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Scholarly Interest Report
         
Marcia Kilchenman O'Malley
Professor
Professor of Mechanical Engineering and Professor of Computer Science
 
e-mail:omalleym@rice.edu
 
  • B.S.M.E. Mechanical Engineering (1996) Purdue University, Indiana
  • M.S. Mechanical Engineering (1999) Vanderbilt University, Nashville, TN
  • Ph.D. Mechanical Engineering (2001) Vanderbilt University, Nashville, TN
 
Primary Department
   Department of Mechanical Engineering
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Department Affiliations
 
  • Department of Computer Science
  • Dynamical Systems Group
  • Institute of Biosciences and Bioengineering
  • Ken Kennedy Institute for Information Technology
  • Smalley Institute for Nanoscale Science and Technology
  •  
    Other Affiliations
     
  • Baylor College of Medicine
  • University of Texas Medical School at Houston
  •  
    Websites
     Mechatronics and Haptic Interfaces Lab
     MAHI Lab webpage
     Personal webpage
     MAHI lab
     M. K. O'Malley personal webpage
     
    Research Areas
     System Dynamics and Control, Mechatronics
     
    Teaching Areas
     Modeling Dynamic Systems, Controls, Design, Robotics
     
    Selected Publications
     Abstracts
     

    Ali Utku Pehlivan, Chad G. Rose, Marcia K. O’Malley "RiceWrist-S Design Modification and System Characterization."  (2013/Dec. 6)

     
     

    Ali Utku Pehlivan, Chad G. Rose, and Marcia K. O’Malley "RiceWrist-S Design Modification and System Characterization."  (2013/Dec. 6)

     
     

    Andrew Erwin, Fabrizio Sergi, Vinay Chawda, Nuray Yozbatiran, Gerard Francisco, and Marcia K. O’Malley "Measuring Grip Forces During Robotic Therapy Using the RiceWrist-Grip Force Sensing Handle."  (2013/Dec. 6)

     
     

    Andrew Paek, Jeremy Brown, Brent Gillespie, Marcia O'Malley, Patricia Shewokis and Jose Contreras-Vidal "Reconstructing Electromyography from Electroencephalography during Myoelectric Control of a Closed Looped Prosthetic Device."  (2013/June 10-13)

     
     

    Fabrizio Sergi, Andrew Erwin, Brian Cera, and Marcia K. O’Malley "Interaction Control of a non-Backdriveable Actuator for Wrist Movement Protocols During Continuous fMRI."  (2013/Dec. 6)

     
     

    Fabrizio Sergi, Brian Cera, Andrew Erwin, and Marcia K. O’Malley "Interaction Control of a Linear MR-Compatible Series Elastic Actuator."  (2013/ Nov 5-8)

     
     

    Gerard E. Francisco, Nuray Yozbatiran, Marcia K. O’Malley, Corwin Boake, Jeffrey Berliner, Ali Utku Pehlivan, Kyle Fitle, and Edward Artz "Robotic-assisted training of arm and hand movement after spinal cord injury, Mission Connect Annual Research Symposium, Houston, TX, Dec. 6, 2013.."  (2013/Dec. 6)

     
     

    James French, Matthew Rollo, and Marcia K. O’Malley "Advancements in Robotic Exoskeletons for Upper Limb Rehabilitation."  (2013/Dec. 6)

     
     

    Ali Utku Pehlivan, Fabrizio Sergi, and Marcia K. O’Malley, "Adaptive Control of a Robotic Rehabilitation Device."  (2012, December 7)

     
     

    Boyeon Kim, Zahra Kadivar, Nuray Yozbatiran, Jeffrey Berliner, Gerard E. Francisco, and Marcia K. O’Malley "Application of MAHI-EXOII for Robotic Training and Assessment of Tetraplegic Patients with Incomplete Spinal Cord Injury."  (2012, December 7)

     
     

    Fabrizio Sergi, Melissa M. Lee, and Marcia K. O’Malley "Design of the Series Elastic Actuated RiceWrist."  (2012, December 7)

     
     

    M. Byrne, M. O´Malley, M. Gallagher, S. Purkayastha, N. Howie, J.C. Huegel West "A Preliminary ACT-R Model of a Continuous Motor Task." ITESM

     
     

    Ryan Quincy, Andrew Erwin, Ali Utku Pehlivan, Nuray Yozbatiran, Gerard Francisco, and Marcia K. O’Malley "The RiceWrist Grip: A Means to Measure Grip Strength of Patients Using the RiceWrist."  (2012, December 7)

     
     

    Ali Utku Pehlivan, Sangyoon Lee, Marcia K. O'Malley "Mechanical Design of an Exoskeletal Robot for Upper Extremity Rehabilitation."  (2011/December 2)

     
     

    Berliner, J DO, Yozbatiran, N PhD, Francisco, G.E MD, O’Malley, M.K PhD, Kadivar, Z PhD, Boake, C. PhD, "Robotic training of forearm and, wrist movements after spinal cord injury ."  (2011)

     
     

    M. K. O'Malley "Robot-assisted training in sports: Considerations for the Design and Implementation of Guidance Architectures."  (2011/August 30-Sept 3) In Press

     
     

    Nuray Yozbatiran, Jeffrey Berliner, Corwin Boake, Marcia K. O’Malley, Zahra Kadivar, and Gerard E. Francisco "Robotic training and clinical assessment of forearm and wrist movements after spinal cord injury: two case studies."  (2011/June 27-29)

     
     

    R. Christiansen, V. Wang, Z. Kadivar, A. U. Pehlivan, M. K. O’Malley, N. Yozbatiran, G.E. Francisco "Movement Smoothness Varies with Resistance During Upper Extremity Robot-assisted Movement of Patients with Incomplete Spinal Cord Injury."  (2011/December 2)

     
     

    V. Wang, Z. Kadivar, R. Christiansen, A. U. Pehlivan, M. K. O’Malley, N. Yozbatiran, G.E. Francisco "Robotic Training of Arm and Hand after Incomplete Spinal Cord Injury: A Kinematic Analysis of Training Effects."  (2011/December 2)

     
     

    Yozbatiran, N, Berliner, J, O’Malley, M.K, Kadivar, Z, Pehlivan, AU, Boake, C, Francisco, G.E. "Robotic training of forearm and wrist movements after spinal cord injury."  (2011/Sept. 5-7) In Press

     
     

    Z. Kadivar, J.L. Sullivan, D.P. Eng, A.U. Pehlivan, M.K. O’Malley, C. Boake, J. Berliner, G.E. Francisco, N. Yozbatiran "Robotic Training and Kinematic Assessment of Arm and Hand after Incomplete Spinal Cord Injury: A Case Report."  (2011/June 27-29)

     
     

    Z. Maria Oden, Marcia K. O’Malley, Gary L. Woods, Tracy M. Volz, "Work in Progress – Implementing and Evaluating Efforts to Engage Interdisciplinary Teams to Solve Real-World Design Challenges,."  (2011/October 12 - 15) In Press

     
     

    Alvin C Goh, M.D.; Rohan Joseph, M.D.; Marcia O’Malley, PhD; Brian Miles, M.D.; Brian Dunkin, M.D., "Development and validation of inanimate tasks for robotic surgical skills assessment and training." 2010 Annual Meeting of the American Urological Association Education and Research Inc. (May 29-June 3, 2010)

     
     

    Nuray Yozbatiran, PT, PhD; Marcia K. O'Malley, PhD; Corwin Boake, PhD; Steve R. Fisher, PT, PhD; Timothy A. Reitstetter, OTR, PhD; Gerard E. Francisco, MD, "Augmentation of Constraint-induced Movement Therapy with Robotic Training for Upper-Extremity Function after Stroke." AAP Annual Meeting (poster), April 2010.

     
     

    Zahra Kadivar, A Pehlivan, J Sullivan, D Eng, N Yozbatiran, G Francisco, M O'Malley "Robotic arm training after human spinal cord injury: a case study." National Center for Human Performance Annual Meeting (November 2010)

     
     

    Zahra Kadivar, O Celik, Marcia O'Malley, C Boake, H Levin, N Yozbatiran, T Reistetter "The upper extremity robotic measures of motor performance correlate with improvements in fine and gross motor abilities in stroke patients." 40th Society for Neuroscience Annual Meeting (November 2010)

     
     

    Brent Gillespie, John Baker, Marcia O'Malley, Patricia A. Shewokis, Jose Luis Contreras-Vidal, "Functionally Biarticular Control for Smart Prosthetics," Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 627-628, 2009.

     
     

    Ozkan Celik, Marcia O'Malley, Brent Gillespie, Patricia A. Shewokis, Jose Luis Contreras-Vidal, "Compact and Low-Cost Tendon Vibrator for Inducing Proprioceptive Illusions," Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 623-634, 2009.

     
     

    David J. Meyer, Joel C. Huegel, and Marcia K. O'Malley, "Input Frequency as a Task-Independent Performance Metric for Dynamic Tasks," Proceedings of the 26th Annual Meeting of the Houston Society for Engineering in Medicine and Biology, 2009.

     
     

    Dillon Eng, Ali Israr, and Marcia K. O’Malley, "Designing and Implementation of a Tactile Respiratory Management System," Proceedings of the 26th Annual Meeting of the Houston Society for Engineering in Medicine and Biology, 2009.

     
     

    Joel C. Huegel and Marcia K. O'Malley, “Visual Versus Haptic Progressive Guidance for Training in a Virtual Dynamic Task,” Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 399-400, 2009.

     
     

    Ali Israr, Dillon Eng, S.S. Vedam, and Marcia K. O'Malley, "A Low Cost Vibrotactile Array to Manage Respiratory Motion," Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 619-620, 2009.

