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Peter Berkelman
PhD Student

No longer a member of RI.

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I'm developing a magnetic levitation haptic interface: A levitated handle emulates the physical behavior of a rigid tool in a realtime simulation environment, giving the user high-fidelity physical interaction with a virtual environment. Currently I'm working on control software and integrating my new device with realtime simulation environments.

human-computer interaction and sensors

• Microdynamic Systems Laboratory - Exploring the limits of robotics in terms of speed, precision, dexterity and miniaturization.

• Magnetic Levitation Haptic Interfaces - Interacting with 3-dimensional physically-based virtual environments using a six-degree-of-freedom magnetic levitation haptic device.
• Psychophysics of Haptic Interaction - Quantitative comparisons of human subjects performing peg-in-hole experiments with real, virtual, and real-remote haptic environments

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, S. Lederman, R. Klatzky, and R. Hollis
  Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), March, 2002, pp. 263 - 270. [Abstract]
  Download: pdf [408 KB] copyrighted

• Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, R. Klatzky, and R. Hollis
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 3, September, 2001, pp. 1751 - 1756. [Abstract]
  Download: pdf [383 KB] copyrighted

• Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device
  P. Berkelman, R. Hollis, and D. Baraff
  IEEE International Conference on Robotics and Automation, May, 1999, pp. 3261 - 3266.
  Download: pdf [480 KB], ps.gz [748 KB] copyrighted

• Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation
  P. Berkelman
  doctoral dissertation, tech. report CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999.
  Download: pdf [4344 KB], ps.gz [7947 KB] copyrighted

• Dynamic performance of a hemispherical magnetic levitation haptic interface device
  P. Berkelman and R. Hollis
  SPIE Int'l Symposium on Intelligent Systems and Intelligent Manufacturing, Vol. 3602, September, 1997.
  Download: pdf [518 KB], ps.gz [1520 KB] copyrighted

• Magnetic levitation haptic interfaces will impact training and design
  P. Berkelman and R. Hollis
  SPIE OE Reports, No. 165, September, 1997.

• Dynamic Performance of a Magnetic Levitation Haptic Device
  P. Berkelman and R. Hollis
  Proceedings of SPIE Telemanipulation & Telepresence, 1997.
  Download: pdf [518 KB], ps.gz [1520 KB] copyrighted

• Design of a Hemispherical Magnetic Levitation Haptic Interface Device
  P. Berkelman, Z. Butler, and R. Hollis
  Proceedings of the ASME IMECE Haptic Symposium, Vol. 58, November, 1996, pp. 483 - 488.
  Download: pdf [271 KB], ps.gz [248 KB] copyrighted

• Design of a Day / Night Lunar Rover
  P. Berkelman, M. Chen, J. Easudes, J. Hancock, M.C. Martin, A. Mor, E. Rollins, A. Sharf, J. Silberman, T. Warren, and D. Bapna
  tech. report CMU-RI-TR-95-24, Robotics Institute, Carnegie Mellon University, June, 1995. [Abstract]
  Download: pdf [1108 KB], ps.gz [1843 KB] copyrighted

• Interacting with Virtual Environments using a Magnetic Levitation Haptic Interface
  P. Berkelman, R. Hollis, and S.E. Salcudean
  Proceedings of IROS, 1995.
  Download: pdf [614 KB], ps.gz [448 KB] copyrighted