Selected Publications

Selected publications that have appeared since 1990 are listed. Earlier publications are also available.

Locomotion Interfaces
  1. Hejrati, B., Crandall, K., Hollerbach, J.M., and Abbott, J.J., ``Kinesthetic force feedback and belt control for the Treadport locomotion interface,'' IEEE Transactions on Haptics, 8, 2015, pp. 176-187.

  2. Kulkarni, S., Fisher, C.J., Lefler, P., Desai, A., Chakravarthy, S., Pardyjak, E., Minor, M.A., and Hollerbach, J.M., ``A full-body steerable wind display for a locomotion interface,'' IEEE Trans. Visualization and Computer Graphics, 21, 2015, pp. 1146-1159.

  3. Kulkarni, S., Chakravarthy, S., Minor, M.A., Pardyjak, E.R., and Hollerbach, J.M., ``Control of a duct flow network for wind display in a virtual environment,'' IEEE/ASME Trans. Mechatronics, 17, 2012, pp. 1021-1030.

  4. Kulkarni, S., Minor, M.A., Deaver, M.W., Pardyjak, E.R., and Hollerbach, J.M., ``Design, sensing, and control of a scaled wind tunnel for atmospheric display,'' IEEE/ASME Trans. Mechatronics, 17, 2012, pp. 635-645.

  5. Hejrati, B., Hull, D., Black, J., Abbott, J.J., and Hollerbach, J.M., ``Investigation of the Treadport for gait rehabilitation of spinal cord injury,'' Engineering in Medicine and Biology Conference, Los Angeles, August, 2012, pp. 4553-4558.

  6. Kulkarni, S., Deaver, M.W., Pardyjak, E.R., Minor, M.A., and Hollerbach, J.M., ``Design elements of a novel atmospheric flow simulator,'' ASME J. Fluids Engineering, 133, 2011, pp. 121402-1-10.

  7. Kulkarni, S., Fisher, C., Pardyjak, E., Minor, M., and Hollerbach, J.M., ``Wind display device for locomotion interface in a virtual environment,'' World Haptics Conference, March 18-20, 2009, pp. 184-189.

  8. Kulkarni, S., Minor, M., Deaver, M., Pardyjak, E., and Hollerbach, J.M., ``Steady headwind display with conditional angular rate-switching control,'' Proc. IEEE Intl. Conf. Robotics and Automation, May 19-23, 2008, Pasadena, CA, pp. 1118-1124.

  9. Kulkarni, S., Minor, M., Pardyjak, E., and Hollerbach, J.M., ``Combined wind speed and angle control in a virtual environment,'' Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS), Sept. 22-26, 2008, Nice, France, pp. 1005-1010.

  10. Grow, D.I., and Hollerbach, J.M., "Harness design and coupling stiffness for two-axis torso haptics," Proc. Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, March 25-26, 2006, Alexandria, VA, pp. 83-88.

  11. Parker, C., Carrier, D., and Hollerbach, J.M., "Validation of torso force feeback slope simulation through an energy cost comparison," World Haptics Conference, Pisa, Italy, March 18-20, 2005, pp. 446-451.

  12. Checcacci, D., Hollerbach, J.M., Hayward, R., and Bergamasco, M., "Design and analysis of a harness for torso force application in locomotion interfaces," EuroHaptics Conf., Dublin, Ireland, July 6-9, 2003, pp. 53-67.

  13. Hollerbach, J.M., Checcacci, D., Noma, H., Yanagida, Y., and Tetsutani, N., "Simulating side slopes on locomotion interfaces using torso forces," Proc. 11th Symposium on Haptic Interfaces for Virtual Environments and Teleoperation, March 22-23, 2003, Los Angeles, pp. 91-98.

  14. Hayward, R., and Hollerbach, J.M., "Implementing virtual stairs on treadmills using torso force feedback," IEEE Intl. Conf. Robotics and Automation, Washington, D.C., May 11-15, 2002, pp. 586-591.

