Michael A. Peshkin

Professor, Dept. of Mechanical Engineering, Northwestern University

Research

• Co-director, Laboratory for Intelligent Mechanical Systems (LIMS)
• Physical human-robot interaction (pHRI)
• Cobots (robots for collaboration with human operators), Intelligent Assist Devices (IADs)
• Rehabilitation robotics
• Sensors and actuators

Spin-offs

Kinea Design, LLC
Founded 2003, to develop robotic assistive devices for physical therapists

Cobotics, Inc. (now part of Stanley Assembly Technology)
Founded 1996, to commercialize Cobots and related human-interactive devices
Acquired by Stanley Assembly Technologies, 2002

Z-KAT, Inc. (now MAKO Surgical)
Founded 1997, to commercialize Coordinated Fluoroscopy for image guided surgery

Teaching

• 233 - Electronics Design
• 395 - Design Competition 2008
• 433 - Advanced Mechatronics
• EA3 - Engineering Analysis 3 (part of Engineering First)

Community

• Science Fairs
• Reba Early Learning Center

Jump to

• Publications
• Patents
• Academic history
• Honors and awards
• Professional activities

Publications: Books and book chapters

System Dynamics
Michael A. Peshkin, L. Catherine Brinson
Online textbook, 2000

Safety for Physical Human-Robot Interaction
Antonio Bicchi, Michael A. Peshkin, J. Edward Colgate
in Handbook of Robotics, Bruno Siciliano, Oussama Khatib (Eds.), 2008, ISBN: 9783540239574

Sensors and actuators
Kevin Lynch, Michael A. Peshkin
in The Mechatronics Handbook, Robert Bishop (ed.), CRC Press, 2002, ISBN 0849300665

T15.1 Draft Standard for Trial Use for Intelligent Assist Devices - Personnel Safety Requirements
Robotic Industries Association, March 15 2002

Cobots
Michael A. Peshkin
in Frontiers of Engineering, National Academy of Engineering, NAE Press, 1998, ISBN 030906287X

Cobots in Material Handling
Michael A. Peshkin, J. Edward Colgate, Prasad Akella, Witaya Wannasuphoprasit
in Human and Machine Haptics, edited by M. Cutkosky, R. Howe, K. Salisbury, M. Srinivasan. MIT Press, 2000 (?)

A Computer-Assisted Total Knee Replacement Surgical System Using a Calibrated Robot
Thomas C. Kienzle III, S. David Stulberg, Michael A. Peshkin, Arthur Quaid, Jon Lea, Ambarish Goswami, Chi-haur Wu
in Computer Assisted Surgery, edited by Russell H. Taylor, Stéphane Lavallée, Grigore S. Burdea, Ralph Mösges. MIT Press, 1995, ISBN 026220097X

Robotic Manipulation Strategies (44MB)
Michael A. Peshkin
Prentice-Hall, 1990, ISBN 0137814933

Popular and trade press

Better Together [News Release on this topic]
Observer, Association for Psychological Science, 19(5), May 2006

Rehabilitation Medicine Welcomes a Robotic Revolution
Journal of the American Medical Association (JAMA) September 14, 2005, Vol 294, No. 10, p.1191

Robotic Rehab
MIT Technology Review, Sept. 2005

Works Well with Others: Collaborative Robots Interacting on the Assembly Line
Industrial Market Trends, Nov. 24, 2000

Numerous reports about Cobots
1996 - 2000

Fear of Science Fairs?
Michael A. Peshkin, Chicago Parent, Feb. 1997

Journal papers, published or in press

KineAssist: Design and Development of a Robotic Overground Gait and Balance Therapy Device
James Patton, David A. Brown, Michael Peshkin, JulioJ. Santos-Munne, Alex Makhlin, Ela lewis, J. Edward Colgate, and Doug Schwandt
Topics in Stroke Rehabilitation 15(2):131-139 (2008)

Causes of Microslip in a Continuously Variable Transmission
Songho Kim, Carl Moore, Michael Peshkin, J. Edward Colgate
Journal of Mechanical Design 130, January 2008

