J. Edward Colgate is a professor in the Department of Mechanical Engineering at Northwestern University.

Prof. Colgate is Editor-in-Chief of the IEEE Transactions on Haptics. Click [here] to submit a manuscript.

Curriculum Vitae (PDF)
Biographical Sketch
Photograph

[ Research ] [ Teaching ] [ Companies ] [ Publications ]

Research

My primary research interest is physical human-robot interaction, including haptic display, teleoperation, and human-assist devices. Please visit the Laboratory for Intelligent Mechanical Systems website or browse the articles below to learn more.

 

Laboratory for Intelligent Mechanical Systems
Directors: Michael Peshkin, Ed Colgate, Kevin Lynch
Mechanical Engineering Dept.
2145 Sheridan Road
Evanston, IL 60208
Contact Information

Directions, Transporation, and Maps

 

Teaching

My teaching interests relate to my research, but also to the broader theme of Engineering Design. I led a team of faculty in the development of Engineering Design and Communication (EDC), which is a two-quarter introduction to the topic required of all engineering freshmen at Northwestern. I also led the development of the Certificate in Engineering Design which can be earned by any engineering undergraduate. Most recently, I worked with Prof. Donald A. Norman to develop the Master of Science in Engineering Design and Innovation, a one-year program that complements graduate-level engineering courses with a broad experience in human-centered design. I continue to direct that program. Prof. Norman and I are co-Directors of the Segal Design Institute.

Master of Science in Engineering Design and Innovation

 

Engineering Design and Communication (EDC)
Institute for Design Engineering and Applications (IDEA)
Northwestern University
2133 Sheridan Road
Evanston, IL 60208

Segal Design Institute
Northwestern University
Ford Motor Company Engineering Design Center
2133 Sheridan Road
Evanston, IL 60208
Contact Information

Other Courses

•  ME 495 Haptic Interface
•  ME 390 Introduction to Dynamic Systems


Companies

Kinea Design, LLC
Co-Founder; Founded in 2003, as a developer of robotic assist devices for physical therapy.
Kinea Design Logo
Stanley Cobotics
Co-Founder; Founded 1996, and is the leading provider of human interface technologies for the industrial marketplace.
Formerly known as Cobotics, Inc. and was acquired by Stanley Assembly Technologies in 2002.
Methode Electronics, Inc.
Member; Board of Directors
 
Publications

Book Chapters

Safety for Physical Human-Robot Interaction.
Antonio Bicchi, Michael A. Peshkin, and J. Edward Colgate
In Springer Handbook of Robotics, Bruno Siciliano and Oussama Khatib, editors
Springer-Verlag, 2008, ISBN: 978-3-540-23957-4.

Stability of Haptic Displays.
David W. Weir and J. Edward Colgate
In Haptic Rendering: Foundations, Algorithms and Applications, Ming Lin and Miguel Otaduy, editors
A.K. Peters, 2008, ISBN: 978-1568813325

Variable Friction Haptic Displays.
Laura E. Winfield and J. Edward Colgate
In Haptic Rendering: Foundations, Algorithms and Applications, Ming Lin and Miguel Otaduy, editors
A.K. Peters, 2008, ISBN: 978-1568813325

Cobots in Material Handling.
Michael Peshkin, J. Edward Colgate, Prasad Akella, Witaya Wannasuphoprasit
In Human and Machine Haptics , M. Cutkosky, R. Howe, K. Salisbury, and M. Srinivasan, editors
MIT Press, 2000.

Stability Problems in Contact Tasks.
Neville Hogan and Ed Colgate
In Robotics Review , Craig, J.J., Khatib, O., and Lozano-Perez, T., editors
MIT Press, Cambridge , MA , 1989.

The Interaction of Robots with Passive Environments: Application to Force Feedback Control.
Ed Colgate and Neville Hogan
In Advanced Robotics 1989 , Kenneth J. Waldron, ed.
Springer-Verlag , Berlin , 1989.

