| Current Research |
Robot-Assisted Rehabilitation with Constraint-Induced Movement Therapy (CIMT)
Students: Ozkan Celik, Yvonne (Yanfang) Li, Joel Huegel
Funding Source: TIRR, Smith Foundation, and Mission Connect
We are developing and evaluating a rehabilitation protocol that incorporates robotics technology in the treatment of upper-limb weakness secondary to stroke, specifically incorporating constraint-induced movement therapy. Potential advantages of robotic-assisted rehabilitation are cost-effectiveness and portability that would allow therapy to be provided with greater duration and accessibility. Recorded data also allows utilization of objective robotic motor improvement assessment measures and quantitative analysis of stroke patients’ movements.
|
|
MIME-RiceWrist: Robot-Assisted Stroke Rehabilitation
Students: Abhishek Gupta, Joel Huegel,
Ozkan Celik, Brandon Chalifoux
Funding Source: Central Texas Veterans Health Care System (CTVHCS) V674P-3804
The Department of Veterans Affairs (DVA) has developed the Mirror-Image Movement Enabler (MIME), a robotic system that assists or resists elbow and shoulder movements in three-dimensional space. In addition to unilateral exercise modes, a novel bimanual mode enables hemiparetic subjects to practice mirror-image upper limb exercises. We have developed hardware and software (RiceWrist) for the addition of forearm pronation/supanation, wrist flexion/extension, and wrist ulnar/radial deviation motions to the MIME system.
|
|
Shared Control for Skill Transfer in Human-Robot Haptic Interactions
Student: Joel Huegel
Funding Source: NSF IIS-0448341 (Robotics)
The primary goal of this research effort is to improve the effectiveness of skill transfer, rehabilitation, and collaboration via haptic devices. To do so, we formulate requirements for shared control between humans and robots in haptic systems designed for training, rehabilitation, and collaboration.
|
|
Force Feedback Nano-Robotic Manipulation System to Enable
Nanomanipulation, Nanoassembly, and Nanofabrication
Student: Abhishek Gupta
Collaborators: Dr. Enrique Barrera, Dr. Fathi Ghorbel
Funding Source: Enriching Rice through Information Technology program funded by the Sheafor/Lindsay Innovation Fund through the Computer and Information Technology Institute at Rice University.
We are developing the Rice Nanomanipulation System using the Zyvex S100 nanomanipulator as the slave manipulator and a Phantom haptic device as the macro-haptic master. This test bed is used to study scaling for bilateral teleoperation with micro- and nano-scale environments, and control strategies for such systems.
|
|
Disturbance Observer Based Force Sensing for
Haptics and Teleoperation
Student: Abhishek Gupta
Funding Source: TBD
Fidelity of a haptic interface is characterized by the level of impedance discrimination that can be detected at the interface. The primary hindrance to achieving high fidelity are the dynamics of the haptic device, as they appear to the user as a part of the simulated environment. Low force output devices can be designed to have low dynamic properties with use of efficient drive trains (cable, harmonic drives) and high strength-to-weight materials. Active control is needed for further reductions in haptic device dynamics. Closed loop force feedback controllers offer a possible solution for reducing device dynamics. However, closed loop force-feedback is limited due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation.
|
 |
Active Haptic Assistance for Training in Virtual Environments
Students: - Yvonne (Yanfang) Li, Volkan Patoglu
Funding Source:ONR YIP - ONR Grant No: N00014-04-1-0517
In this project, we explore a novel shared-control interaction paradigm for haptic interface systems intended to improve the training effectiveness of virtual environments with haptic feedback. Shared control is implemented as a form of haptic assistance in that the haptic device contributes to execution of a dynamic manual target-hitting task via force commands from an automatic controller. Compared to haptic virtual environments which merely display the physics of the virtual system, or to passive methods of haptic assistance for performance enhancement based on virtual fixtures, the shared-control approach offers a method for actively demonstrating desired motions during virtual environment interactions.
|
|
Haptic Grippers for Surgical Teleoperation
Student: Stephanie Kreml, M.D.
Funding: Rice University and Baylor College of Medicine Michael E. DeBakey Department of Surgery
Robot-assisted surgery currently does not provide force feedback to the surgeon, which could potentially result in poor outcomes. We have developed a prototype for surgical teleoperation to investigate methods for accurately displaying forces to the human operator.
|
|
|
Low Cost, Microcontroller Driven Haptic Device
Student: Kevin Sevcik
Abstract TBD |
|
Hands-on Haptics: Critical Infrastructure for Mechanical Engineering Curriculum Enhancement
Funding Source: NSF DUE-0411235
Lab experiments have been developed to augment the material presented in Rice´s Modeling Dynamic Systems course. Simple haptic devices are used as the focal point of a series of laboratory experiments. Through these exercises, students gain a solid understanding of dynamic systems and their behavior in multiple domains. |
|
Virtual Labs
Funding: Rice University
We are developing computer simulations for use as student exercises to illustrate concepts required for various engineering courses. These simulations or Virtual Labs are highly graphical and interactive to help undergraduate students understand basic concepts by graphically solving problems and by visualization of real time parametric changes. Although these Virtual Labs or VLs can be used productively in conjunction with existing laboratory experiments, the more important benefit will be realized in cases of concepts that have no experimental support and in courses that traditionally do not have an associated laboratory course.
related downloads
(XYplotter frequency response virtual lab movie, handout, figure, software, paper)
|
|
Automation for Electron Cryomicroscopy
Students: Abhishek Gupta
We are automating sample preparation procedures for electron cyromicroscopy in order to improve image quality and repeatability (in collaboration with Wah Chiu of the National Center for Macromolecular Imaging at the Baylor College of Medicine). |
|
Previous Projects available here
|
| (back to top) |
|
