Publications By Year
2013
Guinan, AL, Hornbaker, NC, Montandon, MN, Doxon, AJ, and Provancher WR, “Back-to-Back Skin Stretch Feedback for Communicating Five Degree-of-Freedom Direction Cues,” In Proc. of the 2013 World Haptics Conference, Daejeon, Korea, April 14–17, 2013, pp. 6.
Gwilliam, LT, Doxon, AJ, and Provancher WR, “Haptic Matching of Directional Force and Skin Stretch Feedback Cues,” In Proc. of the 2013 World Haptics Conference, Daejeon, Korea, April 14–17, 2013, pp. 6.
Yazdian, S, Doxon, AJ, Johnson, DE, Tan, HZ, and Provancher WR, 2-DOF Contact Location Display for Manipulating Virtual Objects. Proc. of the 2013 World Haptics Conference, Daejeon, Korea, April 14–17, 2013, pp. 6.
Park, J, Provancher WR, Johnson, DE and Tan, HZ Haptic Contour Following and Feature Detection with a Contact Location Display. Proc. of the 2013 World Haptics Conference, Daejeon, Korea, April 14–17, 2013, pp. 6.
Quek ZF, Schorr SB, Nisky I, Okamura AM, and Provancher WR, Sensory Augmentation of Stiffness using Fingerpad Skin Stretch. Proc. of the 2013 World Haptics Conference, Daejeon, Korea, April 14–17, 2013, pp. 6.
Schorr SB, Quek ZF, Romano RY, Nisky I, Provancher WR, and Okamura AM. Sensory Substitution via Cutaneous Skin Stretch Feedback. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, 2013, pp. 6.
Guinan AL, Caswell NA, Drews FA, and Provancher WR, “A Video Game Controller with Skin Stretch Haptic Feedback.” Proc. of the 2013 IEEE International Conference on Consumer Electronics, Las Vegas, NV, USA, January 10–13, 2013, pp. 2.
Montandon, MN and Provancher WR, “A Smart Phone Peripheral with Bi-Manual Skin Stretch Haptic Feedback and User Input.” Proc. of the 2013 IEEE International Conference on Consumer Electronics, Las Vegas, NV, USA, January 10–13, 2013, pp. 2.
2012
Guinan, A.L., Montandon, M.N., Caswell, N.A., and Provancher, W.R., “Skin Stretch Feedback for Gaming Environments,” presented at the 2012 IEEE Symposium on Haptic Audio-Visual Environments and Games (HAVE 2012), Munich, Germany, Oct.8–9, 2012
Guinan, A.L., Koslover, R.L., Caswell, N.A., and Provancher, W.R., “Bi-manual Skin Stretch Feedback Embedded within a Game Controller,” presented at the 2012 IEEE Haptics Symposium, Vancouver, BC, Canada, March 4–7, 2012, pp. 7.
Gleeson, B.T. and Provancher, W.R., “Mental Rotation of Directional Tactile Stimuli,” presented at the IEEE Haptics Symposium, Vancouver, BC, Canada, March 4–7, 2012, pp. 6.
Fehlberg, M.A., King, R.J., Doxon, A.J., and Provancher, W.R., “Evaluation of Active Handrest Performance using Labyrinths with Adaptive Admittance Control and Virtual Fixtures,” presented at the IEEE Haptics Symposium, Vancouver, BC, Canada, March 4–7, 2012, pp. 8.
Caswell, N.A., Yardley, R.T., Montandon, M.N., and Provancher, W.R., “Design of a Forearm-Mounted Directional Skin Stretch Device,” presented at the IEEE Haptics Symposium, Vancouver, BC, Canada, March 4–7, 2012, pp. 6.
Arthur, K., Doxon, A.J., Parsons, and Provancher, W.R., “Lock Picking Simulation Using Visual and Bimanual Haptic Display,” presented at the IEEE Haptics Symposium, Vancouver, BC, Canada, March 4–7, 2012, pp. 5.
Koslover, R.L., Gleeson, B.T., de Bever, J.T., and Provancher, W. R., “Mobile Navigation using Haptic, Audio, and Visual Direction Cues with a Handheld Test Platform,” IEEE Transactions on Haptics, 5(1), Jan.-March 2012, pp. 33–38.
Fehlberg, M.A., Gleeson, and Provancher, W. R., “Active Handrest: A large workspace tool for precision manipulation,” International Journal of Robotics Research, Volume 31 Issue 3 March 2012 pp. 289 - 301.
Doxon, A.J., Johnson, D.E., Tan, H.Z., and Provancher, W.R., “Haptic Shading for Smoothly Rendering Polygonal Models with Tactile Feedback,” Presence: Teleoperators and Virtual Environments, pp. 14 (in press).
