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Mechanical Engineering
University of Hawai`i at Manoa
2540 Dole St. - Holmes Hall 302
Honolulu HI 96822

Departmental Chair:
Mehrdad N. Ghasemi Nejhad

    Peter Berkelman  
Associate Professor of M.E.
PhD 1999, Carnegie Mellon University

Contact Information

Phone:(808) 956 4435
Fax:(808) 956 2373

Research Website

Research Interests

Haptic Interfaces, Surgical Robotics, Magnetic Levitation, Robotic Rehabilitation


Selected Publications

P. J. Berkelman and R. L. Hollis, "Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Function, and Integration with Simulated Environments", International Journal of Robotics Research, Vol. 9(7), July 2000, Sage Science Press, pp. 644-667.

D. L. Rothbaum, J. Roy, P. Berkelman, G. Hager, D. Stoianovici, R. H. Taylor, L. L. Whitcomb, H. Francis, and J. K. Niparko, "Robot-Assisted Stapedotomy: Micropick Fenestration of the Stapes Footplate", Otolaryngology--Head and Neck Surgery, Vol. 127(5), Nov 2002, pp. 417-426.

Peter J. Berkelman, Louis L. Whitcomb, Russell H. Taylor, and Patrick Jensen, "A Miniature Instrument Tip Force Sensor for Robot-Assisted Microsurgical Manipulation with Enhanced Force Feedback", IEEE Transactions on Robotics and Automation, Vol. 19(5), Oct 2003, pp. 917-922.

P. J. Berkelman, P. Cinquin, E. Boidard, J. Troccaz, C. Letoublon, J.-M. Ayoubi, "Design, Control, and Testing of a Novel Compact Laparoscopic Endoscope Manipulator", Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers Part I, Vol. 217(I4), 2003, pp. 329-341.

P. Berkelman, P. Cinquin, E. Boidard, J. Troccaz, C. Letoublon, J.-A. Long, "Development and Testing of a Compact Endoscope Manipulator for Minimally Invasive Surgery", Computer Aided Surgery, Vol. 10(1), January 2005, pp. 1-13.

P. Berkelman and Ji Ma, "A Compact, Modular, Teleoperated Minimally Invasive Surgery System", IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa Italy, Feb 20-22, 2006.

J. Troccaz, M. Baumann, P. Berkelman, P. Cinquin, V. Daanen, A. Leroy, M. Marchal, Y. Payan, E. Promayon, S. Voros, S. Bart, M. Bolla, E. Chartier-Kastler, J.L. Descotes, A. Dusserre, J.Y. Giraud, J.-A. Long, R. Moalic, P. Mozer, "Medical Image Computing and Computer Aided Medical Interventions Applied to Soft Tissues. Work in Progress in Urology." Proceedings of the IEEE, Vol. 94(8), August 2006.


P. J. Berkelman, P. Cinquin, J. Arnault, A. Jacquet, "Systeme de Positionnement sur un Patient d'un Dispositif d'Observation et/ou d'Intervention (Positioning System on a Patient of a Device for Observation or Intervention)", France No. B5536, Applied May 2002.

William D. Meadow Jr., William D. Meadow, Peter Berkelman, "Adaptive Magnetic 2D Surface", #20040244636, Filed June 4, 2004.

P. Berkelman, P. Cinquin, A. Jaquet, J. Arnault, "System for Positioning on a Patient an Observation and/or Intervention Device" #20060100501, filed May 11, 2006. U.S. filing of French application #B5536.

Courses Offered

ME375 Dynamics of Machines and Systems, ME374 Kinematics and Dynamics of Machinery, ME452 Robotics, ME 696 Advanced Topics: Biorobotics