Research Areas

Marcia O’Malley’s research addresses issues that arise when humans physically interact with robotic systems. Her expertise includes the design and control of exoskeletons and haptic interfaces, and quantifying the effect of device design on human haptic perception, with a focus on training and rehabilitation in virtual environments.

Industry Impact & Relevance

The MAHI (Mechatronics and Haptic Interfaces) Lab studies physical human-robot interaction. Physical interactions between humans and robots are information rich exchanges that can be leveraged to enhance both human and robot performance. Dr. O’Malley’s research focuses on the design of robotic hardware and control systems for applications that involve collaboration between humans and robots. Examples include skill training in virtual reality; control of remote robots; human-human, human-robot, and human-agent communication; and movement assistance for workforce safety, dexterity enhancement, strength enhancement, and rehabilitation following injury. Robots are increasingly being used in applications that involve close coordination and even physical contact with humans. No longer are robots relegated to roped off spaces on factory floors. Instead, they are in our homes, healthcare facilities, and workplaces. Robots can be used to train workers in virtual reality, using force feedback and haptics to guide the trainee like a virtual coach and objectively assess performance. Wearable robotic systems can augment human dexterity and strength. Pre-programmed robots can be tuned by allowing a human expert to adjust movements during execution. Together, these capabilities can improve workforce efficiency, safety, and productivity.