     
     

    Ali Israr, Hakan Kapson, Volkan Patoglu and Marcia K. O'Malley, "Effects of Force and Displacement Cues while Adapting in a Rhythmic Motor Task," Proceedings of Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, Robotics: Science and Systems Conference, 2009.

     
     

    Ozkan Celik, Q. Gu, Zhigang Deng, and Marcia K. O'Malley, "Intermittency of Slow Arm Movements Increases in Distal Direction," Proceedings of Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, Robotics: Science and Systems Conference, 2009.

     
     

    S. Kreml MD, William Cohn MD, Vadim Sherman MD, Marcia O’Malley, "Development of a prototype to evaluate haptics for surgical teleoperation," 3rd Annual Academic Surgical Congress, February 13-15, 2008, Huntington Beach, CA.

     
     

    Gen, M., A. Gupta, and M. O'Malley "Haptic training for performance enhancement and rehabilitation." 22nd Annual Houston Conference on Biomedical Engineering Research (2005)

     
     

    Kopp, E., D. Leach, and M. O'Malley "Using LabVIEW FPGA to improve fidelity of virtual walls." 22nd Annual Houston Conference on Biomedical Engineering Research (2005)

     
     

    Li, Y. and M. O'Malley "Haptic virtual environments for wrist and hand rehabilitation." 22nd Annual Houston Conference on Biomedical Engineering Research (2005)

     
     

    Petrie, C., A. Quon, and M. O'Malley "Automation for Electroncryomicroscopy." 22nd Annual Houston Conference on Biomedical Engineering Research (2005)

     
     

    Sledd, A., A. Gupta, and M. O'Malley "Redesign of a haptic arm exoskeleton." 22nd Annual Houston Conference on Biomedical Engineering Research (2005)

     
     Refereed articles
     

    A.E. Erwin*, M.K. O’Malley, D. Ress, and F. Sergi, MR–SoftWrist: A Haptic Device for Investigating Wrist Pointing under Force Feedback during fMRI, submitted to the IEEE Transactions on Neural Systems and Rehabilitation Engineering (in review, submitted January 2016)

     
     

    A.U. Pehlivan*, F. Sergi, A. Erwin*, N. Yozbatiran, G. Francisco, and M.K. O’Malley (2014) Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury, Robotica Special Issue on Rehabilitation Robotics and Human-Robot Interaction, 32(8): 1415-1431. doi:10.1017/S0263574714001490 

     
     

    Cassidy Duran, Sean Estrada*, Marcia O’Malley, Malachi Sheahan, Murray Shames, Jason T Lee, and Jean Bismuth (2015) The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the competent endovascular surgeon, Journal of Vascular Surgery, 62(6):1660-1666.

     
     

    Adeline Schwein, Benjamin Kramer*, Ponraj Chinna Durai, Sean Walker, Marcia O'Malley, Alan Lumsden, and Jean Bismuth, Flexible robotics with electromagnetic tracking improves safety and efficiency during in vitro endovascular navigation, submitted to the Journal of Vascular Surgery (accepted, in press)

     
     

    Ali Utku Pehlivan*, Dylan Losey*, and Marcia K. O’Malley, Minimal Assist-as-Needed (mAAN) Controller for Upper Limb Robotic Rehabilitation, submitted to the IEEE Transactions on Robotics, 32:1, DOI: 10.1109/TRO.2015.2503726 (in press)

     
     

    C. Duran, S. Estrada*, M. O’Malley, A.B. Lumsden, and J.Bismuth (2015) Kinematics effectively delineate accomplished users of endovascular robotics with a physical training model. Journal of Vascular Surgery, 61(2): 535-541. 

     
     

    Cassidy Duran, Sean Estrada*, Marcia O’Malley, Malachi Sheahan, Murray Shames, Jason T Lee, and Jean Bismuth (2015) The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the competent endovascular surgeon, Journal of Vascular Surgery, 62(6):1660-1666.

     
     

    Dylan P. Losey*, Andrew Erwin*, Craig G. McDonald*, Fabrizio Sergi, and Marcia K. O’Malley, Adaptive Torque and Passivity-Based Impedance Control for Series Elastic Actuators: A Time Domain Approach, submitted to the IEEE Transactions on Mechatronics (conditionally accepted, in review)

     
     

    F. Sergi and M.K. O’Malley (2015) On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity, Mechatronics, 26: 64-75. doi:10.1016/ j.mechatronics.2015.01.007 

     
     

    F. Sergi, A. Blank, and M. O’Malley (2014) Upper Extremity Exoskeletons for Robot Aided Rehabilitation, Mechanical Engineering Magazine, ASME Press, Focus Section on Dynamic Systems and Controls, September, 6-11.

     
     

    F. Sergi, A.C. Erwin*, and M.K. O’Malley (2015) Interaction control capabilities of an MR-compatible compliant actuator for wrist motor protocols during continuous fMRI, ASME/IEEE Transactions on Mechtronics, 20(6): 2678-2690, DOI:  10.1109/MECH.2015.2389222

     
     

    J.D. Brown*, A. Paek*, M. Syed*, M.K. O’Malley, P.A. Shewokis, J.L. Contreras-Vidal, R.B. Gillespie, and A.J. Davis (2015) An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback, Journal of Neural Engineering and Rehabilitation, 12(104): DOI: 10.1186/s12984-015-0098-1

     
     

    Julie M. Walker^, Amy Blank, Patricia Shewokis, and Marcia K. O’Malley, (2015) Tactile feedback of object slip facilitates virtual object manipulation, IEEE Transactions on Haptics, 8(4):454-466, DOI: 10.1109/TOH.2015.2420096

     
     

    Nikunj A. Bhagat*, Anusha Venkatakrishnan, Berdakh Abibullaev, Edward J. Artz*, Nuray Yozbatiran, Amy A. Blank, James French*, Christof Karmonik, Robert G. Grossman, Marcia K. O’Malley, Gerard E. Francisco, and Jose L. Contreras-Vidal, Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors, submitted to Neuroimage (conditionally accepted, in review)

     
     

    Priyanshu Agarwal*, Jonas Fox*, Youngmok Yun*, Marcia K. O’Malley, and Ashish D. Deshpande (2015) An Index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization, Internatinal Journal of Robotics Research (IJRR),  34:  1747-1772  DOI:  10.1177/0278364915598388

     
     

    Sean Estrada*, Cassidy Duran, Daryl Schulz, Jean Bismuth, and Marcia K. O'Malley, Smoothness of surgical tool tip motion correlates to skill in endovascular tasks, submitted to the IEEE Transactions on Human-Machine Systems(conditionally accepted, in review)

     
     

    Yingfu Zeng, Chad Rose, Walid Taha, Adam Duracz, Kevin Atkinson, Roland Philippsen, Robert Cartwright, Marcia O’Malley, “Modeling Basic Aspects of Cyber-Physical Systems,” submitted to the Journal of Software Engineering for Robotics (conditionally accepted November 2015, in revision)

     
     

    A.A. Blank, J.A. French*, A.U. Pehlivan*, and M.K. O’Malley (2014) Current trends in in robot-assisted upper-limb stroke rehabilitation: promoting patient engagement in therapy, Current Physical Medicine and Rehabilitation Reports,2:184-195, DOI: 10.1007/s40141-014-0056-z.

     
     

    M.K. O'Malley, S.N. Purkayastha*, N. Howie*, and M.D. Byrne (2014) Identifying successful motor task completion via motion-based performance measures, IEEE Transactions on Human Machine Systems, 44(1): 139-145.DOI: 10.1109/THMS.2013.2290129 [2012 IF (previous title) = 2.548]

     
     

    O. Celik* and M.K. O'Malley(2014) Vary Slow Motion: Effect of Task Forces on Movement Variability and Implications for a Novel Skill Augmentation Mechanism, IEEE Robotics and Automation Magazine,21(3): 115-122. DOI: 10.1109/MRA.2013.2275696 [2012 IF = 3.097]

     
     

    V. Chawda* and M.K. O’Malley (2015) Position Synchronization in Bilateral Teleoperation under Time-Varying Communication Delays, ASME/IEEE Transactions on Mechatronics, 120(1): 245-253. DOI: 10.1109/ TMECH.2014.2317946 [2014 IF = 3.652]

     
     

    V. Chawda*, O. Celik*, and M.K. O’Malley (2015) A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 137: 024503-1 – 024503-5. DOI:10.1115/1.4028526 [2012 IF = 0.802]

     
     

    A.U. Pehlivan, F. Sergi, A. Erwin, N. Yozbatiran, G. Francisco, and M.K. O’Malley "Design and Validation of the RiceWrist-S Exoskeleton for Robotic Rehabilitation after Incomplete Spinal Cord Injury." Special Issue on Rehabilitation Robotics and Human-Robot Interaction (2013/November) Submitted

     
     

    A.U. Pehlivan, F. Sergi, and M.K. O’Malley "A Subject-Adaptive Controller for Wrist Robotic Rehabilitation." IEEE Transactions on Mechatronics (2013) In Revision

     
     

    M.K. O’Malley, S.N. Purkayastha, N. Howie, and M.D. Byrne "Identifying successful motor task completion via motion-based performance measures." IEEE Transactions on Human Machine Systems (2013)

     
     

    O. Celik and M.K. O’Malley "Increased Task Forces Decrease Movement Variability in Slow Movements: Implications for a Novel Skill Augmentation Mechanism." IEEE Robotics and Automation Magazine, Special Issue on Assistive Robotics (2013) In Press

     
     

    O. Celik, H.B. Gilbert, and M.K. O’Malley "Dynamic Displacement Sensing, System Identification and Control of a Speaker-Based Tendon Vibrator via Accelerometers." IEEE/ASME Transactions on Mechatronics, 18(2) (2013) : 812-817.

