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Magnetic Levitation Haptic Interfaces This project is no longer active. Head: Ralph Hollis Contact: Ralph Hollis (rhollis@cs.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated lab/group: Microdynamic Systems Laboratory For more information, see this project's homepage.

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Project Description

This project advances knowledge about how to give computer users convincingly real haptic (sense of touch) interaction with computers. While there has been some progress in this area, chiefly through the use of back-driven robotic-like manipulators, this is a substantially new approach which promises a qualitative leap in improvement of such capabilities: A user interacts with the computer by grasping a rigid tool whose behavioral description is computed, employing this tool to interact with computed environments which are semantically meaningful in terms of the application. At the same time, the environment exerts realistic forces and torques on the tool's handle which are felt by the user. The vision is one of providing the computer user immediate, high-fidelity, convincingly real interaction with computed environments.

Past members

	Name	Title	Email Address
	Peter Berkelman	PhD Student, RI
	Ralph Hollis	Research Professor	rhollis@cs.cmu.edu
	Roberta Klatzky	Professor	klatzky@cmu.edu

Publications

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

• Design and operation of a force-reflecting magnetic levitation coarse-fine teleoperation system
  B. Unger and R. Hollis
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 4, May, 2004, pp. 4147 - 4152. [Abstract]
  Download: pdf [458 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

• 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

• What you can see is what you can feel. - Development of a visual/haptic interface to virtual environment
  Y. Yokokohji, R. Hollis, and T. Kanade
  Proceedings of the IEEE Virtual Reality Annual International Symposium 1996 (VRAIS '96), April, 1996, pp. 46-53. [Abstract]
  Download: pdf [248 KB], ps.gz [551 KB], ps.z [666 KB] copyrighted

• Interactive simulation of solid rigid bodies
  D. Baraff
  IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75.

• Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation
  R. Hollis and S.E. Salcudean
  Int'l Symposium for Robotics Research, October, 1993.
  Download: pdf [489 KB], ps.gz [490 KB] copyrighted