Marcia K. O’Malley

 

Mechanical Engineering and Materials Science
MS 321, Rice University
6100 Main Street
Houston, TX 77005-1892

Office Phone:  (713) 348 – 3545

Facsimile:  (713) 348 – 5423

omalleym (-at-) rice.edu

http://www.ruf.rice.edu/~omalleym

 

General Information

 

Research Interests

 

Robotics and mechatronics.  Design, modeling, and control of electromechanical devices and systems.  Design and control of haptic interfaces. Scaled bilateral telemanipulation systems. Human-machine interfaces for human-assisted movement.  Dexterous manipulation.  Modeling human-robot interactions.

 

Rank             Assistant Professor, Mechanical Engineering and Materials Science, Rice University

                        Date of appointment:  July 1, 2001

                        Contract renewal:  July 1, 2004

 

                        Assistant Professor, Computer Science, Rice University (Complementary appointment)

                        Date of appointment: 2005

                       

                        Adjunct Assistant Professor of Physical Medicine and Rehabilitation, Baylor College of Medicine

                        Date of appointment: October 2, 2005

 

Education

 

Vanderbilt University

Doctor of Philosophy, Mechanical Engineering

Nashville, TN

August 2001

Advisor: Dr. Michael Goldfarb

Thesis: The Effect of Machine Performance on Haptic Fidelity

 

Vanderbilt University

Master of Science, Mechanical Engineering

Nashville, TN

May 1999

Advisor: Dr. Michael Goldfarb

Thesis: Development of Sensor Packages and Software for a Three Degree-of-Freedom Haptic Interface

 

Purdue University

Bachelor of Science in Mechanical Engineering

West Lafayette, IN

May 1996

 

Employment

 

Rice University

Assistant Professor of Mechanical Engineering

Houston, TX

7/01-present

 

Vanderbilt University

Graduate Research Assistant

Graduate Teaching Assistant

Nashville, TN

5/97-7/01

8/96-5/97

 

Dynamic Structures and Materials, LLC

Consultant

Nashville, TN

8/99-4/01

 

Honors and Awards

 

National Academy of Engineering (NAE) Frontiers of Engineering (FOE) participant, 2005

National Science Foundation CAREER Award, 2005

Office of Naval Research (ONR) Young Investigator, 2004

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

Roy E. Campbell Faculty Development Award, Rice University, 2002

NASA/ASEE Summer Faculty Fellowship, 2002 and 2003

Literati Award for Excellence, 2004 (Best Paper in Volume, Industrial Robot: An International Journal)

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

Vanderbilt University Graduate Fellow, 1996-2001

NASA Graduate Student Researchers Program Fellowship, 1998-2001

3M Engineering Scholar, 1994-1996

Purdue University Dean's Engineering Scholar, 1992-1996

National Science Scholarship, 1992

Sigma Xi Scientific Research Society

Tau Beta Pi Engineering Honorary

Pi Tau Sigma Mechanical Engineering Honorary

 

Research:  Technical Contributions

 

Refereed Journal Publications                                          Publications with students designate the students with an asterisk (*).

 

  1. Gupta*, A. and M. O’Malley, “Design of a Haptic Arm Exoskeleton for Training and Rehabilitation,” ASME/IEEE Transactions Mechatronics (to appear, accepted 10/05).
  2. O’Malley, M.K., A. Gupta*, M. Gen*, and Y. Li*, “Shared Control in Haptic Systems for Performance Enhancement and Training,” Submitted to the ASME Journal of Dynamic Systems, Measurement and Control (JDSMC) Special Issue on Novel Robotics and Control, April 2005 (to appear, accepted 11/05).

3.        O’Malley, M. and Goldfarb, M. “On the Ability of Humans to Haptically Identify and Discriminate Real and Simulated Objects.” Presence: Teleoperators and Virtual Environments, Vol. 14(3), pp. 366-376, June 2005.

4.        O’Malley, M. and Goldfarb, M. “The Effect of Virtual Surface Stiffness on the Haptic Perception of Detail.”  IEEE/ASME Transactions on Mechatronics, Vol. 9(2), pp. 448-454, June 2004.

