%0 Journal Article %J Journal of Endovascular Therapy %D 2022 %T Evaluation of Robotic-Assisted Carotid Artery Stenting in a Virtual Model Using Motion-Based Performance Metrics %A Legeza, Peter T %A Lettenberger, Ahalya B %A Murali, Barathwaj %A Johnson, Lianne R %A Berczeli, Marton %A Byrne, Michael D %A Britz, Gavin %A O’Malley, Marcia K %A Lumsden, Alan B %B Journal of Endovascular Therapy %P 15266028221125592 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Legaza_JET2022.pdf %0 Journal Article %J Science Robotics %D 2021 %T A decade retrospective of medical robotics research from 2010 to 2020 %A Dupont, Pierre E %A Nelson, Bradley J %A Goldfarb, Michael %A Hannaford, Blake %A Menciassi, Arianna %A O’Malley, Marcia K %A Simaan, Nabil %A Valdastri, Pietro %A Yang, Guang-Zhong %B Science Robotics %V 6 %P eabi8017 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/scirobotics2021abi8017.pdf %0 Journal Article %J ASME Letters in Dynamic Systems and Control %D 2021 %T Design and Characterization of a Passive Instrumented Hand %A Yousaf, Saad N %A Joshi, Victoria S %A Britt, John E %A Rose, Chad G %A O’Malley, Marcia K %B ASME Letters in Dynamic Systems and Control %V 1 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/ALDSC-19-1082-1_Two_Col.pdf %0 Conference Proceedings %B IFAC-PapersOnLine %D 2021 %T Electromyographic Classification to Control the SPAR Glove %A Britt, John E %A O’Malley, Marcia K %A Rose, Chad G %B IFAC-PapersOnLine %V 54 %P 244–250 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Britt_MECC_IFAC_2021.pdf %0 Journal Article %J Journal of Rehabilitation and Assistive Technologies Engineering %D 2021 %T Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury %A Kadivar, Zahra %A Beck, Christopher E %A Rovekamp, Roger N %A O’Malley, Marcia K %B Journal of Rehabilitation and Assistive Technologies Engineering %V 8 %P 20556683211002448 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/JRATE_2021_Kadivar_Armstrong.pdf %0 Conference Proceedings %B 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) %D 2020 %T Importance of Wrist Movement Direction in Performing Activities of Daily Living Efficiently %A Moser, Nicholas %A O’Malley, Marcia K %A Erwin, Andrew %B 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) %I IEEE %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Moser2020EMBC_wrist_constrained_movement_0.pdf %0 Book Section %B Robotics Research %D 2020 %T Simply Grasping Simple Shapes: Commanding a Humanoid Hand with a Shape-Based Synergy %A Farrell, Logan C %A Dennis, Troy A %A Badger, Julia %A O’Malley, Marcia K %B Robotics Research %I Springer %P 541–553 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/farrell2020simply.pdf %0 Conference Proceedings %B ASME 2019 Dynamic Systems and Control Conference %D 2019 %T Design and Characterization of a Passive Instrumented Hand %A Yousaf, Saad N %A Joshi, Victoria S %A Britt, John E %A Rose, Chad G %A O’Malley, Marcia K %B ASME 2019 Dynamic Systems and Control Conference %8 10/2019 %G eng %U https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59148/V001T05A007/1070466?searchresult=1 %R https://doi.org/10.1115/DSCC2019-9082 %> https://mahilab.rice.edu/sites/default/files/publications/Instrumented_Hand_DSCC_Revised-compressed.pdf %0 Journal Article %J IEEE Transactions on Human-Machine Systems %D 2019 %T Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface %A O’Malley, Marcia K %A Byrne, Michael D %A Estrada, Sean %A Duran, Cassidy %A Schulz, Daryl %A Bismuth, Jean %B IEEE Transactions on Human-Machine Systems %V 49 %P 388–394 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/THMS2019_O%27Malley-et-al.pdf %0 Conference Proceedings %B 2019 International Conference on Robotics and Automation (ICRA) %D 2019 %T On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation %A Clark, Janelle P %A Lentini, Gianluca %A Barontini, Federica %A Catalano, Manuel G %A Bianchi, Matteo %A O’Malley, Marcia K %X 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. %B 2019 International Conference on Robotics and Automation (ICRA) %I IEEE %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Clark_2019_ICRA_TeleimpedanceWithHaptics_0.pdf %0 Journal Article %J IEEE Transactions on Neural Systems and Rehabilitation Engineering %D 2018 %T Assessing Wrist Movement With Robotic Devices %A Rose, Chad G %A Pezent, Evan %A Kann, Claudia K %A Deshpande, Ashish D %A O’Malley, Marcia K %X

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.

%B IEEE Transactions on Neural Systems and Rehabilitation Engineering %V 26 %P 1585–1595 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/rose2018ieee-wrist.pdf %0 Conference Proceedings %B International Design Engineering Technical Conferences IDETC %D 2018 %T Cycloidal Geartrain In-Use Efficiency Study %A Farrell, Logan C %A Holley, James %A Bluethmann, William %A O’Malley, Marcia K %B International Design Engineering Technical Conferences IDETC %I American Society of Mechanical Engineers %C Quebec, Canada %8 08/2018 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Farrell2018IDETC.pdf %0 Conference Proceedings %B Haptics Symposium %D 2018 %T The rice haptic rocker: Altering the perception of skin stretch through mapping and geometric design %A Clark, Janelle P %A Kim, Sung Y %A O’Malley, Marcia K %X

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.

%B Haptics Symposium %I IEEE %C San Francisco, CA %P 192-197 %8 03/2018 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Clark_2018HapticSymposium.pdf %0 Conference Proceedings %B ASME 2013 Dynamic Systems and Control Conference %D 2013 %T Interaction control of a non-backdriveable MR-compatible actuator through series elasticity %A Sergi, Fabrizio %A Chawda, Vinay %A O’Malley, Marcia K %B ASME 2013 Dynamic Systems and Control Conference %I American Society of Mechanical Engineers %G eng %> https://mahilab.rice.edu/sites/default/files/publications/sergi2013asme.pdf %0 Conference Proceedings %B ASME 2010 Dynamic Systems and Control Conference %D 2010 %T A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy %A Thompson, Zachary J %A Johnson, Kevin L %A Overby, Nicolas %A Chidi, Jessica I %A Pryor, William K %A O’Malley, Marcia K %B ASME 2010 Dynamic Systems and Control Conference %I American Society of Mechanical Engineers %G eng %> https://mahilab.rice.edu/sites/default/files/publications/thompson2010asme.pdf %0 Conference Proceedings %B World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany %D 2009 %T On the efficacy of haptic guidance schemes for human motor learning %A Patoglu, Volkan %A Li, Yvonne %A O’Malley, Marcia K %B World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany %I Springer %P 203-206 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Patoglu2009iupesm.pdf %0 Conference Proceedings %B ASME 2003 International Mechanical Engineering Congress and Exposition %D 2003 %T Current challenges in the control of haptic interfaces and bilateral teleoperation systems %A Speich, John E %A O’Malley, Marcia K %B ASME 2003 International Mechanical Engineering Congress and Exposition %I American Society of Mechanical Engineers %P 743-750 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/speich2003asme.pdf