Journals

Design of an Active 1-DOF Lower-Limb Exoskeleton with Inertia Compensation
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin and Ambarish Goswami
International Journal of Robotics Research
Accepted for Publication, August 2010

A 1-DOF Assistive Exoskeleton with Inertia Compensation: Effects on the Agility of Leg Swing Motion
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin and Ambarish Goswami
Proceedings of the Institution of Mechanical Engineers, Part H, Journal of Engineering in Medicine
Accepted for Publication, August 2010

ShiverPaD: A Glass Haptic Surface that Produces Shear Forces on a Bare Finger
Erik C. Chubb, J. Edward Colgate, and Michael A. Peshkin
IEEE Transactions on Haptics
18 Mar. 2010. IEEE computer Society Digital Library. IEEE Computer Society, <http://doi.ieeecomputersociety.org/10.1109/TOH.2010.7>

A Framework for the Simulation and Haptic Display of Dynamic Systems Subject to Holonomic Constraints
Adolfo Rodriguez, Luis Basanez, J. Edward Colgate, and Eric L. Faulring
International Journal of Robotics Research, 29(4):336-352, 2010

Using Kinesthetic and Tactile Cues to Maintain Exercise Intensity
Aaron Ferber, Michael A. Peshkin and J. Edward Colgate
IEEE Transactions on Haptics, 2(4):224-235, 2009.
<http://doi.ieeecomputersociety.org/10.1109/TOH.2009.22>

On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics
Keehoon Kim, J. Edward Colgate, Julio J. Santos-Munne, Alex Makhlin, and Michael A. Peshkin
IEEE-ASME Transactions on Mechatronics
Digital Object Identifier: 10.1109/TMECH.2009.2013944

KineAssist: Design and Development of a Robotic Overground Gait and Balance Therapy Device
James Patton, David A. Brown, Michael Peshkin, Julio J. Santos-Munne, Alex Makhlin, Ela Lewis, J. Edward Colgate, and Doug Schwandt
Topics in Stroke Rehabilitation, 15(2):59-67, 2008.

Causes of Microslip in a Continuously Variable Transmission
Songho Kim, Carl Moore, Michael Peshkin and J. Edward Colgate
Journal of Mechanical Design, 130(1), 2008.

Investigation of Motion Guidance with Scooter Cobot and Collaborative Learning
Eng Seng Boy, Etienne Burdet, Chee Leong Teo, and James Edward Colgate
IEEE Transactions on Robotics, 23(2):245-255, April 2007.

Power Efficiency of the Rotational-to-Linear Infinitely Variable Cobotic Transmission
Eric L. Faulring, J. Edward Colgate, and Michael A. Peshkin
ASME Journal of Mechanical Design (in press).

Haptic Display of Constrained Dynamic Systems via Admittance Displays.
Eric L. Faulring, Kevin M. Lynch, J. Edward Colgate and Michael A. Peshkin
IEEE Transactions on Robotics, 23(1):101-111, February 2007.

The Cobotic Hand Controller: Design, Control and Performance of a Novel Haptic Display.
Eric L. Faulring, J. Edward Colgate and Michael A. Peshkin
International Journal of Robotics Research, 25(11): 1099-1119, November 2006.

IDEA: Formalizing the Foundation for an Engineering Design Education.
Ann McKenna, J. Edward Colgate, Steven Carr and Gregory Olson
International Journal of Engineering Education, 22(3), 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): 187-193, 2006.

Controlling the Apparent Inertia of Passive Human-Interactive Robots.
Tom Worsnopp, Michael Peshkin, Kevin Lynch and Edward J. Colgate
Journal of Dynamics Systems, Measurement and Control, 128(1): 44-52, March 2006.

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

Mechanics and Control of Swimming: A Review.
J. Edward Colgate and Kevin M. Lynch
IEEE Journal of Oceanic Engineering, 29(3), pp. 660-673, 2004.

IDEA: Implementing Design Throughout the Curriculum.
J. Edward Colgate, Ann McKenna and Bruce Ankenman
International Journal of Engineering Education, 20(3), pp. 405-411, 2004.

On the Role of Dissipation in Haptic Systems.
Brian E. Miller, J. Edward Colgate, Randy A. Freeman
IEEE Transactions on Robotics and Automation, 20(4), pp. 768-771, August 2004.

Cobot Implementation of Virtual Paths and 3-D Virtual Surfaces.
Carl. A. Moore, Jr., M.A. Peshkin and J.E. Colgate
IEEE Transactions on Robotics and Automation, 19(2), pp. 347-350, April 2003.

Collaborating with Design Professionals and Industry to Build a Design Course for Freshmen.
Penny Hirsch, Barbara Shwom, John Anderson, J. Edward Colgate, Dave Kelso, Steve Jacobson, Charly Yarnoff and John Lake
International Journal of Engineering Education, 19(1), January 2003.