5.        O’Malley, M. and R. Ambrose, “Haptic Feedback Applications for Robonaut,” Industrial Robot: An International Journal, Vol. 30(6), pp. 531-542, November 2003.  Winner, Literati Award for Excellence (best paper in volume) 2004

6.        O’Malley, M. and Goldfarb, M. “The Effect of Force Saturation on the Haptic Perception of Detail.” IEEE/ASME Transactions on Mechatronics, Volume 7(3), pp. 280-288, September 2002.

  1. O’Malley, M.K., T. Ro, and H.S. Levin, “Assessing and Inducing Neuroplasticity with TMS and Robotics,” Submitted to the Archives of PM&R, Special Issue on Neuroplasticity and Neuroimaging in Acquired Brain Injury: Measurement, Concepts, and Applications (in review, submitted 9/1/05).
  2. O’Malley, M.K. and G. Upperman* “A Study of Perceptual Performance in Haptic Virtual Environments,” Submitted to the Journal of Robotics and Mechatronics, Special issue on Haptics: Interfaces, Applications, and Perception, to be published in Vol. 18, No. 4 (August 2006) (in review, submitted 1/11/06)
  3. McJunkin*, S., M.K. O’Malley, and J.E. Speich, “Transparency and Stability of a Haptic Interface for Active and Passive Human Interaction,” Submitted to the IEEE Transactions on Robotics (in review, submitted 2/3/06).

 

Book Chapters

 

  1. 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, available early 2007.

 

Refereed Conference Proceedings

 

  1. Zumbado*, F., and M. O’Malley, “System Identification of Force Reflecting Hand Controller for Robonaut,” Submitted to the 8th International IFAC Symposium on Robot Control (SYROCO 2006), Bologna, Italy, September 6 - 8, 2006 (in review)
  2. Bowen, Kevin and M.K. O’Malley, “Haptic Interfaces for a LabVIEW-based System Dynamics Course,” Submitted to the Experimentation & Laboratory Oriented Studies ASEE Annual Conference & Exposition, Chicago, IL, June 18 - 21, 2006 (abstract accepted, paper in review).
  3. Bowen, Kevin and M.K. O’Malley, “Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course,” Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Virginia, March 2006.
  4. Sledd, Alan and M.K. O’Malley, “Performance Enhancement of a Haptic Arm Exoskeleton,” Proceedings of the 14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), Virginia, March 2006.
  5. McJunkin*, S., J. Speich, and M. O’Malley, “Transparency Extension in Haptic Interfaces via Adaptive Dynamics Cancellation,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005.
  6. M. O’Malley, “Shared Control for Upper Extremity Rehabilitation in Virtual Environments,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005.
  7. O’Malley, M. and D. McStravick, “Virtual Lab for System Identification of an Electromechanical System,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005.
  8. McJunkin*, S., M. O’Malley, and J. Speich, “Transparency and Stability of Phantom Premium in Active and Passive Interaction,” Proceedings of the 2005 American Control Conference (ACC), Portland, OR, June 8-10, 2005.

9.        McJunkin*, S., Y. Li*, and M. O’Malley, “Human-Machine Admittance and Transparency Adaptation in Passive User Interaction with a Haptic Interface,” Proceedings of the 13th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the First Joint World Haptics Conference, Pisa, Italy, March 17-20, 2005. (22% accepted for oral presentation)

  1. Gupta*, A. and M. O’Malley, “Design of a Haptic Arm Exoskeleton for Training and Rehabilitation,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 13-19, 2004.
  2. McStravick, D. and M. O’Malley, “Virtual Labs in the Engineering Curriculum,” ASEE Annual Conference and Exposition, Salt Lake City, Utah, June 20-23, 2004.

12.     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,” Proceedings of the 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, March 27-28, 2004, pp. 169-175.

13.     Glassmire*, J., M. O’Malley, W. Bluethmann, and R. Ambrose, “Cooperative Manipulation between Humans and Teleoperated Agents,” Proceedings of the 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, March 27-28, 2004, pp. 114-120.