Power Efficiency of the Rotational-to-Linear Infinitely Variable Cobotic Transmission 
Eric L. Faulring, J. Edward Colgate, and Michael A. Peshkin
ASME J. Mechanical Design, December 2007

The Cobotic Hand Controller: Design, Control and Performance of a Novel Haptic Display
Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
The International Journal of Robotics Research, Vol. 25, No. 11, November 2006, pp. 1099-1119

Haptic display of constrained dynamic systems via admittance displays.
Eric L. Faulring, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin
Accepted for publication, IEEE Transactions on Robotics, 2007

Haptically Linked Dyads: Are Two Motor-Control Systems Better Than One? 
Kyle Reed, Michael A. Peshkin, Mitra J. Hartmann, Marcia Grabowecky, James Patton, and Peter M.Vishton
Psychological Science, 17(5), p.365-366, May 2006

Lessons Learned from a Novel Teleoperation Testbed
Brian P. DeJong, Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin, Hyosig Kang, Young S. Park, Thomas F. Ewing
Industrial Robot 33(3), p.187, 2006

Controlling the Apparent Inertia of Passive Human-Interactive Robots
Tom Worsnopp, Michael A. Peshkin, Kevin Lynch, J. Edward Colgate
Journal of Dynamic Systems Measurement and Control, 128 (1), March 2006

Static Single-Arm Force Generation With Kinematic Constraints
Peng Pan, Michael A. Peshkin, J. Edward Colgate, Kevin M. Lynch,
J Neurophysiol 93: p.2752-2765, 2005

Motion Guides for Assisted Manipulation
Kevin M. Lynch, Caizhen Liu, Allan Sorensen, Songho Kim, Michael A. Peshkin, Ed Colgate, Tanya Tickel, David Hannon, Kerry Shiels
International Journal of Robotics Research, 21(1), p.27-43, January 2002

Cobot Implementation of Virtual Paths and 3D Virtual Surfaces
Carl Moore, Michael A. Peshkin, J. Edward Colgate
IEEE Transactions on Robotics and Automation, 19(2), p.347-351, April 2003

Cobot architecture
Michael A. Peshkin, J. Edward Colgate, Witaya Wannasuphoprasit, Carl Moore, Brent Gillespie
IEEE Transactions on Robotics and Automation, 17(4), p.377, August 2001

A general framework for cobot control
Gillespie, R.B.; Colgate, J.E.; Peshkin, M.A.
Robotics and Automation, IEEE Transactions on , 17(4) , p.391, August 2001

Kinematic Creep in a Continuously Variable Transmission: Traction Drive Mechanics for Cobots
R. Brent Gillespie, Carl A. Moore, Michael A. Peshkin, and J. Edward Colgate
ASME J. Mechanical Design 124(4), p.713, December 2002

Mechanics in the Engineering First Curriculum at Northwestern University
Belytschko, T., A. Bayliss, C. Brinson, S. Carr, W. Kath, S. Krishnaswamy, B. Moran, J. Nocedal, M. Peshkin
International Journal of Engineering Education, Vol. 13(6), p.457-472, (1998)

Mechanically implementable accommodation matrices for passive force control
Ambarish Goswami, Michael A. Peshkin
International Journal of Robotics Research, 18(8), August 1999

Final report of the Technical Requirements for Image-Guided Spine Procedures Workshop
Kevin Cleary et. al., Computer Aided Surgery, 5(3), 2000

Cobots (invited)
Michael A. Peshkin, J. Edward Colgate
Industrial Robot, 26(5), 1999, pp 335-341

Guiding systems for computer assisted surgery: introducing synergistic devices
J. Troccaz, Michael A. Peshkin, B. L. Davies
Medical Image Analysis 2(2), 1998

Long-range geometrical correlations in two-dimensional foams
B Dubertret, N Rivier, and Michael A. Peshkin
J. Phys. A: Math. Gen. 31 (1998) p.879–900

