Publications

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P. Agarwal, Fox, J., Yun, Y., O'Malley, M. K., and Deshpande, A. D., An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization, International Journal of Robotics Research, vol. 34, pp. 1747-1772, 2015.PDF icon Agarwal2015 - Index finger exo.pdf (2.14 MB)
S. Y. Kim, Clark, J. P., Kortum, P., and O’Malley, M. K., The Influence of Cue Presentation Velocity on Skin Stretch Perception, 2019 IEEE World Haptics Conference (WHC). 2019.PDF icon Kim_2019_WorldHaptics_SkinStretchCueVelocity.pdf (256.42 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.PDF icon 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.PDF icon Erwin2013 - RiceWrist-Grip.pdf (583 KB)
F. Sergi, Chawda, V., and O’Malley, M. K., Interaction control of a non-backdriveable MR-compatible actuator through series elasticity, ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013.PDF icon sergi2013asme.pdf (1.8 MB)
O. Celik, Gu, Q., Deng, Z., and O'Malley, M. K., Intermittency of slow arm movements increases in distal direction, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St. Louis, MO, pp. 4499-4504, 2009.PDF icon Full Text (PDF) (173.9 KB)
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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.PDF icon 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.PDF icon CoRL_2017.pdf (2.28 MB)
D. P. Losey and O'Malley, M. K., Learning the Correct Robot Trajectory in Real-Time from Physical Human Interactions, ACM Transactions on Human-Robot Interaction (THRI), vol. 9, p. 1, 2019.PDF icon Losey_ACMTHRI_2019.pdf (2.04 MB)
J. S. Mehling, Holley, J., and O'Malley, M. K., Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 1646-1651, 2015.PDF icon Mehling2015 - Leveraging DOB SEAs.pdf (2.14 MB)
H. B. Gilbert, Celik, O., and O'Malley, M. K., Long-term double integration of acceleration for position sensing and frequency domain system identification, IEEE/ASME Advanced Intelligent Mechatronics (AIM 2010). Montréal, Canada, 2010.PDF icon Full Text (PDF) (872.18 KB)
A. Israr, Eng, D. P., Vedam, S. S., and O'Malley, M. K., A Low Cost Vibrotactile Array to Manage Respiratory Motion, The third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperation Systems, World Haptics Conference. IEEE, Salt Lake city, Utah, 2009.PDF icon Full Text (PDF) (910.85 KB)
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.PDF icon Full text (PDF) (487.16 KB)
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A. Utku Pehlivan, Losey, D. P., and Rose, C. G., Maintaining Subject Engagement during Robotic Rehabilitation with a Minimal Assist-as-Needed (mAAN) Controller, International Conference on Rehabilitation Robotics (ICORR). IEEE, London, UK, 2017.PDF icon Pehlivan_2017_Maintaining.pdf (1.37 MB)
A. Y. Zhu, Westbrook, E., Inoue, J., Chapoutot, A., Salama, C., Peralta, M., Martin, T., Taha, W., Cartwright, R., and O'Malley, M. K., Mathematical Equations as Executable Models of Mechanical Systems. 2010.PDF icon zhu2010ieee.pdf (508.87 KB)
A. Utku Pehlivan, Celik, O., and O'Malley, M. K., Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation, Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on. IEEE, pp. 633-637, 2011.PDF icon pehlivan2011ieee.pdf (880.8 KB)
A. U. Pehlivan, Lee, S., and O'Malley, M. K., Mechanical Design of RiceWrist-S: a Forearm-Wrist Exoskeleton for Stroke and Spinal Cord Injury Rehabilitation, IEEE BioROB. 2012.PDF icon BIOROB_2012_Pehlivan_press.pdf (1.59 MB)
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.PDF icon Velocity filtering_DSCC2013_final_version.pdf (762.39 KB)
V. Chawda, Celik, O., and O'Malley, M. K., A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces, ASME Journal of Dynamic Systems, Measurement, and Control , vol. 137, 2015.PDF icon Chawda2015 - Selecting cutoff frequency.pdf (1.25 MB)
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.PDF icon TRO_2016.pdf (574.33 KB)
C. Duran, Estrada, S., O'Malley, M. K., Sheahan, M., Shames, M., Lee, J. T., and Bismuth, J., The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the competent endovascular surgeon, Journal of Vascular Surgery, vol. 62, pp. 1660-1666, 2015.PDF icon 2015_JVS_Duran_press.pdf (948.15 KB)
J. S. Mehling and O'Malley, M. K., A model matching framework for the synthesis of series elastic actuator impedance control, 22nd Mediterranean Conference of Control and Automation (MED). IEEE, Palermo, pp. 249-254, 2014.PDF icon Mehling2014 - Model matching framework SEA.pdf (1.19 MB)
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.PDF icon Modeling Basic Aspects of Cyber-Physical Systems, Part II (1.83 MB)

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