Title:

Mechatronic Systems for Human Sensorimotor Control

Speaker:

Dr. Marcia K. OMalley

Affiliation:

Rice University

When:

Wednesday, February 23, 2011 at 12:00:00 PM   Add to Calendar

Where:

Marcus Nanotechnology Building

Host:

Jun Ueda
jun.ueda@me.gatech.edu
404-385-3900

Abstract

The mission of the Mechatronics and Haptic Interfaces (MAHI) Lab at Rice is to design, manufacture, and test mechatronic or robotic systems to model, rehabilitate, enhance, or augment the human sensorimotor control system. We are broadly focused on developments in machine design, control, and experimental methods in haptics research. Specifically, we employ a systems engineering approach, exploring the effects of force feedback on human performance in man-machine interactions with virtual and remote environments. I will discuss two recent research efforts. First, I will discuss work in robotic rehabilitation, where we have shown that robotic measures of motor impairment correlate strongly with clinical measures for stroke patients, and are now applying robotics for rehabilitation after spinal cord injury (SCI), with promising pilot results. I will motivate our plans to adaptively tune robotic rehabilitation protocols to provide personalized treatment in real-time to persons who have suffered a cerebral vascular accident or incomplete SCI. Second, I will discuss recent collaborative work where we evaluate alternative forms of sensing and action and their interactions that enhance the interface to powered prosthetic devices. Specifically, we provoke a mapping from information presented through haptic displays at the proximal part of the upper limb in able-bodied participants (representing the residual limb of an amputee) to activation in appropriate perceptual centers and brain regions. Our primary goal is to assess the role of force feedback on the function of peripheral (myoelectic) control of a prosthetic gripper, its ability to support dexterous manipulation in the absence of vision, and its impact on brain activity.

Biography

Marcia O’Malley is an Associate Professor in the Mechanical Engineering and Materials Science Department at Rice University, and is a co-founder of Houston Medical Robotics. She holds a joint appointment in Computer Science at Rice, and is an Adjunct Assistant Professor in Physical Medicine and Rehabilitation at Baylor College of Medicine. At Rice, her research interests focus on the issues that arise when humans physically interact with robotic systems. One thrust of her lab is the design of haptic feedback and shared control between robotic devices and their human users for training and rehabilitation in virtual environments. Psychophysical studies provide insight into the effect of haptic cues on human motor adaptation, skill acquisition, and the restoration of motor coordination. Another area of interest is nanorobotic manipulation with haptic feedback, and the use of vision-based sensing for control of robotic manipulators and the generation of force feedback to the operator. She has also explored the use of haptic devices for teaching the fundamentals of dynamic systems and control in the mechanical engineering curriculum. In 2008, she received the George R. Brown Award for Superior Teaching at Rice University. O’Malley is a 2004 Office of Naval Research Young Investigator and the recipient of the NSF CAREER Award in 2005. Additionally, she is chair of the IEEE Technical Committee on Haptics. She is a former Associate Editor for the IEEE Transactions on Haptics and currently serves on the editorial board of the ASME/IEEE Transactions on Mechatronics.