14.     Speich, J. 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, Washington, D.C., November 15-21, 2003.

  1. O’Malley, M.K. 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, October 31 - November 2, 2003.
  2. O’Malley, M.K., K.J. Hughes*, D.F. Magruder, and R.O. Ambrose, “Simulated Bilateral Teleoperation of Robonaut,” Proceedings of the AIAA Space 2003 Conference, Long Beach, CA, September 23-25, 2003.
  3. O’Malley, M. 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, Los Angeles, CA, March 22-23, pp. 348-355, 2003.
  4. O’Malley, M. 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, Los Angeles, CA, March 22-23, pp. 428-429, 2003.
  5. O’Malley, M. and Goldfarb, M. “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, pp. 1255-1260, 2002.
  6. O’Malley, M. and Goldfarb, M.  “Comparison of Human Haptic Size Identification and Discrimination Performance in Real and Simulated Environments.”  Proceedings of the IEEE 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 10-17, 2002.
  7. Kilchenman (O’Malley), M. and Goldfarb, M. “Force Saturation, System Bandwidth, Information Transfer, and Surface Quality in Haptic Interfaces.” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1382-1387, 2001. (59% acceptance)
  8. Kilchenman (O’Malley), M. and Goldfarb, M. “Implications of Haptic Interface Force Saturation on the Haptic Display of Detail.” ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 69-2, pp. 1125-1131, 2000. 

 

Conference Proceedings (Extended Abstracts)

 

  1. Gupta*, A., V. Patoglu, F. Ghorbel, and M. O’Malley, “Vision-based force sensing and multi-rate haptic controller design for nanorobotic manipulation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  2. Sledd*, A., J. Huegel*, and M. O’Malley, “Adaptation of a haptic exoskeleton for stroke rehabilitation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  3. Schlembach*, C. and M. O’Malley, “Suture tying test bed for telerobotic surgery performance assessment,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  4. Li*, Yanfang, V. Patoglu, and M. O’Malley, “Effects of haptic feedback on the mechanisms of sensorimotor learning,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  5. Kopp*, E. and M. O’Malley, “Improving haptic simulations using LabVIEW FPGA,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  6. Huegel*, J., A. Sledd*, and M. O’Malley, “Haptic interaction modes for upper extremity stroke rehabilitation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  7. Bowen*, K. and M. O’Malley, “Adaptation of haptic interfaces for a LabVIEW-based system dynamics course,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  8. Mualim*, Y., F. Ghorbel and M. O’Malley, “AFM Nanomanipulation Modeling and Simulation,” Associated Nanotechnolgy Congress, Third Annual SPRING (Strategic Partnership for Research in Nanotechnology), Rice University, Houston TX, October 10, 2005.
  9. Gupta*, A., M. O’Malley and F. Ghorbel, “Rice Nanomanipulation System,” Associated Nanotechnolgy Congress, Third Annual SPRING (Strategic Partnership for Research in Nanotechnology), Rice University, Houston TX, October 10, 2005.
  10. 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, February 2005, pg. 190. Student Poster Award
  11. Petrie*, C., A. Quon*, and M. O’Malley, “Automation for electroncryomicroscopy,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 212.
  12. Gen*, M., A. Gupta*, and M. O’Malley, “Haptic training for performance enhancement and rehabilitation,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 191. Student Poster Award
  13. Li*, Y. and M. O’Malley, “Haptic virtual environments for wrist and hand rehabilitation,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 234.
  14. Sledd*, A., A. Gupta*, and M. O’Malley, “Redesign of a haptic arm exoskeleton,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 189. Student Poster Award
  15. McJunkin*, S. and M. O’Malley, “Human Arm Modeling for Haptic Manipulator Control,” 21st Annual Houston Conference on Biomedical Engineering Research, February 2004, pg. 77.
  16. Gupta*, A. and M. O’Malley, “Design of a Haptic Exoskeleton for Rehabilitation and Training,” 21st Annual Houston Conference on Biomedical Engineering Research, February 2004, pg. 75
  17. O’Malley, M.K., “Rehabilitation and Training via Haptic Devices,” 20th Annual Houston Conference on Biomedical Engineering Research, April 2003, Houston, TX.
  18. O’Malley, M. “Comparison of Human Haptic Size Discrimination Performance in Real and Simulated Environments,” 7th Annual Phantom Users Group Meeting, Santa Fe, NM, October 26-29, 2002.  Awarded Best Paper