     
     

    S.N. Purkayastha, M.D. Byrne, and M.K. O’Malley "Human-scale motion capture with an accelerometer-based gaming controller." Journal of Robotics and Mechatronics, 25(3) (2013) : 458-465.

     
     

    V. Chawda and M.K. O’Malley "Position Synchronization in Bilateral Teleoperation under Time-Varying Communication Delays." ASME/IEEE Transactions on Mechatronics (2013) In Revision

     
     

    V. Chawda, H. V. Quang, M.K. O’Malley, and J.H. Ryu "A Framework for Increasing Performance in Time Domain Passivity Based Teleoperation." IEEE Transactions on Robotics (2013/November) Submitted

     
     

    V. Chawda, O. Celik, M. K. O’Malley "Evaluation of Velocity Estimation Methods Based on their Effect on Haptic Device Performance." IEEE Transactions on Robotics (2013/December) Submitted

     
     

    V. Chawda, O. Celik, and M.K. O’Malley "A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces." ASME Journal of Dynamic Systems, Measurement, and Control (2013/November) Submitted

     
     

    D. Powell and M.K. O'Malley "The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms." IEEE Transactions on Haptics , 5 (2012) : 208-219.

     
     

    N. Yozbatiran, J. Berliner, M.K. O'Malley, A.U. Pehlivan, Z. Kadivar, C. Boake, G.E. Francisco "Robotic Training and Clinical Assessment of Upper Extremity Movements after Spinal Cord Injury; a Single Case Report." Journal of Rehabilitation Medicine , 44 (2012) : 186-188.

     
     

    O. Celik, H.B. Gilbert, and M.K. O’Malley "Dynamic Displacement Sensing, System Identification and Control of a Speaker-Based Tendon Vibrator via Accelerometers." IEEE/ASME Transactions on Mechatronics (2012)

     
     

    S.N. Purkayastha, M.D. Byrne, and M.K. O’Malley "Human-scale Motion Capture with an Accelerometer-based Gaming Controller." Journal of Sensors (2012) Submitted

     
     

    V. Chawda, O. Celik and M.K. O'Malley "SOSM Based Velocity Estimation for Increased Z-Width in Haptic Interfaces."  (2012) Submitted

     
     

    Z. Kadivar, J.L. Sullivan, D.P. Eng, A.U. Pehlivan, M.K. O’Malley, N. Yozbatiran, and G.E. Francisco "RiceWrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Tetraplegic Persons with Spinal Cord Injury." International Journal of Biological Engineering, 2(4) (2012/July) Submitted

     
     

    Z. M. Oden, M.K. O’Malley, G. Woods, T. Kraft, and B. Burke "Outcomes of Recent Efforts at Rice University to Incorporate Entrepreneurship Concepts into Interdisciplinary Capstone Design." International Journal of Engineering Education, 28(2) (2012) : 1-5.

     
     

    A. Gupta and M.K. O'Malley "Disturbance Observer-based Force Estimation for Haptic Feedback." ASME Journal of Dynamic Systems, Measurement and Control, 133:014505-1--014505-4

     
     

    D. Powell and M.K. O'Malley "Traditional Shared-Control Haptic Guidance Outperforms Separated Haptic Guidance." IEEE Transactions on Haptics (2011) In Revision

     
     

    N. Yozbatiran, J. Berliner, M.K. O'Malley, A.U. Pehlivan, Z. Kadivar, C. Boake, G.E. Francisco "Robotic training and clinical assessment of upper extremity movements after spinal cord injury; a single case report." Journal of Neurorehabilitation and Neural RepairSubmitted

     
     

    O. Celik, H.B. Gilbert, and M.K. O’Malley "Displacement Sensing, System Identification and Control via Differential Accelerometers." IEEE/ASME Transactions on Mechatronics In Revision

     
     

    S.N. Purkayastha, M. D. Byrne, and M.K. O'Malley "Sensor Analysis and Viability of Low Cost Gaming Controllers for Motion Analysis." IEEE/ASME Transactions on MechatronicsSubmitted

     
     

    V. Chawda and M.K. O’Malley "Vision Based Force Sensing for Nanomanipulation." IEEE/ASME Transactions on Mechatronics, 99

     
     

    V. Chawda, O. Celik* and M.K. O'Malley "SOSM Based Velocity Estimation for Increased Z-Width in Haptic Interfaces." IEEE Transactions on Haptics (2011) Submitted

     
     

    Z. Kadivar, J.L. Sullivan, D.P. Eng, A.U. Pehlivan, M.K. O’Malley, N. Yozbatiran, and G.E.Francisco "RiceWrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Tetraplegic Persons with Spinal Cord Injury.." Journal of Neuroengineering and Rehabilitation Submitted

     
     

    J. Bismuth, M.A. Donovan, M.K. O'Malley, H.F. El Sayed, J.J. Naoum, E.K .Peden, M.G. Davies, and A.B. Lumsden "Incorporating simulation in Vascular Surgery." Journal of Vascular Surgery, 52(4) (2010) : 1072-80.

     
     

    O. Celik, H.B. Gilbert, and M.K. O’Malley "Displacement Sensing, System Identification and Control via Differential Accelerometers." Submitted

     
     

    O. Celik, M.K. O’Malley, C. Boake, H. Levin, N. Yozbatiran, and T. Reistetter "Normalized Movement Quality Measures for Therapeutic Robots Strongly Correlate with Clinical Motor Impairment Measures." IEEE Transactions on Neural Systems and Rehabilitation Engineering, 18(4) (2010) : 433-444.

     
     

    S.N. Purkayastha, M. D. Byrne, and M.K. O'Malley "Sensor Analysis and Viability of Low Cost Gaming Controllers for Motion Analysis." Submitted

     
     

    V. Chawda and M.K. O’Malley "Vision Based Force Sensing for Nanomanipulation." In Press

     
     

    A. Israr, Y. Li, V. Patoglu, and M.K. O’Malley "Passive and Active Discrimination of Natural Frequency of Virtual Dynamic System." IEEE Transactions on Haptics DOI 10.1109/TOH.2008.21 , 2 (1) (2009) : 40-51.

     
     

    J. Huegel, O. Celik, A. Israr, and M.K. O'Malley "Expertise-Based Performance Measures in a Virtual Training Environment." Presence: Teleoperators and Virtual Environments, 18(6) (2009) : 449-467.

     
     

    O'Malley, M.K., K.S. Sevcik, and E. Kopp. (2009) Improved Haptic Fidelity via Reduced Sampling Period with an FPGA-Based Real-Time Hardware Platform, ASME Journal of Computing and Information Science In Engineering, 9(1) 011002-1 to 011002-7.

     
     

    Y. Li, V. Patoglu, and M.K. O’Malley "Negative Efficacy of Fixed Gain Error Reducing Shared Control for Training in Virtual Environments." ACM Transactions on Applied Perception, 6(1) (2009) : 3:1-3:21.

     
     

    A. Gupta, V. Patolgu, M.K. O'Malley, and C.M. Burgar "Design, Control and Performance of RiceWrist: A Force Feedback Wrist Exoskeleton for Rehabilitation and Training." International Journal of Robotics Research (IJRR), 27(2) (2008)

     
     

    Gupta, A; O'Malley, MK "Design of a haptic arm exoskeleton for training and rehabilitation ." IEEE-ASME TRANSACTIONS ON MECHATRONICS, 11 (2006-JUN) : 280-289.

     
     

    O'Malley, M.K. and G. Upperman "A Study of Perceptual Performance in Haptic Virtual Environments." Journal of Robotics and Mechatronics, 18(4) (2006/Aug)

     
     

    O'Malley, M.K., T. Ro, and H.S. Levin "Assessing and Inducing Neuroplasticity with TMS and Robotics." Arch Phys Med Rehabil, 87(12) supplement 2 (2006/Dec) : 59-66.

     
     

    O'Malley, MK; Gupta, A; Gen, M; Li, YF "Shared control in haptic systems for performance enhancement and training ." JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 128 (2006/MAR) : 75-85.

     
     

    Gupta, A. and M. O'Malley "Design of a Haptic Arm Exoskeleton for Training and Rehabilitation." IEEE/ASME Transactions on Mechatronics (December 2005) In Press

     
     

    O'Malley, M. and M. Goldfarb "On the Ability of Humans to Haptically Identify and Discriminate Real and Simulated Objects." Presence: Teleoperators and Virtual Environments, 14(3) (2005/June)

     
     

    O'Malley M and R Ambrose "Haptic Feedback Applications for Robonaut." Industrial Robot: An International Journal, 30(6) (2004)

     
     

    O'Malley, M. and M. Goldfarb "The Effect of Virtual Surface Stiffness on the Haptic Perception of Detail." IEEE/ASME Transactions on Mechatronics, 9(2) (June 2004)

     
     

    M. O'Malley and M. Goldfarb "The Effect of Force Saturation on the Haptic Perception of Detail." IEEE/ASME Transactions on Mechatronics, 7(3) (2002/September) : 820-828.

     
     Book chapters
     

    J.C. Huegel and M.K. O'Malley "Workload and Performance Analyses with Haptic and Visual-Guided Training in a Dynamic Motor-Skill Task ." Computational Surgery and Dual Training: Computing, Robotics, and Imaging, 2 (2014) : 377-387.

