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Brent Gillespie 0001

R. Brent Gillespie

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affiliation: University of Michigan, Ann Arbor, MI, USA
affiliation (PhD 1996): Stanford University, Palo Alto, CA, USA

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2020 – today

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2024
[j26]
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Tianxiang Dai, Nikola Velimirovic, Philipp Zalles, Daniel Bruder, Keith Buffinton, R. Brent Gillespie, C. David Remy:
Modeling and Experimental Validation of High-Flow Fluid-Driven Membrane Valves for Hyperactuated Soft Robots. Adv. Intell. Syst. 6(8) (2024)
[j25]
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C. David Remy, Zachary Brei, Daniel Bruder, Jan Remy, Keith W. Buffinton, R. Brent Gillespie:
The "Fluid Jacobian": Modeling force-motion relationships in fluid-driven soft robots. Int. J. Robotics Res. 43(5): 628-645 (2024)
[c61]
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Alia Gilbert, Sachit Krishnan, R. Brent Gillespie:
Embodied Supervision: Haptic Display of Automation Command to Improve Supervisory Performance. HAPTICS 2024: 335-340
[i7]
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  - journals/corr/abs-2402-18707
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Alia Gilbert, Sachit Krishnan, R. Brent Gillespie:
Embodied Supervision: Haptic Display of Automation Command to Improve Supervisory Performance. CoRR abs/2402.18707 (2024)
2023
[c60]
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Hannah Baez, Akshay Bhardwaj, Jean Costa, John Gideon, Sile O'Modhrain, Nadine B. Sarter, Brent Gillespie:
Communication is a Two-Way Street: Negotiating Driving Intent through a Shape-Changing Steering Wheel. WHC 2023: 134-140
[c59]
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Mark Nail, Nick Jänne, Olivia Ma, Gabriel Arellano, Ella M. Atkins, R. Brent Gillespie:
Simplifying Aerial Manipulation Using Intentional Collisions. ICRA 2023: 5359-5365
[c58]
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Emma Treadway, Melissa Brei, Audrey Sedal, R. Brent Gillespie:
A Single-Parameter Model for Soft Bellows Actuators under Axial Deformation and Loading. IROS 2023: 582-589
2022
[c57]
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Zachary Brei, R. Brent Gillespie:
Programmable Pressure Amplification Using a Soft Folding Actuator. RoboSoft 2022: 83-88
2021
[j24]
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  - journals/access/BhardwajLPSG21
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Akshay Bhardwaj, Yidu Lu, Selina Pan, Nadine B. Sarter, R. Brent Gillespie:
Comparing Coupled and Decoupled Steering Interface Designs for Emergency Obstacle Evasion. IEEE Access 9: 116857-116868 (2021)
[j23]
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Audrey Sedal, Alan Wineman, R. Brent Gillespie, C. David Remy:
Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators. Int. J. Robotics Res. 40(1) (2021)
[j22]
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Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan:
Koopman-Based Control of a Soft Continuum Manipulator Under Variable Loading Conditions. IEEE Robotics Autom. Lett. 6(4): 6852-6859 (2021)
[j21]
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Steven Cutlip, Yuzhi Wan, Nadine B. Sarter, R. Brent Gillespie:
The Effects of Haptic Feedback and Transition Type on Transfer of Control Between Drivers and Vehicle Automation. IEEE Trans. Hum. Mach. Syst. 51(6): 613-621 (2021)
[j20]
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Emma Treadway, R. Brent Gillespie:
Vector Field Control Methods for Discretely Variable Passive Robotic Devices. IEEE Trans. Robotics 37(2): 375-389 (2021)
[j19]
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Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan:
Data-Driven Control of Soft Robots Using Koopman Operator Theory. IEEE Trans. Robotics 37(3): 948-961 (2021)
[c56]
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  - conf/haptics/BhardwajCG21
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Akshay Bhardwaj, Steven Cutlip, R. Brent Gillespie:
Modeling Haptic Communication in Cooperative Teams. WHC 2021: 433-438
2020
[c55]
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  - conf/haptics/CutlipFG20
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Steven Cutlip, Jim Freudenberg, R. Brent Gillespie:
Respecting the Coupled Dynamics: Haptic Feedback Carries both Power and Information. HAPTICS 2020: 718-723
[c54]
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Akshay Bhardwaj, Yidu Lu, Selina Pan, Nadine B. Sarter, Brent Gillespie:
The Effects of Driver Coupling and Automation Impedance on Emergency Steering Interventions. SMC 2020: 1738-1744
[i6]
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  - journals/corr/abs-2002-01407
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Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan:
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions. CoRR abs/2002.01407 (2020)
[i5]
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  - journals/corr/abs-2002-01655
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Akshay Bhardwaj, Daniel Slavin, John Walsh, James S. Freudenberg, R. Brent Gillespie:
Rack Force Estimation for Driving on Uneven Roads. CoRR abs/2002.01655 (2020)
[i4]
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  - journals/corr/abs-2006-06093
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Akshay Bhardwaj, Yidu Lu, Selina Pan, Nadine B. Sarter, Brent Gillespie:
The Effects of Driver Coupling and Automation Impedance on Emergency Steering Interventions. CoRR abs/2006.06093 (2020)
[i3]
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  - journals/corr/abs-2006-16319
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Akshay Bhardwaj, Daniel Slavin, John Walsh, James S. Freudenberg, R. Brent Gillespie:
Estimation and Decomposition of Rack Force for Driving on Uneven Roads. CoRR abs/2006.16319 (2020)