 

Technical Reports

 

  1. O’Malley, M., “Active Haptic Assistance for Training in Virtual Environments,” Annual Productivity Report for ONR Grant Number N0014-04-1-0517, August 2005.
  2. O’Malley, M. and F. Ghorbel, “Techniques for Stable Bilateral Teleoperation of Robonaut with Variable Communication Delays: A Simulation Study,” Final Report for NASA Grant NNJ04HC93G, February 2005.
  3. O’Malley, “Simulated Bilateral Teleoperation of Robonaut,” Final Report for NASA Grant NAG9-1511, January 2005.
  4. O’Malley, M. and J. Glassmire*, “Bilateral Teleoperation of Robonaut – Task Execution and Teaching.” NASA-ASEE Faculty Fellowship Program Final Report, 2003
  5. O’Malley, M. “Simulated Bilateral Teleoperation of Robonaut.” NASA-ASEE Faculty Fellowship Program Final Report, 2002.

 

Invited Presentations

 

  1. O’Malley, M.K., “Nanorobotic Manipulation with Force Feedback,” 5th Annual Nanotechnology Venture Forum, “The Big Business of Small Technology,” Hosted by the Rice Alliance, CBEN, and the Richard E. Smalley Institute for Nanoscale Science and Technology, Rice University, Houston, TX, January 20, 2006.
  2. O’Malley, M.K., “A Systems Approach to Improving Performance of Haptic Devices,” Mechanical Engineering Seminar Series, Johns Hopkins University, Baltimore, MD, December 8, 2005.
  3. O’Malley, M.K., “Passive and Active Haptic Feedback for Training,” Spring 2005 NCARAI Seminar Series distinguished speaker, The Navy Center for Applied Research in Artificial Intelligence (NCARAI), Naval Research Laboratory, Washington DC, June 6, 2005.
  4. O’Malley, M.K., “Shared Control in Virtual Environments with Haptic Feedback,” Rice University Department of Computer Science, Spring 2005 Colloquium Series, Houston, TX, April 13, 2005.
  5. O’Malley, M.K., “Robotics and Haptic Interfaces for Rehabilitation,” Physical Medicine and Rehabilitation (PM&R) Grand Rounds, Harris County Hospital District, Houston, TX, September 14, 2004.
  6. O’Malley, M.K., “Haptic Interfaces for Education and Research,” National Instruments (NI) Week, Austin, TX, August 19, 2004.
  7. O’Malley, M.K., “Robotics and Haptic Interfaces for Rehabilitation,” Research, Education and Development Seminar (REDS), Baylor College of Medicine, Department of Physical Medicine and Rehabilitation, Houston, TX, August 13, 2004.
  8. O’Malley, M.K., “Active Haptic Assistance for Training in Virtual Environments,” Attention, Perception and Modeling for Complex Displays. ONR Workshop, Naval Undersea Warfare Center, Newport, RI, May 6, 2004.
  9. O’Malley, M.K., “Haptic Interface Control Design for Performance and Stability Robustness,” Mechanical Engineering Department, System Modeling and Control (SMAC) Group, Purdue University, West Lafayette, IN, April 28, 2004.
  10. O’Malley, M.K., “Haptic Interfaces: A Novel Approach for Virtual and Remote Environment Interactions,” Rice Alliance for Technology and Entrepreneurship Information Technology Forum, February 6, 2004.
  11. O’Malley, M.K., “Haptic Interface Control Design for Performance and Stability Robustness,” Mechanical Engineering Seminar Series, University of Houston, October 23, 2003.
  12. O’Malley, M.K., “Haptic Interfaces: Design, Evaluation, and Control Issues,” Rice Engineering Alumni Fall Social, Houston, TX, October 20, 2003.
  13. O’Malley, M.K., “Robots in Space,” NASA-ASEE Faculty Fellowship Program Seminar Series, June 26, 2003.
  14. O’Malley, M.K., Workshop on Automation and Robotics – Houston AIAA Chapter, Keynote Speaker, Houston, TX, May 2, 2003.
  15. O’Malley, M.K., “Control Issues in Haptics and Bilateral Teleoperation,” CITI (Computer and Information Technology Institute) Seminar, Rice University, Houston, TX, May 2, 2003.
  16. O’Malley, M.K., “Haptic Interface Control Design for Performance and Stability Robustness,” Civil and Environmental Engineering and Dynamical Systems Group Seminar, Rice University, Houston, TX, April 24, 2003.
  17. O’Malley, M.K., “Real-Time Control Topics in Robotics and Mechatronics,” A presentation to National Instruments, Austin, TX, December 18, 2002.
  18. O’Malley, M.K., “Simulated Bilateral Teleoperation of Robonaut,” A presentation to the Dexterous Robotics Lab, NASA Johnson Space Center, Houston, TX, September 27, 2002.
  19. O’Malley, M.K., “The implications of low-fidelity feedback in haptic displays,” A presentation to the Virtual Reality Lab at the Naval Research Lab, Washington, D.C., May 16, 2002.
  20. Dabney, J.B., Ghorbel, F.H., and O'Malley, M.K., “Robotics, Historical Perspective and Current Challenges,” A plenary lecture presented at the TSS International Conference on Advances in Mechanical Engineering, March 18 - 20, 2002, Hammamet, Tunisia.