     
     

    J.C. Huegel* and M.K. O'Malley, Workload and Performance Analyses with Haptic and Visual-Guided Training in a Dynamic Motor-Skill Task, Computational Surgery and Dual Training: Computing, Robotics, and Imaging, Marc Garbey, Barbara Lee Bass, Scott Berceli, Christophe Collet, and Pietro Cerveri (Eds.), Springer New York, pp. 377-387, 2014.

     
     

    M.K. O'Malley, O. Celik*, J.C. Huegel*, M.D. Byrne, J. Bismuth, B. Dunkin, A. Goh, and B. Miles, Robotics as a Tool for Training and Assessment of Surgical Skill, Computational Surgery and Dual Training: Computing, Robotics, and Imaging, Marc Garbey, Barbara Lee Bass, Scott Berceli, Christophe Collet, and Pietro Cerveri (Eds.), Springer New York, pp. 365-375, 2014.

     
     

    J.C. Huegel and M.K. O'Malley "Workload and Performance Analyses with Haptic and Visual-Guided Training in a Dynamic Motor-Skill Task ." Computational Surgery, 2Submitted

     
     

    M.K. O'Malley, O. Celik, J.C. Huegel, M.D. Byrne, J. Bismuth, B. Dunkin, A. Goh, and Bm. Miles "Robotics as a Tool for Training and Assessment of Surgical Skill." Computational Surgery, 2Submitted

     
     

    J. Bismuth and M.K. O’Malley, “Surgical Robotics: Innovations, Development, and Shortcomings," In Pumps and Pipes: Proceedings of the Annual Conference, Mark G. Davies (Editor), Alan B. Lumsden (Editor), William E. Kline (Editor), Ioannis Kakadiaris (Editor), Springer, pp. 33-44, 2010.

     
     

    M.K. O'Malley and A. Gupta "Haptic Interfaces." HCI: Beyond the GUI (2008) : 25-74.

     
     

    Gupta, A. and M.K. O'Malley, "Robotic Exoskeletons for Upper Extremity Rehabilitation," In Rehabilitation Robotics, Sashi S. Kommu (Ed.) I-Tech Education and Publishing, Vienna, Austria, EU, 2007

     
     

    O'Malley, M.K., "Principles of Human-machine Interfaces and Interactions," In Life Science Automation: Fundamentals and Applications, Mingjun Zhang, Bradley Nelson and Robin A. Felder (Eds.) Artech House Publishers, 2007

     
     Refereed conference papers
     

    Walid Taha, Adam Duracz, Yingfu Zeng, Kevin Atkinson, Ferenc A.Bartha, Paul Brauner, Jan Duracz, Fei Xu, Robert Cartwright, Michal Konecny, Eugenio Moggi, Jawad Masood, Pererik Andreasson, Jun Inoue, Anita Santanna, Roland Philippsen, Alexandre Chapoutot, Marcia O’Malley, Aaron Ames, Veronica Gaspes, Lise Hvatum, Shyam Mehta, Henrik Eriksson, and Christian Grante, “Acumen: An Open-source Testbed for Cyber-Physical Systems Research,” proceedings of the EAI International Conference on CYber physiCaL systems, iOt and sensors Networks, October 26, 2015

     
     

    Andrew Erwin*, Marcia K. O’Malley, David Ress, and Fabrizio Sergi, “Development, Control, and MRI-Compatibility of the MR-SoftWrist: A 3DOF SEA Wrist Robot,” proceedings of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Singapore, August 11-14, 2015. Best Student Paper Award

     
     

    Benjamin D. Kramer*, Dylan P. Losey*, and Marcia K. O’Malley, “SOM and LVQ classification of endovascular surgeons using motion-based metrics,” Proceedings of the Advances in Self-Organizing Maps – 11th International Workshop on Self-Organizing Maps (WSOM), Houston, TX, January 6-8, 2016 (to appear)

     
     

    Chad Rose*, Fabrizio Sergi, Youngmok Yun*, Kaci Madden*, Ashish Deshpande, and Marcia K.  O'Malley, “Characterization of the READAPT via kinematic analysis of redundant pointing tasks,” Proceedings of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Singapore, August 11-14, 2015

     
     

    Edward J. Artz*, Amy A. Blank, Marcia K. O’Malley, “Proportional sEMG based Robotic Assistance in an Isolated Wrist Movement,” proceedings of the ASME Dynamic Systems and Controls Conference (DSCC), Columbus, Ohio, October 28-30, 2015

     
     

    Emma Treadway*, Darren Bolger*, Amy Blank, Marcia O’Malley, Alicia Davis, and R. Brent Gillespie, “The Role of Auxiliary and Referred Haptic Feedback in Myoelectric Control,” Proceedings of the IEEE World Haptics Conference, Chicago, IL, June 2015

     
     

    Fabrizio Sergi, Ali Utku Pehlivan*, Kyle Fitle*, Kathryn Nedley, Nuray Yozbatiran, Gerard Francisco, and Marcia K. O'Malley, “A parallel-group balanced controlled trial to test the effects of assist-as-needed robotic therapy,” proceedings of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Singapore, August 11-14, 2015

     
     

    Joshua S. Mehling*, James Holley, and Marcia K. O’Malley, “Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators,” proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 – October 3, 2015.

     
     

    Kyle D. Fitle*, Ali Utku Pehlivan*, and Marcia K. O’Malley (2015) A Robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury, Proceedings of the IEEE International Conference on Robotics and Automation, 4960 – 4966, Seattle, WA, May 26-30.

     
     

    Chad Rose*, James A. French*, and Marcia K. O’Malley (2014) Design and characterization of a haptic paddle for dynamics education, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Houston TX, February 23-26, pp. 265-270

     
     

    Fabrizio Sergi, Andrew Erwin*, Brian Cera^, and Marcia K. O’Malley (2014) Compliant force-feedback actuation to enable accurate robot-mediated interaction protocols during continuous fMRI, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014 São Paulo, Brazil

     
     

    James A. French*, Chad G. Rose*, and Marcia K. O’Malley (2014) System characterization of MAHI Exo-II: A robotic exoskeleton for upper extremity rehabilitation, Proceedings of the ASME Dynamic Systems and Controls Conference, San Antonio, TX, October 22-24

     
     

    Joshua S. Mehling* and Marcia K. O’Malley (2014) A Model Matching Framework for the Synthesis of Series Elastic Actuator Impedance Control, 22nd Mediterranean Conference on Control & Automation, Palermo, Italy, June 16-19, 2014, 6 pgs

     
     

    Julie M. Walker^, Amy A. Blank, Patricia A. Shewokis, and Marcia K. O’Malley (2014) Tactile feedback of object slip improves performance in a grasp and hold task, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Houston TX, February 23-26, pp. 461-466.

     
     

    Kyle D. Fitle*, Ali Utku Pehlivan*, and Marcia K. O’Malley, “A Robotic exoskeleton for rehabilitation and assessment of the upper limb following incomplete spinal cord injury,” Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA, May 2015 (in review)

     
     

    Nikunj A. Bhagat*, James French*, Anusha Venkatakrishnan, Nuray Yozbatiran, Gerard E. Francisco, Marcia K. O’Malley, and Jose L. Contreras-Vidal, Detecting Movement Intent from Scalp EEG in a Novel Upper Limb Robotic Rehabilitation System for Stroke (2014) Proceedings of the IEEE Engineering in Medicine and Biology Conference (EMBC), Chicago, IL, August 26-30 

     
     

    Sean Estrada*, Marcia K. O’Malley, Cassidy A. Duran, Daryl G. Schulz, and Jean Bismuth (2014) On the Development of Objective Metrics for Surgical Skills Evaluation Based on Tool Motion, proceedings of the 2014 IEEE International Conference on Systems, Man and Cybernetics, San Diego, CA, October 5-8.

     
     

    Vinay Chawda*, Ha VanQuang*, Marcia K. O’Malley, and Jee-Hwan Ryu (2014) Compensating position drift in time domain passivity approach based teleoperation, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Houston TX, February 23-26, pp. 195-202.

     
     

    Yingfu Zeng*, Chad Rose*, Paul Brauner, Walid Taha, Jawad Masood, Roland Philippsen, Marcia O’Malley, and Robert Cartwright (2014) Modeling Basic Aspects of Cyber-Physical Systems, Part II, Proceedings of the 11th IEEE International Conference on Embedded Software and Systems, August 20-22, Paris, France

     
     

    Ali Utku Pehlivan, Chad Rose, and Marcia K. O’Malley "System Characterization of RiceWrist-S: a Forearm-Wrist Exoskeleton for Upper Extremity Rehabilitation."  (2013/June 24-26)

     
     

    Amy Blank, Marcia K. O’Malley, Gerard E. Francisco, and Jose L. Contreras-Vidal "A Pre-Clinical Framework for Neural Control of a Therapeutic Upper Limb Exoskeleton."  (2013/Nov 5-8)

     
     

    Andrew Erwin, Fabrizio Sergi, Vinay Chawda, and Marcia O'Malley "Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle."  (2013/October 21-23)

     
     

    Andrew Y. Paek, Jeremy D. Brown*, R. Brent Gillespie, Marcia K. O'Malley, Patricia A. Shewokis, and Jose L. Contreras-Vidal "Reconstructing Surface EMG from Scalp EEG during Myoelectric Control of a Closed Looped Prosthetic Device."  (2013/July 3-7) : 5602-5605.

