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

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

UR - https://www.sciencedirect.com/science/article/pii/S2666998623000832 ER - TY - JOUR T1 - Mechanofluidic Instability-Driven Wearable Textile Vibrotactor JF - IEEE Transactions on Haptics Y1 - 2023 A1 - Fino, Nathaniel A1 - Jumet, Barclay A1 - Zook, Zane A A1 - Preston, Daniel J A1 - O'Malley, Marcia K ER - TY - 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 - 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 - CHAP T1 - A Textile-Based Approach to Wearable Haptic Devices T2 - 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) Y1 - 2022 A1 - Jumet, Barclay A1 - Zook, Zane A. A1 - Xu, Doris A1 - Fino, Nathaniel A1 - Rajappan, Anoop A1 - Schara, Mark W. A1 - Berning, Jeffrey A1 - Escobar, Nicolas A1 - O'Malley, Marcia K. A1 - Preston, Daniel J. JF - 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) ER - TY - JOUR T1 - 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 - 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 - Generic T1 - A Cutaneous Haptic Cue Characterization Testbed T2 - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - Fleck, Joshua J. A1 - Zook, Zane A. A1 - Andrew Low A1 - O'Malley, Marcia K. JF - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) PB - IEEE CY - Tokyo, Japan UR - https://ieeexplore.ieee.org/document/8816086/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816086.pdf?arnumber=8816086 ER - TY - Generic T1 - Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze T2 - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - Zook, Zane A. A1 - Fleck, Joshua J. A1 - Andrew Low A1 - O'Malley, Marcia K. JF - 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) PB - IEEE CY - Tokyo, Japan UR - https://ieeexplore.ieee.org/document/8816139/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816139.pdf?arnumber=8816139 ER - TY - 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 - 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 - 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 - 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 - 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 - Mathematical Equations as Executable Models of Mechanical Systems Y1 - 2010 A1 - Angela Yun Zhu A1 - Edwin Westbrook A1 - Jun Inoue A1 - Alexandre Chapoutot A1 - Cherif Salama A1 - Marisa Peralta A1 - Travis Martin A1 - Walid Taha A1 - Robert Cartwright A1 - O'Malley, M.K. AB -

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

ER - TY - Generic T1 - Implementing Haptic Feedback Environments from High-level Descriptions Y1 - 2009 A1 - Angela Yun Zhu A1 - Jun Inoue A1 - Marisa Peralta A1 - Walid Taha A1 - O'Malley, M.K. A1 - Powell, Dane ER - TY - Generic T1 - 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 -