%0 Conference Proceedings %B 2021 43rd Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC) %D 2021 %T Comparing Manual and Robotic-Assisted Carotid Artery Stenting Using Motion-Based Performance Metrics %A Lettenberger, Ahalya B. %A Murali, Barathwaj %A Legeza, Peter %A Byrne, Michael D. %A Lumsden, Alan B. %A O’Malley, Marcia K. %B 2021 43rd Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC) %P 1388-1391 %8 2021 %G eng %R 10.1109/EMBC46164.2021.9630895 %> https://mahilab.rice.edu/sites/default/files/publications/Lettenberger_EMBC_2021_motion-based-metrics-manual-robot.pdf %0 Conference Proceedings %B 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) %D 2019 %T A Cutaneous Haptic Cue Characterization Testbed %A Fleck, Joshua J. %A Zook, Zane A. %A Andrew Low %A O'Malley, Marcia K. %B 2019 IEEE World Haptics Conference (WHC)2019 IEEE World Haptics Conference (WHC) %I IEEE %C Tokyo, Japan %G eng %U https://ieeexplore.ieee.org/document/8816086/http://xplorestaging.ieee.org/ielx7/8807988/8816072/08816086.pdf?arnumber=8816086 %R 10.1109/WHC.2019.8816086 %> https://mahilab.rice.edu/sites/default/files/publications/A_Cutaneous_Haptic_Cue_Characterization_Testbed_smaller_0.pdf %0 Journal Article %J ASME Applied Mechanics Reviews %D 2018 %T Closure to “A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction" %A Dylan P. Losey %A Craig G. McDonald %A Edoardo Battaglia %A Marcia K. O'Malley %X

In their discussion article on our review paper, Professors James Schmiedeler and Patrick Wensing have provided an insightful and informative perspective of the roles of intent detection, arbitration, and communication as three pillars of a framework for the implementation of shared control in physical human–robot interaction (pHRI). The authors both have significant expertise and experience in robotics, bipedal walking, and robotic rehabilitation. Their commentary introduces commonalities between the themes of the review paper and issues in locomotion with the aid of an exoskeleton or lower-limb prostheses, and presents several important topics that warrant further exploration. These include mechanical design as it pertains to the physical coupling between human and robot, modeling the human to improve intent detection and the arbitration of control, and finite-state machines as an approach for implementation. In this closure, we provide additional thoughts and discussion of these topics as they relate to pHRI.

%B ASME Applied Mechanics Reviews %V 70 %8 02/2018 %G eng %U http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2672398 %R 10.1115/1.4039225 %> https://mahilab.rice.edu/sites/default/files/publications/amr_2018_closure.pdf %0 Conference Proceedings %B International Symposium on Wearable Computing ISWC %D 2018 %T Conveying Language Through Haptics: A Multi-sensory Approach %A Dunkelberger, Nathan %A Sullivan, Jenny %A Bradley, Joshua %A Walling, Nickolas P %A Manickam, Indu %A Dasarathy, Gautam %A Israr, Ali %A Lau, Frances W. Y. %A Klumb, Keith %A Knott, Brian %A Abnousi, Freddy %A Baraniuk, Richard %A O'Malley, Marcia K %K haptics %K multi-sensory %K speech %K wearable %B International Symposium on Wearable Computing ISWC %I ACM %C Singapore %8 10/2018 %@ 978-1-4503-5967-2 %G eng %U http://doi.acm.org/10.1145/3267242.3267244 %R 10.1145/3267242.3267244 %> https://mahilab.rice.edu/sites/default/files/publications/NathanDunkelberger_ISWC.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 International Conference on Robotics and Automation (ICRA) %D 2017 %T A Cable-based Series Elastic Actuator with Conduit Sensor for Wearable Exoskeletons %A L. H. Blumenschein %A C. G. McDonald %A M. K. O'Malley %K actuation system design %K Actuators %K cable tension control %K cable tension measurement %K cable-based series elastic actuator %K cable-conduit transmission %K cables (mechanical) %K compliance control %K compliant force sensor %K conduit sensor %K DC motor %K DC motors %K deflection measurement %K dynamic effect %K Exoskeletons %K Feedback %K flexible cable conduit transmission %K Force %K Force control %K force sensors %K full wearable exosuit %K gearbox %K Hall effect sensors %K Hall effect transducers %K human arm %K human-robot interaction %K Impedance %K Magnetic flux %K physical assistance %K robot dynamics %K Robots %K series elastic force sensor %K soft exosuit %K soft wearable exoskeleton %K springs (mechanical) %K translational steel compression spring %K transmission conduit %K user interface %K virtual impedance %K wearable robotic device %B International Conference on Robotics and Automation (ICRA) %I IEEE %C Singapore %8 05/2017 %G eng %R 10.1109/ICRA.2017.7989790 %> https://mahilab.rice.edu/sites/default/files/publications/blumenschein2017ieee.pdf %0 Conference Proceedings %B International Conference on Rehabilitation Robotics (ICORR) %D 2017 %T Characterization of Surface Electromyography Patterns of Healthy and Incomplete Spinal Cord Injury Subjects Interacting with an Upper-Extremity Exoskeleton %A McDonald, Craig G %A Dennis, Troy A %A O'Malley, Marcia K %X

