Professor of Computer Science
Ph.D., Massachusetts Institute of
Technology, 1978
Professor Hollerbach's interests
include robotics, teleoperation, virtual reality, and human motor
control. Autonomous and teleoperated grasping is pursued with a pair
of left/right Utah/MIT Dextrous Hands. Teleoperation research is
focusing on the use of the Sarcos Dextrous Arm Master and Slave, an
advanced hydraulic telemanipulator. In virtual reality, the focus is
on improving the transparency and sense of immersion through better
mechanical interfaces and their control, better visual and auditory
displays, and sensorimotor integration. More specifically, haptic
interfaces are being employed for virtual manipulation of Alpha1 CAD
models and for scientific visualization. The Treadport locomotion
interface is being employed for walk-in synthetic environments.
Real-time architectures employing the Myrinet for low-latency
networking of devices, computations, and graphics are being developed.
Methods for perturbation analysis and nonlinear system identification
of joint mechanical properties are being developed, for use in
clinical and human operator dynamics settings.
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Christensen, R., Hollerbach, J.M., Xu, Y., and Meek, S., ``Inertial
feedback for a locomotion interface,'' 7th Annual Symp. on Haptic
Interfaces for Virtual Environment and Teleoperator Systems,
ASME International Mechanical Engineering Congress and Exposition,
Anaheim, CA, Nov. 15-20, 1998.
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Hollerbach, J.M., and Wampler, C.W., ``The calibration index and
taxonomy of kinematic calibration methods,'' Intl. J. Robotics
Research, 14, 1996, pp. 573-591.
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Johnston, D., Zhang, P., Hollerbach, J.M., and Jacobsen, S.C., ``A
full tactile sensing suite for dextrous robot hands and use in contact
force control,'' Proc. IEEE Intl. Conf. Robotics and Automation,
Minneapolis, April 22-28, 1996, pp. 3222-3228.
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Nahvi, A., Nelson, D.D., Hollerbach, J.M., and Johnson, D.E., ``Haptic
manipulation of virtual mechanisms from mechanical CAD designs,''
Proc. IEEE Intl. Conf. Robotics & Automation, Leuven, Belgium,
May 16-21, 1998, pp. 375-380.
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Xu, Y., and Hollerbach, J.M., ``Identification of human joint
mechanical properties from single trial data,'' IEEE Trans.
Biomedical Engineering, 1998.
