Publications

Bhardwaj, A., Lu, Y., Pan, S., Sarter, N., Gillespie, R.B. “Comparing coupled and decoupled steering interface designs for emergency obstacle evasion”. In IEEE Access, 2021.

Bhardwaj, A., Slavin, D., Walsh, J., Freudenberg, J., Gillespie, R.B. “Estimation and Decomposition of Rack Force for Driving on Uneven Roads”. In Control Engineering Practice, Elsevier, 2021.

Bhardwaj, A., Ghasemi, A., Zheng, Y., Febbo, H., Jayakumar, P., Ersal, T., Stein, J., Gillespie, R. B. Who’s the Boss? Arbitrating Control Authority between a Human Driver and Automation System. Transportation Research F: Traffic Psychology and Behavior, Elsevier, 68 (2020), 144-160.

E. Treadway and R. B. Gillespie (2019). Unilateral and Bilateral Virtual Springs: Contact Transitions Unmask Device Dynamics. IEEE Transactions on Haptics (pre-print available).

Z. Gan, H. Tang, E. Treadway, R. B. Gillespie, C. D. Remy. Modelling and Experimental Evaluation of a Variable Hydraulic Transmission. IEEE Transactions on Mechatronics.

E. Treadway, Z. Gan, C. D. Remy, and R. B. Gillespie. (2018). Toward Controllable Hydraulic Coupling of Joints in a Wearable Robot. IEEE Transactions on Robotics, vol. 34, no. 3, 2018.

E. P. Washabaugh, E. Treadway, R. B. Gillespie, C. D. Remy, and C. Krishnan. (2018) Self-powered Robots to Reduce Motor Slacking During Upper-Extremity Rehabilitation: a Proof of Concept Study. Restorative Neurology and Neuroscience, vol. 36, no. 6, pp. 693-708.

D. C. Ursu, M. G. Urbanchek, A. Nedic, P. S. Cederna, and R. B. Gillespie. (2016). In Vivo Characterization of Regenerative Peripheral Nerve Interface Function. Journal of Neural Engineering, vol. 13, no. 2, p. 026012, 2016.

Russomanno, A., O’Modhrain, S., Gillespie, R., & Rodger, M. (2015). Refreshing Refreshable Braille Displays. IEEE Transactions on Haptics, PP(99), 1.

O’Modhrain, S., Giudice, N. A., Gardner, J. A., & Legge, G. E. (2015). Designing Media for Visually-Impaired Users of Refreshable Touch Displays: Possibilities and Pitfalls. IEEE Transactions on Haptics, 8(3), 248–57. 

Kim, D., Chang, P. H., and Gillespie, R. B. A Robust Backstepping Technique for Strict feedback Nonlinear Systems without a priori Knowledge. Automatica, in review.

Brown, J., Paek, A., Syed, M., O’Malley, M., Shewokis, P., Jose-Luis, C.-V., Gillespie, R. B., and Davis, A. Haptic Feedback Improves Teleoperated Grasp and Lift Performance for Amputees and Non-amputees. IEEE Transactions on Neural Systems and Rehabilitation Engineering, in review.

Jiang, B., Gillespie, R. B., Yu, B., and Grijalva, R. A Bearing-Free Apparatus for Characterizing Linear Motion Devices. IEEE/ASME Transactions on Mechatronics, in review.

Kim, K. H., Gillespie, R. B., and Martin, B. J. (2014). Negotiated Control by the Manual and Visual Systems for Visually Guided Hand Reaching Movements. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 11(102):1-12.

Opila, D. F., Wang, X., Gillespie, R. B., McGee, R., A., C. J., and Grizzle, J. W. Real-World Robustness for Hybrid Vehicle Optimal Energy Management Strategies Incorporating Drivability Metrics. Journal of Dynamic Systems, Measurement, and Control, 136(6).

Kim, D., Johnson, B. J., Gillespie, R. B., and Seidler, R. D. (2014). The effect of haptic cues on motor and perceptual based implicit sequence learning. Frontiers in Neuroscience, 8(130).

