%0 Journal Article %J IEEE Transactions on Haptics %D 2023 %T Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device %A Macklin, Alix S %A Yau, Jeffrey M %A Fischer-Baum, Simon %A O'Malley, Marcia K %B IEEE Transactions on Haptics %V 16 %P 424-435 %8 July-September %G eng %R 10.1109/TOH.2023.3303838 %> https://mahilab.rice.edu/sites/default/files/publications/Macklin%20et%20al.%202023.pdf %0 Journal Article %J Experimental Neurology %D 2020 %T A review of methods for achieving upper limb movement following spinal cord injury through hybrid muscle stimulation and robotic assistance %A Dunkelberger, Nathan %A Schearer, Eric M %A O'Malley, Marcia K %B Experimental Neurology %P 113274 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Dunkelberger-et-al-2020.pdf %0 Conference Proceedings %B 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) %D 2019 %T A Robotic Platform for 3D Forelimb Rehabilitation with Rats %A Erwin, Andrew %A Gallegos, Chrystine %A Cao, Qilin %A O’Malley, Marcia K. %B 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) %G eng %R 10.1109/ICORR.2019.8779405 %> https://mahilab.rice.edu/sites/default/files/publications/ErwinICORR2019.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 Education %D 2018 %T Reflection on System Dynamics Principles Improves Student Performance in Haptic Paddle Labs %A C. G. Rose %A C. G. McDonald %A J. P. Clark %A M. K. O’Malley %K abstract conceptualization %K CE %K computer aided instruction %K concrete experience %K educational courses %K haptic devices %K Haptic interfaces %K haptics %K lab report grades %K laboratory %K laboratory exercises %K learning cycle %K learning outcomes %K low-cost educational tools %K Mechanical engineering %K mechanical engineering computing %K mechanical engineering curricula %K mechanical engineering curriculum %K Mechatronics %K mechatronics content %K multiple student GPA quartiles %K Performance evaluation %K reflection %K reflection phase %K reflective curriculum %K reflective observation %K standard haptic paddle lab curriculum %K standard nonreflective curriculum %K Standards %K student performance improvement %K System dynamics %K system dynamics principles %K Tools %K undergraduate %K virtual environment rendering %B IEEE Transactions on Education %V 61 %P 245-252 %8 08/2018 %G eng %R 10.1109/TE.2018.2804327 %> https://mahilab.rice.edu/sites/default/files/publications/Rose2018ieee-reflection.pdf %0 Journal Article %J ASME Applied Mechanics Reviews %D 2018 %T 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

As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of robotics in healthcare, where we find telerobotic devices in the operating room facilitating dexterous surgical procedures, exoskeletons in the rehabilitation domain as walking aids and upper-limb movement assist devices, and even robotic limbs that are physically integrated with amputees who seek to restore their independence and mobility. In each of these scenarios, the physical coupling between human and robot, often termed physical human robot interaction (pHRI), facilitates new human performance capabilities and creates an opportunity to explore the sharing of task execution and control between humans and robots. In this review, we provide a unifying view of human and robot sharing task execution in scenarios where collaboration and cooperation between the two entities are necessary, and where the physical coupling of human and robot is a vital aspect. We define three key themes that emerge in these shared control scenarios, namely, intent detection, arbitration, and feedback. First, we explore methods for how the coupled pHRI system can detect what the human is trying to do, and how the physical coupling itself can be leveraged to detect intent. Second, once the human intent is known, we explore techniques for sharing and modulating control of the coupled system between robot and human operator. Finally, we survey methods for informing the human operator of the state of the coupled system, or the characteristics of the environment with which the pHRI system is interacting. At the conclusion of the survey, we present two case studies that exemplify shared control in pHRI systems, and specifically highlight the approaches used for the three key themes of intent detection, arbitration, and feedback for applications of upper limb robotic rehabilitation and haptic feedback from a robotic prosthesis for the upper limb.

%B ASME Applied Mechanics Reviews %V 70 %8 02/2018 %G eng %U http://appliedmechanicsreviews.asmedigitalcollection.asme.org/article.aspx?articleID=2671581 %R DOI: 10.1115/1.4039145 %> https://mahilab.rice.edu/sites/default/files/publications/amr_2018_review.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 EuroHaptics %D 2018 %T The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception %A Clark, Janelle P. %A Kim, Sung Y. %A O'Malley, Marcia K. %E Prattichizzo, Domenico %E Shinoda, Hiroyuki %E Tan, Hong Z. %E Ruffaldi, Emanuele %E Frisoli, Antonio %X

Skin stretch, when mapped to joint position, provides haptic feedback using a mechanism similar to our sense of proprioception . Rocker-type skin stretch devices typically actuate in the lateral direction of the arm, though during limb movement stretch about joint angles is in the longitudinal direction. In this paper, human perceptual performance in a target-hitting task is compared for two orientations of the Rice Haptic Rocker. The longitudinal direction is expected to be more intuitive due to the biological similarities, creating a more effective form of haptic feedback. The rockers are placed on the upper arm, and convey the position of a cursor among five vertically aligned targets. The longitudinal orientation results in smaller errors compared to the lateral case. Additionally, the outer targets were reached with less error than the inner targets for the longitudinal rocker. This result suggests longitudinal stretch is more easily discerned than laterally oriented stretch.

