Current Research Publications
2008
Mitra, P., and Niemeyer, G., 2008, “Model Mediated Telemanipulation”, Int. Journal of Robotics Research, in press.
2007
Tung, A., Park, B-H., Niemeyer, G., and Liang, D. H., 2007, “Laser-Machined Shape Memory Alloy Actuators for Active Catheters”, IEEE/ASME Transactions on Mechatronics, vol. 12, no.4, pp. 439-446.
Mitra, P., and Niemeyer, G., 2007, “Haptic Simulation of Manipulator Collisions using Dynamic Proxies”, Presence: Teleoperators and Virtual Environments, vol. 16, no. 4, pp. 367-384.
Diolaiti, N., Niemeyer, G., and Tanner, N., 2007, “Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics”, Int. Journal of Robotics Research, vol.26, no.1, pp.5-21.
Shull, P., and Niemeyer, G., 2007, “Experiments in Local Force Feedback for High-Inertia, High-Friction Telerobotic Systems”, ASME Int. Mechanical Engineering Congress and Exposition, Seattle, WA, #41515.
Hart, J. S., and Niemeyer, G., 2007, “Wave Variable Based Force Control”, ASME Int. Mechanical Engineering Congress and Exposition, Seattle, WA, # 41469.
Berdahl, E., Verplank, B., Smith, J., and Niemeyer, G., 2007, “A Physically Intuitive Haptic Drumstick”, Int. Computer Music Conference, Copenhagen, Denmark, pp. 363-366.
Mitra, P., Gentry, D., and Niemeyer, G., 2007, “User Preferences and Performance in Model Mediated Telemanipulation”, World Haptics Conference, Tsukuba, Japan, pp. 268-273.
Hart, J. S., and Niemeyer, G., 2007, “Design Guidelines for Wave Controllers in Time-Delayed Teleoperation”, World Haptics Conference, Tsukuba, Japan, pp. 182-187.
2006
Fiene, J., and Niemeyer, G., 2006, “Event-Based Haptic Representation of Step Surface Discontinuities”, ASME Int. Mechanical Engineering Congress and Exposition, Chicago, IL, Part 2, #13476.
Mitra, P., and Niemeyer, G., 2006, “Model Mediated Telemanipulation”, ASME Int. Mechanical Engineering Congress and Exposition, Chicago, IL, Part 2, #15209.
Diolaiti, N., and Niemeyer, G., 2006, “Wave Haptics: Using Motor Dynamics for Stiff Coupling to Virtual Environments”, IEEE Int. Conf. on Robotics and Automation, Orlando, FL, pp. 3274 – 3279.
Kuchenbecker, K. J., and Niemeyer, G., 2006, “Improving Telerobotic Touch Via High-Frequency Acceleration Matching”, IEEE Int. Conf. on Robotics and Automation, Orlando, FL, pp. 3893 – 3898.
Diolaiti, N., and Niemeyer, G., 2006, “Wave Haptics: Providing Stiff Coupling to Virtual Environments”, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Arlington, VA, pp. 185-192.
Tanner, N. A., and Niemeyer, G., 2006, “Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics”, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Arlington, VA, pp. 153-159.
Fiene, J., Kuchenbecker, K. J., and Niemeyer, G., 2006, “Event-Based Haptic Tapping with Grip Force Compensation”, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Arlington, VA, pp. 117-123.
Koolwal, A. B., Park, B-H., Nelson, B., Niemeyer, G., and Liang, D. H., 2006, “Amplitude-Modulating Switching Feedback for Position Control of Shape Memory Alloy Actuators”, IEEE Int. Conf. On Biomedical Robotics and Biomechatronics, Pisa, Italy, pp. 847 – 852.
Tung, A. T., Park, B-H., Koolwal, A. B., Nelson, B., Niemeyer, G., and Liang, D. H., 2006, “Design and Fabrication of Tubular Shape Memory Alloy Actuators for Active Catheters”, IEEE Int. Conf. On Biomedical Robotics and Biomechatronics, Pisa, Italy, pp. 775 – 780.
Katherine J. Kuchenbecker, Jonathan Fiene, and Günter Niemeyer. Improving contact realism through event-based haptic feedback. IEEE Transactions on Visualization and Computer Graphics, 12(2):219-230, March/April 2006.
Katherine J. Kuchenbecker and Günter Niemeyer. Induced master motion in force-reflecting teleoperation. Accepted to the ASME Journal of Dynamic Systems, Measurement and Control, 2006.
Probal Mitra and Günter Niemeyer. Haptic simulation of manipulator collisions using dynamic proxies. Accepted to Presence: Teleoperators and Virtual Environments, 2006.
Nicola Diolaiti and Günter Niemeyer. Wave haptics: Using motor dynamics for stiff coupling to virtual environments. In Proc. IEEE International Conference on Robotics and Automation, pages 3274-3279, May 2006.
