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Journal Article
Kienzle, T. C., S. D. Stulberg, M. A. Peshkin, A. Quaid, J. Lea, A. Goswami, and C. H. Wu, "Total knee replacement", Engineering in Medicine and Biology Magazine, IEEE, vol. 14, no. 3: IEEE, pp. 301–306, 1995.
Lea, J., J. J. Santos-Munné, and M. A. Peshkin, "Diagramming registration connectivity and structure [computer-assisted surgery]", Engineering in Medicine and Biology Magazine, IEEE, vol. 14, no. 3: IEEE, pp. 271–278, 1995.
Lea, J., D. Watkins, A. Mills, M. A. Peshkin, T. C. Kienzle, and S. D. Stulberg, "Registration and immobilization in robot-assisted surgery", Computer Aided Surgery, vol. 1, no. 2: Informa UK Ltd UK, pp. 80–87, 1995.
Lynch, K. M., and M. T. Mason, "Pulling by pushing, slip with infinite friction, and perfectly rough surfaces", The International journal of robotics research, vol. 14, no. 2: Sage Publications, pp. 174–183, 1995.
Millman, P. A., and J. E. Colgate, "Effects of non-uniform environment damping on haptic perception and performance of aimed movements", Proceedings of the ASME Dynamic Systems and Control Division, DSC, vol. 57, no. 2, pp. 703–11, 1995.
Munne, J., M. A. Peshkin, S. Mirkovic, S. D. Stulberg, T. C. Kienzle, K. Morgan, R. Satava, H. Sieburg, R. Matthew, and J. Christensen, "A stereotactic and robotic system for pedicle screw placement", Medicine Meets Virtual Reality III, Interactive Technology and the New Paradigm for Healthcare, pp. 326–333, 1995.
Okure, M. A. E., and M. A. Peshkin, "Quantitative evaluation of neural networks for NDE applications using the ROC curve", REVIEW OF PROGRESS IN QUANTITATIVE NONDESTRUCTIVE EVALUATION, vol. 14: PLENUM PUBLISHING CORPORATION, pp. 2405–2405, 1995.
Tsai, JC., and J. E. Colgate, "Stability of discrete time systems with unilateral nonlinearities", Proceedings of the International Mechanical Engineering Congress and Exposition, pp. 57–2, 1995.
Brown, J. M., and J. E. Colgate, "Physics-based approach to haptic display", Proceedings ISMCR, vol. 94, 1994.
Colgate, J. E., "Coordinate transformations and logical operations for minimizing conservativeness in coupled stability criteria", TRANSACTIONS-AMERICAN SOCIETY OF MECHANICAL ENGINEERS JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL, vol. 116: AMERICAN SOCIETY MECHANICAL ENGINEERS, pp. 643–643, 1994.
Colgate, J. E., "Coupled stability of multiport systems, theory and experiments", Dynamic Systems Measurement and Control, Journal of, vol. 116, no. 3, pp. 419-428, 1994.
Millman, P. A., and J. E. Colgate, "Experimental study of haptic information pickup in manipulation [2351-08]", PROCEEDINGS-SPIE THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING: SPIE INTERNATIONAL SOCIETY FOR OPTICAL, pp. 74–74, 1994.
Schimmels, J. M., and M. A. Peshkin, "Force-assembly with friction", Robotics and Automation, IEEE Transactions on, vol. 10, no. 4: IEEE, pp. 465–479, 1994.
Colgate, J. E., H. Matsumoto, and W. Wannasuphoprasit, "Linear electrostatic actuators: gap maintenance via fluid bearings", Robotics and computer-integrated manufacturing, vol. 10, no. 5: Elsevier, pp. 365–376, 1993.
Colgate, J. E., "Robust impedance shaping telemanipulation", Robotics and Automation, IEEE Transactions on, vol. 9, no. 4: IEEE, pp. 374–384, 1993.
Goswami, A., A. Quaid, and M. A. Peshkin, "Identifying robot parameters using partial pose information", Control Systems, IEEE, vol. 13, no. 5: IEEE, pp. 6–14, 1993.
Kazerooni, H., J. E. Colgate, and B. D. Adelstein, Advances in Robotics, Mechatronics and Haptic Interfaces 1993, : American Society of Mechanical Engineers, 1993.
Lynch, K. M., "Planning pushing paths", In Proc. of JSME Int. Conf. Advanced Mechatronics, pp. 451–456, 1993.