Kim, D., Gillespie, R. B., and Chang, P. H. (2013a). Simple, Robust Control and Synchronization of the Lorenz System. Nonlinear Dynamics, 73(1-2):971-980.

Frischknecht, A. C., Kasten, S. J., Hamstra, S. J., Perkins, N. C., Gillespie, R. B., Armstrong,T. J., and Minter, R. M. (2013). The Objective Assessment of Experts’ and Novices’ Suturing Skills Using an Image Analysis Program. Academic Medicine : Journal of the Association of American Medical Colleges, 88(2):260-4.

Ersal, T., Gillespie, R. B., Brudnak, M. J., Stein, J. L., and Fathy, H. K. (2013). Effect of Coupling Point Selection on Distortion in Internet-distributed Hardware-in-the-loop Simulation. International Journal of Vehicle Design, 61(1/2/3/4):67.

Corwin, A., Aresty, A., Chong, S., Brunsvold, M., Evans, J. R., Gillespie, R. B., and
Napolitano, L. M. (2012). Will They Fit? Development of a Measurement Device to Assess Body Habitus Compatibility with MRI Bore Diameter for Emergency Trauma Imaging. Emergency Radiology, 19(2):141-8.

Gillespie, R. B., Yu, B., Grijalva, R., and Awtar, S. (2011). Characterizing the Feel of the Piano Action. Computer Music Journal, 35(1):43-57.

Griffiths, P. G., Gillespie, R. B., and Freudenberg, J. S. (2011). A Fundamental Linear Systems Conflict Between Performance and Passivity in Haptic Rendering. IEEE Trans-actions on Robotics, 27(1):75-88.

Opila, D. F., Wang, X., McGee, R., Gillespie, R. B., Cook, J. a., and Grizzle, J. W. (2012). An Energy Management Controller to Optimally Trade O
Fuel Economy and Drivability for Hybrid Vehicles. IEEE Transactions on Control Systems Technology, 20(6):1490-1505.

Salisbury, C. M., Gillespie, R. B., Tan, H. Z., Barbagli, F., and Salisbury, J. K. (2011). What You Can’t Feel Won’t Hurt You: Evaluating Haptic Hardware Using a Haptic Contrast Sensitivity Function. IEEE Transactions on Haptics, 4(2):134-146.

Griffiths, P. G., Gillespie, R. B., and Freudenberg, J. S. (2008). A Fundamental Tradeoff Between Performance and Sensitivity Within Haptic Rendering. IEEE Transactions on Robotics, 24(3):537-548.

Gillespie, R. B., Shin, T., Huang, F., and Trease, B. (2008). Automated Characterization and Compensation for a Compliant Mechanism Haptic Device. IEEE/ASME Transactions on Mechatronics, 13(1):136-146.

Simon, A. M., Brent Gillespie, R., and Ferris, D. P. (2007). Symmetry-based Resistance as a Novel Means of Lower Limb Rehabilitation. Journal of Biomechanics, 40(6):1286-92.

Huang, F., Gillespie, R., and Kuo, A. (2007). Visual and Haptic Feedback Contribute to Tuning and Online Control during Object Manipulation. Journal of Motor Behavior, 39(3):179-193.

Sovenyi, S. and Gillespie, R. B. (2007). Cancellation of Biodynamic Feedthrough in Vehicle Control Tasks. IEEE Transactions on Control Systems Technology, 15(6):1018-1029.

Kim, K. H., Gillespie, R. B., and Martin, B. J. (2007). Head Movement Control in Visually Guided Tasks: Postural Goal and Optimality. Computers in Biology and Medicine, 37(7):1009-19.

Gillespie, R. B. and Sovenyi, S. (2006). Model-Based Cancellation of Biodynamic
Feedthrough Using a Force-Reflecting Joystick. Journal of Dynamic Systems, Measurement, and Control, 128(1):94.

Huang, F. C., Gillespie, R. B., and Kuo, A. D. (2006). Human Adaptation to Interaction Forces in Visuo-motor Coordination. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 14(3):390-7.

Gillespie, R. B., Patoglu, V., Hussein, I. I., and Westervelt, E. R. (2005). On-Line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems. Multibody System Dynamics, 14(3-4):387-417.