2010 – 2019

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2019
[j18]
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  - journals/ctw/GhasemiJG19
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Amir H. Ghasemi, Paramsothy Jayakumar, R. Brent Gillespie:
Shared control architectures for vehicle steering. Cogn. Technol. Work. 21(4): 699-709 (2019)
[j17]
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  - journals/ral/KangGGG19
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Jiyeon Kang, Michael A. Gonzalez, R. Brent Gillespie, Deanna H. Gates:
A Haptic Object to Quantify the Effect of Feedback Modality on Prosthetic Grasping. IEEE Robotics Autom. Lett. 4(2): 1101-1108 (2019)
[j16]
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Emma Treadway, R. Brent Gillespie:
Unilateral and Bilateral Virtual Springs: Contact Transitions Unmask Device Dynamics. IEEE Trans. Haptics 12(2): 205-216 (2019)
[c53]
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Akshay Bhardwaj, Brent Gillespie, James S. Freudenberg:
Estimating Rack Force due to Road Slopes for Electric Power Steering Systems. ACC 2019: 328-334
[c52]
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  - conf/haptics/CutlipFCG19
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Steven Cutlip, Jim Freudenberg, Noah J. Cowan, R. Brent Gillespie:
Haptic Feedback and the Internal Model Principle. WHC 2019: 568-573
[c51]
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  - conf/rss/BruderGRV19
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Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan:
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control. Robotics: Science and Systems 2019
[i2]
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  - journals/corr/abs-1902-00054
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Audrey Sedal, Alan Wineman, R. Brent Gillespie, C. David Remy:
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators. CoRR abs/1902.00054 (2019)
[i1]
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  - journals/corr/abs-1902-02827
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Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan:
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control. CoRR abs/1902.02827 (2019)
2018
[j15]
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  - journals/toh/MorashRGO18
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Valerie S. Morash, Alexander Russomanno, R. Brent Gillespie, Sile O'Modhrain:
Evaluating Approaches to Rendering Braille Text on a High-Density Pin Display. IEEE Trans. Haptics 11(3): 476-481 (2018)
[j14]
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Emma Treadway, Zhenyu Gan, C. David Remy, R. Brent Gillespie:
Toward Controllable Hydraulic Coupling of Joints in a Wearable Robot. IEEE Trans. Robotics 34(3): 748-763 (2018)
[c50]
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Emma Treadway, R. Brent Gillespie:
The impact of high-frequency haptic device behavior on perception. HAPTICS 2018: 52-57
[c49]
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Emma Treadway, Steven Cutlip, R. Brent Gillespie:
Haptic Scene Analysis: Mechanical Property Separation Despite Parasitic Dynamics. EuroHaptics (1) 2018: 234-245
2017
[c48]
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Emma Treadway, Yi Yang, R. Brent Gillespie:
Decomposing the performance of admittance and series elastic haptic rendering architectures. WHC 2017: 346-351
[c47]
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  - conf/haptics/RussomannoXOG17
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Alexander Russomanno, Zhentao Xu, Sile O'Modhrain, Brent Gillespie:
A pneu shape display: Physical buttons with programmable touch response. WHC 2017: 641-646
2016
[j13]
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  - journals/toh/BrownSGGG16