A Complete Algorithm for Designing Passive Fences to Orient Parts
Jeff Wiegley, Ken Goldberg, Michael A. Peshkin, Mike Brokowski
Assembly Automation; 17:2 1997; pp. 129-136; ISSN: 0144-5154

Impedance restrictions on independent finger grippers
Mike Brokowski, Michael A. Peshkin
IEEE Transactions on Robotics and Automation 13 (4) August 1997, pp 617-622

Registration and immobilization in robot-assisted surgery
Jon T. Lea, Dane Watkins, Aaron Mills, Michael A. Peshkin, Thomas C. Kienzle III, S. David Stulberg
Journal of Image Guided Surgery 1 (2), pp. 80-87, 1995

Diagramming Registration Connectivity and Structure
Jon T. Lea, Julio J. Santos-Munné, Michael A. Peshkin
Engineering in Medicine and Biology 14 (3), May 1995, pp 271-278

A Computer-Assisted Total Knee Replacement Surgical System Using a Calibrated Robot (invited)
Thomas C. Kienzle III, S. David Stulberg, Michael A. Peshkin, Arthur Quaid, Jon Lea, Ambarish Goswami, Chi-haur Wu
Engineering in Medicine and Biology 14 (3), May 1995, pp 301-306

Optimal curved fences for part alignment on a belt
Mike Brokowski, Michael A. Peshkin, Ken Goldberg
ASME Journal of Mechanical Design, 117 (1), March 1995 (p. 27)

Complete parameter identification of a robot from partial pose information (invited)
Ambarish Goswami, Arthur Quaid, Michael A. Peshkin
Control Systems 13 (5), October 1993 (special issue)

Force-Assembly with Friction
Joseph M. Schimmels, Michael A. Peshkin
IEEE Transactions on Robotics and Automation 10 (4), August 1994, pp 465-479

Phase transitions in dilute, locally connected neural networks
Katherine J. Strandburg, Michael A. Peshkin, Daniel F. Boyd, Christopher Chambers, Brennan O'Keefe
Physical Review A, 45(8) 6135-6138, 1992

Admittance matrix design for force-guided assembly
Joseph M. Schimmels, Michael A. Peshkin
IEEE Transactions on Robotics and Automation 8(2) April 1992, 213-227

Entropic predictions for cellular networks
Michael A. Peshkin, Katherine J. Strandburg, Nicolas Rivier
Physical Review Letters 67 (13) 1803 , Sept. 23, 1991

Programmed compliance for error-corrective assembly
Michael A. Peshkin
IEEE Transactions on Robotics and Automation 6:4 (August 1990)

Minimization of energy in quasistatic manipulation
Michael A. Peshkin and A. C. Sanderson
IEEE Transactions on Robotics and Automation 5:1 (February 1989)

Planning robotic manipulation strategies for workpieces that slide
Michael A. Peshkin and A. C. Sanderson
IEEE Transactions on Robotics and Automation 4:5 (October 1988)

Task planning for robotic manipulation in space applications
A. C. Sanderson, Michael A. Peshkin, L. S. Homem-de-Mello
IEEE Transactions on Aerospace and Electronic Systems 24:5 (1988)

The motion of a pushed, sliding workpiece
Michael A. Peshkin and A. C. Sanderson
IEEE Transactions on Robotics and Automation 4:6 (December 1988)

Reachable grasps on a polygon: the convex rope algorithm
Michael A. Peshkin and A. C. Sanderson
IEEE Transactions on Robotics and Automation 2:1 (1986)

Nonequilibrium effects and subgap structure in superconducting contacts
Michael A. Peshkin and R. A. Buhrman
Physical Review B, 1 July 1983

Integrator for magnetic field measurement
Michael A. Peshkin
Review of Scientific Instruments, July 1981

Refereed or invited conference proceedings

Measuring and Increasing Z-Width with Active Electrical Damping
David W. Weir, J. Edward Colgate, Michael Peshkin
Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems 2008

On the Design of a Thermal Display for Upper Extremity Prosthetics
Keehoon Kim, J. Edward Colgate, Michael Peshkin
Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems 2008

