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.
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.
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.
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
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,
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.
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,
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,
17. The
Haptic Probe: Mechanized Haptic Exploration and Automated Modeling
V. Patoglu and R. B.
Gillespie
IEEE Virtual Reality
Conference,
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,
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,
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,
10. The Virtual Teacher
R. B. Gillespie, S.
O'Modhrain, P.
Tang, C. Pham, and D. Zaretsky
ASME International
Mechanical
Engineering Conference and Exposition,
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,
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,
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,
4. The
Virtual
Piano Action: Design and Implementation
R. B. Gillespie
Proceedings of the
International
Computer Music Conference,
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,
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.
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.
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.
Haptic
Display of Systems with Changing Kinematic Constraints: The Virtual
Piano
Action
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