Kinematic Creep In Continuously Variable Transmissions: Traction Drive Mechanics for Cobots.
Brent Gillespie, Carl Moore, Michael Peshkin, J. Edward Colgate
J. Mechanical Design, 124(4):713-722, December 2002.

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

Cobot Architecture.
Michael Peshkin, J. Edward Colgate, Witaya Wannasuphoprasit, Carl Moore, Brent Gillespie and Prasad Akella.
IEEE Transactions on Robotics and Automation, 17(4):377-390, 2001.

A General Framework for Cobot Control.
Brent Gillespie, J. Edward Colgate, Michael Peshkin, and Witaya Wannasuphoprasit
IEEE Transactions on Robotics and Automation, 17(4):391-401, 2001.

Engineering Design and Communication: The Case for Interdisciplinary Collaboration
Penny L. Hirsch, Barbara L. Shwom, Charles Yarnoff, John C. Anderson, David M. Kelso, Gregory B. Olson and J. Edward Colgate
International Journal of Engineering Education, 17(4-5):342-348, 2001

Guaranteed Stability of Haptic Systems with Nonlinear Virtual Environments.
Brian E. Miller, J. Edward Colgate and Randy Freeman
IEEE Transactions on Robotics and Automation, 16(6):712-719, 2000.

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

Teleoperation for Ophthalmic Surgery: from the Eye Robot to Feature Extracting Force Feedback.
K.W. Grace, P.S. Jensen, J.E. Colgate and M.R. Glucksberg
Automedica, 1998.

Toward Robot-Assisted Vascular Microsurgery in the Retina
Patrick S. Jensen, Kenneth W. Grace, Rajpaul Attariwala, J. Edward Colgate and Matthew R. Glucksberg
Graefe's Arch. Clin. Exp. Ophthalmol. 235:696-701, 1997.

Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces.
J. Edward Colgate and Gerd G. Schenkel
Journal of Robotic Systems, 14(1):37-47, 1997.

Modeling of a Hydraulic Engine Mount Focusing on Response to Sinusoidal and Composite Excitations.
J. Edward Colgate, Chin-Tang Chang, Yih-Chyuan Chiou, Wing-Kam Liu, and Leon M. Keer
Journal of Sound and Vibration, 184(3):503-528, July 20, 1995.

Coupled Stability of Multiport Systems: Theory and Experiments
J. Edward Colgate
Journal of Dynamic Systems, Measurement and Control, 116(3):419-428, 1994.

Coordinate Transformations and Logical Operations for Minimizing Conservativeness in Coupled Stability Criteria.
J. Edward Colgate
Journal of Dynamic Systems, Measurement and Control, 116(4):643-649, 1994.

Linear Electrostatic Actuators: Gap Maintenance via Fluid Bearings.
J. Edward Colgate, Hirofumi Matsumoto, and Witaya Wannasuphoprasit
Robotics and Computer Integrated Manufacturing, 10(5):365-376, 1993.

Robust Impedance Shaping Telemanipulation.
J. Edward Colgate
IEEE Transactions on Robotics and Automation, 9(4):374-384, August 1993.

Strictly Positive Real Admittances for Coupled Stability.
J. Edward Colgate
Journal of the Franklin Institute, 329(3):429-444, 1992.

An Investigation of Electrowetting-Based Microactuation.
Ed Colgate and Hirofumi Matsumoto
Journal of Vacuum Science and Technology A, 8(4):3625-3633, July 1990.

Robust Control of Dynamically Interacting Systems.
J.E. Colgate and N. Hogan
International Journal of Control, 48(1):65-88, 1988.

Effusive Flow Conductance of Shielded Circular Channels.
Samuel O. Colgate and James E. Colgate
Vacuum, 34(5):585-589, 1984.

Conferences

Finding a Feature on a 3D Object through Single-Digit Haptic Exploration
Kristina Huynh, Cara E. Stepp, Lee W. White, J. Edward Colgate and Yoky Matsuoka
IEEE Haptics Symposium 2010
Waltham, MA, March 25-26, pp. 83-89.

Friction Measurements on a Large Area TPaD
Nicholas D. Marchuk, J. Edward Colgate and Michael Peshkin
IEEE Haptics Symposium 2010
Waltham, MA, March 25-26, pp. 317-320.