Griffiths, P. G. and Gillespie, R. B. (2005b). Sharing Control Between Humans and Automation Using Haptic Interface: Primary and Secondary Task Performance Benefits. Human Factors: The Journal of the Human Factors and Ergonomics Society, 47(3):574-590.

Patoglu, V. and Gillespie, R. (2005a). Feedback-stabilized Minimum Distance Maintenance for Convex Parametric Surfaces. IEEE Transactions on Robotics, 21(5):1009-1016.

Kim, K. H., Gillespie, R. B., and Martin, B. J. (2004). Modeling the Coordinated Movements of the Head and Hand Using Differential Inverse Kinematics. SAE Transactions Journal of Aerospace, 1:180-185.

Gillespie, R. B. (2003). Kane’s equations for haptic display of multibody systems. Haptics-e, The Electronic Journal for Haptics Research, 3(2).

Gillespie, R. B., Moore, C. a., Peshkin, M., and Colgate, J. E. (2002). Kinematic Creep in a Continuously Variable Transmission: Traction Drive Mechanics for Cobots. Journal of Mechanical Design, 124(4):713.

Peshkin, M., Colgate, J., Wannasuphoprasit, W., Moore, C., Gillespie, R., and Akella, P. (2001). Cobot architecture. IEEE Transactions on Robotics and Automation, 17(4):377-390.

Gillespie, R., Colgate, J., and Peshkin, M. (2001). A General Framework for Cobot Control. IEEE Transactions on Robotics and Automation, 17(4):391-401.

Conference Papers and Demonstrations

M. Nail, N. Jänne, O. Ma, G. Arellano, E. Atkins and R. B. Gillespie, “Simplifying Aerial Manipulation Using Intentional Collisions,” 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 5359-5365, doi: 10.1109/ICRA48891.2023.10161462.

Bhardwaj, A., Cutlip, S., Gillespie, R. B. “Modeling Haptic Communication in Cooperative Teams”. In World Haptics Conference 2021, IEEE

Bhardwaj, A., Lu, Y., Pan, S., Sarter, N., & Gillespie, B. (2020). The Effects of Driver Coupling and Automation Impedance on Emergency Steering Interventions. In 2020 IEEE International Conference on Systems, Man, and Cybernetics.

Bhardwaj, A., Slavin, D., Walsh, J., Freudenberg, J., & Gillespie, R. B. (2020, July). Rack Force Estimation for Driving on Uneven Road Surfaces. In IFAC World Congress 2020.

Cutlip, S., Freudenberg, J., & Gillespie, R. B. (2020, March). Respecting the Coupled Dynamics: Haptic Feedback Carries both Power and Information. In 2020 IEEE Haptics Symposium (HAPTICS) (pp. 718-723). IEEE.

Bhardwaj, A., Gillespie, B., & Freudenberg, J. (2019, July). Estimating rack force due to road slopes for electric power steering systems. In 2019 American Control Conference (ACC) (pp. 328-334). IEEE.

Cutlip, S., Freudenberg, J., Cowan, N., & Gillespie, R. B. (2019, July). Haptic feedback and the internal model principle. In 2019 IEEE World Haptics Conference (WHC) (pp. 568-573). IEEE.

Treadway, E., Cutlip, S., & Gillespie, R. B. (2018, June). Haptic Scene Analysis: Mechanical Property Separation Despite Parasitic Dynamics. In 2018 Eurohaptics Conference Proceedings (pp. 234-245).

Treadway, E. & Gillespie, R. B. (2018, March). The Impact of High-Frequency Haptic Device Behavior on Perception. In 2018 IEEE Haptics Symposium (pp. 52-57).

Treadway, E., Yang, Y., & Gillespie, R. B. (2017, June). Decomposing the Performance of Admittance and Series Elastic Haptic Rendering Architectures. In World Haptics Conference (WHC), 2017 IEEE (pp. 346-351).

Horibe, T., Treadway, E., & Gillespie, R. B. (2016, July). Comparing Series Elasticity and Admittance Control for Haptic Rendering. In Eurohaptics Conference Proceedings.

