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 - 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 - 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 -