     
     

    Fabrizio Sergi, Melissa Lee, and Marcia K. O’Malley "Design of a series elastic actuator for a compliant, parallel wrist rehabilitation robot."  (2013/June 24-26)

     
     

    Fabrizio Sergi, Vinay Chawda*, and Marcia O'Malley "Interaction control of a non-backdriveable MR-compatible actuator through series elasticity."  (2013/October 21-23)

     
     

    Yingfu Zeng, Chad Rose, Paul Brauner, Walid Taha, Jawad Masood, Roland Philippsen, Marcia O'Malley and Robert Cartwright "Modeling Basic Aspects of Cyber-Physical Systems, Part II."  (2013/Nov. 8)

     
     

    Ali Utku Pehlivan, Sangyoon Lee, and Marcia K. O’Malley "Mechanical Design of RiceWrist-S: a Forearm-Wrist Exoskeleton for Stroke and Spinal Cord Injury Rehabilitation."  (2012) Submitted

     
     

    Sagar N. Purkayastha, Michael D. Byrne, and Marcia K. O’Malley "On the Correlation between Motion Data Captured from Low-Cost Gaming Controller and High Precision Encoders."  (2012/August 28 – September 1)

     
     

    Ahmetcan Erdogan, Ali Israr, Marcia O'Malley and Volkan Patoglu "Rate of Human Motor Adaptation under Varying System Dynamics."  (2011/June 22-24) : 167-172.

     
     

    Ali Utku Pehlivan, Ozkan Celik, and Marcia K. O’Malley "Mechanical Design of a Distal Arm Exoskeleton for Stroke and Spinal Cord Injury Rehabilitation."  (2011/June 29-July 1) : 633-637.

     
     

    Cynthia Sung and Marcia K. O’Malley "Effect of Progressive Visual Error Amplification on Human Motor Adaptation."  (2011/June 29-July 1) : 483-488.

     
     

    Dane Powell and Marcia O'Malley "Efficacy of Shared-Control Guidance Paradigms for Robot-Mediated Training."  (2011/June 22-24) : 427-432.

     
     

    Dillon.P. Eng*, Zahra Kadivar, Jenny L. Sullivan*, Ali Utku Pehlivan*, Marcia K. O’Malley, Gerard E. Francisco, and Nuray Yozbatiran "Spatial and Temporal Movement Characteristics after Robotic Training of Arm and Hand: A Case Study of a Person with Incomplete Spinal Cord Injury."  (2011/September) In Press

     
     

    Emma Campbell, Zhao Kong, Andrew Lynch, Marcia O'Malley, and James McLurkin "Design of a Low-Cost Series Elastic Actuator for Multi-Robot Manipulation."  (2011/May 9-13) : 6 pages.

     
     

    Nicole Howie, Sagar N. Purkayastha, Michael D. Byrne, and Marcia K. O’Malley "Motion Capture of Motor Skill Acquisition in a Virtual Gaming Environment." In Press

     
     

    Nuray Yozbatiran, Jeffrey Berliner, Corwin Boake, Marcia K. O’Malley, Zahra Kadivar, and Gerard E. Francisco "Robotic training and clinical assessment of forearm and wrist movements after spinal cord injury: single case study."  (2011/June 29-July 1) : 619-622.

     
     

    Ozkan Celik and Marcia K. O’Malley "A Neuromuscular Elbow Model for Analysis of Force and Movement Variability in Slow Movements."  (2011/August 30-Sept 3) In Press

     
     

    Vinay Chawda and Marcia K. O’Malley "A Lyapunov approach for SOSM based velocity estimation and its application to improve bilateral teleoperation performance."  (2011/October 31-Nov 2) In Press

     
     

    Vinay Chawda, Ozkan Celik and Marcia O'Malley "Application of Levant’s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interface."  (2011/June 22-24) : 403-408.

     
     

    Zahra Kadivar, Cynthia Sung, Zachary Thompson, Marcia K. O’Malley, Michael Liebschner, and Zhigang Deng "Comparison of reaching kinematics during mirror and parallel robot-assisted movements." Proceedings of the Medicine Meets Virtual Reality Conference (2011/Feb 9-12) : 247-253.

     
     

    Zahra Kadivar, Jenny L. Sullivan, Dillon P. Eng, Ali Utku Pehlivan, Marcia K. O'Malley, J. Berliner, C. Boake, Gerard E. Francisco, and Nuray Yozbatiran "Robotic Training and Kinematic Analysis of Arm and Hand after Incomplete Spinal Cord Injury: A case study."  (2011/June 29-July 1) : 638-643.

     
     

    A. Israr, E. Wong, and M.K. O'Malley (2010) Discrimination of Consonant Articulation Location by Tactile Stimulation of the Forearm, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Boston MA, March 25-26.

     
     

    D. Powell and M.K. O'Malley (2010) Co-presentation of Force Cues for Skill Transfer via Shared-Control Systems, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Boston MA, March 25-26.

     
     

    Hunter B. Gilbert, Ozkan Celik, and Marcia K. O'Malley "Long-Term Double Integration of Acceleration for Position Sensing and Frequency Domain System Identification." Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2010)

     
     

    Michael D. Byrne, Marcia K. O’Malley, Melissa A. Gallagher, Sagar N. Purkayastha, Nicole Howie, and Joel C. Huegel "A Preliminary ACT-R Model of a Continuous Motor Task." Proceedings of the 54th Annual Meeting of the Human Factors and Ergonomics Society (2010)

     
     

    R. Brent Gillespie, Jose Luis Contreras-Vidal, Patricia A. Shewokis, Marcia K. O’Malley, Jeremy D. Brown, Harshavardhan Agashe, Rodolphe Gentili, and Alicia Davis "Toward Improved Sensorimotor Integration and Learning Using Upper-limb Prosthetic Devices." Proceedings of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'10) (2010)

     
     

    Sagar Neel Purkayastha, Nick Eckenstein, Michael D. Byrne, Marcia O'Malley "Analysis and Comparison of Low Cost Gaming Controllers for Motion Analysis." Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2010)

     
     

    Yun Zhu, Edwin Westbrook, Jun Inoue, Alexandre Chapoutot, Cherif Salama, Marisa Peralta, Travis Martin, Walid Taha, Marcia O’Malley, Robert Cartwright, Aaron Ames and Raktim Bhattacharya "Mathematical Equations as Executable Models of Mechanical Systems." Proceedings of the CM/IEEE 1st International Conference on Cyber-Physical Systems (ICCPS) (2010)

     
     

    Zachary Thompson, Kevin Johnson, Nicolas Overby, Jessica Chidi, William Pryor, and Marcia O'Malley "A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy." Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC) (2010)

     
     

    A.Y. Zhu, J. Inoue, M.L. Peralta, W. Taha, M.K. O’Malley, and D. Powell (2009) Implementing Haptic Feedback Environments from High-Level Descriptions, Proceedings of the Workshop on Software/Hardware Optimizations for Embedded Systems (SHOES-09), Hangzhou, Zhejiang, China, May 25-27.

     
     

    A. Israr, H. Kapson, V. Patoglu, and M.K. O’Malley (2009) Effects of Magnitude and Phase Cues on Human Motor Adaptation, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 344-349.

     
     

    J. Huegel, A. Lynch, and M.K. O’Malley (2009) Validation of a Smooth Movement Model for a Human Reaching Task, Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009), Kyoto, Japan, June 23-26.

     
     

    Y. Li, J. Huegel, V. Patoglu, and M.K. O’Malley (2009) Progressive Shared Control for Training in Virtual Environments, Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Third Joint World Haptics Conference (HAPTICS), pp. 332-337.

     
     

    O. Celik, D. Powell, and M.K. O’Malley (2009) Impact of Visual Error Augmentation Methods on Task Performance and Motor Adaptation,” Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009), Kyoto, Japan, June 23-26.

     
     

    O. Celik, Q. Gu, Z. Deng, and M.K. O’Malley (2009) Intermittency of slow arm movements increases in distal direction, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, Oct 11-15.

     
     

    V. Patoglu, Y. Li, and M.K. O’Malley (2009) On the Efficacy of Haptic Guidance Schemes for Human Motor Learning, Proceedings of the 11th International Congress of the IUPESM Medical Physics and Biomedical Engineering World Congress 2009, Munich, Germany, Sept 7-12.

     
     

    Celik, O., M. O'Malley, C. Boake, H. Levin, S. Fischer, and T. Reistetter, Comparison of Robotic and Clinical Motor Function Improvement Measures for Sub-Acute Stroke Patients, Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008.

     
     

    Li, Y., V. Patoglu, A. Israr, and M.K. O’Malley, “Passive and Active Kinesthetic Perception Just Noticeable Difference for Natural Frequency of Virtual Dynamic System,” Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Nevada, March 2008.

     
     Gupta, A., V. Patoglu, and M.K. O¿Malley, ¿Disturbance observer based closed loop force control for haptic feedback,¿ Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Seattle, WA, November 11-15, 2007.
     
     Li, Y., V. Patoglu, D. Huang, and M.K. O¿Malley, ¿Towards Just Noticeable Differences for Natural Frequency of Manually Excited Virtual Dynamic Systems,¿ Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), Tsukuba, Japan, March 22-24, 2007.
     
     McStravick, D. and M. O¿Malley, ¿Improving interdisciplinary capstone design projects with cooperative learning in the Medi-Fridge project,¿ Proceedings of the ASEE Annual Conference & Exposition, Honolulu, HI, June 24 - 27, 2007.
     
     Sevcik, K.S., E. Kopp, and M.K. O¿Malley, ¿Improved Haptic Fidelity via Reduced Sampling Period with an FPGA-Based Real-Time Hardware Platform,¿ Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Seattle, WA, November 11-15, 2007.
     