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Jeremy D. Brown, Mackenzie K. Shelley, Duane Gardner, Emmanuel A. Gansallo, R. Brent Gillespie:
Non-Colocated Kinesthetic Display Limits Compliance Discrimination in the Absence of Terminal Force Cues. IEEE Trans. Haptics 9(3): 387-396 (2016)
[c46]
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  - conf/automotiveUI/GhasemiJGBJJG16
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Amir H. Ghasemi, Mishel Johns, Benjamin Garber, Paul Boehm, Paramsothy Jayakumar, Wendy Ju, R. Brent Gillespie:
Role Negotiation in a Haptic Shared Control Framework. AutomotiveUI (adjunct) 2016: 179-184
[c45]
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Alexander Russomanno, M. Sile O'Modhrain, Mark Burns, R. Brent Gillespie:
Modeling latching fluidic circuits to determine clocking limits for a refreshable braille display. HAPTICS 2016: 179-184
[c44]
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  - conf/haptics/HoribeTG16
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Takamasa Horibe, Emma Treadway, R. Brent Gillespie:
Comparing Series Elasticity and Admittance Control for Haptic Rendering. EuroHaptics (1) 2016: 240-250
2015
[j12]
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Alexander Russomanno, Sile O'Modhrain, R. Brent Gillespie, Matthew W. M. Rodger:
Refreshing Refreshable Braille Displays. IEEE Trans. Haptics 8(3): 287-297 (2015)
[c43]
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Emma Treadway, R. Brent Gillespie, Darren Bolger, Amy A. Blank, Marcia O'Malley, Alicia J. Davis:
The role of auxiliary and referred haptic feedback in myoelectric control. World Haptics 2015: 13-18
[c42]
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Alexander Russomanno, R. Brent Gillespie, Sile O'Modhrain, Mark Burns:
The design of pressure-controlled valves for a refreshable tactile display. World Haptics 2015: 177-182
[c41]
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Zhenyu Gan, Katelyn Fry, R. Brent Gillespie, C. David Remy:
A novel variable transmission with digital hydraulics. IROS 2015: 5838-5843
[c40]
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  - conf/nime/SheffieldOGG15
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Eric Sheffield, Sile O'Modhrain, Michael Gould, R. Brent Gillespie:
The pneumatic practice pad. NIME 2015: 231-234
2014
[c39]
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  - conf/amcc/YuGFC14
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Bo Yu, R. Brent Gillespie, James S. Freudenberg, Jeffrey A. Cook:
Identification of human feedforward control in grasp and twist tasks. ACC 2014: 2833-2838
[c38]
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Bo Yu, R. Brent Gillespie, James S. Freudenberg, Jeffrey A. Cook:
Human control strategies in pursuit tracking with a disturbance input. CDC 2014: 3795-3800
[c37]
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Alexander Russomanno, R. Brent Gillespie, M. Sile O'Modhrain, James Barber:
Modeling Pneumatic Actuators for a Refreshable Tactile Display. EuroHaptics (2) 2014: 385-393
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R. Brent Gillespie, Dongwon Kim, Jacob M. Suchoski, Bo Yu, Jeremy D. Brown:
Series elasticity for free free-space motion for free. HAPTICS 2014: 609-615
2013
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  - conf/embc/PaekBGOSC13
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Andrew Y. Paek, Jeremy D. Brown, R. Brent Gillespie, Marcia K. O'Malley, Patricia A. Shewokis, José L. Contreras-Vidal:
Reconstructing surface EMG from scalp EEG during myoelectric control of a closed looped prosthetic device. EMBC 2013: 5602-5605
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Dongwon Kim, Brandon J. Johnson, R. Brent Gillespie, Rachael D. Seidler:
Role of haptic cues in motor learning. World Haptics 2013: 265-270
[c33]
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Jeremy D. Brown, Andrew Y. Paek, Mashaal Syed, Marcia Kilchenman O'Malley, Patricia A. Shewokis, José Luis Contreras-Vidal, Alicia J. Davis, R. Brent Gillespie:
Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task. World Haptics 2013: 271-276
[c32]
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  - conf/haptics/ChristiansenCGSO13
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Ryan Christiansen, José Luis Contreras-Vidal, R. Brent Gillespie, Patricia A. Shewokis, Marcia Kilchenman O'Malley:
Vibrotactile feedback of pose error enhances myoelectric control of a prosthetic hand. World Haptics 2013: 531-536
2012
[j11]
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  - journals/tcst/OpilaWMGCG12
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Daniel F. Opila, Xiaoyong Wang, Ryan McGee, R. Brent Gillespie, Jeffrey A. Cook, Jessy W. Grizzle:
An Energy Management Controller to Optimally Trade Off Fuel Economy and Drivability for Hybrid Vehicles. IEEE Trans. Control. Syst. Technol. 20(6): 1490-1505 (2012)
[c31]
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Bo Yu, James S. Freudenberg, R. Brent Gillespie:
String instability analysis of heterogeneous coupled oscillator systems. ACC 2012: 6638-6643
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Bo Yu, James S. Freudenberg, R. Brent Gillespie, Jeffrey A. Cook:
Dynamic coupling between a human user and haptic virtual environment. CDC 2012: 2489-2494
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Xinyi Ge, Shih-Kang Peng, Boyun Wang, Jonah Shapiro, R. Brent Gillespie, Curt Salisbury:
A high bandwidth low inertia motor for haptic rendering based on clutched eddy current effects. HAPTICS 2012: 83-89
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Jeremy D. Brown, R. Brent Gillespie, Duane Gardner, Emmanuel A. Gansallo:
Co-location of force and action improves identification of force-displacement features. HAPTICS 2012: 187-193
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Georg Essl, R. Brent Gillespie, Michael Gurevich, Sile O'Modhrain:
12th International Conference on New Interfaces for Musical Expression, NIME 2012, Ann Arbor, Michigan, USA, May 21-23, 2012. nime.org 2012 [contents]
2011
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R. Brent Gillespie, Bo Yu, Robert Grijalva, Shorya Awtar:
Characterizing the Feel of the Piano Action. Comput. Music. J. 35(1): 43-57 (2011)
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Curt Salisbury, R. Brent Gillespie, Hong Z. Tan, Federico Barbagli, J. Kenneth Salisbury:
What You Can't Feel Won't Hurt You: Evaluating Haptic Hardware Using a Haptic Contrast Sensitivity Function. IEEE Trans. Haptics 4(2): 134-146 (2011)
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Paul G. Griffiths, R. Brent Gillespie, James S. Freudenberg:
A Fundamental Linear Systems Conflict Between Performance and Passivity in Haptic Rendering. IEEE Trans. Robotics 27(1): 75-88 (2011)
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Tulga Ersal, R. Brent Gillespie, Mark J. Brudnak, Jeffrey L. Stein, Hosam K. Fathy:
Effect of coupling point selection on distortion in Internet-distributed hardware-in-the-loop simulation. ACC 2011: 3096-3103
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Bo Yu, James S. Freudenberg, R. Brent Gillespie, Richard H. Middleton:
String instability in coupled harmonic oscillator systems. CDC/ECC 2011: 6224-6229
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Jeremy D. Brown, R. Brent Gillespie:
The effect of force/motion coupling on motor and cognitive performance. World Haptics 2011: 197-202
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R. Brent Gillespie, M. Sile O'Modhrain:
Embodied cognition as a motivating perspective for haptic interaction design: A position paper. World Haptics 2011: 481-486
2010
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Louis B. Kratchman, Jian Wen, Marc Michener, R. Brent Gillespie:
Modeling pneumatic bubble displacements with membrane theory. HAPTICS 2010: 327-334

