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Marcia K. O’Malley
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Journal Articles

Velocity-Domain Motion Quality Measures for Surgical Performance Evaluation and Feedback

Barathwaj Murali, Viony M. Belvroy, Shivam Pandey, Jean Bismuth, Michael D. Byrne, Marcia K. O'Malley
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. March 2021, 15(1): 011107.
Paper No: MED-20-1111
https://doi.org/10.1115/1.4049310
Published Online: January 28, 2021
View Article titled, Velocity-Domain Motion Quality Measures for Surgical Performance Evaluation and Feedback
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Topics: Feedback, Navigation, Surgery, Performance evaluation
Journal Articles

Design and Characterization of a Passive Instrumented Hand

Saad N. Yousaf, Victoria S. Joshi, John E. Britt, Chad G. Rose, Marcia K. O’Malley
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2021, 1(1): 011007.
Paper No: ALDSC-19-1082
https://doi.org/10.1115/1.4046449
Published Online: March 12, 2020
View Article titled, Design and Characterization of a Passive Instrumented Hand
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Topics: Design, Robotics, Sensors, Torque, Testing, Torque measurement, Engines
Proceedings Papers

Design and Characterization of a Passive Instrumented Hand

Saad N. Yousaf, Victoria S. Joshi, John E. Britt, Chad G. Rose, Marcia K. O’Malley
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A007, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9082
https://doi.org/10.1115/DSCC2019-9082
View Paper titled, Design and Characterization of a Passive Instrumented Hand
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Proceedings Papers

A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist

Andrew Erwin, Nick Moser, Craig G. McDonald, Marcia K. O’Malley
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8963
https://doi.org/10.1115/DSCC2018-8963
View Paper titled, A Bowden Cable-Based Series Elastic Actuation Module for Assessing the Human Wrist
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Topics: Cables, Biomechanics, Torque, Actuators, Design, Exoskeleton devices, Kinematics, Motors, Stiffness, Torque control
Proceedings Papers

Cycloidal Geartrain In-Use Efficiency Study

Logan C. Farrell, James Holley, William Bluethmann, Marcia K. O’Malley
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A034, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85275
https://doi.org/10.1115/DETC2018-85275
View Paper titled, Cycloidal Geartrain In-Use Efficiency Study
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Topics: Actuators, Cycles, Robotics, Simulation, Steady state, Testing, Torque
Journal Articles

Closure to “Discussion of ‘A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human–Robot Interaction”’ (Losey, D. P., McDonald, C. G., Battaglia, E., and O'Malley, M.K., 2018, ASME Appl. Mech. Rev., 70 (1), p. 010804)

Dylan P. Losey, Craig G. McDonald, Edoardo Battaglia, Marcia K. O'Malley
Journal: Applied Mechanics Reviews
Publisher: ASME
Article Type: Closures
Appl. Mech. Rev. January 2018, 70(1): 016004.
Paper No: AMR-18-1009
https://doi.org/10.1115/1.4039225
Published Online: February 20, 2018
View Article titled, Closure to “Discussion of ‘A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human–Robot Interaction”’ (Losey, D. P., McDonald, C. G., Battaglia, E., and O'Malley, M.K., 2018, ASME Appl. Mech. Rev., 70 (1), p. 010804)
Open the PDF for Closure to “Discussion of ‘A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human–Robot Interaction”’ (Losey, D. P., McDonald, C. G., Battaglia, E., and O'Malley, M.K., 2018, ASME Appl. Mech. Rev., 70 (1), p. 010804) in another window
Journal Articles

A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human–Robot Interaction

Dylan P. Losey, Craig G. McDonald, Edoardo Battaglia, Marcia K. O'Malley
Journal: Applied Mechanics Reviews
Publisher: ASME
Article Type: Review Articles
Appl. Mech. Rev. January 2018, 70(1): 010804.
Paper No: AMR-17-1003
https://doi.org/10.1115/1.4039145
Published Online: February 14, 2018
View Article titled, A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human–Robot Interaction
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Topics: Feedback, Haptics, Robotics, Robots, Shared control, Human-robot interaction, Control equipment, Trajectories (Physics), Prostheses
Proceedings Papers

A Ball and Beam Module for a Haptic Paddle Education Platform

Chad G. Rose, Nathan Bucki, Marcia K. O’Malley
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T31A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5027
https://doi.org/10.1115/DSCC2017-5027
View Paper titled, A Ball and Beam Module for a Haptic Paddle Education Platform
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Topics: Education, Haptics, Dynamics (Mechanics), Mechatronics, Degrees of freedom, Design, Engines, Force feedback, Mechatronic devices, Motors
Proceedings Papers

