PUBLICATIONS by R. BRENT GILLESPIE brent.gillespie


[Journal] [Conference] [Pending] [Book Chapters] [Reports] [Dissertation]


Journal Publications

 

19.   Internal Model of Object Dynamics Facilitates Generalization of Motor Control from Minimal Experience
        Felix Huang, Arthur D. Kuo, and R. Brent Gillespie
        submitted to Journal of Neuroscience, February 2007.

18.   Design Tradeoffs within the Position-Position Haptic Interface System
        Paul G. Griffiths, R. Brent Gillespie, and Jim S. Freudenberg
        IEEE Transactions on Robotics, in print.

17.   Compliant Mechanisms for Haptic Interaction: Design and Performance
        R. Brent Gillespie, Taeyoung Shin, Felix Huang, and Brian Trease
        IEEE/ASME Transactions on Mechatronics, in print.


16.   A Closest Point Algorithm for Parametric Surfaces with Global Uniform Asymptotic Stability
        Volkan Patoglu and R. Brent Gillespie
        IEEE Transactions on Robotics, accepted.  


15.   Haptic Interaction for Hands-On Learning in System Dynamics and Controls
        R. Brent Gillespie and Allison. M. Okamura
        Control Systems Magazine, accepted for publication.


14.   Symmetry-Based Resistance as a Novel Means of Lower Limb Rehabilitation
        Ann M. Simon, R. Brent Gillespie, and Daniel P. Ferris
        Journal of Biomechanics, Vol. 40, Issue 6, 2007, pp. 1286-1292.


13.   Visuo-Haptic Integration Improves Continuous Control of a Resonant Mechanical System
        Felix Huang, R. Brent Gillespie, Arthur D. Kuo
        Journal of Motor Behavior, Vol. 39, No. 3, May 2007, pp. 179-193.


12.   Cancellation of Biodynamic Feedthrough in Vehicle Control Tasks

        Szabolcs Sövényi and R. Brent Gillespie

       IEEE Transactions on Control Systems Technology, Vol. 15,  No. 6, Nov. 2007, pp. 1018-1029.


11.   Head Movement Control in Visually Guided Tasks: Postural Goal and Optimality
        K. Han Kim, R. Brent Gillespie and Bernard J. Martin
       Computers in Biology and Medicine, in print


10.   Model-Based Cancellation of Biodynamic Feedthrough Using a Force-Reflecting Joystick
        R. Brent Gillespie and Szabolcs Sövényi
        ASME Journal of Dynamic Systems, Measurement, and Control, vol 128 no. 2, March 2006, pp. 94-103.


9.     Human Adaptation to Interaction Forces During Learning a Visuo-Motor Task
        Felix Huang, R. Brent Gillespie, and Arthur D. Kuo
        IEEE Transactions on Neural Systems and Rehabilitation Engineering,  vol. 14  issue 3, September 2006, pp. 390-397.


8.     On-line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems
        R. Brent Gillespie, Volkan Patoglu, Eric Westervelt, and Islam Hussein
        Multibody System Dynamics, Vol. 14, No. 3-4, November 2005, pp. 387 – 417.


7.     Sharing Control Between Human and Automation Using Haptic Interface: Primary and Secondary Task  Performance Benefits
        Paul Griffiths and R. Brent Gillespie
       Human Factors: The Journal of the Human Factors and Ergonomics Society, Vol. 47, No. 3, Fall 2005, pp. 574-590.


6.     Feedback Stabilized Minimum Distance Maintenance for Convex Parametric Surfaces
        Volkan Patoglu and R. Brent Gillespie
       Transactions on Robotics, Vol. 21, No. 5, October 2005, pp. 1009-1016.


5.    Modeling the Coordinated Movements of the Head and Hand Using Differential Inverse Kinematics
        K. Han Kim, R. Brent Gillespie and Bernard J. Martin
       SAE 2004 Transactions Journal of Aerospace, vol. 1, 2004 pp. 180-185.   


4.     Kane’s Equations for Haptic Display of Multibody Systems
        R. Brent Gillespie
        Haptics-e, The Electronic Journal for Haptics Research, Vol 2., No. 3.,  18 August 2003, http://www.haptics-e.org


3.     Kinematic Creep in a Continuously Variable Transmission: Traction Drive Mechanics for Cobots
        R. Brent Gillespie, Carl A. Moore, J. Edward Colgate, and Michael Peshkin
        ASME Journal of Mechanical Design, Vol. 124, No. 4, pp. 713-722, December 2002.


2.     A General Framework for Cobot Control
        R. Brent Gillespie, J. Edward Colgate, and Michael Peshkin,
        IEEE Transactions on Robotics and Automation, Vol. 17, No. 4,  pp. 391-401, August 2001. 


1.     Cobot Architecture
        Michael Peshkin, Carl A. Moore, R. Brent Gillespie and J. Edward Colgate
        IEEE Transactions on Robotics and Automation, Vol. 17, No. 4,  pp. 377-390, August 2001.