Katherine J. Kuchenbecker and Günter Niemeyer. Improving telerobotic touch via high-frequency acceleration matching. In Proc. IEEE International Conference on Robotics and Automation, pages 3893-3898, May 2006.
Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, and J. Kenneth Salisbury. Stability of haptic rendering: Discretization, quantization, time delay, and Coulomb effects. IEEE Transactions on Robotics, 22(2):256-268, April 2006.
Neal A. Tanner and Günter Niemeyer. High frequency acceleration feedback in wave variable telerobotics. IEEE/ASME Transactions on Mechatronics, 11(2):119-127, April 2006.
Nicola Diolaiti and Günter Niemeyer. Wave haptics: Providing stiff coupling to virtual environments. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 185-192, March 2006.
Jonathan Fiene, Katherine J. Kuchenbecker, and Günter Niemeyer. Event-based haptic tapping with grip force compensation. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 117-123, March 2006.
Neal A. Tanner and Günter Niemeyer. Stabilization through gyration: A wave variable approach to high frequency force feedback in telerobotics. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 153-159, March 2006.
Jonathan Fiene and Günter Niemeyer. Toward switching motor control. IEEE/ASME Transactions on Mechatronics", 11(1):27-34, February 2006.
2005
Neal A. Tanner and Günter Niemeyer. High frequency acceleration feedback in wave variable telerobotics. In Proc. ASME International Mechanical Engineering Congress and Exposition, volume 2, paper 81606, November 2005.
Günter Niemeyer, Nicola Diolaiti, and Neal Tanner. Wave haptics: Encoderless virtual stiffnesses. In Proc. International Symposium on Robotics Research, October 2005.
William R. Provancher, Mark R. Cutkosky, Katherine J. Kuchenbecker, and Günter Niemeyer. Contact location display for haptic perception of curvature and object motion. International Journal of Robotics Research, 24(9):691-702, September 2005.
Neal A. Tanner and Günter Niemeyer. Improving perception in time delayed telerobotics. International Journal of Robotics Research, 24(8):631-644, August 2005.
Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, and J. Kenneth Salisbury. A criterion for the passivity of haptic devices. In Proc. IEEE International Conference on Robotics and Automation, pages 2463-2468, April 2005. PDF
Jonathan Fiene and Günter Niemeyer. Toward high-speed switching motor control for human-interactive robotics. In Proc. IEEE International Conference on Robotics and Automation, pages 1501-1506, April 2005. PDF
Katherine J. Kuchenbecker and Günter Niemeyer. Modeling induced master motion in force-reflecting teleoperation. In Proc. IEEE International Conference on Robotics and Automation, pages 350-355, April 2005. PDF
Neal A. Tanner and Günter Niemeyer. Improving perception in time delayed teleoperation. In Proc. IEEE International Conference on Robotics and Automation, pages 356-361, April 2005. PDF
Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, J. Kenneth Salisbury, and Claudio Melchiorri. The effect of quantization and Coulomb friction on the stability of haptic rendering. In Proc. IEEE World Haptics Conference, March 2005. PDF
Katherine J. Kuchenbecker, Jonathan Fiene, and Günter Niemeyer. Event-based haptics and acceleration matching: Portraying and assessing the realism of contact. In Proc. IEEE World Haptics Conference, pages 381-387, March 2005. PDF
2004
Günter Niemeyer and Probal Mitra. Dynamic proxies and haptic constraints. In Federico Barbagli, Domenico Prattichizzo, and Kenneth Salisbury, editors, Workshop on Multi-point Interaction in Robotics and Virtual Reality. Springer Verlag, New York, 2004. PDF
Probal Mitra and Günter Niemeyer. Dynamic proxy objects in haptic simulations. In Proc. IEEE Conference on Robotics, Automation, and Mechatronics, pages 1054-1059, December 2004. PDF
Neal A. Tanner and Günter Niemeyer. Practical limitations of wave variable controllers in teleoperation. In Proc. IEEE Conference on Robotics, Automation, and Mechatronics, pages 25-30, December 2004. PDF
Neal A. Tanner and Günter Niemeyer. Online tuning of wave impedance in telerobotics. In Proc. IEEE Conference on Robotics, Automation, and Mechatronics, pages 7-12, December 2004. PDF
Katherine J. Kuchenbecker and Günter Niemeyer. Canceling induced master motion in force-reflecting teleoperation. In Proc. ASME International Mechanical Engineering Congress and Exposition, volume 2, paper 60049, November 2004. PDF
Günter Niemeyer and Jonathan Fiene. Switching motor control: Toward an integrated amplifier design with position feedback. In Proc. American Control Conference, pages 180-185, July 2004. PDF
Jonathan Fiene and Günter Niemeyer. Switching motor control: An integrated amplifier design for improved velocity estimation and feedback. In Proc. IEEE International Conference on Robotics and Automation, volume 5, pages 4504-4509, April 2004. PDF