Russomanno, A., O’Modhrain, S., Burns, M., & Gillespie, R. B. (2016). Modeling latching fluidic circuits to determine clocking limits for a refreshable braille display. In 2016 IEEE Haptics Symposium (HAPTICS) (pp. 179–184).

Treadway, E., Gillespie, B., Bolger, D., Blank, A., O’Malley, M., & Davis, A. (2015, June). The role of auxiliary and referred haptic feedback in myoelectric control. In World Haptics Conference (WHC), 2015 IEEE (pp. 13-18).

Russomanno, A., Gillespie, R. B., O’Modhrain, S., & Burns, M. (2015). The design of pressure-controlled valves for a refreshable tactile display. In World Haptics Conference (WHC), 2015 IEEE (pp. 177–182).

Russomanno, A., Gillespie, R. B., O’Modhrain, S., & Barber, J. (2014). Modeling Pneumatic Actuators for a Refreshable Tactile Display. In Eurohaptics proceedings (pp. 385–393).

Gillespie, R. B., Kim, D., Suchoski, J. M., Yu, B., and Brown, J. D. (2014). Series Elasticity for Free Free-space Motion for Free. In Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

Nedic, A., Ursu, D., Moon, J., Gillespie, R. B., Langhals, N., Cederna, P., and Urbanchek, M. (2014). Reliability and Validity of Regenerative Peripheral Nerve Interface Function during Voluntary Movement. In American Society for Peripheral Nerve.

Frost, C. M., Nedic, A., Ursu, D., Moon, J., Gillespie, R. B., Langhals, N., Cederna, P., and Urbanchek, M. (2014). Real-time Control of a Prosthetic Hand with a Regenerative Peripheral Nerve Interface. In American Society for Peripheral Nerve.

Brown, J. D., Paek, A., Syed, M., O’Malley, M. K., Shewokis, P. A., Contreras-Vidal, J. L., Davis, A. J., and Gillespie, R. B. (2013). Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task. In World Haptics Conference, pages 271-276.

Christiansen, R., Contreras-Vidal, J. L., Gillespie, R. B., Shewokis, P. A., and O’Malley, M. K. (2013). Vibrotactile feedback of pose error enhances myoelectric control of a prosthetic hand. In World Haptics Conference, pages 531-536.

Kim, D., Johnson, B. J., Gillespie, R. B., and Seidler, R. D. (2013b). Role of haptic cues in motor learning. In 2013 World Haptics Conference, pages 265-270.

Paek, A. Y., Brown, J. D., Gillespie, R. B., O’Malley, M. K., Shewokis, P. A., and Contreras-Vidal, J. L. (2013). Reconstructing surface EMG from scalp EEG during myoelectric control of a closed looped prosthetic device. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, volume 2013, pages 5602-5.

Ersal, T. and Gillespie, R. B. (2013). Effect of coupling point selection on distortion in internet-distributed hardware-in-the-loop simulation. In American Control Conference, pages 3096-3103.

Yu, B., Freudenberg, J. S., and Gillespie, R. B. (2012a). String instability analysis of heterogeneous coupled oscillator systems. In American Control Conference, pages 6638-6643.

Brown, J. D., Gillespie, R. B., Gardner, D., and Gansallo, E. A. (2012). Co-location of force and action improves identification of force-displacement features. In Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 187-193. (winner, best student paper award)

Shapiro, J., Gillespie, B., and Salisbury, C. (2012). A high bandwidth low inertia motor for haptic rendering based on clutched eddy current effects. In Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 83-89.

Yu, B., Freudenberg, J. S., Gillespie, R. B., and Cook, J. (2012). Dynamic coupling
between a human user and haptic virtual environment. In Conference on Decision and Control, pages 2489-2494.

Brown, J. D. and Gillespie, R. B. (2011). The effect of force/motion coupling on motor and cognitive performance. In IEEE World Haptics Conference, pages 197-202.

Ersal, T., Gillespie, R. B., Brudnak, M., Stein, J. L., and Fathy, H. K. (2011). Effect of Coupling Point Selection on Distortion in Internet- distributed Hardware-in-the-Loop Simulation. In American Control Conference, pages 3096-3103.

