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Marcia K. O’Malley
Assistant Professor of Mechanical Engineering
Rice University
Dept. of Mechanical Engineering & Materials Science - MS 321
6100 Main Street
Houston, Texas 77005-1892

Publications

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.

 

Other

  1. Kilchenman (O’Malley), M. Implications of Machine Design for the Haptic Display of Detail.  Ph.D. Dissertation, Vanderbilt University, Nashville, TN.  August 2001.
  2. Kilchenman (O’Malley), M. Development of Sensor Packages and Software for a Three Degree-of-Freedom Haptic Interface.  M.S. Thesis, Vanderbilt University, Nashville, TN.  May 1999. (pdf version available – email for a copy)

 

PDF versions available – email for a copy