Jesse D. Hwang, Michael D. Williams, and Günter Niemeyer. Toward event-based haptics: Rendering contact using open-loop force pulses. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 24-31, March 2004. PDF
Katherine J. Kuchenbecker, William R. Provancher, Günter Niemeyer, and Mark R. Cutkosky. Haptic display of contact location. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 40-47, March 2004. PDF
June Gyu Park and Günter Niemeyer. Haptic rendering with predictive representation of local geometry. In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 331-338, March 2004. PDF
Günter Niemeyer, Katherine J. Kuchenbecker, Raymond Bonneau, Probal Mitra, Andrew Reid, Jonathan Fiene, and Grant Weldon. THUMP: An immersive haptic console for surgical simulation and training. In Proc. Medicine Meets Virtual Reality, pages 272-274, January 2004. PDF
2003
Katherine J. Kuchenbecker, June Gyu Park, and Günter Niemeyer. Characterizing the human wrist for improved haptic interaction. In Proc. ASME International Mechanical Engineering Congress and Exposition, volume 2, paper 42017, November 2003. PDF
William R. Provancher, Mark R. Cutkosky, Katherine J. Kuchenbecker, and Günter Niemeyer. Perception of curvature and object motion via contact location feedback. In Proc. International Symposium on Robotics Research, October 2003. PDF
Professor Niemeyer's Previous Research
Günter Niemeyer and Jean-Jacques E. Slotine. Telemanipulation with time delays. Int. Journal of Robotics Research, 23(9):873-890, September 2004.
Günter Niemeyer and Jean-Jacques E. Slotine. Towards bilateral Internet teleoperation. In Ken Goldberg and Roland Siegwart, editors, Beyond Webcams: An Introduction to Online Robots, pages 193-213. MIT Press, 2001.
Akhil J. Madhani, Günter Niemeyer, and J. Kenneth Salisbury. Macro-micro control to improve bilateral force-reflecting teleoperation. In Proc. IEEE Int. Symposium on Experimental Robotics, pages 413-422, 1999.
Akhil J. Madhani, Günter Niemeyer, and J. Kenneth Salisbury. The Black Falcon: A teleoperated surgical instrument for minimally invasive surgery. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robotic Systems, volume 2, pages 936-944, 1998. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Towards force-reflecting teleoperation over the Internet. In Proc. IEEE Int. Conf. on Robotics and Automation, volume 3, pages 1909-1915, May 1998. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. A simple strategy for opening an unknown door. In Proc. IEEE Int. Conf. on Robotics and Automation, volume 2, pages 1448-1453, April 1997.
Günter Niemeyer and Jean-Jacques E. Slotine. Designing force reflecting teleoperators with large time delays to appear as virtual tools. In Proc. IEEE Int. Conf. on Robotics and Automation, volume 3, pages 2212-2218, April 1997. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Using wave variables for system analysis and robot control. In Proc. IEEE Int. Conf. on Robotics and Automation, volume 2, pages 1619-1625, April 1997. PDF
D. A. Theobald, W. J. Hong, Akhil J. Madhani, B. Hoffman, Günter Niemeyer, L. Cadapan, Jean-Jacques E. Slotine, and J. Kenneth Salisbury. Autonomous rock acquisition. In Proc. AIAA Forum on Advanced Development in Space Robotics, 1996.
Günter Niemeyer. Using Wave Variables in Time Delayed Force Reflecting Teleoperation. Ph.D. Thesis, Massachusetts Institute of Technology, Cambridge, MA, September 1996. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Transient shaping in force-reflecting teleoperation. In Proc. Int. Conf. on Advanced Robotics, volume 1, pages 261-266, June 1991. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Performance in adaptive manipulator control. Int. Journal of Robotics Research, 10(2):149-161, February 1991.
Günter Niemeyer and Jean-Jacques E. Slotine. Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering, 16(1):152-162, January 1991.
Günter Niemeyer and Jean-Jacques E. Slotine. Adaptive cartesian control of redundant manipulators. In Proc. American Control Conference, volume 1, pages 234-241, 1990.
Günter Niemeyer and Jean-Jacques E. Slotine. Stable adaptive teleoperation. In Proc. American Control Conference, volume 2, pages 1186-1191, 1990. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Experimental studies of adaptive manipulator control. In Vincent Hayward and Oussama Khatib, editors, Lecture Notes in Control and Information Sciences: Experimental Robotics I, pages 166-179. Springer Verlag, 1990.
Günter Niemeyer and Jean-Jacques E. Slotine. Computational algorithms for adaptive compliant motion. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 566-571, 1989. PDF
Günter Niemeyer and Jean-Jacques E. Slotine. Performance in adaptive manipulator control. In Proc. Conf. on Decision and Control, pages 1585-1590, December 1988. PDF