Gillespie, R. B. and O’Modhrain, S. (2011). Embodied cognition as a motivating perspective for haptic interaction design: A position paper. In IEEE World Haptics Conference, pages 481-486.

Yu, B., Freudenberg, J. S., Gillespie, R. B., and Middleton, R. H. (2011). String instability in coupled harmonic oscillator systems. In IEEE Conference on Decision and Control and European Control Conference, pages 6224-6229.

Gillespie, R. B., Contreras-Vidal, J. L., Shewokis, P. A., O’Malley, M. K., Brown, J. D., Agashe, H., Gentili, R., and Davis, A. (2010). Toward improved sensorimotor integration and learning using upper-limb prosthetic devices. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, volume 2010, pages 5077-80.

Kratchman, L., Michener, M., and Gillespie, R. B. (2010). Modeling pneumatic bubble displacements with membrane theory. In Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 327-334.

Salisbury, C., Gillespie, R. B., Tan, H., Barbagli, F., and Salisbury, J. K. (2009). Effects of haptic device attributes on vibration detection thresholds. In World Haptics Conference-Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 115-120.

Griffiths, P. G. and Gillespie, R. B. (2009). Recovering haptic performance by relaxing passivity requirements. In World Haptics Conference – Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 326-331.

Gillespie, B., Baker, J., O’Malley, M., Shewokis, P., and Contreras-Vidal, J. L. (2009). Functionally biarticular control for smart prosthetics. In World Haptics Conference -Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual En-vironment and Teleoperator Systems, pages 627-628.

Griffiths, P. G. and Gillespie, R. B. (2008b). Characterizing Teleoperator Behavior for Feedback Design and Performance Analysis. In Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 273-280.

Griffiths, P. G. and Gillespie, R. B. (2008). A fundamental conflict between performance and passivity in haptic rendering. In American Control Conference, number 1, pages 183-188.

Kim, K. H., Martin, B. J., and Gillespie, R. B. (2006). Posture and Motion Prediction: Perspectives for Unconstrained Head Movements. In SAE International Conference on Digital Human Modeling.

Griffiths, P. G., Gillespie, R. B., and Freudenberg, J. S. Performance/Stability Robustness Tradeoffs Induced by the Two-Port Virtual Coupler. In 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 193-200.

Choi, J., Gillespie, R. B., and Armstrong, T. J. (2006). Study of Finger Movement for Normal Gripping and Pinching Using a Quasi-Static Model. In American Society of Biomechanics.

Griffiths, P. G. and Gillespie, R. B. (2005a). A driving simulator for teaching embedded automotive control applications. In American Control Conference, pages 722-726.

Danek, K. A., Gillespie, R. B., Aldridge, J. W., Ferris, D. P., and Grizzle, J. W. (2005). A Dual Input Device for Self-Assisted Control of a Virtual Pendulum. In 9th International Conference on Rehabilitation Robotics, 2005, pages 313-318.

Patoglu, V. and Gillespie, R. B. (2005b). A Closest Point Algorithm for Parametric Surfaces with Global Uniform Asymptotic Stability. In First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 348-355.

Huang, F., Gillespie, R. B., and Kuo, A. D. (2005). Investigation of Motor Adaptation to Movement Versus Object Parameters. In 9th International Conference on Rehabilitation Robotics, pages 123-126.

Kim, K. H., Martin, B. J., and Gillespie, R. B. (2004). Modeling the Coordinated Movements of the Head and Hand Using Differential Inverse Kinematics. In Digital Human Modeling for Design and Engineering Symposium.

Griffiths, P. G. and Gillespie, R. B. (2004). Shared control between human and machine: haptic display of automation during manual control of vehicle heading. In 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 358-366.

Huang, F., Gillespie, R. B., and Kuo, A. (2004). Haptic feedback improves manual excitation of a sprung mass. In 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 200-207.

Patoglu, V. and Gillespie, R. B. (2004). Haptic rendering of parametric surfaces using a feedback stabilized extremal distance tracking algorithm. In 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 391-399.

Patoglu, V. and Gillespie, R. B. (2003). The Haptic Probe: Mechanized Haptic Exploration and Automated Modeling. In 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003, pages 117-124.