 

Contributed Presentations

 

  1. Gupta*, A., V. Patoglu, F. Ghorbel, and M. O’Malley, “Vision-based force sensing and multi-rate haptic controller design for nanorobotic manipulation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  2. Li*, Yanfang, V. Patoglu, and M. O’Malley, “Effects of haptic feedback on the mechanisms of sensorimotor learning,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  3. Kopp*, E. and M. O’Malley, “Improving haptic simulations using LabVIEW FPGA,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  4. Huegel*, J., A. Sledd*, and M. O’Malley, “Haptic interaction modes for upper extremity stroke rehabilitation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  5. Bowen*, K. and M. O’Malley, “Adaptation of haptic interfaces for a LabVIEW-based system dynamics course,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  6. McJunkin*, S., J. Speich, and M. O’Malley, “Transparency Extension in Haptic Interfaces via Adaptive Dynamics Cancellation,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005 (refereed).
  7. M. O’Malley, “Shared Control for Upper Extremity Rehabilitation in Virtual Environments,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005 (refereed).
  8. O’Malley, M. and D. McStravick, “Virtual Lab for System Identification of an Electromechanical System,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 5-11, 2005 (refereed).
  9. McJunkin*, S., M. O’Malley, and J. Speich, “Transparency and Stability of Phantom Premium in Active and Passive Interaction,” 2005 American Control Conference (ACC), Portland, OR, June 8-10, 2005 (refereed).

10.     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, Pisa, Italy, March 17-20, 2005 (refereed).

  1. Petrie*, C., A. Quon*, and M. O’Malley, “Automation for electroncryomicroscopy,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 11, 2005, Houston, TX. (non-refereed) Student Presentation Award
  2. Li*, Y. and M. O’Malley, “Haptic virtual environments for wrist and hand rehabilitation,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 11, 2005, Houston, TX. (non-refereed) Student Presentation Award
  3. Gupta*, A. and M. O’Malley, “Design of a Haptic Arm Exoskeleton for Training and Rehabilitation,” ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, November 13-19, 2004. (refereed)
  4. McStravick, D. and M. O’Malley, “Virtual Labs in the Engineering Curriculum,” ASEE Annual Conference and Exposition, Salt Lake City, Utah, June 20-23, 2004. (refereed)