Using Haptic Communications with the Leg to Maintain Exercise Intensity
Aaron Ferber, Michael A. Peshkin, J. Edward Colgate
IEEE RO-MAN 2007, August 26-29, Korea

Replicating Human-Human Physical Interaction
KB Reed, J Patton, Michael A. Peshkin
Robotics and Automation, 2007 IEEE International Conference

T-PaD: Tactile Pattern Display through Variable Friction Reduction
L Winfield, J Glassmire, J. Edward Colgate, Michael A. Peshkin
Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07) pp. 421-426

Cobotic Architecture for Prosthetics
Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
28th IEEE EMBS Annual International Conference, September 2006

Control and performance of the rotational-to-linear cobotic transmission
Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
IEEE 14th Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006

Remote Manipulation of D&D Exhibiting Tele-Autonomy and Tele-Collaboration
TF Ewing, J. Edward Colgate, YS Park, Michael A. Peshkin, B DeJong, E Faulring, H Kang
DOE/ER/63288, December 5, 2006

Catastrophe and Stability Analysis of a Cable-Driven Actuator
JS Sulzer, Michael A. Peshkin, JL Patton
Engineering in Medicine and Biology Society, 2006. EMBS'06.

Semi-autonomous Telerobotic Manipulation: A Viable Approach for Space Structure Deployment and Maintenance
Young S. Park, Hyosig Kang,Thomas F. Ewing, Eric L. Faulring,Brian P. DeJong, Michael A. Peshkin, J. Edward Colgate
AIP Conference Proceedings -- February 6, 2005 -- Volume 746, Issue 1, pp. 1129-1136, 2005

Design and Performance of a High Fidelity, Low Mass, Linear Haptic Display
David W. Weir, Michael A. Peshkin, J. Edward Colgate, Pietro Buttolo
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) pp. 177-182, 2005

A Draw-In Sensor for Process Control and Optimization
Numpon Mahayotsanun, Jian Cao, and Michael Peshkin
NUMISHEET 2005: AIP Conference Proceedings -- August 5, 2005 -- Volume 778, pp. 861-866

Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping
Joshua S. Mehling, J. Edward Colgate, Michael A. Peshkin,
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), 2005

Haptic Interaction With Constrained Dynamic Systems
Eric L. Faulring, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin,
Proc. International Conference on Robotics and Automation, Barcelona, 2005

MARIONET: An Exotendon-Driven Rotary Series Elastic Actuator for Exerting Joint Torque
James Sulzer; Michael A. Peshkin; James L. Patton
IEEE 9th International Conference on Rehabilitation Robotics, June 28, 2005

Real time stiffness display interface device for perception of virtual soft object
A Song, D Morris, J. Edward Colgate, Michael A. Peshkin
Intelligent Robots and Systems, 2005.(IROS 2005).

High Performance Cobotics
Eric Faulring.; J. Edward Colgate; Michael A. Peshkin
IEEE 9th International Conference on Rehabilitation Robotics, June 28, 2005

KineAssist: A Robotic Overground Gait and Balance Training Device
Michael A. Peshkin, David Brown, Julio Santos-Munne, Alex Makhlin, David Brown, J. Edward Colgate, James L. Patton, Douglas Schwandt
IEEE 9th International Conference on Rehabilitation Robotics, June 28, 2005

Human Interaction with Passive Assistive Robots
Peng Pan, Kevin Lynch, Michael A. Peshkin
IEEE 9th International Conference on Rehabilitation Robotics, June 28, 2005

Kinesthetic Interaction
Kyle Reed, Michael A. Peshkin, Mitra Hartmann, J. Edward Colgate; James L. Patton
IEEE 9th International Conference on Rehabilitation Robotics, June 28, 2005, 2005

Multifunctional Whisker Arrays for Distance Detection, Terrain Mapping, and Object Feature Extraction
Aimee E. Schultz, Joseph H. Solomon, Michael A. Peshkin, Mitra J. Hartmann
IEEE International Conference on Robotics and Automation, 2005