  15. Hollerbach, J.M., "Locomotion interfaces," in: Handbook of Virtual Environments: Design, Implementation, and Applications, K.M. Stanney, ed., Lawrence Erlbaum Associates, Inc., 2002, pp. 239-254.

  16. Vijayakar, A., and Hollerbach, J.M., "Effect of turning strategy on maneuvering ability using the Treadport locomotion interface," Presence: Teleoperators and Virtual Environments, 11 no. 3, 2002, pp. 247-258.

  17. Hollerbach, J.M., Mills, R., Tristano, D., Christensen, R.R., Thompson, W.B., and Xu, Y., "Torso force feedback realistically simulates slope on treadmill-style locomotion interfaces," International Journal of Robotics Research, 20 no. 12, 2001, pp. 939-952.

  18. Christensen, R., Hollerbach, J.M., Xu, Y., and Meek, S., "Inertial force feedback for the Treadport locomotion interface," Presence: Teleoperators and Virtual Environments, 9, 2000, pp. 1-14.

  19. Hollerbach, J.M., Xu, Y., Christensen, R., and Jacobsen, S.C., " Design specifications for the second generation Sarcos Treadport locomotion interface," Haptics Symposium, Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 69-2, Orlando, Nov. 5-10, 2000, pp. 1293-1298.

Haptic Interfaces

Fingernail Force Sensing
  1. Grieve, T., Hollerbach, J.M., and Mascaro, S.A., ``Optimizing fingernail imaging calibration for 3-D force magnitude prediction,'' IEEE Trans. Haptics, 9, 2016, pp. 69-79.

  2. Grieve, T., Hollerbach, J.M., and Mascaro, S.A., ``3-D fingertip touch force prediction using fingernail imaging with automated calibration,'' IEEE Trans. Robotics, 31, 2015, pp. 1116-1129.

  3. Grieve, T., Doyle, C., Hollerbach, J.M., and Mascaro, S.A., ``Calibration of fingernail imaging for multidigit force measurement,'' IEEE Haptics Symposium, Feb. 23-26, 2014, pp. 623-627.

  4. Grieve, T., Hollerbach, J.M., and Mascaro, S.A., ``Fingernail image registration using active appearance models,'' IEEE Intl. Conf. Robotics and Automation, May 6-10, 2013.

  5. Grieve, T., Mascaro, S.A., and Hollerbach, J.M., ``Force prediction by fingernail imaging using active appearance models,'' World Haptics Conference, April 14-17, 2013, pp. 181-186.

  6. Grieve, T., Lincoln, L., Sun, Y., Hollerbach, J.M., and Mascaro, S.A., ``3D force prediction using fingernail imaging with automated calibration,'' Haptics Symposium, March 25-26, 2010, Waltham, MA, pp. 113-120.

  7. Grieve, T., Sun, Y., Hollerbach, J.M., and Mascaro, S.A., ``3-D force control on the human fingerpad using a magnetic levitation device for fingernail image calibration,'' World Haptics Conference, March 18-20, 2009, pp. 411-416.

  8. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., ``Estimation of finger force direction with computer vision,'' IEEE Trans. Robotics, 25, 2009, pp. 1356-1369.

  9. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., " Predicting fingertip forces by imaging coloration changes in the fingernail and surrounding skin," IEEE Trans. Biomedical Engineering, 55, 2008, pp. 2363-2371.

  10. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., "Imaging the finger force direction," IEEE Computer Society Conference on Computer Vision and Pattern Recognition, June 18-23, 2007, Minneapolis, MN.

  11. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., "EigenNail for finger force direction recognition," Proc. IEEE Intl. Conf. Robotics and Automation, April 10-14, 2007, Rome, Italy, pp. 497-502.

  12. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., "Finger force direction recognition by principal component analysis of fingernail coloration pattern," Proc. World Haptics Conference, March 22-24, 2007, Tsukuba, Japan, pp. 243-248.