15.     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, Chicago, IL, March 27-28, 2004. (refereed)

16.     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, Chicago, IL, March 27-28, 2004. (refereed)

  1. McJunkin*, S. and M. O’Malley, “Human Arm Modeling for Haptic Manipulator Control,” 21st Annual Houston Conference on Biomedical Engineering Research, February 12, 2004. (non-refereed)
  2. Gupta*, A. and M. O’Malley, “Design of a Haptic Exoskeleton for Rehabilitation and Training,” 21st Annual Houston Conference on Biomedical Engineering Research, February 12, 2004. (non-refereed)

19.     Speich, J. and M. O’Malley, “Current Challenges in the Control of Haptic Interfaces and Bilateral Teleoperation Systems,” ASME International Mechanical Engineering Congress and Exposition, Washington, D.C., November 19, 2003. (refereed)

  1. O’Malley, M.K. and A. Gupta*, “Skill Transfer in a Simulated Underactuated Dynamic Task,” 12th IEEE Workshop Robot and Human Interactive Communication RO-MAN 2003, November 2, 2003. (refereed)
  2. O’Malley, M.K., K.J. Hughes*, D.F. Magruder, and R.O. Ambrose, “Simulated Bilateral Teleoperation of Robonaut,” AIAA Space 2003 Conference, Long Beach, CA, September 24, 2003. (non-refereed)
  3. O’Malley, M.K., “Rehabilitation and Training via Haptic Devices,” 20th Annual Houston Conference on Biomedical Engineering Research, April 4, 2003, Houston, TX. (non-refereed)
  4. O’Malley, M. “Comparison of Human Haptic Size Discrimination Performance in Real and Simulated Environments,” 7th Annual Phantom Users Group Meeting, October 27, 2002, Santa Fe, NM. (refereed)
  5. O’Malley, M. and Goldfarb, M. “The Implications of Surface Stiffness for Size Identification and Perceived Surface Hardness in Haptic Interfaces.”  IEEE International Conference on Robotics and Automation, May 2002, Washington, D.C. (refereed)
  6. O’Malley, M.K. and Gupta*, A., “Issues in Haptic Interface Device Design,” Innovations 2002, May 2002, University of Houston – Clear Lake, TX. (non-refereed)
  7. O’Malley, M. and Goldfarb, M.  “Comparison of Human Haptic Performance in Real and Simulated Environments.”  IEEE 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2002, Orlando, FL. (refereed)
  8. Kilchenman (O’Malley), M. and Goldfarb, M. “Force Saturation, System Bandwidth, Information Transfer, and Surface Quality in Haptic Interfaces.” IEEE International Conference on Robotics and Automation, May 2001, Seoul, Korea. (refereed)
  9. Kilchenman (O’Malley), M. and Goldfarb, M. “Implications of Haptic Interface Force Saturation on the Haptic Display of Detail.” ASME International Mechanical Engineering Congress and Exposition, November 2000, Anaheim, CA.  (refereed)

 

Poster Presentations

 

  1. Sledd*, A., J. Huegel*, and M. O’Malley, “Adaptation of a haptic exoskeleton for stroke rehabilitation,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  2. Schlembach*, C. and M. O’Malley, “Suture tying test bed for telerobotic surgery performance assessment,” 23rd Annual Houston Conference on Biomedical Engineering Research, February 9-10, 2006.
  3. Mualim*, Y., F. Ghorbel and M. O’Malley, “AFM Nanomanipulation Modeling and Simulation,” Associated Nanotechnolgy Congress, Third Annual SPRING (Strategic Partnership for Research in Nanotechnology), Rice University, Houston TX, October 10, 2005.
  4. Gupta*, A., M. O’Malley and F. Ghorbel, “Rice Nanomanipulation System,” Associated Nanotechnolgy Congress, Third Annual SPRING (Strategic Partnership for Research in Nanotechnology), Rice University, Houston TX, October 10, 2005.
  5. 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, February 2005, pg. 190. Student Poster Award
  6. Gen*, M., A. Gupta*, and M. O’Malley, “Haptic training for performance enhancement and rehabilitation,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 191. Student Poster Award
  7. Sledd*, A., A. Gupta*, and M. O’Malley, “Redesign of a haptic arm exoskeleton,” 22nd Annual Houston Conference on Biomedical Engineering Research, February 2005, pg. 189. Student Poster Award
  8. O’Malley, M. “Hands-on Haptics: Critical Infrastructure for Mechanical Engineering Curriculum Enhancement,” NSF DUE CCLI Grantees meeting poster session, Washington, DC, February 2005.