     

    Bowen, Kevin and M.K. O'Malley "Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course."  (2006/Mar)

     
     

    Bowen, Kevin and M.K. O'Malley "Haptic Interfaces for a LabVIEW-based System Dynamics Course."  (2006/June)

     
     

    Gupta, A., V. Patoglu, and M.K. O'Malley "Vision-based force sensing for nanorobotic manipulation."  (2006/Nov)

     
     

    Li, Yanfang, V. Patoglu, and M. O'Malley "Shared Control for Training in Virtual Environments: Learning Through Demonstration?."  (2006/July)

     
     

    O'Malley, M.K., A. Sledd, A. Gupta, V. Patolgu, J. Huegel, and C.M. Burgar "The RiceWrist: A Distal Upper Extremity Rehabilitation Robot for Stroke Therapy."  (2006/Nov)

     
     

    Sledd, Alan and M.K. O'Malley "Performance Enhancement of a Haptic Arm Exoskeleton."  (2006/Mar)

     
     

    Zumbado, F., McJunkin, S. and M.K. O'Malley "System Identification of Force Reflecting Hand Controller for Robonaut."  (2006/Nov)

     
     

    Zumbado, F., McJunkin, S. and M.K. O'Malley "System Identification of Force Reflecting Hand Controller for Robonaut."  (2006/Nov)

     
     

    Bowen K and MK O'Malley "Adaptation of haptic interfaces for a LabVIEW-based system dynamics course." 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) (2006/March) In Press

     
     

    Bowen K and MK O'Malley "Haptic Interfaces for a LabVIEW-based system dynamics course." 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS) (2006) In Revision

     
     

    McJunkin S, J Speich and M O'Malley "Transparency extension in haptic interfaces via adaptive dynamics cancellation." ASME International Mechanical Engineering Congress and Exposition (2005/November)

     
     

    McJunkin, S., M. O'Malley, and J. Speich "Transparency and Stability of Phantom Premium in Active and Passive Interaction." 2005 American Control Conference (2005/June)

     
     

    McJunkin, S., Y. Li, and M. O'Malley "Human-Machine Admittance and Transparency Adaptation in Passive User Interaction with a Haptic Interface." 13th International Symposium on Haptic Haptic Interfaces for Virtual Environment and Teleoperator Systems (2005/March)

     
     

    O'Malley MK "Shared control for Upper Extremity Rehabilitation in Virtual Environments." ASME International Mechanical Engineering Congress and Exposition (2005/November)

     
     

    O'Malley MK and D McStravick "Virtual Lab for System Identification of an Electromechanical System." ASME International Mechanical Engineering Congress and Exposition (2005/November)

     
     

    Zumbado F and MK O'Malley "Experimental system identification of a force reflecting hand controller." 8th International IFAC Symposium on Robot Control (SYROCO) (2006/September) Submitted

     
     

    Glassmire, J., M. O'Malley, W. Bluethmann, and R. Ambrose "Cooperative Manipulation between Humans and Teleoperated Agents." 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2004)

     
     

    McStravick, D. and M. O'Malley "Virtual Labs in the Engineering Curriculum." 2004 ASEE Annual Conference and Exposition (2004)

     
     

    Upperman, G., A. Suzuki, and M. O'Malley "Comparison of Human Haptic Size Discrimination Performance in Simulated Environments with Varying Levels of Force and Stiffness." 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2004)

     
     

    Hughes, Kelsey, Magruder, Darby, Ambrose, Rob, M. O'Malley "Simulated Bilateral Teleoperation of Robonaut." Proceedings of the AIAA Space 2003 Conference (2003)

     
     

    J. Speich and M. O'Malley "Current Challenges in the Control of Haptic Interfaces and Bilateral Teleoperation Systems." Proceedings of the ASME International Mechanical Engineering Congress and Exposition (2003)

     
     

    M. O'Malley and A. Gupta "Passive and Active Assistance for Human Performance of a Simulated Underactuated Dynamic Task." 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2003) : 348-355.

     
     

    M. O'Malley and A. Gupta "Skill Transfer in a Simulated Underactuated Dynamic Task." Proceedings of the 12th IEEE Workshop Robot and Human Interactive Communication RO-MAN 2003 (2003)

     
     

    M. O'Malley and J. Glassmire "Bilateral Teleoperation of Robonaut: Task Execution and Teaching."  (2003)

     
     

    M. O'Malley and S. Hughes "Simplified Authoring of 3D Haptic Content for the World Wide Web." 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2003) : 428-429.

     
     

    M. O'Malley "Comparison of Human Haptic Size Discrimination Performance in Real and Simulated Environments." 7th Annual Phantom Users Group Meeting (2002)

     
     

    M. O'Malley, M. Goldfarb "The Implications of Surface Stiffness for Size Identification and Perceived Surface Hardness in Haptic Interfaces.." Proceedings of the IEEE International Conference on Robotics and Automation (2002) : 1255-1260.

     
     

    M.K. O'Malley, Goldfarb, Michael "Comparison of Human Haptic Performance in Real and Simulated Environments." Proceedings of the IEEE 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2002) : 10-17.

     
     

    M. Kilchenman (O'Malley) and M. Goldfarb "Force Saturation, System Bandwidth, Information Transfer, and Surface Quality in Haptic Interfaces." Proceedings of the IEEE International Conference on Robotics and Automation (2001/May) : 1382-1387.

     
     

    M. Kilchenman (O'Malley), M. Goldfarb "Implications of Haptic Interface Force Saturation on the Haptic Display of Detail." ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 69-2 (2000/November) : 1125-1131.

     
    Presentations
     Invited Talks
     

    “Challenge and Engagement: Ensuring effective upper limb robotic rehabilitation,” University of Edinburgh, Edinburgh Centre for Robotics, Gateway Event Speaker, Edinburgh, Scotland, January 22, 2016.

     
     

     “Lessons learned in haptic guidance for motor learning,” TU-Delft, Robotics Institute, Delft, Netherlands, November 19, 2015.

     
     

    Biorobotics for Healthcare: Restoring Upper Limb Function after Neurological Injury, Texas Biorobotics Workshop invited speaker, ASME Dynamic Systems and Control Conference (DSCC), San Antonio, Texas, October 22nd-24th, 2014.

     
     

    Control Strategies for Ensuring Active User Engagement in Robotic Rehabilitation of the Upper Limb, Invited Speaker, 2nd Annual Piper Health Solutions Workshop on Rehabilitation Robotics, Arizona State University, Tempe, Arizona, February 28-March 1, 2014.

     
     

    Upper Limb Exoskeletons for Rehabilitation after Incomplete SCI, NSBRI Symposium, Designing for the Future: Remote Rehabilitation and Integration of New Technologies in Spaceflight, Houston, TX, May 7, 2014.

     
     

    Mechatronic Systems for the Training of Human Motor Control,” Johns Hopkins University Laboratory for Computational Sensing and Robotics (LCSR) Seminar Series, Baltimore, MD, April 30, 2014.

     
     

    Natural Sensory Feedback for Intuitive Prosthesis Control, 2014 Eurohaptics Workshop on Haptics in Rehabiltation, Prosthestics and Neural Engineering: Robotic Aspects and Neuro-scientific Principles, Versailles, France, June 27, 2014.

     
     

    “Techniques for Active User Engagement in Robotic Rehabilitation,” Rehabilitation Institute of Chicago (RIC) Seminar Series, Chicago, IL, November, 7, 2014.

     
     

    Tool movement characteristics correlate to surgical skill in fundamental endovascular tasks, Methodist Institute for Technology, Innovation, and Education (MITIE) seminar series, Houston, TX, October 20, 2014.

     
     

    "Considerations for the Design and Implementation of Haptic Shared Control Architectures." 2013 IEEE World Haptics Conference workshop on Physical human-robot collaboration and haptic shared control, Daejeon, South Korea. (April 14, 2013)

     
     

    "Human-Robot interaction in the rehabilitation of persons with SCI." Physicians Conference with TIRR-Memorial Hermann PM&R Residents and Attendings, Houston, TX. (May 6, 2013)

     
     

    "Introducing physical compliance in wrist rehabilitation robots." Workshop on the Design and Control of Robotic Exoskeletons with Compliant Joints and Actuation Systems, 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, Washington. (June 26, 2013 )

     
     

    "Techniques for Active User Engagement in Robotic Rehabilitation." 1st Annual Piper Health Solutions Workshop on Rehabilitation Robotics/Arizona State University, Tempe, Arizona. (February 22-23, 2013)

     
     

    “On the Design and Use of Therapeutic Robots: Ensuring Clinical Relevance,” University of Pennsylvania GRASP lab seminar series, Philadelphia, PA, November 5, 2010

     
     

    “An Automated Cyro-EM Grid Preparation System,” National Instruments Week, Austin, TX, August 3, 2010.

     
     

    “Haptic Guidance for Performance Enhancement and Training,” Mechanical and Aerospace Engineering Seminar Series, University of Buffalo, Buffalo, NY, March 4, 2010

     
     

    “Mechatronic Systems for Human Sensorimotor Control,” UT Austin Mechanical Engineering seminar series, Austin, TX, October 28, 2010

     
     

    Panelist, IEEE/ASME Int’l Conference on Advanced Intelligent Mechatronics (AIM 2010) Mechatronics for Bio-Systems and Healthcare, Montreal, CA, July 8, 2010.

     
     

    “On the Design and Use of Therapeutic Robots: Ensuring Clinical Relevance,” Yale Mechanical Engineering seminar series, New Haven, CT, November 3, 2010

     
     

    “On the Design and Use of Therapeutic Robots: Ensuring Clinical Relevance,” Department of Computer Science Seminar series, University of British Columbia, Vancouver, BC, Canada, June 21, 2010.