Rehabilitation exoskeletons may make use of myoelectric control to restore in patients with significant motor impairment following a spinal cord injury (SCI) a sense of volitional control over their limb - a crucial component for recovery of movement. Little investigation has been done into the feasibility of using surface electromyography (sEMG) as an exoskeleton control interface for SCI patients, whose impairment manifests in a highly variable way across the patient population. We have demonstrated that by using only a small subset of features extracted from eight bipolar electrodes recording on the upper arm and forearm muscles, we can achieve high predictive accuracy for the intended direction of motion. Five healthy subjects and two SCI subjects performed voluntary isometric contractions while wearing an exoskeleton for the wrist and elbow joints, generating six distinct single and multi-DoF motions in a total of sixteen possible directions. Using linear discriminant analysis, classification performance was then evaluated using randomly selected holdout test data from the same recording session. Commonalities across subjects, both healthy and SCI, were analyzed at the levels of selected features and the values of commonly selected features. Future work will be to investigate group-specific classification of SCI subjects' intended movements for use in the real-time control of a rehabilitation exoskeleton.

%B International Conference on Rehabilitation Robotics (ICORR) %I IEEE %C London, UK %8 07/2017 %G eng %U http://ieeexplore.ieee.org/abstract/document/8009240/ %M 17101574 %R 10.1109/ICORR.2017.8009240 %> https://mahilab.rice.edu/sites/default/files/publications/mcdonald_2017_characterization.pdf %0 Conference Proceedings %B International Symposium on Wearable Robotics and Rehabilitation (WeRob) %D 2017 %T Combining functional electrical stimulation and a powered exoskeleton to control elbow flexion %A D. Wolf %A N. Dunkelberger %A C. G. McDonald %A K. Rudy %A C. Beck %A M. K. O'Malley %A E. Schearer %K Elbow %K elbow flexion %K Exoskeletons %K extension trajectory %K functional electrical stimulation %K hybrid FES %K hybrid system %K Iron %K medical robotics %K Muscles %K neuromuscular stimulation %K Patient rehabilitation %K robotic exoskeleton system %K Robots %K Torque %K Trajectory %K upper-limb paralysis %B International Symposium on Wearable Robotics and Rehabilitation (WeRob) %P 87-88 %8 11/2017 %G eng %R 10.1109/WEROB.2017.8383860 %> https://mahilab.rice.edu/sites/default/files/publications/Wolf2017werob.pdf %0 Conference Proceedings %B Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on %D 2015 %T Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks %A Rose, Chad G. %A Sergi, Fabrizio %A Yun, Youngmok %A Madden, Kaci %A Deshpande, Ashish D %A O'Malley, Marcia K %B Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on %I IEEE %C Singapore %G eng %R 10.1109/ICORR.2015.7281200 %> https://mahilab.rice.edu/sites/default/files/publications/ICORR15_0190_MS_0.pdf %0 Conference Proceedings %B Haptics Symposium (HAPTICS), 2014 IEEE %D 2014 %T Compensating position drift in Time Domain Passivity Approach based teleoperation %A Chawda, Vinay %A Ha Van Quang %A O'Malley, Marcia K. %A Ryu, Jee-Hwan %B Haptics Symposium (HAPTICS), 2014 IEEE %8 Feb %G eng %R 10.1109/HAPTICS.2014.6775454 %> https://mahilab.rice.edu/sites/default/files/publications/HS2014_PositionDrift_Chawda_Press.pdf %0 Conference Proceedings %B International Conference on Biomedical Robotics and Biomechatronics (BioRob) %D 2014 %T Compliant force-feedback actuation for accurate robot-mediated sensorimotor interaction protocols during fMRI %A Fabrizio Sergi %A Andrew Erwin %A Brian Cera %A Marcia K. O'Malley %B International Conference on Biomedical Robotics and Biomechatronics (BioRob) %I IEEE %8 08/2014 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Sergi2014%20-%201DOF%20MR%20devices.pdf %0 Journal Article %J Current Physical Medicine and Rehabilitation Reports %D 2014 %T Current Trends in Robot-Assisted Upper-Limb Stroke Rehabilitation: Promoting Patient Engagement in Therapy %A Amy A Blank %A James A French %A Ali Utku Pehlivan %A Marcia K O’Malley %B Current Physical Medicine and Rehabilitation Reports %G eng %R 10.1007/s40141-014-0056-z %> https://mahilab.rice.edu/sites/default/files/publications/2014_CPMRR_press.pdf %0 Conference Proceedings %B IEEE EMBC %D 2012 %T On the Correlation between Motion Data Captured from Low-Cost Gaming Controller and High Precision Encoders %A S.N. Purkayastha %A M.D. Byrne %A O'Malley, M.K. %B IEEE EMBC %8 8/2012 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/EMBS2012_FINAL_Purkayastha.pdf %0 Conference Proceedings %B MMVR18 %D 2011 %T Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements %A Zahra KADIVAR %A Cynthia SUNG %A Zachary THOMPSON %A Marcia O’MALLEY %A Michael LIEBSCHNER %A Deng, Zhigang %B MMVR18 %C Newport Beach, CA %8 02/2011 %> https://mahilab.rice.edu/sites/default/files/publications/1295-MMVR18-Kadivar_Z.pdf %0 Conference Proceedings %B 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) %D 2010 %T Co-presentation of Force Cues for Skill Transfer via Shared-control Systems %A Powell, Dane %A O'Malley, M.K. %X

