Welcome to the online haptics library! Below is a listing of haptics papers and dissertations on the web, alphabetized by author. If you select a particular paper, you will see the abstract and/or table of contents. From there, you will see links to postscript, PDF, or HTML versions of the full paper/dissertation. If you haven't already, please read our disclaimer. Is your haptics-related publication online? If it is, we'd like to add it to our library. All we need is your permission, a complete reference, and the abstract in this format. The library is by far the most active part of our site, and is intended to be a useful resource for the entire community. You can also search the haptics library.

Matt Arcy

Matt Arcy

Design of a Single Degree of Freedom Mechancal Breadboard Haptic Display (MS thesis)

Richard Adams

Richard Adams, Manuel Moreyra, and Blake Hannaford

Stability and Performance of Haptic Displays: Theory and Experiments

Richard Adams and Blake Hannaford

A Two-Port Framework for the Design of Unconditionally Stable Haptic Interfaces

Greg Bachman

Gregory W. Bachman

An Experimental Investigation of the Cobot Wheel Contact Patch (Master's thesis)

J. Michael Brown

J. Michael Brown

Passive Implementation of Multibody Simulations for Haptic Display (dissertation)

J. Michael Brown and J. Edward Colgate

Minimum Mass for Haptic Display Simulations

J. Michael Brown and J. Edward Colgate

Passive Implementation of Multibody Simulations for Haptic Display

J. Michael Brown and J. Edward Colgate

Physics-based Approach to Haptic Display

J. Michael Brown

A Theoretical and Experimental Investigation into the Factors Affecting the Z-width of a Haptic Display (MS thesis)

David T. Burns

David T. Burns

Design of a Six Degree of Freedom Haptic Interface

Pietro Buttolo

P. Buttolo

Characterization of Human Pen Grasp with Haptic Displays (dissertation)

P. Buttolo, P. Braathen, and B. Hannaford

Sliding Control of Force Reflecting Teleoperation: Preliminary Studies

P. Buttolo and B. Hannaford

Pen Based Force Display for Precision Manipulation of Virtual Environments

P. Buttolo and B. Hannaford

Advantages of Actuation Redundancy for the Design of Haptic Displays

P. Buttolo, J. Hewitt, R. Oboe, and B. Hannaford

Force Feedback in Virtual and Shared Environments

P. Buttolo, D.Y. Hwang, and B. Hannaford

Hard Disk Actuators for Mini-Teleoperation

P. Buttolo, D. Kung, and B. Hannaford

Manipulation in Real, Virtual, and Remote Environments

P. Buttolo, R. Oboe, B. Hannaford, and W. McNeely

Force Feedback in Shared Virtual Simulations

Beeling Chang

Beeling Chang and J. Edward Colgate

Real-time Impulse-based Simulation of Rigid Body Systems for Haptic Display

J. Cohen

J. Cohen, M. Lin, D. Manocha, and K. Ponamgi

I-COLLIDE: An Interactive and Exact Collision Detection System for Large-Scaled Environments

J. Edward Colgate

J. Edward Colgate and J. Michael Brown

Factors Affecting the Z-width of a Haptic Display

J. Edward Colgate, Michael A. Peshkin, and Witaya Wannasuphoprasit

Nonholonomic Haptic Display

J. Edward Colgate and Gerd Schenkel

Passivity of a Class of Sampled-data Systems

J. Edward Colgate, Michael C. Stanley and J. Michael Brown

Issues in the Haptic Display of Tool Use

J. Edward Colgate, Witaya Wannasuphoprasit, and Michael A. Peshkin

Cobots: Robots for Collaboration with Human Operators

Randy E. Ellis

R. E. Ellis, O. M. Ismaeil, and M. Lipsett

Design and evaluation of a high-performance haptic interface

R. E. Ellis, N. Sarkar, and M. A. Jenkins

Numerical methods for the haptic presentation of contact: Theory, simulations, and experiments

Jason Fritz

J. Fritz

Rendering Techniques for Scientiic Visualization (Master's thesis)

J. Fritz and K. Barner

Design of a haptic graphing method

J. Fritz and K. Barner

Stochastic models for haptic texture

R. Brent Gillespie

R. Brent Gillespie and J. Edward Colgate

A Survey of Multibody Dynamics for Virtual Environments

R. Brent Gillespie and M. R. Cutkosky

Stable User-Specific Haptic Rendering of the Virtual Wall

Kenneth W. Grace

Kenneth W. Grace

Kinematic Design of an Ophthalmic Surgery Robot and Feature Extracting Bilateral Manipulation (dissertation)

