University of Utah
Department of Computer Science

John M. Hollerbach

interests include robotics, microelectromechanical systems, teleoperation, virtual reality, and human motor control. In robotics, the focus is on calibration and control of electric direct-drive manipulators and of hydraulic master/slave telemanipulators. Various sensors such as joint torque sensors and tactile sensors are under development. Autonomous and teleoperated grasping is pursued with a pair of left/right multifingered robot hands. In virtual reality, the focus is on haptic interfaces and rendering, position tracking, head-mounted visual displays, and medical robotics. The focus in human motor control is on perturbation analysis and nonlinear system identification of joint mechanical properties.

• Hollerbach, J.M., Lang, J., Vaaler, E., Garabieta, I., Sepe, R., Umans, S., and Hunter, I.W., ``The McGill/MIT Direct Drive Motor project,'' Proc. IEEE Intl. Conf. Robotics and Automation, May 2-7, 1993, Atlanta, pp. 2:611-617.

• Ma, D., Hollerbach, J.M., and Xu, Y., ``Gravity based autonomous calibration for robot manipulators,'' Proc. IEEE Intl. Conf. Robotics and Automation, San Diego, May 8-13, 1994, pp. 2763-2768.

• Ma, J., Hollerbach, J.M., and Hunter, I.W., ``Optical design for a head-mounted display,'' Presence: Teleoperators and Virtual Environments, 2, no. 3, 1993, pp. 185-202.

• Rohling, R., and Hollerbach, J.M., ``Calibrating the human hand for haptic interfaces,'' Presence: Teleoperators and Virtual Environments, 2, no. 4, 1993, pp. 281-296.

• Xu, Y., Hunter, I.W., Hollerbach, J.M., and Bennett, D.J., ``An airjet actuator system for identification of the human arm joint mechanical properties,'' IEEE Trans. Biomedical Engineering, 38, 1991, pp. 1111-1122.

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