Proportional sEMG Based Robotic Assistance in an Isolated Wrist Movement

Edward J. Artz, Amy A. Blank, Marcia K. O’Malley
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T27A011, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9979
https://doi.org/10.1115/DSCC2015-9979
View Paper titled, Proportional sEMG Based Robotic Assistance in an Isolated Wrist Movement
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Topics: Calibration, Control equipment, Electromyography, Engines, Errors, Exoskeleton devices, Motors, Muscle, Patient treatment, Robotics
Proceedings Papers

System Characterization of MAHI Exo-II: A Robotic Exoskeleton for Upper Extremity Rehabilitation

James A. French, Chad G. Rose, Marcia K. O’Malley
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T43A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6267
https://doi.org/10.1115/DSCC2014-6267
View Paper titled, System Characterization of MAHI Exo-II: A Robotic Exoskeleton for Upper Extremity Rehabilitation
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Topics: Exoskeleton devices, Robotics, Performance characterization, Patient treatment, Robots, Spinal cord, Wounds
Journal Articles

A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

Vinay Chawda, Ozkan Celik, Marcia K. O'Malley
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. February 2015, 137(2): 024503.
Paper No: DS-13-1434
https://doi.org/10.1115/1.4028526
Published Online: October 3, 2014
View Article titled, A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces
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Topics: Filters, Haptics, Simulation
Proceedings Papers

Interaction Control of a Non-Backdriveable MR-Compatible Actuator Through Series Elasticity

Fabrizio Sergi, Vinay Chawda, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T27A002, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3891
https://doi.org/10.1115/DSCC2013-3891
View Paper titled, Interaction Control of a Non-Backdriveable MR-Compatible Actuator Through Series Elasticity
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Topics: Actuators, Elasticity, Stiffness, Force control, Seas, Simulation results, Stability, Control equipment, Design, Dynamic systems
Proceedings Papers

Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle

Andrew Erwin, Fabrizio Sergi, Vinay Chawda, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T27A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4073
https://doi.org/10.1115/DSCC2013-4073
View Paper titled, Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle
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Topics: Control equipment, Force feedback, Haptics, Patient treatment, Resistors, Robotics, Robots, Transparency
Proceedings Papers

A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

Vinay Chawda, Ozkan Celik, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3701
https://doi.org/10.1115/DSCC2013-3701
View Paper titled, A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces
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Topics: Filters, Haptics, Computer simulation, Degrees of freedom, Filtration, Finite difference methods, Simulation, Simulation results
Proceedings Papers

A Lyapunov Approach for SOSM Based Velocity Estimation and Its Application to Improve Bilateral Teleoperation Performance

Vinay Chawda, Marcia K. O’Malley
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1, 337-343, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6181
https://doi.org/10.1115/DSCC2011-6181
View Paper titled, A Lyapunov Approach for SOSM Based Velocity Estimation and Its Application to Improve Bilateral Teleoperation Performance
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Topics: Simulation results, Stability
Proceedings Papers

A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy

Zachary J. Thompson, Kevin L. Johnson, Jr., Nicolas Overby, Jessica I. Chidi, William K. Pryor, Marcia K. O’Malley
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 459-465, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4272
https://doi.org/10.1115/DSCC2010-4272
View Paper titled, A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy
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Topics: Electrons, Microscopy, Nitrogen, Process control, Temperature, Testing
Journal Articles

Disturbance-Observer-Based Force Estimation for Haptic Feedback

Abhishek Gupta, Marcia K. O’Malley
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. January 2011, 133(1): 014505.
https://doi.org/10.1115/1.4001274
Published Online: December 2, 2010
View Article titled, Disturbance-Observer-Based Force Estimation for Haptic Feedback
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Topics: Haptics, Force control, Force sensors, Force feedback, Feedback
Proceedings Papers

Improved Haptic Fidelity via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform

Kevin S. Sevcik, Emilie Kopp, Marcia K. O’Malley
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1335-1342, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42085
https://doi.org/10.1115/IMECE2007-42085
View Paper titled, Improved Haptic Fidelity via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform
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Topics: Haptics, Hardware, Control equipment, Damping, Phantoms, Stiffness, Virtual reality, Control systems, Gates (Closures)
Proceedings Papers

Disturbance Observer Based Closed Loop Force Control for Haptic Feedback

Abhishek Gupta, Marcia K. O’Malley, Volkan Patoglu
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1343-1349, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42131
https://doi.org/10.1115/IMECE2007-42131
View Paper titled, Disturbance Observer Based Closed Loop Force Control for Haptic Feedback
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Topics: Feedback, Force control, Haptics, Simulation, Force feedback, Force sensors, Mechanical admittance, Phantoms, Robots, Robustness
Journal Articles

Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform

Marcia K. O’Malley, Kevin S. Sevcik, Emilie Kopp
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. March 2009, 9(1): 011002.
https://doi.org/10.1115/1.3072904
Published Online: February 9, 2009
View Article titled, Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform
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Topics: Haptics, Hardware, Phantoms, Stiffness, Gates (Closures), Damping, Computers, Friction