%B EuroHaptics %I Springer International Publishing %C Pisa, Italy %V II %P 125-134 %8 06/2018 %@ 978-3-319-93399-3 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/clark%202018%20eurohaptics%20reduced.pdf %0 Conference Proceedings %B World Haptics Conference (WHC) %D 2017 %T The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand %A Edoardo Battaglia %A Janelle P. Clark %A Matteo Bianchi %A Manuel G. Catalano %A Antonio Bicchi %A Marcia K. O'Malley %B World Haptics Conference (WHC) %I IEEE %C Munich, Germany %8 06/2017 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/CameraReady.pdf %0 Journal Article %J American Journal of Physical Medicine & Rehabilitation %D 2017 %T Robot-Assisted Training of Arm and Hand Movement Shows Functional Improvements for Incomplete Cervical Spinal Cord Injury %A Francisco, Gerard E %A Yozbatiran, Nuray %A Berliner, Jeffrey %A OʼMalley, Marcia K %A Pehlivan, Ali Utku %A Kadivar, Zahra %A Fitle, Kyle %A Boake, Corwin %B American Journal of Physical Medicine & Rehabilitation %V 96 %P S171—S177 %8 10/2017 %G eng %U https://doi.org/10.1097/PHM.0000000000000815 %R 10.1097/phm.0000000000000815 %> https://mahilab.rice.edu/sites/default/files/publications/francisco2017AJPRM.pdf %0 Conference Proceedings %B IEEE International Conference on Robotics and Automation (ICRA) %D 2015 %T A robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury %A Fitle, K. %A Pehlivan, A.U. %A O'Malley, M.K. %B IEEE International Conference on Robotics and Automation (ICRA) %C Seattle, Washington %8 05/2015 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Fitle2015%20-%20Robotic%20exo%20for%20UL%20rehab%20after%20iSCI.pdf %0 Conference Proceedings %B IEEE World Haptics Conference (WHC) %D 2015 %T The role of auxiliary and referred haptic feedback in myoelectric control %A Treadway, Emma %A Gillespie, B %A Bolger, D. %A Blank, A. %A O'Malley, M.K. %A Davis, A. %B IEEE World Haptics Conference (WHC) %P 13-18 %8 06/2015 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Treadway2015%20-%20Haptic%20feedback%20myoelectric%20control.pdf %0 Book Section %B Computational Surgery and Dual Training %D 2014 %T Robotics as a Tool for Training and Assessment of Surgical Skill %A O'Malley, Marcia K. %A Celik, Ozkan %A Huegel, Joel C. %A Byrne, Michael D. %A Bismuth, Jean %A Dunkin, Brian J. %A Goh, Alvin C. %A Miles, Brian J. %E Garbey, Marc %E Bass, Barbara Lee %E Berceli, Scott %E Collet, Christophe %E Cerveri, Pietro %K Assessment %K Human–robot interaction %K Manual %K Performance measures %K Rehabilitation robotics %K Robotics %K Simulators %K Skill %K Skill training %K Surgical %K Tasks %K Virtual reality %B Computational Surgery and Dual Training %I Springer New York %P 365-375 %@ 978-1-4614-8647-3 %G eng %U http://dx.doi.org/10.1007/978-1-4614-8648-0_24 %R 10.1007/978-1-4614-8648-0_24 %> https://mahilab.rice.edu/sites/default/files/publications/CRISP_O%27Malley_et_al_120611updated.pdf %0 Conference Proceedings %B IEEE Engineering in Medicine and Biology Conference %D 2013 %T Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device %A Andrew Y. Paek %A Jeremy D. Brown %A R. B. Gillespie %A Marcia K. O'Malley %A Patricia A. Shewokis %A Jose L. Contreras-Vidal %B IEEE Engineering in Medicine and Biology Conference %G eng %> https://mahilab.rice.edu/sites/default/files/publications/Paek%20EMBC%202013.pdf %0 Generic %D 2012 %T The RiceWrist Grip: A Means to Measure Grip Strength of Patients Using the RiceWrist %A Ryan Quincy %A Andrew Erwin %A A.U. Pehlivan %A Yozbatiran, Nuray %A Gerard Francisco %A Marcia K. O'Malley %G eng %> https://mahilab.rice.edu/sites/default/files/publications/grip_sensor_poster_mission_connect_0.pdf %0 Journal Article %J International Journal of Biological Engineering %D 2012 %T RiceWrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Tetraplegic Persons with Spinal Cord Injury %A Z. Kadivar %A J.L. Sullivan %A D.P. Eng %A A.U. Pehlivan %A O'Malley, M.K. %A N. Yozbatiran %A G.E. Francisco %B International Journal of Biological Engineering %V 2 %P 27-38 %G eng %! International Journal of Biological Engineering %> https://mahilab.rice.edu/sites/default/files/publications/IntlJBiologicalEngineering_2012_Kadivar.pdf %0 Journal Article %J Journal of Rehabilitation Medicine %D 2012 %T Robotic training and clinical assessment of upper extremity movements after spinal cord injury; a single case report %A Yozbatiran, Nuray %A Berliner, J. %A O'Malley, M.K. %A Pehlivan, A.U. %A Z. Kadivar %A Boake, Corwin %A Gerard E. Francisco %B Journal of Rehabilitation Medicine %V 44 %P 186-188 %8 01/2012 %G eng %& 186 %> https://mahilab.rice.edu/sites/default/files/publications/J_Rehab_Medicine_2012_Final_press_version.pdf %0 Conference Proceedings %B World Haptics Conference (WHC), 2011 IEEE %D 2011 %T Rate of human motor adaptation under varying system dynamics %A Erdogan, A. %A Israr, A. %A O'Malley, M.K. %A Patoglu, V. %B World Haptics Conference (WHC), 2011 IEEE %8 june %G eng %R 10.1109/WHC.2011.5945480 %> https://mahilab.rice.edu/sites/default/files/publications/ahmetcan2011haptics.pdf %0 Conference Proceedings %B 2011 IEEE International Conference on Rehabilitation Robotics %D 2011 %T Robotic training and clinical assessment of forearm and wrist movements after incomplete spinal cord injury: A case study %A N. Yozbatiran %A J. Berliner %A C. Boake %A M. K. O'Malley %A Z. Kadivar %A G. E. Francisco %K age 24 yr %K arm motor function recovery %K ASIA upper-extremity motor score %K biomechanics %K clinical assessment %K electrically-actuated forearm %K Forearm %K forearm movement %K forearm pronation %K forearm supination %K functional independence measure %K functional tasks %K grip %K Haptic interfaces %K Humans %K injuries %K Jebsen-Taylor hand function test %K Joints %K Male %K medical robotics %K Medical treatment %K Muscles %K neurophysiology %K patient movement capabilities %K Patient rehabilitation %K Patient treatment %K pinch strength %K radial-ulnar deviation %K rehabilitation applications %K robotic training %K Robots %K Spinal Cord Injuries %K spinal cord injury %K training %K Wrist %K wrist extension %K wrist flexion %K wrist haptic exoskeleton device %K wrist movement %K Young Adult %X