Shiverpad: A Device Capable of Controlling the Shear Force on a Bare Finger
Erik C. Chubb, J. Edward Colgate and Michael A. Pehskin
World Haptics Conference 2009
March 18-20, Salt Lake City, Utah, pp. 18-23.

Psychophysical Evaluation of a Variable Friction Tactile Interface
Evren Samur, J. Edward Colgate and Michael A. Pehskin
International Conference on Perception and Cognition in Electronic Media; Human Vision and Electronic Imaging workshop
San Jose, California, January 18-21, 2009.

Haptic Display of Dynamic Systems Subject to Holonomic Constraints
Adolfo Rodriguez, Luis Basanez, J. Edward Colgate and Eric Faulring
IEEE/RSJ International Conference on Intelligent Robots and Systems 2008.

On the Design of a Thermal Display for Upper Extremity Prosthetics
Keehoon Kim, J. Edward Colgate and Michael Peshkin
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2008
Reno, Nevada, March 13-14, pp. 413-419.

Measuring and Increasing Z-Width with Active Electrical Damping
David W. Weir, J. Edward Colgate and Michael Peshkin
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2008
Reno, Nevada, March 13-14, pp. 169-175.

A 1-DOF Assistive Exoskeleton with Negative Virtual Damping:  Effects on the Kinematic Response of the Lower Limbs
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin and Ambarish Goswami
IEEE/RSJ International Conference on Intelligent Robots and Systems 2007.

An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke
T.T. Worsnopp, M.A. Peshkin, J.E. Colgate and D.G. Kamper
10th IEEE International Conference on Rehabilitation Robotics
June 12-15, Noordwijk, The Netherlands, pp. 96-901.

Using Haptic Communications with the Leg to Maintain Exercise Intensity
Aaron R. Ferber, Michael Peshkin and J. Edward Colgate
16th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
August 26-29, 2007, Jeju Island, Korea, pp. 292-297.

Active Impedance Control of a Lower Limb Assistive Exoskeleton
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin and Ambarish Goswami
Proceedings of the 10th International Conference on Rehabilitation Robotics
Noordwijk, The Netherlands, June 12-15 2007, pp. 188-195.

T-PaD: Tactile Pattern Display Through Variable Friction Reduction.
Winfield, L.E., Glassmire, J., Colgate, J.E. and Peshkin, M.A..
In Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.
Tsukuba, Japan, March 22-24, 2007.

Assessing the Efficacy of Variable Compliance Tactile Displays.
Taylor, M.A., Ferber, A.R., and Colgate, J.E.
In Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.
Tsukuba, Japan, March 22-24, 2007.

A Behavioral Adaptation Approach to Identifying Visual Dependence of Haptic Perception.
Sulzer, J., Salamat, A., Chib, V., and Colgate J.E.
In Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.
Tsukuba, Japan, March 22-24, 2007.

Cobotic Architecture for Prosthetics
Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
EMBS 06, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
New York, August 30 - September 3, pp. 5635-5637

Generating Thrust with a Biologically-Inspired Robotic Ribbon Fin.
Epstein, M., Colgate, J.E., MacIver, M.A.
In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), special session on robotic fish.
Beijing, China, October 9-15, 2006.

Control and Performance of the Rotational-to-Linear Cobotic Transmission.
Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2006
Alexandria, Virginia, March 25 - 26, pp. 103-107.

A Biologically Inspired Robotic Ribbon Fin.
Michael Epstein, J. Edward Colgate, Malcolm A. MacIver
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Morphology, Control, and Passive Dynamics.
Edmonton Alberta, August 2, 2005.

High Performance Cobotics.
Faulring, E.L., Colgate, J.E., Peshkin, M.A.
In proceedings of the IEEE 9th International Conference on Rehabilitation Robotics, 2005; 143- 148.

Haptic Interaction With Constrained Dynamic Systems.
Faulring, E.L., Lynch, K.M., Colgate, J.E., Peshkin, M.A.
In proceedings of the IEEE International Conference on Robotics and Automation, 2005; 2458- 2464.

Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping.
Mehling, J.S., Colgate, J.E., Peshkin, M.A.
In Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Pisa, Italy, March 18-20, 2005, pp. 257 - 262.

Human Interaction With Passive Assistive Robots.
Pan P., Lynch, K.M., Peshkin, M.A., Colgate, J.E.
Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on
28 June- 1 July 2005; 264-268.