Mason, M. T., S. Akella, and K. M. Lynch, "Recent Results in Pushing", Proceedings of the NSF Design and Manufacturing Systems Grantees Conference, 1993.
Mason, M. T., and K. M. Lynch, "Throwing a club: Early results", International Symposium on Robotics Research, Hidden Valley, PA, 1993.
Colgate, J. E., "Stability of manipulators interacting with unstructured and structured dynamic environments", Proceedings of the IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems. Kobe, Japan, pp. 1025–1030, 1992.
Lynch, K. M., H. Maekawa, and K. Tanie, "Manipulation and active sensing by pushing using tactile feedback", Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 416–421, 1992.
Millman, P. A., M. C. Stanley, P. E. Grafing, and J. E. Colgate, "System for the implementation and kinesthetic display of virtual environments [1833-09]", PROCEEDINGS-SPIE THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING: SPIE INTERNATIONAL SOCIETY FOR OPTICAL, pp. 49–49, 1992.
Schimmels, J. M., and M. A. Peshkin, "Admittance matrix design for force-guided assembly", Robotics and Automation, IEEE Transactions on, vol. 8, no. 2: IEEE, pp. 213–227, 1992.
Stanley, M. C., and J. E. Colgate, "Computer Simulation of Interacting Dynamic Mechanical Systems Using Distributed Memory Parallel Processors", Advances in Robotics, vol. 42, pp. p55–61, 1992.
Strandburg, K. J., M. A. Peshkin, D. F. Boyd, C. Chambers, and B. O’Keefe, "Phase transitions in dilute, locally connected neural networks", Physical Review A, vol. 45, no. 8: APS, pp. 6135, 1992.
Anderson, K. M., and J. E. Colgate, "A model of the attachment/detachment cycle of electrostatic micro actuators", Proc. ASME Micromechanical Sensors, Actuators, and Systems, volume DSC, vol. 32, pp. 255, 1991.
Peshkin, M. A., K. J. Strandburg, and N. Rivier, "Entropic predictions for cellular networks", Physical review letters, vol. 67, no. 13: APS, pp. 1803–1806, 1991.
Peshkin, M. A., "Programmed compliance for error corrective assembly", Robotics and Automation, IEEE Transactions on, vol. 6, no. 4: IEEE, pp. 473–482, 1990.
Peshkin, M. A., and A. C. Sanderson, "Minimization of energy in quasi-static manipulation", Robotics and Automation, IEEE Transactions on, vol. 5, no. 1: IEEE, pp. 53–60, 1989.
Colgate, J. E., and N. Hogan, "Robust control of dynamically interacting systems", International Journal of Control, vol. 48, no. 1: Taylor & Francis, pp. 65–88, 1988.
Peshkin, M. A., and A. C. Sanderson, "The motion of a pushed, sliding workpiece", Robotics and Automation, IEEE Journal of, vol. 4, no. 6: IEEE, pp. 569–598, 1988.
Peshkin, M. A., and A. C. Sanderson, "Planning robotic manipulation strategies for workpieces that slide", Robotics and Automation, IEEE Journal of, vol. 4, no. 5: IEEE, pp. 524–531, 1988.
Sanderson, A. C., M. A. Peshkin, and LS. Homen de Mello, "Task planning for robotic manipulation in space applications", Aerospace and Electronic Systems, IEEE Transactions on, vol. 24, no. 5: IEEE, pp. 619–629, 1988.
Colgate, J. E., and N. Hogan, "Robust control of manipulator interactive behavior", Modeling and Control of Robotic Manipulators and Manufacturing Processes. ASME, New York, 1987.
Sanderson, A. C., M. A. Peshkin, and LS. Homen de Mello, Task planning and control synthesis for robotic manipulation in space applications, , 1987.
Peshkin, M. A., and A. C. Sanderson, "Planning Robotic Manipulation", Annual research review: The Institute, pp. 43, 1986.
Peshkin, M. A., and A. C. Sanderson, "Planning Sensorless Robot Manipulation of Sliding Objects", AAAI-86 National Conference on Artificial Intelligence, AAAI, 1986.
Peshkin, M. A., and A. C. Sanderson, "Reachable grasps on a polygon: the convex rope algorithm", Robotics and Automation, IEEE Journal of, vol. 2, no. 1: IEEE, pp. 53–58, 1986.
Peshkin, M. A., and A. C. Sanderson, A Variation Principle for Quasistatic Mechanics, : Robotics Institute, 1986.
Colgate, SO., and J. E. Colgate, "Effusive flow conductance of shielded circular channels", Vacuum, vol. 34, no. 5: Elsevier, pp. 585–589, 1984.