Park, J., Doxon, A.J., Provancher, W.R., Johnson, D.E., and Tan, H.Z., “Haptic Edge Sharpness Perception with a Contact Location Display,” IEEE Transactions on Haptics,, pp. 11 (in press).
2011
Jaeyoung Park, Andrew J. Doxon, William R. Provancher, David E. Johnson, and Hong Z. Tan, “Edge Sharpness Perception with Force and Contact Location Information,” 2011 World Haptics Conference, Istanbul, Turkey, June 22–24, 2011. (Best Poster Award)
Massimiliano Solazzi, Antonio Frisoli, William R. Provancher, Massimo Bergamasco, “Design of an SMA Actuated 2-DoF Tactile Device for Displaying Tangential Skin Displacement,” 2011 World Haptics Conference, Istanbul, Turkey, June 22–24, 2011.
Gleeson, B.T., Stewart, C.A., and Provancher, W. R., “Improved Tactile Shear Feedback: Tactor Design and an Aperture-Based Restraint,” IEEE Transactions on Haptics, 4(4), July-Aug., 2011, pp. 253–262.
William R. Provancher, Samuel Jensen-Segal, Mark E. Fehlberg, “ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot” IEEE Transactions on Mechatronics, Oct. 2011, 16(5), 897–906.
Gleeson, B.T. and Provancher, W. R., “Exploration of Tactile Contact in a Haptic Display: Effects of Contact Velocity and Transient Vibrations,” IEEE Transactions on Haptics, 4(2), April-June 2011, pp. 88–99.
M. Nambi, W. R. Provancher, and J. J. Abbott, “ On Precise Human Force Control of Admittance-Type Devices,” Advanced Robotics, 25, 2011, pp. 629–650.
2010
Medeiros-Ward, N., Cooper, J. M., Doxon, A. J., Strayer, D. L., and Provancher, W. R., “Bypassing the Bottleneck: The Advantage of Fingertip Shear Feedback for Navigational Cues,” Proc. of the Annual Meeting of the Human Factors and Ergonomics Society,Sept, 2010, pp. 5.
Gleeson, B.T., Horschel, S.K., and Provancher, W. R., “Perception of Direction for Applied Tangential Skin Displacement: Effects of Speed, Displacement and Repetition,” IEEE Transactions on Haptics - World Haptics Spotlight , Vol. 3(3), Jul-Sept, 2010, pp. 177–188.
Gleeson, B.T., Horschel, S.K., and Provancher, W. R., “Design of a Fingertip-Mounted Tactile Display with Tangential Skin Displacement Feedback,” IEEE Transactions on Haptics, Vol. 3(4), Oct-Dec, 2010, pp. 297–301.
Doxon, A. J., Johnson, D.E., Tan, H. Z., Provancher, W. R., “Force and Contact Location Shading Thresholds for Smoothly Rendering Polygonal Models,” 2010 IEEE Haptics Symposium, Waltham, Mass., USA, March 25–26, 2010, pp. 8. (Finalist for Best Paper Award)
Fehlberg, M.A., Gleeson, B.T., Leishman, L.C., and Provancher, W. R., “Active Handrest for Precision Manipulation and Ergonomic Support,” 2010 Haptics Symposium, Waltham, MA, USA, March 25–26, 2010, pp. 489–496.
2009
Provancher, W. R. and Sylvester, N. D., “Fingerpad Skin Stretch Increases the Perception of Virtual Friction,” IEEE Transactions on Haptics , vol.2, no.4, pp. 212–223, Oct-Dec, 2009.
Gleeson, B.T., Horschel, S.K., and Provancher, W. R., “Communication of Direction through Lateral Skin Stretch at the Fingertip,” In Proc. of the World Haptics Conference, Salt Lake City, Utah, USA, March, 2009, pp. 172–177. (Winner of Best Paper Award)
Horschel, S.K., Gleeson, B.T., and Provancher, W. R., “Fingertip Shear Tactile Display,” World Haptics Conference, Salt Lake City, Utah, USA, March, 2009, pp. 611–612.
2008
Gleeson, B., Provancher, W. R., “Toward Developing a Velocity Controlled Tactile Impact Display,” IEEE 16th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator System,Reno, 2008.
S. Jensen-Segal, S. Virost, W.R. Provancher, “ROCR: Energy Efficient Vertical Wall Climbing with a Pendular Two-Link Mass-Shifting Robot”, Presented at the International Conference on Robotics and Automation (ICRA) 2008, Pacedena, CA, USA, May 19–23, 2008.