During training and rehabilitation with haptic devices, it is often necessary to simultaneously present force cues arising from different haptic models (such as guidance cues and environmental forces). Multiple force cues are typically summed to produce a single output force, which conveys only relative information about the original force cues and may not be useful to trainees. Two force copresentation paradigms are proposed as potential solutions to this problem: temporal separation of force cues, where one type of force is overlaid with the other in staggered pulses, and spatial separation, where the forces are presented via multiple haptic devices. A generalized model for separating task and guidance forces in a virtual environment is also proposed. In a pilot study where sixteen participants were trained in a dynamic target-hitting task using these co-presentation paradigms, simple summation was in fact most effective at eliciting skill transfer in most respects. Spatial separation imposed the lowest overall workload on participants, however, and might thus be more appropriate than summation in tasks with other significant physical or mental demands. Temporal separation was relatively inferior at eliciting skill transfer, but it is hypothesized that this paradigm would have performed considerably better in a non-rhythmic task, and the need for further research is indicated.

%B 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) %> https://mahilab.rice.edu/sites/default/files/publications/773-Submission.pdf %0 Conference Proceedings %B The Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference %D 2009 %T Compact and low-cost tendon vibrator for inducing proprioceptive illusions %A Ozkan Celik %A O'Malley, M.K. %A Brent Gillespie %A Shewokis, Patricia A. %A Contreras-Vidal, Jose Luis %K artificial proprioception %K proprioceptive illusions %K tendon vibration %X

Recent literature suggests that inducing proprioceptive movement illusions with predefined movement trajectories via tendon vibration requires use of multiple vibrators and precisely controlled frequency profiles. In this study, we report the design, modeling and control of a compact, low-cost tendon vibrator and illustrate its capability of accurately following time-varying frequency profiles. During the demonstration, participants will test the vibrator to experience illusory elbow flexion.