     
     

    “On the Design and Use of Therapeutic Robots: Ensuring Clinical Relevance,” Mechanical and Aerospace Engineering Colloquium series, Cornell University, Ithaca, NY, March 5, 2010

     
     

    “On the Design and Use of Therapeutic Robots: Ensuring Clinical Relevance,” Mechanical Engineering Seminar series, Vanderbilt University, Nashville, TN, April 28, 2010

     
     

    “On the Design, Control, and Use of Therapeutic Robots: A Mechatronics Perspective fur Ensuring Clinical Relevance,” ASME Dynamic Systems and Controls Conference, Workshop on Therapeutic Robotics, Cambridge, MA, September 12, 2010.

     
     

    "Active Haptic Assistance for Training in Virtual Environments." Attention, Perception and Modeling for Complex Displays. ONR Workshop, Naval Undersea Warfare Center, Newport, RI. (5/6/04)

     
     

    "Haptic Interface Control Design for Performance and Stability Robustness." Mechanical Engineering Department, System Modeling and Control (SMAC) Group, Purdue University, West Lafayette, IN. (4/28/04)

     
     

    "Haptic Interfaces for Education and Research." National Instruments, NI Week, Austin, TX. (8/19/04)

     
     

    "Haptic Interfaces: A Novel Approach for Virtual and Remote Environment Interactions." Rice Alliance for Technology and Entrepreneurship Information Technology Forum, Houston, TX. (2/6/04)

     
     

    "Robotics and Haptic Interfaces for Rehabilitation." Research, Education and Development Seminar (REDS), Baylor College of Medicine, Department of Physical Medicine and Rehabilitation, Houston, TX. (8/13/04)

     
     

    "Robotics and Haptic Interfaces for Rehabilitation." Physical Medicine and Rehabilitation (PM&R) Grand Rounds, Harris County Hospital District, Houston, TX. (9/14/04)

     
     

    "Control Issues in Haptics and Bilateral Teleoperation." CITI - Rice University, Houston, TX. (May 2, 2003)

     
     

    "Haptic Interface Control Design for Performance and Stability Robustness." Civil Engineering - Rice University, Houston, TX. (April 24, 2003)

     
     

    "Haptic Interface Control Design for Performance and Stability Robustness." University of Houston Mechanical Engineering Department, Houston, TX. (October 23, 2003)

     
     

    "Robots in Space." NASA/ASEE Summer Faculty Fellowship Program, Houston, TX. (June 26, 2003)

     
     

    "Workshop on Automation and Robotics ¿ Houston AIAA Chapter Keynote Lecture." Houston AIAA Chapter, Houston, TX. (May 2, 2003)

     
     

    "Issues in Haptic Interface Device Design." Innovations 2002, University of Houston, Clear Lake, TX. (May 16, 2002) With A. Gupta

     
     

    "Simulated Bilateral Teleoperation of Robonaut." NASA-JSC Dexterous Robotics Lab, Houston, TX. (September 27, 2002)

     
     

    "The implications of low-fidelity feedback in haptic displays." Naval Research Lab, Virtual Reality Lab, Washington, D.C.. (May 16, 2002)

     
     Keynote Speaker
     

    Academic Day Keynote speaker.  "NI myRIO and Rice University." National Instruments NI Week 2013, Austin, TX. (August 8, 2013 )

     
     Lectures
     

    "Haptic Interfaces: Design, Evaluation, and Control Issues." Rice Engineering Alumni Fall Social, Houston, TX. (October 20, 2003)

     
     

    "Robotics, Historical Perspective and Current Challenges." A plenary lecture presented at the TSS International Conference on Advances in Mechanical Engineering, Hammamet, Tunisia. (March 18 - 20, 2002) With Dabney, J.B., Ghorbel, F.H., O'Malley, M.K. (Dabney presented)

     
     Other
     

    Co-Presenter.  "Current Challenges in the Control of Haptic Interfaces and Bilateral Teleoperation Systems." ASME International Mechanical Engineering Congress and Exposition, Washington, DC. (November 18, 2003) With J. Speich

     
     

    "Rehabilitation and Training via Haptic Devices." 20th Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (April 2003)

     
     

    Presenter.  "Simulated Bilateral Teleoperation of Robonaut." AIAA Space 2003, Long Beach, CA. (September 2003) With K. Hughes, D. Magruder, and R. Ambrose

     
     

    Co-author (student presented).  "Skill Transfer in a Simulated Underactuated Dynamic Task." 12th IEEE Workshop Robot and Human Interactive Communication RO-MAN 2003, San Francisco, CA. (November 2, 2003) With A. Gupta

     
     

    "Comparison of Human Haptic Performance in Real and Simulated Environments." IEEE 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Orlando, FL. (March 24-25, 2002) With M. Goldfarb

     
     

    "The Implications of Surface Stiffness for Size Identification and Perceived Surface Hardness in Haptic Interfaces." IEEE International Conference on Robotics and Automation, Washington, D.C.. (May 11-15, 2002) With M. O'Malley and M. Goldfarb (O'Malley presented)

     
     

    "Force Saturation, System Bandwidth, Information Transfer, and Surface Quality in Haptic Interfaces." IEEE International Conference on Robotics and Automation, Seoul, Korea. (May 2001) With M. Goldfarb

     
     

    "Implications of Haptic Interface Force Saturation on the Haptic Display of Detail." ASME International Mechanical Engineering Congress and Exposition, Nashville, TN. (November 2000) With M Goldfarb

     
     Panelist
     

    "DSCC 2013 Modeling Special Session: What are the fundamental skills and practices to impart to our students?." ASME Dynamic Systems and Controls Conference, Palo Alto, CA. (October 22, 2013)

     
     

    "An Introduction to Robotics and Haptic Interfaces." South Texas Students Tour, Rice University. (June 5, 2002)

     
     Posters
     

    "Hands-on Haptics: Critical Infrastructure for Mechanical Engineering Curriculum Enhancement." NSF DUE CCLI Grantees Meeting, Washington, DC. (2/2005)

     
     Seminar Speaker
     

     “Challenge and Engagement: Ensuring effective upper limb robotic rehabilitation,” ETH-Zurich, Department of Mechanical and Process Engineering, Institute of Robotics and Intelligent Systems, Distinguished Seminar in Robotics, Systems, and Control, Zurich, Switzerland, December 11, 2015.

     
     

    “Natural Sensory Feedback for Intuitive Prosthesis Control,” Johns Hopkins University Laboratory for Computational Sensing and Robotics (LCSR) Seminar Series, Baltimore, MD, March 4, 2015.

     
     

    “Robotic Rehabilitation of Forearm and Wrist with the MAHI Exo-II and RiceWrist,” ESA - European Space Agency, ESTEC, ESA Telerobotics & Haptics Laboratory Seminar, Mechatronics & Optics Division, Noordwijk, The Netherlands, November 20, 2015.

     
     

    “Techniques for Active User Engagement in Robotic Rehabilitation,” Rehabilitation Institute of Chicago (RIC) Sensory Motor Performance Program (SMPP) Seminar Series, Chicago, IL, November, 7, 2014.

     
     

    "Mechatronic Systems for the Repair and Training of Human Sensorimotor Control." Robotics and Mechatronics (RAM) Colloquium/University of Twente, Enschede, Netherlands. (February 14, 2013)

     
     

    "Mechatronic Systems for the Repair and Training of Human Sensorimotor Control." Halmstad Colloquium/Halmstad University, Halmstad, Sweden. (February 12, 2013)

     
     

    "Mechatronic Systems for the Training of Human Motor Control." Department of Computer Science and Engineering Departmental Seminar/Pohang University of Science and Technology (POSTECH), Pohang, Republic of Korea. (April 12, 2013)

     
     

    "Mechatronic Systems for the Training of Human Motor Control,” Cognitive Psychology Seminar, Rice University, Houston, TX, March 6, 2013.." Cognitive Psychology Seminar/Rice University, Houston, TX. (March 6, 2013)

     
     

    "Techniques for Active User Engagement in Robotic Rehabilitation." University of Illinois Mechanical Engineering Department Seminar Series, Champaign, IL. (December 10, 2013)

     
     

    "Techniques for Active User Engagement in Robotic Rehabilitation." University of Michigan Rehabilitation Robotics Seminar Series, Ann Arbor, MI. (October 9, 2013)

     
     

    "A Systems Approach to Improving Performance of Haptic Devices." Johns Hopkins University, Mechanical Engineering Dept, Baltimore, MD. (12/8/05)

     
     

    "Passive and Active Haptic Feedback for Training." NCARAI Seminar Series distinguished speaker, The Navy Center for Applied Research in Artificial Intelligence, Naval Research Lab, Washington DC. (6/6/05)

     
     

    "Shared Control in Virtual Environments with Haptic Feedback." Rice University, Computer Science, Houston TX. (4/13/05)

     
     Workshops
     

     “Lessons learned in haptic guidance for motor learning,” Workshop on Motor learning and neurorehabilitation: training with or without errors? IEEE ICORR 2015, International Conference on Rehabilitation Robotics, 11-14 August, Singapore. 

     
     

    “Robotic Rehabilitation of Forearm and Wrist with the MAHI Exo-II and RiceWrist,” Workshop on Neuromechanics and Technology for the Wrist (beyond the wristwatch), IEEE ICORR 2015, International Conference on Rehabilitation Robotics, 11-14 August, Singapore. 

     
     

    Rehabilitation Robotics and Human-Robot Interaction, 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, May 26, 2015.

     
     

    “Robotic Rehabilitation of Forearm and Wrist with the MAHI Exo-II and RiceWrist,” Workshop on Challenges and Strategies in the Design and Control of Upper Extremity Exoskeletons, 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, May 30, 2015.

