Haptic Interfaces

Project Title: Haptic Interfaces for Spatial Learning

Investigators: Lucy Y. Pao, Dale A. Lawrence, and Howard Kramer.

Sponsor: National Science Foundation

Project Duration: April 15, 2001 - March 31, 2005

Project Title: Synergistic Visual/Haptic Computer Interfaces

Investigators: Dale A. Lawrence, Lucy Y. Pao, and Anne M. Dougherty

Sponsor: National Science Foundation ( Interactive Systems Program )

Project Duration: August 15, 1997 - July 31, 2003

Project Title: Instrumentation for Research on the Synergism between Haptic and Visual Communication Channels in Human-Machine Interfaces

Investigators: Lucy Y. Pao and Dale A. Lawrence

Sponsor: Office of Naval Research (Defense University Research Instrumentation Program)

Project Duration: March 1, 1997 - August 31, 1998

Project Title: Haptic Communication in Human/Computer Interfaces

Investigators: Dale A. Lawrence and Lucy Y. Pao

Sponsor: National Science Foundation Optoelectronic Computing Systems Center

Project Duration: October 1, 1996 - April 30, 1998

Awards:

Best Paper Award at the 2005 World Haptics Conference for paper

Our project was chosen to be featured in the National Science Foundation's Fiscal Year 2004 Performance Highlights report (see page 21) to Congress and the White House.

Best Commerical Potential Award at the 2004 International Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, held at the IEEE Virtual Reality Conference, for paper

Recent Publications:

N. Bernstein, D. A. Lawrence, and L. Y. Pao. "Dynamics Modeling for Parallel Haptic Interfaces with Force Sensing and Control," accepted for publication in IEEE Trans. Haptics, 6(4): 429-439, Oct.-Dec. 2013.

D. A. Lawrence, L. Y. Pao, and S. Aphanuphong. "Unwarping Encoder Ripple in Low Cost Haptic Interfaces," Proc. 14th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Arlington, VA, pp. 75-80, Mar. 2006.

N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. "Sensor Modeling in Parallel Force Feedback Haptic Interfaces," Proc. 14th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Arlington, VA, pp. 177-184, Mar. 2006.

N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. "Friction Modeling and Compensation for Haptic Interfaces," Proc. 1st Joint EuroHaptics Conf. and Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Pisa, Italy, pp. 290-295, Mar. 2005.

D. A. Lawrence, L. Y. Pao, and S. Aphanuphong. "Bow Spring/Tendon Actuation for Low Cost Haptic Interfaces," Proc. 1st Joint EuroHaptics Conf. and Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Pisa, Italy, pp. 157-166, Mar. 2005. Recipient of the conference-wide Best Paper Award.

  • L. Y. Pao. "Research in Control Systems, Sensor Fusion, and Haptic Interfaces," Acta Automatica Sinica, 31(1): 75-83, Jan. 2005
  • D. A. Lawrence, L. Y. Pao. C. D. Lee, and R. Y. Novoselov. "Synergistic Visual/Haptic Rendering Modes for Scientific Visualization," IEEE Computer Graphics and Applications, 24(6): 22-30, Nov.-Dec. 2004.

    C. D. Lee, D. A. Lawrence, L. Y. Pao. "Isotropic Force Control for Haptic Interfaces," Control Engineering Practice, 12(11): 1423-1436, Nov. 2004.

    V. Kulkarni, L. Y. Pao, and P. Falb. "Stability Multipliers for Stiction Nonlinearities," Proc. IFAC Symposium on Automatic Control in Aerospace, St. Petersburg, Russia, June 2004.

    D. A. Lawrence, L. Y. Pao, A. C. White, and W. Xu. "Low Cost Actuator and Sensor for High-Fidelity Haptic Interfaces," Proc. 12th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Chicago, IL, pp. 74-81, Mar. 2004. Recipient of the conference-wide Best Commercial Potential Award.

    N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. "Design of a Uniactuated Bimanual Haptic Interface," Proc. 11th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Los Angeles, CA, Mar. 2003.

    C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Modeling of a 5-DOF Haptic Interface for Multivariable Force Control Design," Proc. IFAC Conf. Mechatronic Systems, Berkeley, CA, pp. 559-565, Dec. 2002.

    R. Y. Novoselov, D. A. Lawrence, and L. Y. Pao. " Haptic Rendering of Data on Unstructured Tetrahedral Grids," Proc. 10th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Orlando, FL, pp. 193-200, Mar. 2002.

    C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Dynamic Modeling and Parameter Identification of a Parallel Haptic Interface," Proc. 10th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Orlando, FL, pp. 172-179, Mar. 2002.

    R. Y. Novoselov, D. A. Lawrence, and L. Y. Pao. " Haptic Rendering of Data on Irregular Grids," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 69-2, pp. 1199-1206, Int. Mech. Engr. Cong. & Expo., Int. Mech. Engr. Cong. & Expo., Orlando, FL, Nov. 2000.

    C. D. Lee, D. A. Lawrence, and L. Y. Pao. " A High-Bandwidth Force-Controlled Haptic Interface," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 69-2, pp. 1299-1308, Int. Mech. Engr. Cong. & Expo., Orlando, FL, Nov. 2000.

    D. A. Lawrence, C. D. Lee, L. Y. Pao, and R. Y. Novoselov. " Shock and Vortex Visualization Using a Combined Visual/Haptic Interface," Proc. IEEE Visualization Conf., Salt Lake City, UT, pp. 131-137 and p. 548 (color plate), Oct. 2000.

    D. A. Lawrence, L. Y. Pao, A. M. Dougherty, M. A. Salada, and Y. Pavlou. "Rate-Hardness: A New Performance Metric for Haptic Interfaces," IEEE Trans. Robotics and Automation, 16(4): 357--371, Aug. 2000.

    F. Infed, S. W. Brown, C. D. Lee, D. A. Lawrence, A. M. Dougherty, and L. Y. Pao. "Combined Visual/Haptic Rendering Modes for Scientific Visualization," Proc. 8th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, held at the Int. Mech. Engr. Cong. & Expo., Nashville, TN, Nov. 1999.

    C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Guaranteed Convergence Rates for Five Degree of Freedom In-Parallel Haptic Interface Kinematics," Proc. IEEE Int. Conf. Robotics and Automation, Detroit, MI, pp. 3267-3274, May 1999.

    D. A. Lawrence, L. Y. Pao, A. M. Dougherty, Y. Pavlou, S. W. Brown, and S. A. Wallace. "Human Perceptual Thresholds of Friction in Haptic Interfaces," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 64, pp. 287-294, ASME Int. Mech. Engr. Cong. & Expo., Anaheim, CA, Nov. 1998.

    L. Y. Pao and D. A. Lawrence. " Synergistic Visual/Haptic Computer Interfaces," Proc. Japan/USA/Vietnam Workshop on Research and Education in Systems, Computation, and Control Engineering, Hanoi, Vietnam, pp. 155-162, May 1998.

    D. A. Lawrence, L. Y. Pao, M. A. Salada, A. M. Dougherty. "Quantitative Experimental Analysis of Transparency and Stability in Haptic Interfaces," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 58, pp. 441-449, ASME Int. Mech. Engr. Cong. & Expo., Atlanta, GA, Nov. 1996.

    More on Haptic Interface Research at the University of Colorado