Conference Publications

31.    Design Tradeoffs within the Position-Position Haptic Interface System
         Paul G. Griffiths, R. Brent Gillespie, and James S. Freudenberg
         submitted to Robotics: Science and Systems, to be held in Atlanta, GA, June 27th-30th, 2007.

30.   Performance/Stability Robustness Tradeoffs Induced by the Two-Port Virtual Coupler
        Paul G. Griffiths, R. Brent Gillespie, and James S. Freudenberg
        Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Washington DC, March 2006.

29.   A Driving Simulator for Teaching Embedded Automotive Control Applications
        Paul Griffiths and R. B. Gillespie
        American Control Conference, Portland OR, June 2005.

28.   A Dual Input Device for Self-Assisted Control of a Virtual Pendulum
        Kari A. Danek, R. Brent Gillespie, J. Wayne Aldridge, Daniel P. Ferris, J.W. Grizzle
        International Conference on Rehabilitation Robotics, Chicago IL June 2005.

27.   Investigation of Motor Adaptation to Movement Versus Object Parameters
        Felix Huang, R. Brent Gillespie, and Arthur D. Kuo
        International Conference on Rehabilitation Robotics, Chicago IL June 2005.

26.   A Closest Point Algorithm for Parametric Surfaces with Global Uniform Asymptotic Stability
        V. Patoglu and R. B. Gillespie
        World Haptics Symposium, Pisa Italy, March 2005

25.   Shared Control Between Human and Machine: Haptic Display of Automation During Manual Control of Vehicle Heading
        P. Griffiths, and R. B. Gillespie
        12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 358-366, March 2004.

24.   Haptic Rendering of Parametric Surfaces Using a Feedback Stabilized Extremal Tracking Algorithm
        V. Patoglu and B. Gillespie
        12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems,
        pp. 200-207, March 2004.

23.   Haptic Feedback Improves Manual Excitation of a Sprung Mass
        F. Huang, R. B. Gillespie, and A. Kuo
        12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 200-207, March 2004. 

22.   Modeling the Coordinated Movements of the Head and Hand Based on Optimization-Based
        Differential Inverse Kinematics
        K. H. Kim, R. B. Gillespie, and B. J. Martin
        Proceedings of SAE Digital Human Modeling for Design and Engineering Conference, Rochester, MI. June 15-17,
        SAE Technical Papers Series, 2004-01-2178 (Warrendale, PA: Society of Automotive Engineers). 2004.

21.   Modeling Coordinated Hand-Head Movements Using Optimization-Based Differential Inverse Kinematics
        K. H. Kim, R. B. Gillespie, and B. J. Martin
        Program No. 597.17. Washington, DC: Society for Neuroscience, 2003.

20.   An Investigation of Vibration Feedthrough and Feedthrough Cancellation in Joystick Controlled Vehicles
        S. Sövényi and R. B. Gillespie
        American Society of Mechanical Engineers, Dynamic Systems and Control Division DSC, v 72, n 1, p 569-576,
        Washington D.C., November 16-22, 2003.

19.   Haptic Feedback Improves Upper Extremity Control of Resonance
        F. Huang, R. B. Gillespie, and A. Kuo
        American Society of Biomechanics Annual Meeting, Toledo, OH September 25-27, 2003.

18.   Haptic Interface for Hands-On Instruction in System Dynamics and Embedded Control
        R. B. Gillespie, M. Hoffman, and J. Freudenberg
        IEEE Virtual Reality Conference, Los Angeles, CA, March 22-23, 2003.

17.   The Haptic Probe: Mechanized Haptic Exploration and Automated Modeling
        V. Patoglu and R. B. Gillespie
        IEEE Virtual Reality Conference, Los Angeles, CA, March 22-23, 2003.

16.   Toward Improved CVTs: Theoretical and Experimental Results
        S. Kim, M. Peshkin, M. Brokowski J.E. Colgate, and R. B. Gillespie
        American Society of Mechanical Engineers, Dynamic Systems and Control Division DSC, v 71, pp. 855-865,
        New Orleans, LA, November 17-22, 2002

15.   An Assistive Cobot for Aid in Self-Care Activities
        L. Jabre, R. McGrew, and R. B. Gillespie
        Invited session on Haptic Interfaces, Lucy Pao, organizer, 2nd  IFAC Conference on Mechatronic Systems,
        Berkeley, CA, December, 2002. 

14.   Haptic Feedback and Human Performance in a Dynamic Task
        F. Huang, R. B. Gillespie, and A. Kuo
        IEEE Virtual Reality Conference, Orlando, FL, March 24-28, 2002.  

13.   Extremal Distance Maintenance for Parametric Curves and Surfaces
        V. Patoglu and R. B. Gillespie
        Proceedings - IEEE International Conference on Robotics and Automation, v 3, pp. 2817-2823,
        Washington D.C., May 11-15, 2002.