     
    Editorial Positions
     Associate Editor, ASME Transactions, Journal of Computing and Information Science in Engineering . (2015 - 2015)

     Associate Editor, ASME Journal of Dynamic Systems, Measurement, and Control. (2015 - 2015)

     Associate Editor, ASME Journal of Mechanisms and Robotics. ASME. (2014 - 2015)

     Associate Editor, IEEE Transactions on Haptics. (2009 - 2009)

     Other, IEEE HAPTICS Symposium. (2014 - 2014)

     Associate Editor, IEEE Transactions on Haptics. (2008 - 2008)

     Associate Editor, IEEE/ASME Transactions on Mechatronics. (2010 - 2010)

     Editor for Special Issue, ASME Journal of Dynamic Systems Measurement and Control. (2005 - 2005)

     Editor for Special Issue, ASME Journal of Computing And Information Science In Engineering. (2008 - 2008)

     Editor for Special Issue, International Journal of Robotics Research (IJRR). (2008 - 2008)

    Supervised Theses & Dissertations
     Joshua McCune, MS Dynamics and Control of the SPENDULAP. (2003) (Thesis Committee Member)

     Sushant Dutta, MS Dynamic Hysteresis Modeling and Applications. (2004) (Thesis Committee Member)

     Ryan Keedy, MS Special Methods for Fluid-Object Interactions and Space-Time Computations. (2004) (Thesis Committee Member)

     Katherine Benzin, MS Fuel Optimal Mars Transfer Trajectories. (2004) (Thesis Committee Member)

     Abhishek Gupta, MS Design and Control of a Haptic Arm Exoskeleton. (2004) (Thesis Director)

     Antonios Kontsos, MS Deterministic and Random Analysis of System with Hysteresis using the Preisach Formalism. (2004) (Thesis Committee Member)

     Brian Stiles, MS Application of Sequential Auction Techniques to Nonlinear Targeting Assignment for Space-delivered Entry Vehicles. (2004) (Thesis Director)

     Christopher Bartley, MS Closed Form Guidance Laws for Intercepting Moving Targets. (2004) (Thesis Director)

     Zhiyong Wang, PhD Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach. (2004) (Thesis Committee Member)

     Barry Postma, MS Robust Constrained Optimization Approach to control design for International Space Station Centrifuge Rotor Auto Balancing Control System. (2005) (Thesis Committee Member)

     Michael Sullivan, MS State Estimation of International Space Station Centrifuge Rotor with Incomplete Knowledge of Disturbance Inputs. (2005) (Thesis Committee Member)

     Michael Weeks, PhD The Computation of Optimal Rendezvous Trajectories using the Sequential Gradient-Restoration Algorithm. (2006) (Thesis Committee Member)

     Emilie Kopp, MS Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform. (2006) (Thesis Director)

     Erion Plaku, Doctor of Philosophy From High-Level Tasks to Low-Level Motions: Motion Planning for High-Domensional Nonlinear Hybrid Robotic Systems. (2008) (Thesis Committee Member)

     Yanfang Li, PhD Active Haptic Assistance for Training. (2008) (Thesis Director)

     Rajarshi Bandyopadhyay, Doctor of Philosophy Compiling dynamic languages via statically typed functional languages . (2009) (Thesis Committee Member)

     Ioan Alexabdru Sucan, Master of Science Kinodyynamic Motion Planning for High-dimensional Physical Systems. (2009) (Thesis Committee Member)

     Yun (Angela) Zhu, Master of Science Acumen: An Environment for Rapid Prototyping of Cyber-physical Systems. (2010) (Thesis Committee Member)

     Andrew J Lynch, Master of Science Multi-robot Behaviors with Bearing-only Sensors and Scale-fee Coordinates. (2011) (Thesis Committee Member)

     Joshua B Rykowski, Master of Science Pose Estimation With Low-Resolution Bearing-Only Sensors. (2011) (Thesis Committee Member)

     Ioan Alexandru Sucan, Doctor of Philosophy Task and Motion Planning for Mobile Manipulators. (2011) (Thesis Committee Member)

     Moez A. AbdelGawad, Doctor of Philosophy NOOP A Mathematical Model Of Object-Oriented Programming. (2012) (Thesis Committee Member)

     Ali Pehlivan, MS Design and Control of an Exoskeletal Rehabilitation Device for Stroke and Spinal Cord Injury Patients . (2012) (Thesis Director)

     Jun Inoue, Doctoral Reasoning About Multi-stage Programs. (2013) (Thesis Committee Member)

     Po-Wei Feng, Doctoral Functional representation and manipulation of shapes with applications in surface and solid modeling. (2013) (Thesis Committee Member)

     Vinay Chawda, PhD Passivity and Performance Analysis of Haptic and Teleoperation Systems that Employ SOSM Differentiators for Velocity Estimation. (2013) (Thesis Director)

     Vinay Chawda, Doctor of Philosophy On Stability and performance characteristics in control of haptic interfaces and teleoperation systems. (2014) (Thesis Director)

     James French, MS Towards the Implementation of Non-Invasive Brain Machine Interface Control on a Rehabilitative Robotic Upper Limb Exoskeleton. (2014) (Thesis Director)

     Islem Megdiche, Master of Science Localization of a swimming robot in a cylindrical above-ground tank. (2014) (Thesis Committee Member)

     Wissem JALLOULI, Master of Science Hall Effect and Magneto Optical MFL Sensing. (2014) (Thesis Committee Member)

     Peng Zhang, Doctor of Philosophy Mechanical Characterizations of Two-Dimensional Materials. (2014) (Thesis Committee Member)

     Andrew Erwin, MS Using custom integrated force sensing mechanisms for interaction control in rehabilitation robots . (2014) (Thesis Director)

     Sean Estrada, PhD Quantitative Movement Analysis in Surgical Tasks for Objective Determination of Surgical Skill. (2014) (Thesis Director)

     Chad Rose, MS Rehabilitation Robot Characterization: Traditional and Motion Capture Metrics. (2015) (Thesis Director)

     Kyle Fitle, Master of Science Clinical Evaluation of an Upper Limb Exoskeleton for Rehamilitation After Incomplete Spinal Cord Injury. (2015) (Thesis Director)

     Edward Artz, Master of Science Myoelectric Control of a Robotic Exoskeleton for Rehabilitation. (2015) (Thesis Director)

     Joshua Mehling, Doctor of Philosophy Impedance Control Approaches for Series Elastic Actuators. (2015) (Thesis Director)

     Aaron Atzil, Master of Science Analytical investigation of vibration attenuation with a nonlinear tuned mass damper . (2015) (Thesis Committee Member)

     Benjamin Kramer, Master of Science TBA. (2017) (Thesis Director)

     Craig McDonald, Doctor of Philosophy TBA. (2017) (Thesis Director)

     Dylan Losey, Doctor of Philosophy TBA. (2019) (Thesis Director)

     Joshua Mehling, PhD Impedance Controller Synthesis for Series Elastic Actvators. (Thesis Director)

     Janelle Clark, Doctor of Philosophy TBA. (Thesis Director)

     Wei Huang, PhD Nonlinear dynamics in Atomic Force Microscopy for various excitation conditions. (Thesis Committee Member)

     David Trevino Garcia, PhD Magnetic Flux Leakage Sensing: Modeling and Experiments. (Thesis Committee Member)

    Awards, Prizes, & Fellowships
     ASME Fellow, (2014)

     George R. Brown Award for Superior Teaching, Rice University (2008)

     National Academy of Engineering Frontiers of Engineering Participant, NAE (September 2005)

     Literati Award for Excellence, Emerald Publications (5/2004)

     Office of Naval Research (ONR) Young Investigator, 2004, Office of Naval Research (3/2004)

     Elite Team Award, NASA Johnson Space Center Automation, Robotics, and Simulation Division (July 2003)

     NASA/ASEE Summer Faculty Fellowship, NASA-Johnson Space Center and ASEE (5/02-8/02)

     Roy E. Campbell Faculty Development Award, Rice University (7/02-6/05)

     Best Paper Award, 2002 Phantom Users Group Conference (PUG) (10/02)

    Positions Held
     Committee Member, IEEE International Conference on Rehabilitation Robotics (ICORR). (2015 - 2015)

     Senior Member, Institute of Electrical and Electronics Engineers (IEEE) . (2013 - 2015)

     Session Chair, IEEE ICRA. (2015 - 2015)

     Special Session Organizer, IEEE ICRA. (2015 - 2015)

     Member, National Instruments of Technology Elite Educator Network. (2015 - 2015)

     Member, Robotics Technical Panel, ASME DSC Division. (2005 - 2005)

     Member, Italian Institute of Technology Standing Committee of External Evaluators for Robotics. (2012 - 2015)

     Workshop Organizer, IEEE ICRA. (2015 - 2015)

     Past President, Sigma Xi Rice Texas Medical Center Chapter. (2004 - 2004)

     Past President, Sigma Xi Rice Texas Medical Center Chapter. (2005 - 2005)

     Member, Robotics Technical Panel, ASME DSC Division. (2004 - 2004)

     Member, World Haptics Symposium Program Committee. (2005 - 2005)

     Member, World Haptics Symposium Program Committee. (2004 - 2004)

     Session Organizer, HSEMB 2006 Conference. (2005 - 2005)

     Session Organizer, HSEMB 2005 Conference. (2004 - 2004)

     Discussion leader, co-organizer, US-UK Workshop on Cognitive Robotics Intelligence and Control (CogRIC). (2005 - 2005)

     Adjunct Assistant Professor, Physical Medicine and Rehabilitation (PM&R), Baylor College of Medicine. (2005 - 2005)