Mark R. Cutkosky, Robert D. Howe, and William R. Provancher, “Force and Tactile Sensors,” Handbook of Robotics, Springer Publishing. 2008.
X. Liu, B. J. Corbin, S.J.M. Bamberg, W.R. Provancher, and E. Bamberg. “Optical system to detect volume of medical samples in labeled test tubes,” Optical Engineering,” 47(9), 094402 September 2008.
2007
Provancher, W.R., Erickson, B., Barbagli, F, Tan, H., “Tactile Perception of Rotational Sliding,” In Proc. of the 2nd Annual World Haptics Conference, Tsukuba, Japan, March 22–24, 2007, p. 127–132.
Sylvester, Nicholas D. and Provancher, William R., “Effects of Longitudinal Skin Stretch on the Perception of Friction,” In Proc. of the 2nd Annual World Haptics Conference, Tsukuba, Japan, March 22–24, 2007, p. 373–378.
2006
Asbeck, A. T., Kim, S., Cutkosky, M. R., Provancher, W. R , Lanzetta, M., “Scaling Hard Vertical Surfaces with Compliant Microspine Arrays,” International Journal of Robotics Research, 25(12):1165–1179, December 2006.
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.
Griffin, W.B., Provancher, W. R., and Cutkosky, M. R., “ Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces,” Presence : Teleoperators and Virtual Environments, MIT Press, 14(6): 720–731, December 2005.
Clark, J. E., Provancher, W. R., Mitiguy, P. “Theory, Simulation, And Hardware: Lab Design For An Integrated System Dynamics Education,” In Proc. of ASME IMECE, Orlando, FL, Nov. 5–11, 2005, p 147–153.
Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert, Daniel Goldman, Richard Groff, William Provancher, Alfred Rizzi, Uluc Saranli, Aaron Saunders, Daniel Koditschek. “Robotics In Scansorial Environments,” in SPIE proceedings on Unmanned Ground Vehicle Technology VII, Orlando, Florida, 2005, p. 291–302.
Kim, S., Asbeck, A. T., Cutkosky, M. R., and Provancher, W. R., “SpinybotII: Climbing Hard Walls with Compliant Microspines,” Presented at the 12th International Conference on Advanced Robotics (ICAR), Seattle, Washington, 2005, p 601–606.
Asbeck, A. T., Kim, S., Cutkosky, M. R., Lanzetta, M., Provancher, W. R., “Scaling Hard Vertical Surfaces with Compliant Microspine Arrays,” Presented at Robotics Science and Systems, Cambridge, MA, 2005.
2004
Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., and Cutkosky, M. R., “Haptic Display of Contact Location,” IEEE 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator System, Chicago, 2004, p. 40- 47.
Provancher, W.R., Clark, J.E., Geisler, B., Cutkosky, M.R., “Towards Penetration-based Clawed Climbing,” Proc. of the 7th International Conference on Climbing and Walking Robots (CLAWAR 2004), Madrid, Spain, September 22–24, 2004, p. 961–970.
2003
Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., and Cutkosky, M. R., “Perception of Curvature and Object Motion via Contact Location Feedback,” Proc. of the Intl. Symposium on Robotics Research (ISRR2003), Siena, Italy, 2003, p. 456–465.
Griffin, W. B., Provancher, W. R., and Cutkosky, M. R., “Feedback Strategies for Shared Control in Dexterous Telemanipulation,” Proc. of Intelligent Robots and Systems (IROS2003), Las Vegas, 2003, p. 2791–2796.
2002
Provancher, W. R. and Cutkosky, M. R., “Sensing Local Geometry for Dexterous Manipulation,” In Proceedings of the International Symposium on Experimental Robotics (ISER2002), Sant’Angelo d’Ischia, Italy, 2002, pp. 507–516.
Prior to 2001
Provancher, W. R. and Ghosh, A. K. “High Temperature Mechanical Behavior of NB5Si3/Nb Laminates,” Proc. of Materials Research Society Symp. Boston, MA, v. 364, Oct. 1994, pp. 1071–76.
Provancher, W. R , Mechanical Behavior of Nb5Si3/Nb Laminates and their Constituents, Masters Thesis, Department of Materials Science and Engineering: University of Michigan, 1995.
Theses
Nicholas D. Sylvester, “Friction Perception and Tactile Feedback, “ M.S. Thesis, Department of Mechanical Engineering: University of Utah, 2008.
Provancher, W. R., On Tactile Sensing and Display, Ph.D. Dissertation, Department of Mechanical Engineering: Stanford University, 2003.