Switch Characterization and the Haptic Profile
David Weir, Pietro Buttolo, Michael A. Peshkin, J. Edward Colgate, James Rankin, Matthew Johnston
12th Haptic Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 27-28, 2004, Chicago

A High Performance 6-DOF Haptic Cobot (Best Student Paper award)
Eric L. Faulring, J. Edward Colgate and Michael A. Peshkin
IEEE International Conference on Robotics and Automation 2004

Enhanced Teleoperation for D&D
Young S. Park, Hyosig Kang, Thomas F. Ewing, Eric L.Faulring, J. Edward Colgate, Michael A. Peshkin
IEEE International Conference on Robotics and Automation 2004

Semi-automatic Teleoperation for D&D
Young S. Park, Hyosig Kang, Thomas F. Ewing, J. Edward Colgate, Michael A. Peshkin, Eric L. Faulring
10th Robotics & Remote Systems Mtg. Proceedings, Gainesville, Florida, 2004

Initial Studies in Human-Robot-Human Interaction: Fitts’ Law for Two People
Kyle Reed, Michael A. Peshkin, J. Edward Colgate, James Patton
IEEE International Conference on Robotics and Automation 2004

Static Single-Arm Force Generation with Kinematic Constraints
Peng Pan, Kevin M. Lynch, Michael A. Peshkin, J. Edward Colgate
IEEE International Conference on Robotics and Automation 2004

Improving Teleoperation: Reducing Mental Rotations and Translations
Brian P. DeJong, J. Edward Colgate, Michael A. Peshkin
IEEE International Conference on Robotics and Automation 2004

Controlling the Apparent Inertia of Passive Human- Interactive Robots
Tom Worsnopp, Michael A. Peshkin, J. Edward Colgate, Kevin Lynch
IEEE International Conference on Robotics and Automation 2004

Toward Improved CVTs: Theoretical and Experimental Results
M. Brokowski, S. Kim, J.E. Colgate, B. Gillespie, Michael A. Peshkin
Proceedings of IMECE 2002 (IMECE2002-DSC-33680)

Intelligent Assist Devices in Industrial Applications: A Review
J. Edward Colgate, Michael A. Peshkin, Stephen H. Klostermeyer
Intelligent Robots and Systems (IROS) 2003

Kinematic constraints for assisted single-arm manipulation
T. Tickel, D. Hannon, K. M. Lynch, Michael A. Peshkin, and J. E. Colgate
IEEE International Conference on Robotics and Automation 2002

Experiments in Ergonomic Robot-Guided Manipulation
A. Sorensen, C. Liu, S. M. Kim, K. M. Lynch, Michael A. Peshkin
Intelligent Robots and Systems (IROS) 2000, Takamatsu Japan, Nov 2000

Surgical Instrumentation, Tooling, and Robotics
Michael A. Peshkin, Workshop Technical Leader
in Technical Requirements for Image-Guided Spine Procedures, Georgetown University Medical Center, 17-20 April 1999 (Kevin Cleary, ed.)

A Controller For Simulating Freedom Of Motion For A Cobot
Carl A. Moore, Michael A. Peshkin, J. Edward Colgate
Proceedings of the 7th Mechatronics Forum International Conference, Atlanta GA, 6-8 September 2000 (Pergamon Press)

A Three Revolute Cobot Using CVTs in Parallel
Carl A. Moore, Michael A. Peshkin, J. Edward Colgate
Proceedings of IMECE 1999

Registration graphs: a diagramming and analysis tool for registration in computer-assisted surgery
Jon Lea and Michael A. Peshkin
13th International Congress on Computer Assisted Radiology and Surgery (CARS '99), ed. H. Lemke, Paris, 23-26 June 1999

Cobotic assists
M. Peshkin, J. E.Colgate, W. Wannasuphoprasit
in Intelligent Assist Devices: A new generation of ergonomic tools (workshop)
1999 International Conference on Robotics and Automation. Detroit MI.

Cobots: A Novel Material Handling Technology (ASME MHED Best Paper award)
W. Wannasuphoprasit, P. Akella, M. Peshkin, J. E.Colgate
Proceedings of IMECE 1998

A General Framework for Cobot Control
R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin
1999 International Conference on Robotics and Automation. Detroit MI.