  13. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., "Features and prediction model for imaging the fingernail to measure fingertip forces," Proc. IEEE Intl. Conf. Robotics and Automation, May 15-19, 2006, Orlando, FL, pp. 2813-2818.

  14. Sun, Y., Hollerbach, J.M., and Mascaro, S.A., "Measuring fingertip forces by imaging the fingernail," Proc. 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 757-762, 2006.

Virtual Prototyping
  1. Colton, M., and Hollerbach, J.M., "Reality-based haptic force models of buttons and switches," Proc. IEEE Intl. Conf. Robotics and Automation, April 10-14, 2007, Rome, Italy, pp. 497-502.

  2. Colton, M., and Hollerbach, J.M., "Haptic models of automotive turn-signal switch: identification and playback results," World Haptics Conference, Tsukuba, Japan, March 22-24, 2007, pp. 243-248.

  3. Colton, M., and Hollerbach, J.M., "Identification of nonlinear passive devices for haptic simulations," World Haptics Conference, Pisa, Italy, March 18-20, 2005, pp. 363-368.

  4. Colton, M., and Hollerbach, J.M., "Automated modeling of nonlinear mechanisms for virtual prototyping," ASME Intl. Design and Engineering Technical Conf., Proc. Biennial Mechanisms and Robotics Conf., Sept. 28-Oct. 2, 2004, Salt Lake City, CD ROM proceedings.

  5. Frey, M., Johnson, D.E., and Hollerbach, J.M., ``Full-arm haptics in an accessibilty task,'' Proc. 16th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Reno, Nevada, March 13-14, 2008, pp. 405-412.

  6. Hollerbach, J.M., Cohen, E., Thompson, W.B., Freier, R., Johnson, D.E., Nahvi, A., Nelson, D.D., and Thompson II, T.V., "Haptic interfacing for virtual prototyping of mechanical CAD designs," ASME Design for Manufacturing Symposium, (Sacramento, CA), Sept. 14-17, 1997, CDROM proceedings.

  7. Maekawa, H., and Hollerbach, J.M., " Haptic display for object grasping and manipulating in virtual environment," Proc. IEEE Intl. Conf. Robotics & Automation, Leuven, Belgium, May 16-21, 1998, pp. 2566-2573.

  8. Nahvi, A., and Hollerbach, J.M., "Display of friction in virtual environments based on human finger pad characteristics," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 64, Anaheim, CA, Nov. 15-20, 1998, pp. 179-184.

  9. Nahvi, A., Nelson, D.D., Hollerbach, J.M., and Johnson, D.E., "Haptic manipulation of virtual mechanisms from mechanical CAD designs," Proc. IEEE Intl. Conf. Robotics & Automation, Leuven, Belgium, May 16-21, 1998, pp. 375-380.

  10. Thompson II, T.V., Nelson, D.D., Cohen, E.C., and Hollerbach, J.M., " Maneuverable NURBS models within a haptic virtual environment" 6th Annual Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, DSC-Vol. 61, (Dallas, TX), Nov. 15-21, 1997, pp. 37-44.

Scientific Visualization
  1. Durbeck, L.J.K., Macias, N.J., Weinstein, D.M., Johnson, C.R., and Hollerbach, J.M., " SCIRun haptic display for scientific visualization," Phantom Users Group Meeting, Dedham, MA, September 1998.

  2. Ikits, M., Brederson, J.D., Hansen, C.D., and Hollerbach, J.M., "An improved calibration framework for electromagnetic tracking devices," Proc. IEEE Virtual Reality, Mar. 13-17, 2001, Yokohama, Japan, pp. 63-70.

Robot and Human Hands
  1. Henri, P.D., Hollerbach, J.M., and Nahvi, A., "An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator," IEEE Trans. Robotics and Automation, 14 no. 4, 1998, pp. 601-611.