Semi-Autonomous Telerobotic Manipulation - A Viable Approach for Space Structure Deployment and Maintenance.
Park, Young S; Kang, Hyosig; Ewing, Thomas F; Faulring, Eric L; DeJong, Brian P; Peshkin, Michael A; Colgate, J Edward
Space Technology and Applications International Forum--STAIF 2005. Vol. AIP Conference Proceedings 746, pp. 1129-1136. 2005.

KineAssist: A Robotic Overground Gait and Balance Training Device.
Peshkin, M., Brown, D.A., Santos-Munne, J.J., Makhlin, A., Lewis, E., Colgate, J.E., Patton, J., Schwandt, D.
Chicago PT LLC, Evanston, IL, USA;
Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on
28 June- 1 July 2005; 241- 246.

Kinesthetic Interaction.
Reed, K.B.; Peshkin, M.; Hartmann, M.J.; Colgate, J.E.; Patton, J.;
Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on
28 June- 1 July 2005 Page(s):569 574.

An Experiment on Tracking Surface Features With the Sensation of Slip.
Salada, M., Colgate, J.E., Vishton, P., Frankel, E.   
In Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Pisa, Italy, March 18-20, 2005, pp. 132-137.

Design and Performance of a High Fidelity, Low Mass, Linear Haptic Display.
Weir, D.W., Peshkin, M.A., Colgate, J.E., Buttolo, P.
In Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Pisa, Italy, March 18-20, 2005, pp. 177-182.

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

Improving Teleoperation: Reducing Mental Rotations and Translations.
Brian P. DeJong, J. Edward Colgate, and Michael A. Peshkin.
American Nuclear Society 10th International Conference on Robotics and Remote Systems for Hazardous Environments
Gainesville, Florida, March 2004.

Two Experiments on the Perception of Slip at the Fingertip.
Salada, M., Vishton, P., Colgate, J.E., Frankel, E.  
In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. 12th International Symposium on
March 27-28, 2004, pp. 146-153.

Motion Guidance Experiments With Scooter Cobot.
Boy, E.S., Burdet, E. , Teo, C.L., Colgate, J.E.
In Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003.
March 2003, pp. 63-69.

Experimental Evaluation of the Learning Cobot.
Boy, E.S., Burdet, E. , Teo, C.L., Colgate, J.E.
In Proceedings of Eurohaptics 2003.
June 2003, Trinity College, Dublin, Ireland.

Intelligent Assist Devices in Industrial Applications: A Review.
Colgate, J.E., Peshkin, M.A., Klostermeyer, S. H.
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems
Las Vegas, Nevada; October 2003.

Enriching Freshman Design Through Collaboration With Professional Designers (best paper award).
P. Hirsch, J. Anderson, J.E. Colgate, J. Lake , B. Shwom, and C. Yarnoff
Proceedings of the ASEE Annual Meeting, 2002.

Kinematic Constraints for Assisted Single-Arm Manipulation.
T. Tickel, D. Hannon, K. M. Lynch, M. A. Peshkin, and J. E. Colgate
IEEE International Conference on Robotics and Automation 2002.

Run-Time Three-Dimensional Blend-Path Generation for Cobot Constraint Surfaces.
Eric Faulring and J. Edward Colgate
Proceedings of the ASME Dynamic Systems and Control Division, 2002.

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).

Environment Delay in Haptic Systems.
Brian E. Miller, J. Edward Colgate and Randy Freeman
2000 International Conference on Robotics and Automation, pp 2434-2439.

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

A Three Revolute Cobot Using CVTs in Parallel.
Carl A. Moore, Michael A. Peshkin, J. Edward Colgate
Proceedings of ASME Dynamic Systems and Control Division, 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 For The Automobile Assembly Line.
Prasad Akella, Michael Peshkin, Ed Colgate, Wit Wannasuphoprasit, Nidamaluri Nagesh, Jim Wells, Steve Holland, Tom Pearson, Brian Peacock
1999 International Conference on Robotics and Automation. Detroit MI.

Computational Delay and Free Mode Environment Design for Haptic Display.
Brian E. Miller, J. Edward Colgate and Randy Freeman
Proceedings of the ASME Dynamic Systems and Control Division, 1999.

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.