 

Funded Research

 

Equipment Obtained

Phantom Desktop haptic interface (with Rice start-up)

Phantom Premium 1.0A haptic interface (donated by Shell)

Phantom Premium 1.5A haptic interface (with Rice start-up and funds from MEMS and Dean of Engineering)

(2) Immersion Impulse Engine 2000 haptic interfaces (with Rice start-up and NSF CAREER)

CyberTouch Finger Forcer haptic interface (donated by NASA-JSC)

Logitech force feedback mice (2) (donated by Immersion)

Tektronics Oscilloscope (donated by Tektronix)

Agilent Oscilloscope (with Rice start-up)

Agilent function generator (with Rice start-up)

HP digital multimeter (with Rice start-up)

LabView RealTime PXI system (donated by National Instruments)

Licenses and software for real-time control software (donated by Real-Time Innovations)

Adept Cobra robot (funded by Baylor College of Medicine)

 

  1. Central Texas Veterans Health Care System (CTVHCS) Sole Source Contract - $48,659 (9/15/05-9/30/05) Contract V674P-3804 in response to RFP-674-68-05 Research Project, 2 weeks, PI (100%)
  2. Smith Foundation - $36,271 (6/15/05 – 6/14/06) – “Robotics-assisted rehabilitation therapy for stroke”, 1 year, PI (100%) 
  3. NSF CAREER CISE IIS-0448341 (Robotics) - $410,000 (5/16/05-5/15/10) – “Shared Control for Skill Transfer in Human-Robot Haptic Interactions”, 5 years, PI (100%)
  4. Rice CITI ERIT - $48,556 (9/1/04-8/31/06) – “Nano Haptic Robotic System to Enable Nanomanipulation, Nanoassembly, and Nanofabrication”, 2 years, co-PI (40%)
  5. ONR YIP - $303,078 (6/1/04-5/31/07) ONR Grant No: N00014-04-1-0517, OSR No: 04010602 – “Active Haptic Assistance for Training in Virtual Environments”, 3 years, PI (100%)
  6. NSF CCLI - $100,000 (7/1/04-6/30/06) NSF DUE-0411235 OSR No: 04120302 – “Hands-on Haptics:  Critical Infrastructure for Mechanical Engineering Curriculum Enhancement”, PI  (100%)
  7. National Instruments - $52,224 (9/1/04-8/31/06) OSR No.: 04102002 – “Improvement of Transparency and Stability Robustness in Haptic Systems”, 2 years, PI (100%)
  8. NASA Johnson Space Center - $10,000 (1/15/04-1/14/05) NASA Grant No: NNJ04HC93G OSR No.: 03052902- “Techniques for Stable Bilateral Teleoperation of Robonaut with Variable Communication Delays,” 1 year, PI (50%)
  9. RTI University Program - $86,655 (7/1/03) – Software for real-time control
  10. SIEP, LLS - $20,000 (12/1/03) – Hardware donation: Phantom Premium 1.0A
  11. NASA Johnson Space Center - $13,000 (1/1/02-12/31/04) NASA Grant No: NAG9-1511 - “Simulated Bilateral Teleoperation of Robonaut,”, 1 year, extended, PI. (100%)
  12. NASA Graduate Student Researchers Program (GSRP) Fellowship, Johnson Space Flight Center - $72,000 (8/1/03-7/31/06) 2004 NASA NNJ04JF84H OSR #04013009 - 2003 NASA Grant No: NAG 9-1538 OSR No: 03012805 - “Improvement of Transparency and Stability Robu