Peshkin, M. A., "Integrator for measuring magnetic fields", Review of Scientific Instruments, vol. 52, no. 7, pp. 1108–1109, 1981.
Magazine Article
MacIver, M. A., "Engineering Health and Sustainability through Consciousness-Enhancing Technologies [Invited Opinion]", McCormick Magazine Spring 2013, Northwestern University, pp. 18-19, 2013.  (1.52 MB)
Patent
Hartmann, M. J. Z., and J. H. Solomon, Systems, methods, and apparatus for reconstruction of 3-D object morphology, position, orientation and texture using an array of tactile sensors, , vol. US8504500 B2, no. US 12/847,822, 08/2013.
Colgate, J. E., and M. A. Peshkin, Haptic device with controlled traction forces, , 2012.
Lynch, K. M., and P. Umbanhowar, Parts manipulation method and apparatus, , vol. US 8,230,990 B2, no. 11/724,607, 07/2012.
Solomon, J. H., M. J. Z. Hartmann, and C. L. Schroeder, Object profile sensing, , vol. US8109007 B2, no. US 12/455,389, 02/2012.
Wiertlewski, M., V. Hayward, and J. Lozada, System For Simulating A Contact With A Surface By Tactile Stimulation, , 2012.
Colgate, J. E., M. A. Peshkin, and E. C. Chubb, Method and apparatus for increasing magnitude and frequency of forces applied to a bare finger on a haptic surface, , 2011.
Aguirre-Ollinger, G., A. Goswami, J. E. Colgate, M. A. Peshkin, and others, Controller for an assistive exoskeleton based on active impedance, : Google Patents, 2010.
Hartmann, M. J. Z., and J. H. Solomon, Sensing device with whisker elements, : Google Patents, 2010.
Santos-Munné, J. J., M. A. Peshkin, E. L. Faulring, J. E. Colgate, A. Makhlin, T. Moyer, T. Hauptman, and W. Hoffmann, An apparatus for use in breaking down an animal carcass, , 2010.
Santos-Munné, J. J., A. Makhlin, E. Lewis, M. A. Peshkin, D. A. Brown, J. E. Colgate, J. L. Patton, B. L. Rush, D. Schwandt, and others, Walking and balance exercise device, : Google Patents, 2010.
Colgate, J. E., and M. A. Peshkin, Haptic device with controlled traction forces, : Google Patents, 2009.
Colgate, J. E., M. A. Peshkin, L. Winfield, and M. Schirru, Vibrating substrate for haptic interface, , vol. US8780053 B2, no. US 12/383,120, 07/2014, 2009.
Colgate, J. E., M. A. Peshkin, L. W. Alexander, and M. Schirru, Vibrating substrate for haptic interface, : Google Patents, 2009.
Colgate, J. E., P. F. Decker, S. H. Klostermeyer, A. Makhlin, D. Meer, M. A. Peshkin, M. Robie, and J. J. Santos-Munné, Methods and Apparatus for Manipulation of Heavy Payloads with Intelligent Assist devices, , 2008.
Peshkin, M. A., and J. J. Santos-Munné, Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy, : Google Patents, 2008.
Colgate, J. E., J. J. Santos-Munné, K. Kim, A. Makhlin, M. A. Peshkin, and D. Schwandt, Detector and Stimulator for Feedback in a Prosthesis, : Google Patents, 2007.
Colgate, J. E., M. A. Peshkin, J. Glassmire, and L. Winfield, Haptic device with indirect haptic feedback, : Google Patents, 2007.
Colgate, J. E., M. A. Peshkin, J. Glassmire, and L. Winfield, Haptic device with indirect haptic feedback, , 2007.
Faulring, E. L., T. Moyer, J. J. Santos-Munné, A. Makhlin, J. E. Colgate, and M. A. Peshkin, Continuously Variable Transmission with Mutliple Outputs, : Google Patents, 2007.
Patton, J. L., M. A. Peshkin, and J. S. Sulzer, Cable driven joint actuator and method, : Google Patents, 2007.
Santos-Munné, J. J., A. Makhlin, E. Lewis, M. A. Peshkin, D. A. Brown, J. E. Colgate, J. L. Patton, B. L. Rush, and D. Schwandt, Walking and balance exercise device, , 2007.
Colgate, J. E., and A. Makhlin, Methods and apparatus for eliminating instability in intelligent assist devices, : Google Patents, 2006.
