical system T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2005 A1 - O'Malley, M.K. A1 - David M. McStravick KW - Computer software KW - Data acquisition KW - Mathematical models KW - Mechanical engineering KW - Real time systems KW - Students AB -

A stand-alone virtual instrument (vi) has been developed to augment an experimental system identification laboratory exercise in a required mechanical engineering course on system dynamics. The Virtual Lab (VL) was used productively as a post-lab exercise in conjunction with an existing laboratory experiment for system identification. The VL can be formatted as a standalone file, which the students can download and access at their convenience, without the need for LabVIEW software. The virtual lab presented in this paper used the experimental identification of a transfer function for an xy recorder developed at Rose-Hulman Institute of Technology. In the original Rose-Hulman experiment, students view a video of the acquisition of frequency response data for an X-Y recorder. Then, students complete a detailed optimization procedure using Microsoft Excel in order to determine system parameters for two transfer function models. This paper describes using the Virtual Lab to extend the original lab exercise into an interactive mode. The students complete the Microsoft Excel part of the exercise, but then repeat the optimization using brute force via the LabVIEW based VL developed by the authors, rather than using the optimization toolbox in Excel. With the VL, students can see in real-time the effects of each unknown parameter on the frequency response plot, thus providing additional insight into the relationships between these parameters and the behavior of the electromechanical system. This feature is notably absent in the Microsoft Excel portion of the exercise. Although this exercise uses simple dynamic models, the combination of Excel and LabVIEW approaches provide an insightful introduction to experimental system identification. In this paper, details of the VL are presented, including the functionality of the VL and methodologies for disseminating the VL as a stand-alone piece of software. Finally some assessment results for the original (Excel version) and VL methods of presenting the laboratory exercise are discussed. Copyright © 2005 by ASME.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Orlando, FL, United States VL - 74 DSC N1 -

Virtual instrument (vi);Identification laboratory;Virtual Lab (VL);

ER - TY - Generic T1 - Comparison of human haptic size discrimination performance in simulated environments with varying levels of force and stiffness T2 - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS Y1 - 2004 A1 - Gina Upperman A1 - Suzuki, Atsushi A1 - O'Malley, M.K. KW - Computer simulation KW - Computer software KW - Degrees of freedom (mechanics) KW - Feedback KW - Haptic interfaces KW - Human engineering KW - Stiffness AB -

The performance levels of human subjects in size discrimination experiments in virtual environments with varying levels of stiffness and force saturation are presented. The virtual environments are displayed with a Phantom desktop three degree-of-freedom haptic interface. Performance was measured at below maximum machine performance levels for two machine parameters: maximum endpoint force and maximum virtual surface stiffness. The tabulated scores for the size discrimination in the sub-optimal virtual environments, except for those of the lowest stiffness, 100 N/m, were found to be comparable to that in the highest-quality virtual environment. This supports previous claims that haptic interface hardware may be able to convey, for this perceptual task, sufficient perceptual information to the user with relatively low levels of machine quality in terms of these parameters, as long as certain minimum levels, 1.0 N force and 220 N/m stiffness, are met.

JF - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS CY - Chicago, IL, United States UR - http://dx.doi.org/10.1109/HAPTIC.2004.1287193 N1 -

Size discrimination experiments;Machine quality;Haptic devices;

ER - TY - Generic T1 - Cooperative manipulation between humans and teleoperated agents T2 - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS Y1 - 2004 A1 - John Glassmire A1 - O'Malley, M.K. A1 - William Bluethmann A1 - Robert O. Ambrose KW - Computer simulation KW - Feedback KW - Haptic interfaces KW - Human computer interaction KW - Robots KW - Statistical methods AB -

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with DARPA. This paper describes the implementation of haptic feedback into Robonaut. We conducted a cooperative manipulation task, inserting a flexible beam into an instrumented receptacle. This task was performed while both a human at the worksite and the teleoperated robot grasped the flexible beam simultaneously. Peak forces in the receptacle were consistently lower when the human operator was provided with kinesthetic force feedback in addition to other modalities of feedback such as gestures and voice commands. These findings are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

JF - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS CY - Chicago, IL, United States UR - http://dx.doi.org/10.1109/HAPTIC.2004.1287185 N1 -

Robonauts;Haptic feedback;Cooperative manipulation;

ER - TY - Generic T1 - Design of a haptic arm exoskeleton for training and rehabilitation T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2004 A1 - Abhishek Gupta A1 - O'Malley, M.K. KW - Actuators KW - Bandwidth KW - Damping KW - Degrees of freedom (mechanics) KW - Friction KW - Human computer interaction KW - Kinematics KW - Robotic arms KW - Robots KW - Sensors KW - Stiffness AB -

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 © 2004 by ASME.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Anaheim, CA, United States VL - 73 N1 -

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

ER - TY - JOUR T1 - The effect of virtual surface stiffness on the haptic perception of detail JF - IEEE/ASME Transactions on Mechatronics Y1 - 2004 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Computer aided design KW - Computer hardware KW - Computer simulation KW - Degrees of freedom (mechanics) KW - Manipulators KW - Object recognition KW - Sensory perception KW - Specifications KW - Stiffness KW - Surface properties KW - Virtual reality AB -

This brief presents a quantitative study of the effects of virtual surface stiffness in a simulated haptic environment on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross section ridges. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum level of virtual surface stiffness in the simulation increases. Further, test subjects appeared to reach a limit in their perception capabilities at maximum stiffness levels of 300 to 400 N/m, while the hardware was capable of 1000 N/m of maximum virtual surface stiffness. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of virtual surface stiffness. © 2004 IEEE.