  2. Johnston, D., Zhang, P., Hollerbach, J.M., and Jacobsen, S.C., "A full tactile sensing suite for dextrous robot hands and use in contact force control," Proc.IEEE Intl. Conf. Robotics and Automation, Minneapolis, April 22-28, 1996, pp. 3222-3228.

  3. Nahvi, A., Hollerbach, J.M., Xu, Y., and Hunter, I.W., ``An investigation of the transmission system of a tendon driven robot hand'' Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Munich, Germany, Sept. 12-16, 1994, pp. 202-208.

  4. Rohling, R., and Hollerbach, J.M., "Calibrating the human hand for haptic interfaces," Presence: Teleoperators and Virtual Environments, 2, no. 4, 1993, pp. 281-296.

  5. Rohling, R.N., Hollerbach, J.M., and Jacobsen, S.C., "Optimized fingertip mapping: a general algorithm for robotic hand teleoperation," Presence: Teleoperators and Virtual Environments, 2, no. 3, 1993, pp. 203-220.

Human Arm Movement
  1. Bennett, D.J., Hollerbach, J.M., Xu, Y., and Hunter, I.W., "Time-varying dynamics of human elbow joint stiffness during cyclic voluntary movement," Experimental Brain Research, 88, 1992, pp. 433-442.

  2. Xu, Y., and Hollerbach, J.M., "A robust ensemble data method for identification of human joint mechanical properties during movement,," IEEE Trans. Biomedical Engineering, 46, 1999, pp. 409-419.

  3. Xu, Y., and Hollerbach, J.M., "Identification of human joint mechanical properties from single trial data," IEEE Trans. Biomedical Engineering, 45 no. 8, 1998, pp. 1051-1060.

  4. Xu, Y., Hunter, I.W., Hollerbach, J.M., and Bennett, D.J., "An airjet actuator system for identification of the human arm joint mechanical properties," IEEE Trans. Biomedical Engineering, 38, 1991, pp. 1111-1122.

Robot Calibration
  1. Bennett, D.J., and Hollerbach, J.M., "Autonomous calibration of single-loop closed kinematic chains formed by manipulators with passive endpoint constraints," IEEE Trans. Robotics and Automation, 7, 1991, pp. 597-606.

  2. Bennett, D.J., Hollerbach, J.M., and Geiger, D., "Autonomous robot calibration for hand-eye coordination," International Journal of Robotics Research, 10, 1991, pp. 550-559.

  3. Canepa, G., Hollerbach, J.M., and Boelen, A.J.M., "Kinematic calibration by means of a triaxial accelerometer," Proc. IEEE Intl. Conf. Robotics and Automation, San Diego, May 8-13, 1994, pp. 2776-2782.

  4. Giugovaz, L., and Hollerbach, J.M., "Closed-loop kinematic calibration of the Sarcos Dextrous Arm," Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Munich, Germany, Sept. 12-16, 1994, pp. 329-334.

  5. Hollerbach, J.M., Giugovaz, L., Buehler, M., and Xu, Y., "Screw axis measurement for kinematic calibration of the Sarcos Dextrous Arm," Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, July 26-30, 1993, Yokohama, Japan, pp. 1617-1621.

  6. Hollerbach, J.M., and Lokhorst, D.M., "Closed-loop kinematic calibration of the RSI 6-DOF Hand Controller," IEEE Trans. Robotics and Automation, 11, 1995, pp. 352-359.

  7. Hollerbach, J.M., and Nahvi, A., "Robot calibration via the Implicit Loop Method," Experimental Robotics IV---The Fourth International Symposium, (June 30-July 2, 1995, Palo Alto, CA) O. Khatib and J.K. Salisbury, eds., Springer, London, 1997, pp. 274-282.

  8. Hollerbach, J.M., and Wampler, C.W., "The calibration index and taxonomy for robot kinematic calibration methods," International Journal of Robotics Research, 14, 1996, pp. 573-591.