Gillespie, R. B., Hoffman, M. B., and Freudenberg, J. (2003). Haptic interface for hands on instruction in system dynamics and embedded control. In 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 410-415.

Sovenyi, S. and Gillespie, R. B. (2003). An Investigation of Vibration Feedthrough and Feedthrough Cancellation in Joystick Controlled Vehicles. In ASME International Mechanical Engineering Congress and Exposition, Dynamic Systems and Control Division, volume 2003, pages 569-576.

Patoglu, V. and Gillespie, R. B. (2002). Extremal distance maintenance for parametric curves and surfaces. In IEEE International Conference on Robotics and Automation, volume 3, pages 2817-2823.

Brokowski, M. E., Gillespie, R. B., Kim, S., and Peshkin, M. (2002). Toward improved CVTs: theoretical and experimental results. In ASME International Mechanical Engineering Congress and Exposition, Dynamic Systems and Control Division, pages 855-865.

Danek, K. A., Gillespie, R. B., and Ferris, D. P. (2002). Limited Assistance Practice Increases Range of Motion in the Impaired Ankle of Stroke Subjects. In American Society of Biomechanics.

Huang, F., Gillespie, R. B., and Kuo, A. (2002). Haptic feedback and human performance in a dynamic task. In 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 24-31.

Steele, M. and Gillespie, R. B. (2001). Shared Control between Human and Machine: Using a Haptic Steering Wheel to Aid in Land Vehicle Guidance. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, volume 45, pages 1671-1675.

Gillespie, R. B., Colgate, J. E., and Peshkin, M. (1999). A general framework for cobot control. In Proceedings 1999 IEEE International Conference on Robotics and Automation, volume 3, pages 1824-1830.

Gillespie, R. B., Colgate, J. E., and Peshkin, M. (1999). A general framework for cobot control. In Proceedings 1999 IEEE International Conference on Robotics and Automation, volume 3, pages 1824-1830.

Gillespie, R. B., O’Modhrain, M. S., Tang, P., Zaretzky, D., and Pham, C. (1998). The Virtual Teacher. In ASME International Mechanical Engineering Congress and Exposition,volume 27, pages 171-178.

Wannasuphoprasit, W., Gillespie, R. B., Colgate, J., and Peshkin, M. (1997). Cobot control. In Proceedings of International Conference on Robotics and Automation, volume 4, pages 3571-3576.

Gillespie, R. B. and Colgate, J. E. (1997). A survey of multibody dynamics for virtual environments. In ASME International Mechanical Engineering Conference and Exposition, Dynamic Systems and Control Division, pages 45-54, Dallas, TX

O’Modhrain, M. S. and Gillespie, R. B. (1997). The Moose: A Haptic User Interface for Blind Persons. In Third WWW6 Conference.

Miner, N., Gillespie, R. B., and Caudell, T. (1996). Examining the influence of audio and visual stimuli on a haptic display. In Proceedings of the IMAGE Conference.

Gillespie, R. B. and Cutkosky, M. R. (1996). Stable user-specific rendering of virtual wall. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition.

Gillespie, R. B. and O’Modhrain, S. (1995). The Moose: A Haptic User Interface for Blind Persons with Application to the Digital Sound Studio. Technical report, Stanford University.

Gillespie, R. B. and Rosenberg, L. B. (1995). Design of High-Fidelity Haptic Display for One-Dimensional Force Reflection Applications. In Das, H., editor, Photonics for Industrial Applications, international Society for Optics and Photonics, pages 44-54.

Gillespie, R. B. (1994b). The Virtual Piano Action : Design and Implementation. In Proceedings of the International Computer Music Conference, pages 167-170.

Gillespie, R. B. (1994a). The Touchback Keyboard. In Proceedings of the International Computer Music Conference, pages 447-448.

Gillespie, B. and Cutkosky, M. (1993). Interactive Dynamics With Haptic Display. In 2nd Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME Winter Annual Meeting, pages 55-63.

Gillespie, B. (1992). Dynamical Modeling of the Grand Piano Action. In Proceedings of the International Computer Music Conference, pages 77-81.