- Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone
Bertram Unger, Alex Nicolaidis, Peter Berkelman, A. Thompson, S. Lederman, Roberta Klatzky, and Ralph Hollis
Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), March, 2002
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pdf (408KB) | Copyrighted
- Comparison of 3D Haptic Peg-In-Hole Tasks
in Real and Virtual Environments
Bertram Unger, Alex Nicolaidis, Peter Berkelman, A. Thompson, Roberta Klatzky, and Ralph Hollis
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), September, 2001, pp. 1751 - 1756.
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pdf (383KB) | Copyrighted
- Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations
Peter Berkelman and Ralph Hollis
The International Journal of Robotics Research, Vol. 19, No. 7, July, 2000, pp. 644 - 667.
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pdf (3MB) | Copyrighted
- Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device
Peter Berkelman, Ralph Hollis, and David Baraff
IEEE International Conference on Robotics and Automation, May, 1999, pp. 3261 - 3266.
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pdf (480KB) | Copyrighted
- Tool-Based Haptic Interaction with Dynamic Physical Simulations using Lorentz Magnetic Levitation
Peter Berkelman
doctoral dissertation, tech. report CMU-RI-TR-99-11, Robotics Institute, Carnegie Mellon University, May, 1999
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pdf (4MB) | Copyrighted
- Dynamic performance of a hemispherical magnetic levitation haptic interface device
Peter Berkelman and Ralph Hollis
SPIE Int'l Symposium on Intelligent Systems and Intelligent
Manufacturing, September, 1997.
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pdf (519KB) | Copyrighted
- Magnetic levitation haptic interfaces will impact training and design
Peter Berkelman and Ralph Hollis
SPIE OE Reports, September, 1997
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- Dynamic Performance of a Magnetic Levitation Haptic Device
Peter Berkelman and Ralph Hollis
Proceedings of SPIE Telemanipulation & Telepresence, 1997.
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pdf (519KB) | Copyrighted
- Design of a Hemispherical Magnetic Levitation Haptic Interface Device
Peter Berkelman, Zack Butler, and Ralph Hollis
Proceedings of the ASME IMECE Haptic Symposium, November, 1996, pp. 483 - 488.
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pdf (272KB) | Copyrighted
- Design of a Day / Night Lunar Rover
Peter Berkelman, Mei Chen, Jesse Easudes, John Hancock, Martin C. Martin, Andrew Mor, Eric Rollins, Alex Sharf, Jack Silberman, Tom Warren, and Deepak Bapna
tech. report CMU-RI-TR-95-24, Robotics Institute, Carnegie Mellon University, June, 1995
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pdf (1MB) | Copyrighted
- Interacting with Virtual Environments using a Magnetic Levitation Haptic Interface
Peter Berkelman, Ralph Hollis, and S. E. Salcudean
Proceedings of IROS, 1995.
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pdf (614KB) | Copyrighted
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