| A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation PJ Berkelman, LL Whitcomb, RH Taylor, P Jensen IEEE Transactions on Robotics and Automation 19 (5), 917-921, 2003 | 272 | 2003 |
| Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation R Kumar, P Berkelman, P Gupta, A Barnes, PS Jensen, LL Whitcomb, ... Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference …, 2000 | 207 | 2000 |
| A compact, compliant laparoscopic endoscope manipulator P Berkelman, P Cinquin, J Troccaz, J Ayoubi, C Letoublon, F Bouchard Proceedings 2002 IEEE International Conference on Robotics and Automation …, 2002 | 145 | 2002 |
| Adaptive magnetic levitation apparatus and method WD Meadow Jr, WD Meadow, PJ Berkelman US Patent 7,224,252, 2007 | 133 | 2007 |
| A compact modular teleoperated robotic system for laparoscopic surgery P Berkelman, J Ma The International journal of robotics research 28 (9), 1198-1215, 2009 | 124 | 2009 |
| Robot-assisted stapedotomy: micropick fenestration of the stapes footplate DL Rothbaum, J Roy, D Stoianovici, P Berkelman, GD Hager, RH Taylor, ... Otolaryngology—Head and Neck Surgery 127 (5), 417-426, 2002 | 119 | 2002 |
| A miniature instrument tip force sensor for robot/human cooperative microsurgical manipulation with enhanced force feedback PJ Berkelman, LL Whitcomb, RH Taylor, P Jensen Medical Image Computing and Computer-Assisted Intervention–MICCAI 2000 …, 2000 | 112 | 2000 |
| Design of a hemispherical magnetic levitation haptic interface device PJ Berkelman, ZJ Butler, RL Hollis Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic …, 1996 | 88 | 1996 |
| Magnetic levitation over large translation and rotation ranges in all directions P Berkelman, M Dzadovsky IEEE/ASME Transactions on Mechatronics 18 (1), 44-52, 2011 | 86 | 2011 |
| Performance evaluation of a cooperative manipulation microsurgical assistant robot applied to stapedotomy PJ Berkelman, DL Rothbaum, J Roy, S Lang, LL Whitcomb, G Hager, ... International Conference on Medical Image Computing and Computer-Assisted …, 2001 | 86 | 2001 |
| LER: The light endoscope robot P Berkelman, E Boidard, P Cinquin, J Troccaz Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and …, 2003 | 84 | 2003 |
| Interacting with virtual environments using a magnetic levitation haptic interface PJ Berkelman, RL Hollis, SE Salcudean Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and …, 1995 | 74 | 1995 |
| Lorentz magnetic levitation for haptic interaction: Device design, performance, and integration with physical simulations PJ Berkelman, RL Hollis The International Journal of Robotics Research 19 (7), 644-667, 2000 | 73 | 2000 |
| Development of miniaturized light endoscope-holder robot for laparoscopic surgery JA Long, P Cinquin, J Troccaz, S Voros, P Berkelman, JL Descotes, ... Journal of Endourology 21 (8), 911-914, 2007 | 72 | 2007 |
| Interaction with a real time dynamic environment simulation using a magnetic levitation haptic interface device PJ Berkelman, RL Hollis, D Baraff Proceedings 1999 IEEE International Conference on Robotics and Automation …, 1999 | 71 | 1999 |
| Virtual peg-in-hole performance using a 6-dof magnetic levitation haptic device: Comparison with real forces and with visual guidance alone BJ Unger, A Nicolaidis, PJ Berkelman, A Thompson, S Lederman, ... Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and …, 2002 | 64 | 2002 |
| System for positioning on a patient an observation and/or intervention device P Berkelman, P Cinquin, A Jacquet, J Arnault US Patent App. 10/514,353, 2006 | 54 | 2006 |
| Comparison of 3-D haptic peg-in-hole tasks in real and virtual environments BJ Unger, A Nicolaidis, PJ Berkelman, A Thompson, RL Klatzky, RL Hollis Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and …, 2001 | 51 | 2001 |
| Design, control and testing of a novel compact laparoscopic endoscope manipulator P Berkelman, P Cinquin, E Boidard, J Troccaz, C Letoublon, JM Ayoubi Proceedings of the Institution of Mechanical Engineers, Part I: Journal of …, 2003 | 48 | 2003 |
| Tool-based haptic interaction with dynamic physical simulations using Lorentz magnetic levitation PJ Berkelman Carnegie Mellon University, 1999 | 47 | 1999 |