12.   Shared Control Between Human and Machine
        M. Steele and R. B. Gillespie
        Human Factors and Ergonomics Society 45th Annual Meeting, Minneapolis, MN, October 2002.

11.   Cancellation of Feedthrough Dynamics Using a Force-Reflecting Joystick
        R. B. Gillespie, P. Tang, and C. Hasser
        ASME International Mechanical Engineering Conference and Exposition, Nashville, TN, November 1999.

10.   The Virtual Teacher
        R. B. Gillespie, S. O'Modhrain, P. Tang, C. Pham, and D. Zaretsky
        ASME International Mechanical Engineering Conference and Exposition, Anaheim, CA, November 1998

9.     A Survey of Multibody Dynamics for Virtual Environments
        R. B. Gillespie and J. E. Colgate
        Proceedings of the ASME International Mechanical Engineering Conference and Exposition, DSC-Vol. 61,
        Dallas, TX. Nov 15-20, 1997. pp. 45-54.

8.     Stable User-Specific Rendering of the Virtual Wall
        R. B. Gillespie and M. Cutkosky
        Proceedings of the ASME International Mechanical Engineering Conference and Exposition, DSC-Vol. 58,
        Atlanta, GA, Nov 17-22, 1996. pp. 397-406.

7.     The Moose: A Haptic User Interface for Blind Persons
        S. O'Modhrain and R. B. Gillespie
        Proceedings of the Third WWW6 Conference, Santa Clara, CA, April 1997.

6.     Examining the Influence of Audio and Visual Stimuli on a Haptic Display
        N. Miner, R. B. Gillespie, and T. Caudell
        Proceedings of the 1996 IMAGE Conference, Phoenix, AZ, June 23-25, 1996.

5.     Design of High-fidelity Haptic Display for One-dimensional Force Reflection Applications
        R. B. Gillespie
        Telemanipulator and Telepresence Technology, Proceedings of the International Society of Optical Engineers (SPIE)
        East Coast Conference, Boston, MA, Oct 31-Nov 1, 1994, pp. 44-54.

4.     The Virtual Piano Action: Design and Implementation
        R. B. Gillespie
        Proceedings of the International Computer Music Conference, Aahus, Denmark, Sept 12-17, 1994. pp. 167-170.

3.     Interactive Dynamics with Haptic Display
        R. B. Gillespie and M. Cutkosky
        Advances in Robotics, Mechatronics and Haptic Interfaces, DSC-Vol. 49,
        Proceedings of the ASME Winter Annual     Meeting,
        New Orleans,  LA, Nov 28-Dec 3, 1993. pp. 65-72.

2.     The Touchback Keyboard
        R. B. Gillespie
        Proceedings of the International Computer Music Conference, San Jose, CA, Oct 14-18, 1992. pp. 447-448.

1.     Dynamical Modeling of the Grand Piano Action
        R. B. Gillespie and M. Cutkosky
        Proceedings of the International Computer Music Conference, San Jose, CA Oct 14-18, 1992, pp. 77-80.

Pending Journal Publications/ In Preparation

Felix Huang, R. Brent Gillespie, and Arthur D. Kuo, “Wiggle Before You Whack: The Role of Preparatory Movements in Motor Performance” in preparation for Nature.

 

Felix Huang, R. Brent Gillespie, and Arthur D. Kuo, “Calibration of Object Central Representations in Ballistic Arm Control,” in preparation for Journal of Motor Behavior.

     Book Chapters

1.                  R. B. Gillespie, “Haptic Interface to Virtual Environments,” CRC Handbook on Robotics and Automation, Tom Kurfess (ed.) CRC Press, 2004
 

2.                  R. B. Gillespie,  “Introduction to Haptics,” Music, Cognition, and Computerized Sound: An Introduction to Psychoacoustics, Perry R. Cook (ed.) MIT Press, 1999.

3.                  R. B. Gillespie,   “Haptics in Manipulation,” Music, Cognition, and Computerized Sound: An Introduction to Psychoacoustics, Perry R. Cook (ed.) MIT Press, 1999.

Technical Reports

1.      R. B. Gillespie and S. O'Modhrain. "The Moose: A Haptic User Interface for Blind Persons with Application to the Digital Sound Studio," Stanford University Department of Music Technical Report STAN-M-95, October, 1995.

Dissertation

        Haptic Display of Systems with Changing Kinematic Constraints: The Virtual Piano Action
        Stanford University, January 1996

 

Note on Copyright

My publications are copyrighted either by the journal in which they appear or by myself. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the publisher and from the authors. The electronic versions of these papers may differ somewhat from the final published versions. I am distributing the electronic files so that readers can preview the papers. If you find the paper of potential interest, or if you plan to cite the work, then please obtain the original from the journal in which it appears.

 

updated 7 March,  2007
Brent Gillespie brentg@umich.edu