Design of a 3R Cobot Using Continuously Variable Transmissions
Carl A. Moore, Michael A. Peshkin, J. Edward Colgate
1999 International Conference on Robotics and Automation. Detroit MI.

Cobots for the automobile assembly line
Prasad Akella, Michael A. Peshkin, Ed Colgate, Wit Wannasuphoprasit, Nidamaluri Nagesh, Jim Wells, Steve Holland, Tom Pearson, Brian Peacock
1999 International Conference on Robotics and Automation. Detroit MI.

Force Sensors for Human/Robot Interaction
Andy Lorenz, Michael A. Peshkin, J. Edward Colgate
1999 International Conference on Robotics and Automation. Detroit MI.

The use of localizers, robots and synergistic devices in computer assisted surgery
Jocelyne Troccaz, Michael A. Peshkin, Brian Davies
CVRMed/MRCAS, Grenoble, March 1997

Cobot Control
Witaya Wannasuphoprasit, Brent Gillespie, J. Edward Colgate, Michael A. Peshkin
1997 International Conference on Robotics and Automation. Albuquerque, NM

Cobots: Robots for Collaboration with Human Operators
J. Edward Colgate, Witaya Wannasuphoprasit, Michael A. Peshkin
Proceedings of the International Mechanical Engineering Congress and Exhibition, Atlanta, GA, DSC-Vol. 58, pp. 433-39

Passive Robots and Haptic Displays based on Nonholonomic Elements
Michael A. Peshkin, James E. Colgate, Carl Moore
Proceedings of the IEEE 1996 International Conference on Robotics and Automation, Philadelphia

Nonholonomic Haptic Display (IEEE ICRA Best Conference Paper award)
James E. Colgate, Michael A. Peshkin, Witaya Wannasuphoprasit
Proceedings of the IEEE 1996 International Conference on Robotics and Automation, Philadelphia

A Complete Algorithm for Designing Passive Fences to Orient Parts
Jeff Wiegley, Ken Goldberg, Michael A. Peshkin, Mike Brokowski
Proceedings of the IEEE 1996 International Conference on Robotics and Automation, Philadelphia

Diagramming Registration Connectivity and Structure
Jon T. Lea, Julio J. Santos-Munné, Michael A. Peshkin
Proceedings of Medicine Meets Virtual Reality III, January 1995, San Diego
Interactive Technology and the New Paradigm for Healthcare, p. 191-200 R. M. Satava et al., eds.
Technology and Informatics vol. 18, IOS Press 1995

A Stereotactic/Robotic System for Pedicle Screw Placement
Julio J. Santos-Munné, Michael A. Peshkin, Srdjan Mirkovic, David Stulberg, Thomas C. Kienzle III
Proceedings of Medicine Meets Virtual Reality III, January 1995, San Diego
Interactive Technology and the New Paradigm for Healthcare, p. 326-333 R. M. Satava et al., eds.
Technology and Informatics vol. 18, IOS Press 1995

Quantitative Evaluation of Neural Networks for NDE Applications Using the ROC Curve
Mackay A.E Okure and Michael A. Peshkin
21st Annual Review of Progress in Quantitative Nondestructive Evaluation, Snowmass CO, 1994

Registration and Immobilization for Robot-Assisted Orthopaedic Surgery
Jon T. Lea, Dane Watkins, Aaron Mills, Michael A. Peshkin, Thomas C. Kienzle III, S. David Stulberg
First International Symposium on Medical Robotics and Computer Assisted Surgery, Pittsburgh, PA, 1994

ROC Evaluation of Neural Networks for Aircraft Wheel NDE
Mackay A.E Okure and Michael A. Peshkin.
1994 ASNT Spring Conference and Third Annual Symposium, March 21-25, 1994 New Orleans, LA
Paper Summaries. The American Society for Nondestructive Testing, Columbus, OH: 232-234.