Engineering Design and Communication: The Case for Interdisciplinary Collaboration.
Hirsch, P., Shwom, B., Anderson , J., Olson, G., Kelso, D., and Colgate, J.E.
Proceedings of the Harvey Mudd Design Conference II, Designing Design Education, 1999.

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

Passive Implementation for a Class of Static Nonlinear Environments in Haptic Display.
Brian E. Miller, J. Edward Colgate and Randy Freeman
1999 International Conference on Robotics and Automation. Detroit MI , pp. 2937-2942.

The Web as a Model Technology in Freshman Design.
Anderson , J., Colgate, J.E., Hirsch, P., Kelso, D., Shwom, B., Yarnoff, C.
Proceedings for the ASEE National Conference, Charlotte, NC, 1999; 20-23.

Cobots: A Novel Material Handling Technology (Best Paper Award).
Wannasuphoprasit, W., Akella, P., Peshkin, M., Colgate, J.E.
International Mechanical Engineering Congress and Exposition, Anaheim, ASME 98-WA/MH-2, 1998.

Engineering Design and Communication: Jump-starting the Engineering Curriculum.
P. Hirsch, B. Shwom, J. Anderson, G. Olson, D. Kelso, J.E. Colgate
Proceedings of the ASEE Annual Conference, 1998.

Minimum Mass for Haptic Display Simulations.
J. Michael Brown and J. Edward Colgate
Proceedings of the ASME Dynamic Systems and Control Division, 1998.

Using a Wavelet Network to Characterize Real Environments for Haptic Display.
Brian E. Miller and J. Edward Colgate
Proceedings of the ASME Dynamic Systems and Control Division, 1998.

A Survey of Multibody Dynamics for Virtual Environments.
R. Brent Gillespie, J. Edward Colgate, Northwestern University
Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 61, 45-54, 1997.

Cobot Control.
W. Wannasuphoprasit, R.Brent Gillespie, J.Edward Colgate and Michael Peshkin
Proceedings of the IEEE International Conference on Robotics and Automation, 3571-3576, 1997.

Passive Implementation of Multibody Simulations for Haptic Display.
J. Michael Brown, J. Edward Colgate, Northwestern University
Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 61, 85-92, 1997.

Real-time Impulse-based Simulation of Rigid Body Systems for Haptic Display.
Beeling Chang, J. Edward Colgate, Northwestern University
Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 61, 145-152, 1997.

Cobots: Robots for Collaboration with Human Operators.
J. Edward Colgate, W. Wannasuphoprasit and M.A. Peshkin
Proceedings of the ASME Dynamic Systems and Control Division
DSC-Vol. 58, 433-440, 1996.

Nonholonomic Haptic Display (Best Conference Paper Award).
J. Edward Colgate, Michael A. Peshkin, Witaya Wannasuphoprasit
Proceedings of the IEEE International Conference on Robotics and Automation, 539-544, 1996.

Passive Robots and Haptic Displays based on Nonholonomic Elements.
Michael A. Peshkin, J. Edward Colgate, Carl Moore
Proceedings of the IEEE International Conference on Robotics and Automation, 551-556, 1996.

Effects of Non-Uniform Environment Damping on Haptic Perception and Performance of Aimed Movements.
Paul A. Millman and J. Edward Colgate
Proceedings of the ASME Dynamic Systems and Control Division, vol. 2
DSC-Vol. 57-2, 703-712, 1995.

Issues in the Haptic Display of Tool Use.
J. Edward Colgate, Michael C. Stanley, and J. Michael Brown
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 3, 140-145, 1995.

Stability of Discrete-Time Systems with Unilateral Nonlinearities.
J.C. Tsai and J. Edward Colgate
Proceedings of the ASME Dynamic Systems and Control Division, vol. 2
DSC-Vol. 57-2, 695-702, 1995.

Factors Affecting the Z-Width of a Haptic Interface.
J. Edward Colgate and J. Michael Brown
Proceedings of the IEEE International Conference on Robotics and Automation, 3205-3210, 1994.

A Six Degree of Freedom Micromanipulator for Ophthalmic Surgery.
Kenneth W. Grace, J. Edward Colgate, Matthew R. Glucksberg, and John H. Chun
Proceedings of the IEEE International Conference on Robotics and Automation, 630-635, 1993.

