Publications

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N. Dunkelberger, Berning, J., Schearer, E. M., and O'Malley, M. K., “Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements”, Frontiers in Neurorobotics, vol. 17, p. 1127783, 2023.PDF icon Frontiers_2023_Dunkelberger_hybridFESexo.pdf (628.78 KB)
N. Dunkelberger, Berning, J., Dix, K. J., Ramirez, S. A., and O'Malley, M. K., “Design, Characterization, and Dynamic Simulation of the MAHI Open Exoskeleton Upper Limb Robot”, IEEE/ASME Transactions on Mechatronics, vol. 27, pp. 1829-1836, 2022.PDF icon Dunkelberger_TMECH_AIM.pdf (694.11 KB)
N. Dunkelberger, Sullivan, J. L., Bradley, J., Manickam, I., Dasarathy, G., Baraniuk, R. G., and O'Malley, M. K., “A Multi-sensory Approach to Present Phonemes as Language through a Wearable Haptic Device”, IEEE Transactions on Haptics, vol. 14, pp. 188-199, 2021.PDF icon IEEE_ToH_2020_Dunkelberger_small.pdf (445.26 KB)
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J. P. Clark, Kim, S. Y., and O’Malley, M. K., “The rice haptic rocker: Altering the perception of skin stretch through mapping and geometric design”, Haptics Symposium. IEEE, San Francisco, CA, pp. 192-197, 2018.PDF icon Clark_2018Haptics (1.01 MB)
J. P. Clark and O'Malley, M. K., “Defining Allowable Stimulus Ranges for Position and Force Controlled Cutaneous Cues”, IEEE Transactions on Haptics, vol. 16, pp. 353-364, 2023.PDF icon IEEE_ToH_2023_Clark_AllowableStimulusRangeSMALL.pdf (469.3 KB)
J. P. Clark, Lentini, G., Barontini, F., Catalano, M. G., Bianchi, M., and O’Malley, M. K., “On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation”, 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.PDF icon Clark_2019_ICRA_TeleimpedanceWithHaptics.pdf (1.04 MB)
J. P. Clark, Kim, S. Y., and O'Malley, M. K., “The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception”, EuroHaptics, vol. II. Springer International Publishing, Pisa, Italy, pp. 125-134, 2018.PDF icon clark 2018 eurohaptics reduced.pdf (286.16 KB)
R. Christiansen, Contreras-Vidal, J. Luis, Gillespie, R. B., Shewokis, P., and O'Malley, M. K., “Vibrotactile Feedback of Pose Error Enhances Myoelectric Control of a Prosthetic Hand”, International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS). pp. 531-536, 2013.PDF icon WH2013_FINAL_PRESS_Christiansen_et_al.pdf (738.08 KB)
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 and O'Malley, M. K., “Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays”, 2014.PDF icon TMECH_Chawda2014_press.pdf (747.99 KB)
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.PDF icon Full text (PDF) (1.75 MB)
V. Chawda, Celik, O., and O'Malley, M. K., “Evaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance”, IEEE/ASME Transactions on Mechatronics, vol. 23, pp. 604-613, 2018.PDF icon chawda2018ieee.pdf (3.83 MB)
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.PDF icon HS2012_Chawda (1.15 MB)
V. Chawda, Van Quang, H., O'Malley, M. K., and Ryu, J. - H., “Compensating position drift in Time Domain Passivity Approach based teleoperation”, Haptics Symposium (HAPTICS), 2014 IEEE. 2014.PDF icon HS2014_PositionDrift_Chawda_Press.pdf (2.91 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.PDF icon Full text (PDF) (487.16 KB)
V. Chawda and O'Malley, M. K., “Vision-Based Force Sensing for Nanomanipulation”, IEEE /ASME Transactions on Mechatronics, 2011.PDF icon Full Text (PDF) (498.88 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)
O. Celik, O'Malley, M. K., Gillespie, B., Shewokis, P. A., and Contreras-Vidal, J. L., “Compact and low-cost tendon vibrator for inducing proprioceptive illusions”, 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) (185.38 KB)
O. Celik, Gu, Q., Deng, Z., and O'Malley, M. K., “Movement intermittency and variability in human arm movements”, Understanding the Human Hand for Advancing Robotic Manipulation, Workshop at Robotics: Science and Systems (RSS) Conference 2009. Seattle, WA, pp. 30-31, 2009.PDF icon Full Text (PDF) (70.05 KB)
O. Celik, Gilbert, H. B., and O'Malley, M. K., “Dynamic displacement sensing, system identification, and control of a speaker-based tendon vibrator via accelerometers”, Mechatronics, IEEE/ASME Transactions on, vol. 18, pp. 812-817, 2013.PDF icon Celik_Gilbert_O'Malley_TMECH2013.pdf (405.38 KB)
O. Celik and O'Malley, M. K., “A Neuromuscular Elbow Model for Analysis of Force and Movement Variability in Slow Movements”, IEEE EMBC. 2011.PDF icon celik2011ieee.pdf (449.06 KB)
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)
O. Celik, O'Malley, M. K., Boake, C., Levin, H. S., Yozbatiran, N., and Reistetter, T., “Normalized movement quality measures for therapeutic robots strongly correlate with clinical motor impairment measures”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 18, pp. 433-444, 2010.PDF icon Full Text (PDF) (949.23 KB)
O. Celik, O'Malley, M. K., Boake, C., Levin, H. S., Fischer, S., and Reistetter, T., “Comparison of robotic and clinical motor function improvement measures for sub-acute stroke patients”, IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008). Pasadena, CA, pp. 2477–2482, 2008.PDF icon Full Text (PDF) (398.29 KB)
O. Celik and O'Malley, M. K., “Vary Slow Motion: Effect of Task Forces on Movement Variability and Implications for a Novel Skill Augmentation Mechanism”, IEEE Robotics and Automation Magazine, 2014.PDF icon Celik-O'Malley_IEEE-RAM_2014_press.pdf (945.89 KB)

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