Book Chapters, Reports and Patents since 1995

[186]
B. Hannaford, J.H. Ryu, Y.S. Kim, 'Chapter 3 Stable Control of Haptics ,' In "Touch in Virtual Environments", pp. 47-70, Margaret L. McLaughlin, Ed., Prentice Hall PTR, IMSC Press Multimedia Series, 2001.

[185]
J.H. Ryu, D.S. Kwon, B. Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach ,' In "Control Problems in Robotics", pp. 121-134, Antonio Bicchi, Henrik I. Christensen, and Domenico Prattichizzo, Ed., Springer Tracts in Advanced Robotics Series, 003.

[184]
B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song, 'Testing Time Domain Passivity Control of Haptic Enabled Systems ,' In "Experimental Robotics", pp. 550-559, Springer Tracts in Advanced Robotics Series, 2003.

[178]
J.E. Speich, J. Rosen, 'Medical Robotics,' In Encyclopedia of Biomaterials and Biomedical Engineering, pp. 983-993, Marcel Dekker, New York, 2004.

[160]
B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song, 'Testing Time Domain Passivity Control of Haptic Enabled Systems,' Technical Report number UWEETR-2002-0010, 19-July-2002.

[158]
B. Hannaford, J.H. Ryu, 'Time domain passivity control of haptic interfaces,' U.S. Patent # 7,027,965, 11-April-2006.

[140]
S.C. Venema, E. Matthes, B. Hannaford, 'Flat Coil Actuator having Coil Embedded in Linkage,' U.S. Patent #6,437,770, 20-August-2002.

[139]
S.C. Venema, B. Hannaford, 'Telerobotic Remote Handling of Protein Crystals via an Internet Link ,' In "Beyond Webcams, An Introduction to Online Robots", Roland Siegwart, Ed., MIT Press, Cambridge, MA, 2002.

[127]
B. Hannaford, 'Feeling is Believing: Haptics and Telerobotics Technology ,' In "The Robot in the Garden, Telerobotics and Telepistomology on the Internet.", J.K. Goldberg, Ed., MIT Press, Cambridge, MA, 1999.

[119]
P. Buttolo, B. Hannaford, 'Direct Drive Manipulator for pen-based force display,' U.S. Patent #5,642,469, June 24, 1997 (issued).

[118]
R. Seubert, M.V. Olson, D. Meldrum, B. Hannaford, P. Wiktor, N.A. Friedman, D.B. Snow, R. Kraft, 'Precision small volume fluid processing apparatus,' U.S. Patent #5,785,926, July 28, 1998.

[110]
B. Hannaford, 'Telerobotics ,' In "Encyclopedia of Computer Science, 4th Edition", D. Hemmendinger and A. Ralston, Ed., McMillan, Aug 2000.

[103]
B. Hannaford, M.R. Moreyra, P.H. Marbot, 'Five axis direct-drive mini-robot having fifth actuator located at a non-adjacent joint,' U.S. Patent #5,528,955, June 25, 1996 (issued).

[090]
M. Moreyra, P.H. Marbot, S. Venema, B. Hannaford, 'A 5-Axis Mini Direct Drive Robot for Time Delayed Teleoperation ,' In "Intelligent Robots and Systems 1994", pp. 445-462, V. Graefe, Ed., Elsevier Science, 1995.

[074]
B. Hannaford, 'Ground Experiments towards Space Teleoperation with Time Delay ,' In "Manipulation, Automation, and Robotics in Space", pp. 87-106, S.B. Skaar, Ed., AIAA, 1994.