Design of a High Performance Haptic Interface to Virtual Environments.
Paul A. Millman, Michael C. Stanley, and J. Edward Colgate
Proceedings of the IEEE Virtual Reality Annual International Symposium, 216-222, 1993.

Implementation of Stiff Virtual Walls in Force-Reflecting Interfaces.
J. Edward Colgate, Paul E. Grafing, Michael C. Stanley, and Gerd G. Schenkel
Proceedings of the IEEE Virtual Reality Annual International Symposium, 202-207, 1993.

Real Time Simulation of Stiff Dynamic Systems via Distributed Memory Parallel Processors.
Michael C. Stanley and J. Edward Colgate
Proceedings of the IEEE Virtual Reality Annual International Symposium, 456-462, 1993.

Computer Simulation of Interacting Dynamic Mechanical Systems using Distributed Memory Parallel Processors.
Michael C. Stanley and J. Edward Colgate
Advances in Robotics - 1992 , H. Kazerooni, ed.
DSC-Vol. 42, ASME, 55-62, 1992.

Stability of Manipulators Interacting with Unstructured and Structured Dynamic Environments.
J. Edward Colgate
Proceeding of the IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems '92, Kobe , Japan , 1025-1030, 1992.

A Model of the Attachment/Detachment Cycle of Electrostatic Micro Actuators.
Keith M. Anderson and J. Edward Colgate
Micromechanical Sensors, Actuators, and Systems , D. Cho, et al., ed.
DSC-Vol. 32, ASME, 255-268, 1991.

Design of a Four Degree-of-Freedom, Force-Reflecting Manipulandum with a Specified Force/Torque Workspace.
Paul A. Millman and J. Edward Colgate
Proceedings of the IEEE International Conference on Robotics and Automation, 1488-1491, 1991.

Design of Components for Programmable Passive Impedance.
Kirsten Laurin-Kovitz, J. Edward Colgate, and Steven D.R. Carnes
Proceedings of the IEEE International Conference on Robotics and Automation, 1476-1481, 1991.

Power and Impedance Scaling in Bilateral Manipulation.
Edward Colgate
Proceedings of the IEEE International Conference on Robotics and Automation, 2292-2299, 1991.

Robust Impedance Shaping Via Bilateral Manipulation.
J. Edward Colgate
Proceedings of the American Control Conference, 3070-3071, 1991.

Passive Robotics: An Exploration of Mechanical Computation.
Ambarish Goswami, Michael A. Peshkin, and J. Edward Colgate
Proceedings of the IEEE International Conference on Robotics and Automation, 279-284, 1990.

An Analysis of Contact Instability in Terms of Passive Physical Equivalents.
Ed Colgate and Neville Hogan
Proceedings of the IEEE International Conference on Robotics and Automation, 404-409, 1989.

On the Intrinsic Limitations of Force Feedback Compliance Controllers.
Ed Colgate
Robotics Research - 1989 , K. Youcef-Toumi and H. Kazerooni, ed.
DSC-Vol. 14, ASME, 23-30, 1989.

Robust Control of Manipulator Interactive Behavior.
J.E. Colgate and N. Hogan
Modeling and Control of Robotic Manipulators and Manufacturing Processes, R. Shoureshi, K. Youcef-Toumi, and H. Kazerooni, ed.
DSC-Vol. 6, ASME, 149-159, 1987.

Dissertation

The Control of Dynamically Interacting Systems
J. Edward Colgate
PhD Dissertation at the Massachusetts Institute of Technology (MIT)
August 1988

Front Matter
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Appendices
References

The Design of a Dynamics Measuring Device
J. Edward Colgate
Master's Thesis at the Massachusetts Institute of Technology (MIT)
1986

Front Matter
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Appendices
References

US Patents

U.S. Patent No. 7,544,172: Walking and Balance Exercise Device.
Santos-Munne; Julio (Glenview, IL), Makhlin; Alex (Chicago, IL), Lewis; Ela (Chicago, IL), Peshkin; Michael (Evanston, IL), Brown; David A. (Evanston, IL), Colgate; J. Edward (Evanston, IL), Patton; James L. (Wilmette, IL), Rush; Benjamin L. (Evanston, IL), Schwandt; Doug (Palo Alto, CA)
Issued June 9, 2009.