Blake Hannaford

B. Hannaford, A.K. Bejczy, P. Buttolo, M. Moreyra, and S. Venema

Mini-Teleoperation Technology for Space Research

B. Hannaford, S. Venema, and A.K. Bejczy

MICROTREX: Micro-Telerobotic Flight Experiment

John M. Hollerbach

J.M. Hollerbach, E. Cohen, W.B. Thompson, R. Freier, D.E. Johnson, A. Nahvi, D.D. Nelson, T.V. Thompson II, and S.C. Jacobsen

Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

Dal-Yeon Hwang

D.Y. Hwang and B. Hannaford

Teleoperation Performance with a Kinematically Redundant Slave Robot

David E. Johnson

David E. Johnson and Elaine Cohen

Minimum Distance Queries for Polygonal and Parametric Models

Chris L. Kapuscinski

Chris L. Kapuscinski

Motor Selection and Damper Design for a Six Degree of Freedom Haptic Display

Dale A. Lawrence

D. A. Lawrence, L. Y. Pao, M. A. Salada, and A. M. Dougherty

Quantitative Experimental Analysis of Transparency and Stability in Haptic Interfaces

Ming C. Lin

M. Lin and S. Gottschalk

Collision Detection between Geometric Models: A Survey

William R. Mark

William R. Mark, Scott C. Randolph, Mark Finch, James M. Van Verth, and Russell M. Taylor II

Adding Force Feedback to Graphics Systems: Issues and Solutions

Thomas H. Massie

Thomas H. Massie and J. Kenneth Salisburg

The Phantom Haptic Interface: A Device for Probing Virtual Objects

Paul A. Millman

Paul A. Millman

Haptic Perception of Localized Features (dissertation)

Paul A. Millman and J. Edward Colgate

Effects of Non-Uniform Environment Damping on Haptic Perception and Performance of Aimed Movements

Aaron Mills

Mills, Aaron L.

An Analysis of Position and Velocity Sensor Systems for a 3-Degree-of-Freedom Planar Collaborative Robot (Master's thesis)

Brian V. Mirtich

Brian V. Mirtich

Impulse-based Dynamic Simulation of Rigid Body Systems (dissertation)

Carl A. Moore

Carl A. Moore

Contiuously Variable Transmission for Serial Link Cobot Architectures (Master's thesis)

Jong-Shi Pang

Jong-Shi Pang and Jeff Trinkle

Complementarity Formulations and Existence of Solutions of Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction

Jong-Shi Pang and Jeff Trinkle

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts

David E. Stewart

D.E. Stewart and J.C. Trinkle

Dynamics, Friction, and Complementarity Problems

D.E. Stewart and J.C. Trinkle

An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction

Leo J. Stocco

Leo J. Stocco, Septimiu E. Salcudean and Farrokh Sassani

Mechanism Design for Global Isotropy with Applications to Haptic Interfaces

Hong Z. Tan

Hong Z. Tan, Nathaniel I. Durlach, Yun Shao, and Min Wei

Manual Resolution of Compliance when Force and Work Cues Are Minimized

Hong Z. Tan, Mandayam A. Srinivasan, Brian Eberman, and Belinda Cheng

Human Factors for the Design of Force-reflecting Haptic Interfaces

Hong Z. Tan and William M. Rabinowitz

A New Multi-finger Tactual Display

Hong Z. Tan, Nathaniel I. Durlach, William M. Rabinowitz, and Charlotte M. Reed

Information Transmission with a Multi-finger Tactual Display

Thomas V. Thompson II

T.V. Thompson II, D.D. Nelson, E. Cohen, and J.M. Hollerbach

Maneuverable NURBS Models Within a Haptic Virtual Environment

T.V. Thompson II, D.E. Johnson, and E. Cohen

Direct Haptic Rendering Of Sculptured Models

Jeff C. Trinkle

J.C. Trinkle, J.S. Pang, S. Sudarsky and G. Lo

On Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction

J.C. Trinkle, J.S. Pang, S. Sudarsky and G. Lo

On Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction (technical report)

Jui-Chang Tsai

J.C. Tsai

Toward Guaranteed Stability in the Haptic Display of Virtual Environments

J.C. Tsai and J. Edward Colgate

Stability of Discrete Time Systems with Unilateral Nonlinearities

Witaya Wannasuphoprasit

Witaya Wannasuphoprasit, R. Brent Gillespie, J. Edward Colgate, and Michael A. Peshkin

Cobot Control