  9. Hollerbach, J.M., and Wampler, C.W., " The calibration index and the role of input noise in robot calibration," Robotics Research: The Seventh International Symposium, G. Giralt and G Hirzinger, eds., Springer-Verlag, London, 1996, pp. 558-568.

  10. Ikits, M., and Hollerbach, J.M., "Kinematic calibration using a plane constraint," Proc. IEEE Intl. Conf. Robotics and Automation, Albuquerque, April 20-25, 1997, pp. 3191-3196.

  11. Ma, D., and Hollerbach, J.M., "Identifying mass parameters for gravity compensation and automatic torque sensor calibration," Proc. IEEE Intl. Conf. Robotics and Automation, Minneapolis, April 22-28, 1996, pp. 661-666.

  12. Ma, D., Hollerbach, J.M., and Xu, Y., "Gravity based autonomous calibration for robot manipulators," Proc. IEEE Intl. Conf. Robotics and Automation, San Diego, May 8-13, 1994, pp. 2763-2768.

  13. Nahvi, A., and Hollerbach, J.M., ``The noise amplification index for optimal pose selection in robot calibration,'' Proc. IEEE Intl. Conf. Robotics and Automation, Minneapolis, April 22-28, 1996, pp. 647-654.

  14. Nahvi, A., Hollerbach, J.M., and Hayward, V., "Calibration of a parallel robot using multiple kinematic closed loops," Proc. IEEE Intl. Conf. Robotics and Automation, San Diego, May 8-13, 1994, pp. 407-412.

  15. Rohling, R., Munger, P., Hollerbach, J.M., and Peters, T., "Comparison of relative accuracy between a mechanical and an optical position tracker for image-guided neurosurgery," J. Image Guided Surgery, 1, 1995, pp. 30-34.

  16. Wampler, C.W., Hollerbach, J.M., and Arai, T., "An Implicit Loop Method for kinematic calibration and its application to closed-chain mechanisms," IEEE Trans. Robotics and Automation, 11, 1995, pp. 710-724.

Robot Design and Control
  1. Aghili, F., Hollerbach, J.M., and Buehler, M., "A modular and high-precision motion control system with an integrated motor," IEEE/ASME Trans. Mechatronics, 12, 2007, pp. 317-329.

  2. Aghili, F., Buehler, M., and Hollerbach, J.M., "Experimental characterization and quadratic programming-based control of PM synchronous motors," IEEE Trans. Control Systems Technology, 11, 2003, pp. 139-146.

  3. Aghili, F., Buehler, M., and Hollerbach, J.M., "Development of a high performance direct-drive joint," Advanced Robotics, 15, 2002, pp. 233-250.

  4. Aghili, F., Buehler, M., and Hollerbach, J.M., "Design of a hollow hexaform torque sensor for robot joints," International Journal of Robotics Research, 20 no. 12, 2001, pp. 967-976.

  5. Aghili, F., Buehler, M., and Hollerbach, J.M., "Motion control systems with H-infinity positive joint torque feedback," IEEE Trans. Control Systems Technology, 9 no. 5, 2001, pp. 685-694.

  6. Aghili, F., Buehler, M., and Hollerbach, J.M., "Optimal commutation laws in the frequency domain for synchronous direct-drive motors," IEEE Trans. Power Electronics, 15 no. 6, 2000, pp. 1056-1064.

  7. Hollerbach, J.M., Lang, J., Vaaler, E., Garabieta, I., Sepe, R., Umans, S., and Hunter, I.W., " The McGill/MIT Direct Drive Motor project," Proc. IEEE Intl. Conf. Robotics and Automation, May 2-7, 1993, Atlanta, pp. 2:611-617.

  8. Xu, Y., Hollerbach, J.M., and Ma, D., "A nonlinear PD controller for force and contact transient control," IEEE Control Systems, 15, no. 1, 1995, pp. 15-21.