Force Guided Assembly (invited)
Michael A. Peshkin, Ambarish Goswami, Joe Schimmels
Proceedings of the 31st Allerton Conference on Communication, Control, and Computing, Champaign IL, 1993

The space of admittance control laws that guarantee force-assembly with friction
Joseph M. Schimmels, Michael A. Peshkin
Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

Task-space / joint-space damping transformations for passive redundant manipulators (invited)
Ambarish Goswami, Michael A. Peshkin
Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

Mechanical computation for passive force control
Ambarish Goswami, Michael A. Peshkin
Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

Curved fences for part alignment
Mike Brokowski, Michael A. Peshkin, Ken Goldberg
Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

Complete parameter identification of a robot from partial pose information
Ambarish Goswami, Arthur Quaid, Michael A. Peshkin
Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction
Joseph M. Schimmels, Michael A. Peshkin
Proceedings of the IEEE 1992 International Conference on Robotics and Automation, Nice, France

Calibration and parameter identification of a 6DOF robot using a single radial distance transducer (invited)
Ambarish Goswami, Arthur Quaid, Michael A. Peshkin
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Chicago 1992

An integrated CT/CAD/robotic system for total knee replacement surgery (invited)
homas C. Kienzle III, S. David Stulberg, Chi-Haur Wu, Michael A. Peshkin, Arthur Quaid
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Chicago 1992
also in Proceedings of the IEEE 1993 International Conference on Robotics and Automation, Atlanta, GA

Implementation of passive force control with redundant manipulators
Ambarish Goswami, Michael A. Peshkin
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Charlottesville 1991

Force-assemblability: insertion of a workpiece into a fixture guided by contact forces alone
Joseph M. Schimmels, Michael A. Peshkin
Proceedings of the IEEE 1991 International Conference on Robotics and Automation, Sacramento CA

A task-space formulation of passive force control (invited)
Ambarish Goswami, Michael A. Peshkin
Proceedings of the 6th International Symposium on Intelligent Control, Arlington VA, 1991

Synthesis and validation of non-diagonal accommodation matrices for error-corrective assembly
Joseph M. Schimmels and Michael A. Peshkin
Proceedings of the IEEE 1990 International Conference on Robotics and Automation, Cincinnati, OH

Passive robotics: an exploration of mechanical computation (invited)
Ambarish Goswami, Michael A. Peshkin, James Edward Colgate
Proceedings of the American Control Conference, 1990, Santa Barbara
also in Proceedings of the IEEE 1990 International Conference on Robotics and Automation, Cincinnati, OH

Programming a damping matrix for error-corrective assembly
Michael A. Peshkin
Proceedings of the ASME 1989 Conference on flexible assembly systems, Montreal
also in Proceedings of the 4th International Symp. on Intelligent Control, Albany, NY, 1989

Programmed compliance for error correction during robotic assembly (invited)
Michael A. Peshkin
Proceedings of the 3rd International Symp. on Intelligent Control, Arlington, VA, 1988

Minimization of energy in quasistatic manipulation
Michael A. Peshkin and Arthur C. Sanderson
Proceedings of the IEEE 1988 International Conference on Robotics and Automation, Philadelphia , PA

Planning robotic manipulation strategies for sliding objects
Michael A. Peshkin and Arthur C. Sanderson
Proceedings of the IEEE 1987 International Conference on Robotics and Automation, Raleigh, NC

Planning sensorless robot manipulation of sliding objects
Michael A. Peshkin and Arthur C. Sanderson
Proceedings of AAAI-86, Philadelphia, PA

Manipulation of a sliding object
Michael A. Peshkin and Arthur C. Sanderson
Proceedings of the IEEE 1986 International Conference on Robotics and Automation, San Francisco, CA

A Variation Principle for Quasistatic Mechanics
Michael A. Peshkin and A.C. Sanderson
tech. report CMU-RI-TR-86-16, Robotics Institute, Carnegie Mellon University, December, 1986.

The Motion of a Pushed, Sliding Object, Part1: Sliding Friction
Michael A. Peshkin and A.C. Sanderson
tech. report CMU-RI-TR-85-18, Robotics Institute, Carnegie Mellon University, September, 1985.