2000 – 2009

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2009
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Curt Salisbury, R. Brent Gillespie, Hong Z. Tan, Federico Barbagli, J. Kenneth Salisbury:
Effects of haptic device attributes on vibration detection thresholds. WHC 2009: 115-120
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Paul G. Griffiths, R. Brent Gillespie:
Recovering haptic performance by relaxing passivity requirements. WHC 2009: 326-331
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Ozkan Celik, Marcia Kilchenman O'Malley, R. Brent Gillespie, Patricia A. Shewokis, José Luis Contreras-Vidal:
Compact and low-cost tendon vibrator for inducing proprioceptive illusions. WHC 2009: 623-624
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R. Brent Gillespie, John Baker, Marcia Kilchenman O'Malley, Patricia A. Shewokis, José Luis Contreras-Vidal:
Functionally biarticular control for smart prosthetics. WHC 2009: 627-628
2008
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Paul G. Griffiths, R. Brent Gillespie, James S. Freudenberg:
A Fundamental Tradeoff Between Performance and Sensitivity Within Haptic Rendering. IEEE Trans. Robotics 24(3): 537-548 (2008)
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Paul G. Griffiths, R. Brent Gillespie:
A fundamental conflict between performance and passivity in haptic rendering. ACC 2008: 183-188
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Paul G. Griffiths, R. Brent Gillespie:
Characterizing Teleoperator Behavior for Feedback Design and Performance Analysis. HAPTICS 2008: 273-280
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Brent Gillespie, Jun Xiao, Noel C. Perkins, Tom Armstrong, Stan Hamstra, Steven Kasten, Rebecca M. Minter:
The Instrumented Instrument: Characterization and Training of Manual Skill in Open Suturing. MMVR 2008: 141-146
2007
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K. Han Kim, R. Brent Gillespie, Bernard J. Martin:
Head movement control in visually guided tasks: Postural goal and optimality. Comput. Biol. Medicine 37(7): 1009-1019 (2007)
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Szabolcs Sövényi, R. Brent Gillespie:
Cancellation of Biodynamic Feedthrough in Vehicle Control Tasks. IEEE Trans. Control. Syst. Technol. 15(6): 1018-1029 (2007)
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Paul G. Griffiths, R. Brent Gillespie, Jim Freudenberg:
A Fundamental Tradeoff between Performance and Sensitivity within Haptic Rendering. Robotics: Science and Systems 2007
2006
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Paul G. Griffiths, R. Brent Gillespie, James S. Freudenberg:
Performance/Stability Robustness Tradeoffs Induced by the Two-Port Virtual Coupler. HAPTICS 2006: 29
2005
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Paul G. Griffiths, R. Brent Gillespie:
Sharing Control Between Humans and Automation Using Haptic Interface: Primary and Secondary Task Performance Benefits. Hum. Factors 47(3): 574-590 (2005)
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Volkan Patoglu, R. Brent Gillespie:
Feedback-stabilized minimum distance maintenance for convex parametric surfaces. IEEE Trans. Robotics 21(5): 1009-1016 (2005)
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Paul G. Griffiths, R. Brent Gillespie:
A driving simulator for teaching embedded automotive control applications. ACC 2005: 722-726vol.1
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Volkan Patoglu, R. Brent Gillespie:
A Closest Point Algorithm for Parametric Surfaces with Global Uniform Asymptotic Stability. WHC 2005: 348-355
2004
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Felix Huang, R. Brent Gillespie, Art Kuo:
Haptic Feedback Improves Manual Excitation of a Sprung Mass. HAPTICS 2004: 200-207
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Paul G. Griffiths, R. Brent Gillespie:
Shared Control between Human and Machine: Haptic Display of Automation during Manual Control of Vehicle Heading. HAPTICS 2004: 358-366
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Volkan Patoglu, R. Brent Gillespie:
Haptic Rendering of Parametric Surfaces Using a Feedback Stabilized Extremal Distance Tracking Algorithm. HAPTICS 2004: 391-399
2003
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Volkan Patoglu, R. Brent Gillespie:
The Haptic Probe: Mechanized Haptic Exploration and Automated Modeling. HAPTICS 2003: 117-124
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R. Brent Gillespie, Mark B. Hoffman, James S. Freudenberg:
Haptic Interface for Hands-On Instruction in System Dynamics and Embedded Control. HAPTICS 2003: 410-415
2002
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Felix Huang, R. Brent Gillespie, Art Kuo:
Haptic Feedback and Human Performance in a Dynamic Task. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2002: 24-31
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Volkan Patoglu, R. Brent Gillespie:
Extremal Distance Maintenance for Parametric Curves and Surfaces. ICRA 2002: 2817-2823
2001
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Michael A. Peshkin, J. Edward Colgate, Wit Wannasuphoprasit, Carl A. Moore, R. Brent Gillespie, Prasad Akella:
Cobot architecture. IEEE Trans. Robotics Autom. 17(4): 377-390 (2001)
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R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin:
A general framework for cobot control. IEEE Trans. Robotics Autom. 17(4): 391-401 (2001)

1990 – 1999

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1999
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R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin:
A General Framework for Cobot Control. ICRA 1999: 1824-1830
1997
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Witaya Wannasuphoprasit, R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin:
Cobot control. ICRA 1997: 3571-3576
1994
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Brent Gillespie:
The Virtual Piano Action: Design and Implementation. ICMC 1994
1992
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Brent Gillespie:
Dynamical Modeling of the Grand Piano Action. ICMC 1992

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