Academic Work

Research Gate Profile



Mohebbi, A., Gallahcer, C., Harrison, J., Willes, J., and Achiche, S. Integrated structure-control design optimization of an unmanned quadrotor helicopter(uqh) for object grasping and manipulation,  Au. In International Conference on Engineering Design(ICED), August 2017.

Mohtat, A., Gallacher, C., and Kovecses, J. Generalized control-oriented framework for direct impulse-based force feedback rendering. In Journal of Dynamic Systems, Measurement and ontrol, August 2017


Gallacher, C. Transparent Navigation With Impedance Type Haptic Devices. Master’s thesis, McGill University, 2016. Department of Mechanical Engineering; Centre for Intelligent Machines: Applied Dynamics Group.

C. Gallacher, A. Mohtat, S. Ding, and J. Kovecses. Toward open-source portable haptic displays with visual-force-tactile feedback colocation. In Haptics Symposium (HAPTICS), 2016 IEEE, April 2016.

C. Gallacher, A. Mohtat, S. Ding, and J. Kovecses. Toward Open-Source Portable Haptic Displays: An Interactive Physics Demo with the Haplet. In Haptics Symposium (HAPTICS), 2016 IEEE, April 2016. Winner: Best Demo Finalist.

Gallacher, C. and Kovecses, J. Improved Operational Point Tracking for Haptic Applications with Gear Backlash. EuroHaptics, 2016, July 2016. Work In Progress.


C. Gallacher, J. Harrison, and J. Kovecses. Characterizing device dynamics for haptic manipulation and navigation. In
Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 3689–3695, May 2015

C. Gallacher, J. Willes, and J. Kovecses. Parasitic effects of device coupling on haptic performance. In World Haptics
Conference (WHC), 2015 IEEE, pages 266–272, June 2015

R. Pringle, C. Gallacher, M. Ciot, and J. Kovecses. A reconfigurable planar haptic device with tablet display. In World
Haptics Conference (WHC), 2015 IEEE, June 2015


Arash Mohtat, Colin R. Gallacher, and Jozsef Kovecses. [d83] high-fidelity contact rendering: Feel realistic forces from
virtual objects! In Haptics Symposium (HAPTICS), 2014 IEEE, Feb 2014

A. Mohtat, C. Gallacher, and J. Kovecses. Developing Immersive Virtual Worlds through Realistic Contact Rendering and
Improved Transparency. Springer Berlin Heidelberg, 2014