P. Berkelman and S. Okamoto, "Compact Modular System Design for Teleoperated Laparoendoscopic Single Site Surgery", IEEE International Conference on Biomedical Robotics and Biomechatronics, Rome, June 2012. pdf
P. Berkelman, M. Miyasaka, and J. Anderson, "Co-Located 3D Graphic and Haptic Display using Electromagnetic Levitation", IEEE Haptics Symposium, Vancouver, March 2012. pdf
Ji Ma and Peter Berkelman, “A Compact, Simple, and Robust Teleoperated Robotic Surgery System”, in Surgical Robotics - System Applications and Visions, Jacob Rosen, Blake Hannaford, and Richard Satava eds., ISBN 978-1-4419-1125-4, Springer.
S. Fabel and P. Berkelman, “Robotic-Surgical Instrument Wrist Pose Estimation”, IEEE-EMBS Engineering in Medicine and Biology Conference, Buenos Aires, September 1, 2010.
P. Berkelman and M. Dzadovsky, “Actuation Model for
Control of a Long Range Lorentz Force Magnetic Levitation Device”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, October 22, 2010. pdf
Peter Berkelman and Michael Dzadovsky, “Novel Design,
Characterization, and Control Method for Large Motion Range Magnetic
Levitation”, IEEE Magnetics Letters, Vol 1, January 2010, #0500104.
Berkelman and Michael Dzadovsky, “Using Magnetic Levitation for Haptic
Interaction”, in Advances in Haptics, Mehrdad Hosseini Zadeh (Ed.),
ISBN: 978-953-307-093-3, InTech Education and Publishing.
P. Berkelman and M. Dzadovsky, “Large Motion Range Magnet Levitation using a Planar Array of Coils”, IEEE International Conference on Robotics and Automation, Kobe Japan, May 15, 2009. pdf
P. Berkelman and M. Dzadovsky, “Extending the Motion Ranges of Magnetic Levitation for Haptic Interaction”, Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City UT, March 20, 2009. pdf
Peter Berkelman and Ji Ma, “A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery”, International Journal of Robotics Research, 28(9), September 2009, pp. 1198-1215.
P. Berkelman and M. Dzadovsky, “Magnet Levitation and Trajectory
Following Motion Control Using a Planar Array of Cylindrical
Coils”, ASME Dynamic Systems and Control Conference, Ann Arbor MI, October 20, 2008. pdf
P. Berkelman and M. Dzadovsky, “Single Magnet Levitation by Repulsion using a Planar Coil Array”, IEEE Multi-Conference on Systems and Control, San Antonio, September 3, 2008, pp. 108-113. pdf
Peter Berkelman, “A Novel Coil Configuration to Extend the Motion
Range of Lorentz Force Magnetic Levitation Devices for Haptic
Interaction”, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, October 29-November 2, 2007, pp. 2107-2112. pdf
Ji Ma and P. Berkelman, “Task Evaluations of A Compact Laparoscopic Surgical Robot System”, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, October 29-November 2, 2007, pp. 398-403. pdf
Berkelman, Peter Rossi, Timothy Lu, and Ji Ma, "Passive Orthosis
Linkage for Locomotor Rehabilitation", IEEE International Conference on
Rehabilitation Robotics, Noordwijk, the Netherlands, June
Jean-Alexandre Long, Philippe Cinquin, Jocelyne Troccaz, Sandrine
Voros, Peter Berkelman, Jean-Luc Descotes, Christian Letoublon,
Jean-Jacques Rambeaud ”Development of Miniaturized Light
Endoscope-Holder for Laparoscopic Surgery”, Journal of Endourology, 2007, (8): 911-914.
Ji Ma and P. Berkelman, "Control Software Design of a Compact
Laparoscopic Surgical Robot System", IEEE/RSJ International
Conference on Intelligent Robots and Systems, Beijing,
October 9-15, 2006. pdf
P. Berkelman and Ji Ma, "Effects of Friction Parameters on Completion
Times for Sustained Planar Positioning Tasks with a Haptic
International Conference on Intelligent Robots and Systems,
Beijing, October 9-15, 2006. pdf
Berkelman and Ji Ma, "A Compact, Modular, Teleoperated Robotic
Minimally Invasive Surgery System",
IEEE/RAS-EMBS International Conference on Biomedical Robotics and
Biomechatronics, Pisa Italy, February 20-22, 2006. pdf
Long JA, Cinquin P, Troccaz J, Rambeaud JJ, Skowron O, Berkelman P, Letoublon C, Cadi P, Bocqueraz F, Voros S, Descotes JL, “Preclinical Development of the TIMC LER (Light Endoscope Robot)[Article in French]”, Prog Urol. 2006 Feb;16(1):45-51.
J. Troccaz, M. Baumann, P. Berkelman, P. Cinquin, V. Daanen, A. Leroy, M. Marchal, Y. Payan, E. Promayon, S. Voros, S. Bart, M. Bolla, E. Chartier-Kastler, J.L. Descotes, A. Dusserre, J.Y. Giraud, J.-A. Long, R. Moalic, P. Mozer, “Medical Image Computing and Computer Aided Medical Interventions Applied to Soft Tissues. Work in progress in Urology.”, Proceedings of the IEEE, Vol. 94(8), August 2006.
Berkelman, E. Boidard, P. Cinquin, J. Troccaz, "Control and User
Interface Design for Compact Manipulators in Minimally-Invasive
Conference on Control Applications, Toronto, August 29-31,
2005, pp. 25-30. (invited paper) pdf
Human-Robot Interaction Lab
356 Holmes Hall,
University of Hawai'i at Manoa
Mechanical Engineering Department