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 - 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 - 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 - Maintaining Subject Engagement during Robotic Rehabilitation with a Minimal Assist-as-Needed (mAAN) Controller T2 - International Conference on Rehabilitation Robotics (ICORR) Y1 - 2017 A1 - Ali Utku Pehlivan A1 - Dylan P. Losey A1 - Rose, Chad G. AB -

One challenge of robotic rehabilitation interventions is devising ways to encourage and maintain high levels of subject involvement over long duration therapy sessions. Assist-as-needed controllers have been proposed which modulate robot intervention in movements based on measurements of subject involvement. This paper presents a minimal assist-as-needed controller, which modulates allowable error bounds and robot intervention based on sensorless force measurement accomplished through a nonlinear disturbance observer. While similar algorithms have been validated using healthy subjects, this paper presents a validation of the proposed mAAN control algorithm's ability to encourage user involvement with an impaired individual. User involvement is inferred from muscle activation, measured via surface electromyography (EMG). Experimental validation shows increased EMG muscle activation when using the proposed mAAN algorithm compared to non-adaptive algorithms.

JF - International Conference on Rehabilitation Robotics (ICORR) PB - IEEE CY - London, UK 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 languageā€™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 - 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 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 - 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 - 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 - 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 -