Exoskeletons for Rehabilitation

Jacob received his PhD from the University of Texas at Austin in Mechanical Engineering in 2023. His PhD work focused on modeling and analyzing coordinated bimanual movement from kinematic features of human-centric data, and it was applied to robotic surgery training. Previous to his doctoral studies, Jacob received the B.S. degree in Mechanical Engineering from Missouri University of Science and Technology and the M.S. degree in Mechanical Engineering from the University of Texas at Dallas. His research interests regard the integration of robotics and haptics with human motor control theory for the improvement of augmented human performance and learning. His research has application in several human-operated robotic systems, namely surgical robotics, and he is now extending his work at the University of Heidelberg to exoskeletons designed to assist in rehabilitative efforts.

Research Interests

Publications

1. Jacob R. Boehm, Nicholas P. Fey and Ann Majewicz Fey

   Shaping Human Movement via Bimanually-Dependent Haptic Force Feedback

   IEEE World Haptics Conference, WHC 2023, Delft, Netherlands, July 10-13, 2023, 266–272, IEEE, 2023

   pdf | bib

   @inproceedings{DBLP:conf/haptics/BoehmFF23,
     author = {Boehm, Jacob R. and Fey, Nicholas P. and Fey, Ann Majewicz},
     title = {Shaping Human Movement via Bimanually-Dependent Haptic Force Feedback},
     booktitle = {{IEEE} World Haptics Conference, {WHC} 2023, Delft, Netherlands, July
                       10-13, 2023},
     pages = {266--272},
     publisher = {{IEEE}},
     year = {2023},
     url = {https://doi.org/10.1109/WHC56415.2023.10224475}
     doi = {10.1109/WHC56415.2023.10224475},
   }
   

2. Lourdes R. Reyes, Phillip Gavino, Yi Zheng, Jacob R. Boehm, Mark R. Yeatman, Shruti Hegde, Caroline Park, Edoardo Battaglia and Ann Majewicz Fey

   Towards Telementoring for Needle Insertion: Effects of Haptic and Visual Feedback on Mentor Perception of Trainee Forces

   2022 IEEE Haptics Symposium, HAPTICS 2022, Santa Barbara, CA, USA, March 21-24, 2022, 1–7, IEEE, 2022

   pdf | bib

   @inproceedings{DBLP:conf/haptics/ReyesGZBYHPBF22,
     author = {Reyes, Lourdes R. and Gavino, Phillip and Zheng, Yi and Boehm, Jacob R. and Yeatman, Mark R. and Hegde, Shruti and Park, Caroline and Battaglia, Edoardo and Fey, Ann Majewicz},
     title = {Towards Telementoring for Needle Insertion: Effects of Haptic and
                       Visual Feedback on Mentor Perception of Trainee Forces},
     booktitle = {2022 {IEEE} Haptics Symposium, {HAPTICS} 2022, Santa Barbara, CA,
                       USA, March 21-24, 2022},
     pages = {1--7},
     publisher = {{IEEE}},
     year = {2022},
     url = {https://doi.org/10.1109/HAPTICS52432.2022.9765597}
     doi = {10.1109/HAPTICS52432.2022.9765597},
   }
   

3. Jacob R. Boehm, Nicholas P. Fey and Ann Majewicz Fey

   Effects of Scaling and Sequence on Performance of Dynamic Bimanual Path Following Tasks

   J. Medical Robotics Res., 5(3-4), 2042001:1–2042001:11, 2021

   pdf | bib

   @article{DBLP:journals/jmrr/BoehmFF21,
     author = {Boehm, Jacob R. and Fey, Nicholas P. and Fey, Ann Majewicz},
     title = {Effects of Scaling and Sequence on Performance of Dynamic Bimanual
                       Path Following Tasks},
     journal = {J. Medical Robotics Res.},
     volume = {5},
     number = {3-4},
     pages = {2042001:1--2042001:11},
     year = {2021},
     url = {https://doi.org/10.1142/S2424905X20420015}
     doi = {10.1142/S2424905X20420015},
   }
   

4. Kaitlin G. Rabe, Mohammad Hassan Jahanandish, Jacob R. Boehm, Ann Majewicz Fey, Kenneth Hoyt and Nicholas P. Fey

   Ultrasound Sensing Can Improve Continuous Classification of Discrete Ambulation Modes Compared to Surface Electromyography

   IEEE Trans. Biomed. Eng., 68(4), 1379–1388, 2021

   pdf | bib

   @article{DBLP:journals/tbe/RabeJBFHF21,
     author = {Rabe, Kaitlin G. and Jahanandish, Mohammad Hassan and Boehm, Jacob R. and Fey, Ann Majewicz and Hoyt, Kenneth and Fey, Nicholas P.},
     title = {Ultrasound Sensing Can Improve Continuous Classification of Discrete
                       Ambulation Modes Compared to Surface Electromyography},
     journal = {{IEEE} Trans. Biomed. Eng.},
     volume = {68},
     number = {4},
     pages = {1379--1388},
     year = {2021},
     url = {https://doi.org/10.1109/TBME.2020.3032077}
     doi = {10.1109/TBME.2020.3032077},
   }
   

5. Jacob R. Boehm, Nicholas P. Fey and Ann Majewicz Fey

   Online Recognition of Bimanual Coordination Provides Important Context for Movement Data in Bimanual Teleoperated Robots

   IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, 6248–6255, IEEE, 2021

   pdf | bib

   @inproceedings{DBLP:conf/iros/BoehmFF21,
     author = {Boehm, Jacob R. and Fey, Nicholas P. and Fey, Ann Majewicz},
     title = {Online Recognition of Bimanual Coordination Provides Important Context
                       for Movement Data in Bimanual Teleoperated Robots},
     booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems,
                       {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021},
     pages = {6248--6255},
     publisher = {{IEEE}},
     year = {2021},
     url = {https://doi.org/10.1109/IROS51168.2021.9636272}
     doi = {10.1109/IROS51168.2021.9636272},
   }
   

6. Jacob R. Boehm, Nicholas P. Fey and Ann Majewicz

   Inherent Kinematic Features of Dynamic Bimanual Path Following Tasks

   IEEE Trans. Hum. Mach. Syst., 50(6), 613–622, 2020

   pdf | bib

   @article{DBLP:journals/thms/BoehmFM20,
     author = {Boehm, Jacob R. and Fey, Nicholas P. and Majewicz, Ann},
     title = {Inherent Kinematic Features of Dynamic Bimanual Path Following Tasks},
     journal = {{IEEE} Trans. Hum. Mach. Syst.},
     volume = {50},
     number = {6},
     pages = {613--622},
     year = {2020},
     url = {https://doi.org/10.1109/THMS.2020.3016084}
     doi = {10.1109/THMS.2020.3016084},
   }
   

Teaching

Consultation Hours