Interacting with virtual environments using a magnetic levitation haptic interface. - Peter J. Berkelman; Ralph L. Hollis; Septimiu E. Salcudean (IROS (1), 1995)

Interaction with a Realtime Dynamic Environment Simulation Using a Magnetic Levitation Haptic Interface Device. - Peter J. Berkelman; Ralph L. Hollis; David Baraff (ICRA, 1999)

Preliminary Experiments in Cooperative Human/Robert Force Control for Robot Assisted Microsurgical Manipulation. - Rajesh Kumar 001; Peter J. Berkelman; Puneet K. Gupta; Aaron C. Barnes; Patrick S. Jensen; Louis L. Whitcomb; Russell H. Taylor (ICRA, 2000)

A Miniature Instrument Tip Force Sensor for Robot/Human Cooperative Microsurgical Manipulation with Enhanced Force Feedback. - Peter J. Berkelman; Louis L. Whitcomb; Russell H. Taylor; Patrick S. Jensen (MICCAI, 2000)

Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations. - Peter J. Berkelman; Ralph L. Hollis (Int. J. Robotics Res., 2000)

Comparison of 3-D haptic peg-in-hole tasks in real and virtual environments. - Bertram J. Unger; A. Nicolaidis; Peter J. Berkelman; A. Thompson; Roberta L. Klatzky; Ralph L. Hollis (IROS, 2001)

Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy. - Peter J. Berkelman; Daniel L. Rothbaum; Jaydeep Roy; Samuel Lang; Louis L. Whitcomb; Gregory D. Hager; Patrick S. Jensen; Eugene de Juan; Russell H. Taylor; John K. Niparko (MICCAI, 2001)

Virtual Peg-in-Hole Performance Using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone. - Bertram J. Unger; A. Nicolaidis; Peter J. Berkelman; A. Thompson; Susan J. Lederman; Roberta L. Klatzky; Ralph L. Hollis (Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002)

A Compact, Compliant Laparoscopic Endoscope Manipulator. - Peter J. Berkelman; Philippe Cinquin; Jocelyne Troccaz; Jean-Marc Ayoubi; Christian Létoublon; F. Bouchard (ICRA, 2002)

Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator. - Peter J. Berkelman; Philippe Cinquin; Jocelyne Troccaz; Jean-Marc Ayoubi; Christian Létoublon (MICCAI (1), 2002)

LER: the light endoscope robot. - Peter J. Berkelman; Eric Boidard; Philippe Cinquin; Jocelyne Troccaz (IROS, 2003)

Surgical Robots at TIMC: Where We Are and Where We Go. - Jocelyne Troccaz; Philippe Cinquin; Peter J. Berkelman; Adriana Vilchis Gonzales; Eric Boidard (ISRR, 2003)

A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation. - Peter J. Berkelman; Louis L. Whitcomb; Russell H. Taylor; Patrick S. Jensen (IEEE Trans. Robotics Autom., 2003)

Body-Supported Medical Robots: A Survey. - Peter J. Berkelman; Jocelyne Troccaz; Philippe Cinquin (J. Robotics Mechatronics, 2004)

Control and user interface design for compact manipulators in minimally-invasive surgery. - Peter J. Berkelman; Eric Boidard; Philippe Cinquin; Jocelyne Troccaz (CCA, 2005)

Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface. - Peter J. Berkelman; Ji Ma (IROS, 2006)

Control Software Design of A Compact Laparoscopic Surgical Robot System. - Ji Ma; Peter J. Berkelman (IROS, 2006)

Medical Image Computing and Computer-Aided Medical Interventions Applied to Soft Tissues: Work in Progress in Urology. - Jocelyne Troccaz; Michael Baumann 001; Peter J. Berkelman; Philippe Cinquin; Vincent Daanen; Antoine Leroy; Maud Marchal; Yohan Payan; Emmanuel Promayon; Sandrine Voros; Stéphane Bart; Michel Bolla; et al. (Proc. IEEE, 2006)

A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction. - Peter J. Berkelman (IROS, 2007)

The University of Hawaii teleoperated robotic surgery system. - Peter J. Berkelman; Ji Ma (IROS, 2007)

Task evaluations of a compact laparoscopic surgical robot system. - Ji Ma; Peter J. Berkelman (IROS, 2007)

Development of miniaturized light endoscope-holder robot for laparoscopic surgery - Jean-Alexandre Long; Philippe Cinquin; Jocelyne Troccaz; Sandrine Voros; Jean-Luc Descotes; Peter J. Berkelman; Christian Létoublon; Jean-Jacques Rambeaud (CoRR, 2007)

Single magnet levitation by repulsion using a planar coil array. - Peter J. Berkelman; Michael Dzadovsky (CCA, 2008)

Extending the motion ranges of magnetic levitation for haptic interaction. - Peter J. Berkelman; Michael Dzadovsky (WHC, 2009)

Large motion range magnet levitation using a planar array of coils. - Peter J. Berkelman; Michael Dzadovsky (ICRA, 2009)

A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery. - Peter J. Berkelman; Ji Ma (Int. J. Robotics Res., 2009)

Actuation model for control of a long range Lorentz force magnetic levitation device. - Peter J. Berkelman; Michael Dzadovsky (IROS, 2010)

Co-located 3D graphic and haptic display using electromagnetic levitation. - Peter J. Berkelman; Muneaki Miyasaka; Juaquin Anderson (HAPTICS, 2012)

Co-Located Haptic and 3D Graphic Interface for Medical Simulations. - Peter J. Berkelman; Muneaki Miyasaka; Sebastian Bozlee (MMVR, 2013)

Virtual Roughness Perception Using Coil Array Magnetic Levitation Haptic Interface: Effects of Torque Feedback. - Sahba Aghajani Pedram; Roberta L. Klatzky; Oran Isaac-Lowry; Peter J. Berkelman (EuroHaptics (1), 2014)

Torque Contribution to Haptic Rendering of Virtual Textures. - Sahba Aghajani Pedram; Roberta L. Klatzky; Peter J. Berkelman (IEEE Trans. Haptics, 2017)

Needle Tip Manipulation and Control of a 3D Steerable SMA-Activated Flexible Needle. - Bardia Konh; Peter J. Berkelman; Saeed Karimi (BioRob, 2020)

Long Range Six Degree-of-Freedom Magnetic Levitation Using Low Cost Sensing and Control. - Peter J. Berkelman; Yu-Sheng Lu (J. Robotics Mechatronics, 2020)

Electromagnetic Haptic Feedback System for Use With a Graphical Display Using Flat Coils and Sensor Array. - Peter J. Berkelman; Hamza Abdul-Ghani (IEEE Robotics Autom. Lett., 2020)

Analysis and Testing of a Four Coil Magnetic Levitation Configuration. - Peter J. Berkelman; Nagahiro Ohashi (IECON, 2022)

Multiple Magnet Independent Levitation and Motion Control using a Single Coil Array. - Peter J. Berkelman; Steven Kang (AIM, 2023)

Co-Located Magnetic Levitation Haptic and Graphic Display using Iron Core Coils under Screen. - Peter J. Berkelman; Steven H. Wang; Sean Trafford; Muneaki Miyasaka (CoRR, 2024)