Peter J. Berkelman

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917 lung collapse and gas insufflation). To determine the effects of lung collapse and insufflation, this port site selection algorithm could be applied to registered sequential images while using varying levels of chest insufflation. Both of these examples (anatomic extremes and chest in-sufflation) represent important elements of future validation work.(More)
This paper reports preliminary experiments with a new robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A recently completed steady-hand robot is reported. A stable force control law is reviewed. Preliminary experiments validate(More)
A high performance six degree-of-freedom magnetic levitation haptic interface device has been integrated with a physically-based dynamic rigid-body simulation to enable realistic user interaction in real time with a 3-D dynamic virtual environment. The user grasps the levitated handle of the device to manipulate a virtual tool in the simulated environment(More)
We describe two experiments using three testbeds (real, virtual and vision-only) for comparison of user performance during 3-D peg-in-hole tasks. Tasks are performed using a six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The experimental design allows a user to experience real and virtual forces using the same device. The first experiment(More)
We describe a n e x p erimental arrangement for comparison of user performance during a real and a virtual 3-D peg-in-hole task. Tasks are p erformed using a unique six-degree-of-freedom 6-DOF magnetic lev-itation haptic device. The arrangement allows a user to exert and experience r e al and virtual forces using the same 6-DOF device. During the virtual(More)
A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of 5 mm and 3.5 degrees(More)