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.

%B 2011 IEEE International Conference on Rehabilitation Robotics %P 619-622 %8 June %G eng %R 10.1109/ICORR.2011.5975425 %> https://mahilab.rice.edu/sites/default/files/publications/yozbatiran2011ieee.pdf %0 Conference Proceedings %B IEEE ICORR %D 2011 %T Robotic Training and Kinematic Analysis of Arm and Hand after Incomplete Spinal Cord Injury: A Case Study. %A Z. Kadivar %A J.L. Sullivan %A D.P. Eng %A A.U. Pehlivan %A M.K. O’Malley %A N. Yozbatiran %A G.E.Francisco %B IEEE ICORR %C Zurich Switzerland %8 06/2011 %> https://mahilab.rice.edu/sites/default/files/publications/1293-PID1757607%5B1%5D.pdf %0 Book Section %B Rehabilitation Robotics %D 2007 %T Robotic Exoskeletons for Upper Extremity Rehabilitation %A Abhishek Gupta %A O'Malley, M.K. %B Rehabilitation Robotics %I I-Tech Education and Publishing %C Vienna, Austria %P 371-396 %> https://mahilab.rice.edu/sites/default/files/publications/106-robotic_exoskeletons_Gupta_O%27Malley.pdf %0 Conference Proceedings %B ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition %D 2006 %T The RiceWrist: A distal upper extremity rehabilitation robot for stroke therapy %A O'Malley, M.K. %A Alan Sledd %A Abhishek Gupta %A Volkan Patoglu %A Joel C. Huegel %A Burgar, Charles %K Degrees of freedom (mechanics) %K Graphical user interfaces %K Human rehabilitation equipment %K Patient treatment %X

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.

%B ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition %I ASME %C Chicago, IL, United States %P 10 - %8 11/2006 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/46-00%20-%20IMECE2006-16103-O%27Malley.pdf