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A

V. Chawda, Celik, O., and O'Malley, M. K., “Application of Levant’s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces”, IEEE World Haptics Conference 2011. IEEE, Istanbul, Turkey, pp. 403-408, 2011.

Full text (PDF) (1.75 MB)

B

D. P. Losey, McDonald, C. G., and O'Malley, M. K., “A bio-inspired algorithm for identifying unknown kinematics from a discrete set of candidate models by using collision detection”, Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on. pp. 418-423, 2016.

BioRob_2016_Algorithm.pdf (1.34 MB)

A. Erwin, Moser, N., McDonald, C. G., and O'Malley, M. K., “A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist”, ASME Dynamic Systems and Controls Conference. ASME, Atlanta, GA, 2018.

EwrinDSCC2018-8963.pdf (3.17 MB)

C

D. P. Losey, McDonald, C. G., Battaglia, E., and O'Malley, M. K., “Closure to “A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction"”, ASME Applied Mechanics Reviews, vol. 70, 2018.

amr_2018_closure.pdf (46.21 KB)

F. Sergi, Erwin, A., Cera, B., and O'Malley, M. K., “Compliant force-feedback actuation for accurate robot-mediated sensorimotor interaction protocols during fMRI”, International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2014.

compliant_force_feedback_fMRI (1.85 MB)

D

F. Sergi, Lee, M. M., and O'Malley, M. K., “Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot”, International Conference on Rehabilitation Robotics. 2013.

Sergi_SEA_paper_2.pdf (1.9 MB)

A. Gupta and O'Malley, M. K., “Disturbance observer-based force estimation for haptic feedback”, ASME Journal of Dynamic Systems, Measurement and Control, vol. 133, pp. 014505-1--014505-4, 2010.

Gupta_O'Malley_2011_JDSMC_dist_obs_PRESS.pdf (246.58 KB)

E

J. M. Frullo, Elinger, J., Pehlivan, A. Utku, Fitle, K., Nedley, K., Francisco, G., Sergi, F., and O'Malley, M. K., “Effects of assist-as-needed upper extremity robotic therapy after incomplete spinal cord injury: a parallel-group controlled trial”, Frontiers in Neurobotics, vol. 11, 2017.

fnbot-11-00026.pdf (3.73 MB)

D. P. Losey and O'Malley, M. K., “Effects of Discretization on the K-Width of Series Elastic Actuators”, International Conference on Robotics and Automation (ICRA). IEEE, Singapore, pp. 421-426, 2017.

Losey_ICRA_2017.pdf (944.37 KB)

I

D. P. Losey, Blumenschein, L. H., and O'Malley, M. K., “Improving the retention of motor skills after reward-based reinforcement by incorporating haptic guidance and error augmentation”, Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on. pp. 857-863, 2016.

Losey_BioRob_Improving.pdf (1.22 MB)

V. Belvroy, Murali, B., Sheahan, M. G., O'Malley, M. K., and Bismuth, J., “In the Fundamentals of Endovascular and Vascular Surgery model motion metrics reliably differentiate competency”, Journal of Vascular Surgery, vol. 72, pp. 2161-2165, 2020.

JVS2020_Belvroy_et_al.pdf (509.79 KB)

F. Sergi, Erwin, A., and O'Malley, M. K., “Interaction control capabilities of an MR-compatible compliant actuator for wrist sensorimotor protocols during fMRI”, IEEE/ASME Transactions on Mechatronics, vol. 20, pp. 2678-2690, 2015.

MR-compatible_actuator_v3.pdf (3.33 MB)

A. Erwin, Sergi, F., Chawda, V., and O'Malley, M. K., “Interaction control for rehabilitation robotics via a low-cost force sensing handle”, 6th Annual ASME Dynamic Systems and Controls Conference. Palo Alto, CA, 2013.

Erwin2013 - RiceWrist-Grip.pdf (583 KB)

L

A. Bajcsy, Losey, D. P., O'Malley, M. K., and Dragan, A. D., “Learning from Physical Human Corrections, One Feature at a Time”, Human-Robot Interaction. ACM/IEEE, Chicago, USA, 2018.

Losey_HRI2018.pdf (3.34 MB)

A. Bajcsy, Losey, D. P., O'Malley, M. K., and Dragan, A. D., “Learning Robot Objectives from Physical Human Interaction”, Conference on Robot Learning (CoRL). PMLR, Mountain View, CA, pp. 217-226, 2017.

CoRL_2017.pdf (2.28 MB)

V. Chawda and O'Malley, M. K., “A Lyapunov Approach for SOSM Based Velocity Estimation and its Application to Improve Bilateral Teleoperation Performance”, Proceedings of the ASME 2011 Dynamic Systems and Control Conference. 2011.

Full text (PDF) (487.16 KB)

M

V. Chawda, Celik, O., and O'Malley, M. K., “A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces”, 6th Annual ASME Dynamic Systems and Controls Conference. Palo Alto, CA, 2013.

Velocity filtering_DSCC2013_final_version.pdf (762.39 KB)

A. Utku Pehlivan, Losey, D. P., and O'Malley, M. K., “Minimal assist-as-needed controller for upper limb robotic rehabilitation”, IEEE Transactions on Robotics, vol. 32, pp. 113-124, 2016.

TRO_2016.pdf (574.33 KB)

Y. Zeng, Rose, C. G., Branner, P., Taha, W., Masood, J., Philippsen, R., O'Malley, M. K., and Cartwright, R., “Modeling Basic Aspects of Cyber-Physical Systems, Part II”, The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13). Tokyo, Japan, 2013.

Modeling Basic Aspects of Cyber-Physical Systems, Part II (1.83 MB)

J. Berning, Francisco, G. E., Chang, S. - H., Fregly, B. J., and O'Malley, M. K., “Myoelectric Control and Neuromusculoskeletal Modeling: Complementary Technologies for Rehabilitation Robotics”, Current Opinion in Biomedical Engineering, p. 100313, 2021.

BerningCOBME2021_preprint.pdf (1.1 MB)

N

N. A. Bhagat, Yozbatiran, N., Sullivan, J. L., Paranjape, R., Losey, C., Hernandez, Z., Keser, Z., Grossman, R., Francisco, G. E., O'Malley, M. K., and Contreras-Vidal, J. L., “Neural activity modulations and motor recovery following brain-exoskeleton interface mediated stroke rehabilitation”, NeuroImage: Clinical, vol. 28, p. 102502, 2020.

NeuroImage_2020_Bhagat_BMI_EEG_exo.pdf (3.86 MB)

P

V. Chawda and O'Malley, M. K., “On the Performance of Passivity-based Control of Haptic Displays Employing Levant's Differentiator for Velocity Estimation”, IEEE Haptics Symposium . IEEE, Vancouver, BC, Canada, pp. 415-419, 2012.

HS2012_Chawda (1.15 MB)

R

A. Y. Paek, Brown, J. D., Gillespie, R. B., O'Malley, M. K., Shewokis, P. A., and Contreras-Vidal, J. L., “Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device”, IEEE Engineering in Medicine and Biology Conference. 2013.

Paek EMBC 2013.pdf (819.98 KB)

D. P. Losey, McDonald, C. G., Battaglia, E., and O'Malley, M. K., “A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction”, ASME Applied Mechanics Reviews, vol. 70, 2018.

amr_2018_review.pdf (1.54 MB)

E. Battaglia, Clark, J. P., Bianchi, M., Catalano, M. G., Bicchi, A., and O'Malley, M. K., “The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand”, World Haptics Conference (WHC). IEEE, Munich, Germany, 2017.

CameraReady.pdf (1.92 MB)

Pages