%B The Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference %I IEEE %C Salt Lake City, Utah %8 03/2009 %> https://mahilab.rice.edu/sites/default/files/publications/111-Celik2009WHC.pdf %0 Conference Proceedings %B IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008). %D 2008 %T Comparison of robotic and clinical motor function improvement measures for sub-acute stroke patients %A Ozkan Celik %A O'Malley, M.K. %A Boake, Corwin %A H.S. Levin %A Fischer, Steven %A Reistetter, Timothy %K robotic rehabilitation %X

In this paper, preliminary results in motor function improvement for four sub-acute stroke patients that underwent a hybrid robotic and traditional rehabilitation program are presented. The therapy program was scheduled for three days a week, four hours per day (approximately 60% traditional constraint induced therapy activities and 40% robotic therapy). A haptic joystick was used to implement four different operating modes for robotic therapy: unassisted (U), constrained (C), assisted (A), and resisted (R) modes. A target hitting task involving the positioning of a pointer on twelve targets was completed by the patients. Two different robotic measures were utilized to quantify the motor function improvement through the sessions: trajectory error (TE) and smoothness of movement (SM). Fugl-Meyer (FM) and motor activity log (MAL) scales were used as clinical measures. Analysis of results showed that the group demonstrates a significant motor function improvement with respect to both clinical and robotic measures. Regression analyses were carried out on corresponding clinical and robotic measure result pairs. A significant relation between FM scale and robotic measures was found for both of the analyzed modes. Regression of robotic measures on MAL scores resulted in no significance. A regression analysis that compared the two clinical measures revealed a very low agreement. Our findings suggest that it might be possible to obtain objective robotic measures that are significantly correlated to widely-used and reliable clinical measures in considerably different operating modes and control schemes.

%B IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008). %C Pasadena, CA %P 2477–2482 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/74-CelikICRA2008.pdf %0 Conference Proceedings %B Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS %D 2004 %T Comparison of human haptic size discrimination performance in simulated environments with varying levels of force and stiffness %A Gina Upperman %A Suzuki, Atsushi %A O'Malley, M.K. %K Computer simulation %K Computer software %K Degrees of freedom (mechanics) %K Feedback %K Haptic interfaces %K Human engineering %K Stiffness %X

The performance levels of human subjects in size discrimination experiments in virtual environments with varying levels of stiffness and force saturation are presented. The virtual environments are displayed with a Phantom desktop three degree-of-freedom haptic interface. Performance was measured at below maximum machine performance levels for two machine parameters: maximum endpoint force and maximum virtual surface stiffness. The tabulated scores for the size discrimination in the sub-optimal virtual environments, except for those of the lowest stiffness, 100 N/m, were found to be comparable to that in the highest-quality virtual environment. This supports previous claims that haptic interface hardware may be able to convey, for this perceptual task, sufficient perceptual information to the user with relatively low levels of machine quality in terms of these parameters, as long as certain minimum levels, 1.0 N force and 220 N/m stiffness, are met.

%B Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS %C Chicago, IL, United States %P 169 - 175 %G eng %U http://dx.doi.org/10.1109/HAPTIC.2004.1287193 %> https://mahilab.rice.edu/sites/default/files/publications/upperman2004haptics.pdf %0 Conference Proceedings %B Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS %D 2004 %T Cooperative manipulation between humans and teleoperated agents %A John Glassmire %A O'Malley, M.K. %A William Bluethmann %A Robert O. Ambrose %K Computer simulation %K Feedback %K Haptic interfaces %K Human computer interaction %K Robots %K Statistical methods %X

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.

%B Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS %C Chicago, IL, United States %P 114 - 120 %G eng %U http://dx.doi.org/10.1109/HAPTIC.2004.1287185 %> https://mahilab.rice.edu/sites/default/files/publications/glassmire2004haptics.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 %0 Conference Proceedings %B Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 %D 2002 %T Comparison of human haptic size identification and discrimination performance in real and simulated environments %A Marcia Kilchenman %A Michael Goldfarb %K delay estimation %K force feedback %K Haptic interfaces %K human factors %K mechanoception %K Virtual reality %X

The performance levels of human subjects in size identification and discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a three degree-of-freedom haptic interface, developed at Vanderbilt University. The results indicate that performance of the size identification and discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below-maximum machine performance levels for three machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum end-point force, system bandwidth and time delay

%B Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 %C Orlando, FL, USA %P 10 - 17 %G eng %U http://dx.doi.org/10.1109/HAPTIC.2002.998935 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeehumanhaptic.pdf