U.S. Patent No. 7,185,774: Methods and Apparatus for Manipulation of Heavy Payloads with Intelligent Assist Devices.
Colgate; J. Edward (Evanston, IL); Decker, Paul F. (Chicago, IL); Klostermeyer; Stephen H. (Arlington Heights, IL); Makhlin, Alexander (Chicago, IL); Meer; David (Skokie, IL); Santos-Munne; Julio (Glenview, IL); Peshkin; Michael A. (Evanston, IL); Robie, Michael (Schaumberg, IL)
Issued March 6, 2007.

U.S. Patent No. 7,120,508: System and Architecture for Providing a Modular Intelligent Assist System.
Peshkin; Michael A. (Evanston, IL); Colgate; J. Edward (Evanston, IL); Santos-Munne; Julio (Glenview, IL); Meer; David (Novelty, OH); Lipsey; James (Chicago, IL); Wannasuphoprasit; Witaya (Bangkok, TH); Klostermeyer; Stephen H. (Avon Lake, OH)
Issued October 10, 2006.

U.S. Patent No. 7,043,337: Methods and Apparatus for Eliminating Instability In Intelligent Assist Devices.
Colgate, J. Edward ( Evanston , IL ) and Makhlin, Alexander (Chicago, IL)
Issued May 9, 2006.

U.S. Patent No. 6,928,336: System and Architecture for Providing a Modular Intelligent Assist System.
Peshkin; Michael A. (Evanston, IL); Colgate; J. Edward (Evanston, IL); Santos-Munne; Julio (Glenview, IL); Meer; David (Skokie, IL); Lipsey; James (Chicago, IL); Wannasuphoprasit; Witaya (Bangkok, TH); Klostermeyer; Stephen H. (Mt. Prospect, IL)
Issued August 9, 2005.

U.S. Patent No. 6,907,317: Hub for a Modular Intelligent System.
Peshkin; Michael A. (Evanston, IL); Colgate; J. Edward (Evanston, IL); Santos-Munne; Julio (Glenview, IL); Meer; David (Skokie, IL); Lipsey; James (Chicago, IL); Wannasuphoprasit; Witaya (Bangkok, TH); Klostermeyer; Stephen H. (Mt. Prospect, IL)
Issued June 14, 2005.

U.S. Patent No. 6,813,542: Modules for Use in an Integrated Intelligent Assist System.
Peshkin; Michael A. (Evanston, IL); Colgate; J. Edward (Evanston, IL); Santos-Munne; Julio (Glenview, IL); Meer; David (Skokie, IL); Lipsey; James (Chicago, IL); Wannasuphoprasit; Witaya (Bangkok, TH); Klostermeyer; Stephen H. (Mt. Prospect, IL)
Issued November 2, 2004.

U.S. Patent No. 6,738,691: Control Handle for Intelligent Assist Devices.
Colgate; J. Edward (Evanston, IL); Peshkin; Michael A. (Evanston, IL); Santos-Munne; Julio (Glenview, IL); Makhlin; Alex (Skokie, IL); Decker; Paul F. (Chicago, IL); Klostermeyer; Stephen H. (Arlington Heights, IL)
Issued May 18, 2004.

U.S. Patent No. 6,241,462: Method and Apparatus for a High-Performance Hoist.
W. Wannasuphoprasit, J. Edward Colgate, D. Meer and Michael A. Peshkin
Issued June 5, 2001.

U.S. Patent No. 5,952,796: Cobots.
J. Edward Colgate and Michael Peshkin
Issued September, 1999.

U.S. Patent No. 5,923,139: Passive Robotic Constraint Devices Using Non-Holonomic Transmission Elements.
J.E. Colgate and M.A. Peshkin
Issued July 13, 1999.

U.S. Patent No. 5,410,638: System for Positioning a Medical Instrument Using a Micromanipulator.
J.E. Colgate, M.R. Glucksberg, and K.W. Grace
Issued April 25, 1995.

U.S. Patent No. 5,326,374: Body-Implantable Device for Controlling the Size of a Fluid Passageway.
M.N. Ilbawi, J.E. Colgate and D. Johnson
Issued July 5, 1994.

U.S. Patent No. 5,235,225: Linear Electrostatic Actuator with Means for Concatenation.
J.E. Colgate and M.E. Axland
Issued August 10, 1993.


Professor J. Edward Colgate
Department of Mechanical Engineering

Northwestern University
Evanston, IL 60208-3111

847-491-4264 office
847-491-3915 fax

Directions from O'Hare

Campus map with parking and office information