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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 -