Peshkin, M. A., J. E. Colgate, J. S. Mehling, and D. W. Weir, Electrical damping system, : Google Patents, 2006.
Peshkin, M. A., J. E. Colgate, J. J. Santos-Munné, D. Meer, J. Lipsey, W. Wannasuphoprasit, and S. H. Klostermeyer, System and architecture for providing a modular intelligent assist system, : Google Patents, 2006.
Peshkin, M. A., J. E. Colgate, J. J. Santos-Munné, D. Meer, J. Lipsey, W. Wannasuphoprasit, and S. H. Klostermeyer, Hub for a modular intelligent assist system, : Google Patents, 2005.
Peshkin, M. A., and W. A. Lorenz, Method and apparatus for force sensors, : Google Patents, 2005.
Cao, J., J. Lee, and M. A. Peshkin, Real-time draw-in sensors and methods of fabrication, : Northwestern University, 2004.
Colgate, J. E., M. A. Peshkin, J. J. Santos-Munné, A. Makhlin, P. F. Decker, and S. H. Klostermeyer, Control handle for intelligent assist devices, : Google Patents, 2004.
Peshkin, M. A., J. E. Colgate, J. J. Santos-Munné, D. Meer, J. Lipsey, W. Wannasuphoprasit, S. H. Klostermeyer, and others, Modules for use in an integrated intelligent assist system, : Google Patents, 2004.
Peshkin, M. A., Non-contacting sensors, : Stanley Assembly Technologies, 2003.
Cao, J., J. Lee, and M. A. Peshkin, Real-time draw-in sensors and methods of fabrication, , vol. US6769280 B2, no. US 10/140,916, 08/2004, 2002.
Peshkin, M. A., and J. J. Santos-Munné, Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy, : Google Patents, 2001.
Wannasuphoprasit, W., J. E. Colgate, D. Meer, and M. A. Peshkin, Method and apparatus for a high-performance hoist, : Collaborative Motion Control, Inc., 2001.
Peshkin, M. A., and J. J. Santos-Munné, Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy, : Google Patents, 2000.
Colgate, J. E., and M. A. Peshkin, Cobots, : Google Patents, 1999.
Colgate, J. E., and M. A. Peshkin, Passive robotic constraint devices using non-holonomic transmission elements, : Google Patents, 1999.
Peshkin, M. A., and J. J. Santos-Munné, Stereotactic surgical procedure apparatus and method, , 1999.
Peshkin, M. A., and J. J. Santos-Munné, Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy, : Google Patents, 1998.
Colgate, J. E., and M. E. Axland, Linear electrostatic actuator with means for concatenation, : Google Patents, 1993.
Thesis
Mullenbach, J., Reducing Driver Distraction with Touchpad Physics, , Evanston, IL, Northwestern University, 2013.  (1.23 MB)
Wiertlewski, M., Reproduction of Tactual Textures: Transducers, Mechanics, and Signal Encoding, : Université Pierre et Marie Curie, Paris 06, 2011.
Schearer, E. M., "Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms", Robotics Institute, Pittsburgh, Carnegie Mellon University, 08/2006.  (1.67 MB)
Weir, D. W., M. A. Peshkin, J. E. Colgate, P. Buttolo, J. Rankin, and M. Johnston, Switch characterization and the haptic profile, : Masters Thesis, Northwestern University, Evanston, IL, 2003.
Murphey, T. D., Control of multiple model systems, : California Institute of Technology, 2002.
Hartmann, M. J. Z., A study to determine why some projects are finished late and overspent with-in Kumba Resources, not withstanding that advanced time planning techniques are freely available and are generally applied, : Stellenbosch: Stellenbosch University, 2001.
MacIver, M. A., The computational neuroethology of weakly electric fish: body modeling, mo tion analysis, and sensory estimation, : University of Illinois at Urbana-Champaign, May, 2001.  (1.5 MB)
Hartmann, M. J. Z., The cerebellum and active somatosensation: recordings from the granule cell layer of awake, freely-behaving rats, : California Institute of Technology, 2000.
Lynch, K. M., Nonprehensile robotic manipulation: controllability and planning, : Carnegie Mellon University, 1996.
Colgate, J. E., The control of dynamically interacting systems, : Massachusetts Institute of Technology, 1988.
Hogan, N., J. E. Colgate, and others, The control of dynamically interacting systems, : Massachusetts Institute of Technology, 1988.
Colgate, J. E., The design of a robotic gripper capable of repositioning objects within its grasp, : Massachusetts Institute of Technology, Department of Physics, 1983.

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