VL - 9 UR - http://dx.doi.org/10.1109/TMECH.2004.828625 N1 -

Virtual surface stiffness;Haptic perception;Design specifications;Haptic interface hardware;

ER - TY - Generic T1 - Virtual labs in the engineering curriculum T2 - ASEE Annual Conference Proceedings Y1 - 2004 A1 - David M. McStravick A1 - O'Malley, M.K. KW - Computer programming languages KW - Computer simulation KW - Curricula KW - Data reduction KW - Graphic methods KW - Students KW - Visualization AB -

Computer simulations have been developed for use as student exercises to illustrate concepts required for various engineering courses. These simulations or Virtual Labs are highly graphical and interactive to help undergraduate students understand basic concepts by graphically solving problems and by visualization of real-time parametric changes. These Virtual Labs (or VL's) can be used productively in conjunction with existing laboratory experiments as pre-lab exercises, but the more important benefit is realized in cases of concepts that have no experimental support and in courses that traditionally do not have an associated laboratory course. These VL's are generated in the software package Lab VIEW, which offers graphical interfaces for the student and can be formatted as standalone files, which the students can download and access at their convenience, without the need for Lab VIEW software. Currently five VL's have been generated and several have been evaluated by students in appropriate classes.

JF - ASEE Annual Conference Proceedings CY - Salt Lake City, UT, United States N1 -

Engineering curriculum;Real-time parametric changes;Graphical interfaces;Virtual labs;

ER - TY - Generic T1 - Current challenges in the control of haptic interfaces and bilateral teleoperation systems T2 - ASME 2003 International Mechanical Engineering Congress and Exposition Y1 - 2003 A1 - Speich, John E A1 - O’Malley, Marcia K JF - ASME 2003 International Mechanical Engineering Congress and Exposition PB - American Society of Mechanical Engineers ER - TY - JOUR T1 - Haptic feedback applications for robonaut JF - Industrial Robot Y1 - 2003 A1 - O'Malley, M.K. A1 - Robert O. Ambrose KW - Computer control systems KW - Feedback control KW - Haptic interfaces KW - Robotics KW - Space applications KW - Telecontrol equipment AB -

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot's workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

VL - 30 UR - http://dx.doi.org/10.1108/01439910310506800 N1 - Haptic feedback;Humanoid robot;Teleoperator; ER - TY - Generic T1 - Passive and active assistance for human performance of a simulated underactuated dynamic task T2 - Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 Y1 - 2003 A1 - O'Malley, M.K. A1 - Abhishek Gupta KW - Haptic interfaces KW - Virtual reality AB -

Machine-mediated training 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 real-time in order to elicit desired motions. This work investigates human performance in a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system's own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes

JF - Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 CY - Los Angeles, CA, USA UR - http://dx.doi.org/10.1109/HAPTIC.2003.1191308 N1 -

simulated underactuated dynamic task;machine-mediated training;virtual fixtures;active assist;haptic feedback;visual feedback;

ER - TY - Generic T1 - Simplified authoring of 3D haptic content for the World Wide Web T2 - Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2003 A1 - O'Malley, M.K. A1 - Shannon Hughes KW - authoring systems KW - Haptic interface KW - Internet KW - Internet browser KW - modeling language KW - programming KW - scripting KW - three-dimensional content KW - three-dimensional haptic scenes KW - virtual reality languages 3D haptic content authoring KW - VRML KW - Web page JF - Haptic Interfaces for Virtual Environment and Teleoperator Systems ER - TY - Generic T1 - Simulated Bilateral Teleoperation of Robonaut T2 - AIAA Space 2003 Y1 - 2003 A1 - O'Malley, M.K. A1 - Kelsey J. Hughes A1 - D. F. Magruder A1 - Robert O. Ambrose JF - AIAA Space 2003 CY - Long Beach, CA ER - TY - Generic T1 - Skill transfer in a simulated underactuated dynamic task T2 - Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) Y1 - 2003 A1 - O'Malley, M.K. A1 - Abhishek Gupta KW - computer based training KW - Haptic interfaces KW - learning (artificial intelligence) KW - Virtual reality AB -

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' 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

JF - Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) CY - Millbrae, CA, USA UR - http://dx.doi.org/10.1109/ROMAN.2003.1251864 N1 -

underactuated dynamic system;Fitts' type;skill transfer;haptic feedback;

ER - TY - JOUR T1 - The effect of force saturation on the haptic perception of detail JF - IEEE/ASME Transactions on Mechatronics Y1 - 2002 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Computer control systems KW - Computer simulation KW - Feedback control KW - Haptic interfaces KW - Identification (control systems) KW - Nonlinear control systems KW - Virtual reality AB -

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

VL - 7 UR - http://dx.doi.org/10.1109/TMECH.2002.802725 N1 - Force saturation effect;Haptic perception;Force feedback; ER - TY - Generic T1 - The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces T2 - Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) Y1 - 2002 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - delays KW - Haptic interfaces KW - human factors KW - Virtual reality AB -

This paper presents a two-part study of the effects of virtual surface stiffness on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of surface stiffness, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between virtual surface stiffness and simulation quality in terms of perceived surface hardness. Results of experiments to test human haptic perception for varying virtual surface stiffnesses indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user at relatively low levels of virtual surface stiffness. Subjects, however, can perceive improvements in perceived simulated surface hardness as stiffness levels are increased in the range of achievable parameters for this hardware. The authors draw several conclusions about the allowable time delays in a haptic interface system based on the results of the surface stiffness experiments

JF - Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) CY - Washington, DC, USA VL - vol.2 UR - http://dx.doi.org/10.1109/ROBOT.2002.1014715 N1 -

surface stiffness;virtual surface stiffness;haptic perception;time delays;size identification;perceived surface hardness;haptic interfaces;

ER -