The Motion of a Pushed, Sliding Object, Part 2: Contact Friction
Michael A. Peshkin and A.C. Sanderson
tech. report CMU-RI-TR-86-07, Robotics Institute, Carnegie Mellon University, April, 1986.

Reachable Grasps on a Polygon: The Convex Rope Algorithm
Michael A. Peshkin and A.C. Sanderson
tech. report CMU-RI-TR-85-06, Robotics Institute, Carnegie Mellon University, April, 1985.

A Modeless Convex Hull Algorithm for Simple Polygons
Michael A. Peshkin and A.C. Sanderson
tech. report CMU-RI-TR-85-08, Robotics Institute, Carnegie Mellon University, May, 1984.

US Patents (issued and pending)

7,047,826 Force sensors

6,928,336 System and architecture for providing a modular intelligent assist system

6,907,317 Hub for a modular intelligent assist system

6,868,746 Method and apparatus for force sensor

6,813,542 Modules for use in an integrated intelligent assist system

6,769,280 Real-time draw-in sensors and methods of fabrication

6,738,691 Control handle for intelligent assist devices

6,668,668 Non-contacting sensors

6,241,462 Method and apparatus for a high-performance hoist

6,198,794 Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy

6,069,932 Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy

5,952,796 Cobots

5,923,139 Passive robotic constraint devices using non-holonomic transmission elements

5,799,055 Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy

20050288157 Walking and balance exercise device

20040026349 Methods and apparatus for manipulation of heavy payloads with intelligent assist devices

20060187197 Electrical damping system

Academic History

Northwestern University, Dept. of Mechanical Engineering

Professor, September 2001 - present
Associate Professor, September 1993 - present
Assistant Professor, September 1987 - 1993

Carnegie-Mellon University, Robotics Institute

Postdoctoral Fellow, December 1986 - May 1987
PhD, Physics, December 1986

Advisor: Arthur C. Sanderson
Thesis topic: Planning Robotic Manipulation Strategies for Sliding Objects

Cornell University, Department of Physics

Master of Science, Experimental Solid State Physics, 1982

Advisor: Robert A. Buhrman
Thesis topic: Experimental and theoretical studies of non-equilibrium effects in superconducting devices

University of Chicago

Bachelor of Arts with Honors, Physics, 1979
Requirements met for Bachelor of Arts, Mathematics
Research Technician, 1977-79, High Energy Physics

Supervisors: Henry J. Frisch, James Cronin
Worked as part of a team designing, constructing, and testing a muon detector for an experiment at Fermilab

Honors and Awards

Best Conference Paper
Nonholonomic Haptic Display
1997 IEEE International Conference on Robotics and Automation

Best Conference Paper, MHED Division
Cobots: A Novel Material Handling Technology
1998 ASME Material Handling Engineering Division

Presidential Young Investigator Award, 1988
Robotic Assembly
National Science Foundation

Whitaker Foundation Award, 1994
Links from Diagnostic Imaging to Robotic Surgery

Discover Magazine, Annual Technology Awards, 1997
Cobots

Professional activities

Editorial

2000-2002
Member, Robotics Council
Robotics and Human Augmentation Program, National Science Foundation

1994-1997
Chair, Conference Editorial Board
IEEE Conference on Decision and Control

1995, 1997
IEEE Society Review Chair
American Control Conference

1994-1997
Associate Editor
IEEE Trans. on Robotics

Regulatory

Founding Member, 1998 -
Robotic Industries Association
T15 Intelligent Assist Devices Standards Committee

Publication reviews

IEEE Transactions on Robotics
IEEE Transactions on Automatic Control
International Journal of Robotics Research
Engineering with Computers
ASME Journal of Applied Mechanics
AAAI conference
IEEE International Conference on Robotics and Automation
Journal of Robotic Systems
Robotica
IEEE Transactions on Systems Man and Cybernetics
IEEE Transactions on Control Systems Technology
IEEE Computer Graphics & Applications
Symposium for Haptic Interfaces
Computer Aided Surgery