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Influence of Back Length on Vibrotactile Acuity in Vertical Direction IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-04-08 Astrid M. L. Kappers, Marloes P. A. van der Burgt, Savannah M. Nowak, Fabiènne P. van der Weide, Wouter K. Vos, Myrthe A. Plaisier
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Synergistic Illusions: Enhancing Perceptual Effects of Pseudo-Attraction Force by Kinesthetic Illusory Hand Movement IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-04-08 Takuya Noto, Takuto Nakamura, Tomohiro Amemiya
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Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-04-03 Catie Cuan, Allison Okamura, Mohi Khansari
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Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-27 Negin Heravi, Heather Culbertson, Allison M. Okamura, Jeannette Bohg
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Providing Skin Stretch On The Lower Back - Design And Psychophysical Evaluation With A Stepping Task IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-25 Erick Jimenez-Gonz ´ alez, Chen Avraham, Asya Mikhaylov, Simona Bar-Haim, ´, Ilana Nisky
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A Novel Kinematic Gait Parameter-Based Vibrotactile Cue for Freezing of Gait Mitigation among Parkinson's Patients: A Pilot Study IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-25 Rohan Khatavkar, Ashutosh Tiwari, Priyanka Bhat, Achal Kumar Srivastava, S Senthil Kumaran, Deepak Joshi
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Editorial IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-21 Domenico Prattichizzo
This issue features papers resulting from our effort to strengthen collaboration with haptics-focused conferences, particularly the 2024 IEEE Haptics Symposium (HS). Authors submitted their conference papers to the IEEE Transactions on Haptics (ToH) for potential publication as short papers and presentation at the HS upon acceptance. Participation from our community was remarkable: 45 papers were submitted
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Identification and Analysis of Human-Exoskeleton Coupling Parameters in Lower Extremities IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-20 Cheng Huang, Shuang Ji, Zhenlei Chen, Tianyi Sun, Qing Guo, Yao Yan
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Motor Learning in Robot-Based Haptic Dyads: A Review IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-19 Erica L. Waters, Michelle J. Johnson
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The CUFF, Clenching Upper-Limb Force Feedback Wearable Device: Design, Characterization and Validation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-13 Barontini F., Catalano M. G., Fani S., Grioli G., Bianchi M., Bicchi A.
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HaptiYarn: Development of an Actuator Yarn That Can Transform Everyday Textiles Into Haptic Devices IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-04 Pasindu Lugoda, Richard Arm, Angus Wooler, Lincoln Barnes, Ahmed Tamkin Butt, Carlos Oliveira, Arash Shahidi, William Navaraj
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Analog Position Estimation for Enhanced Stability and Fidelity of Haptic Systems IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-01 Leonam Pecly, Keyvan Hashtrudi-Zaad
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The high/low frequency balance drives tactile perception of noisy vibrations IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-28 Corentin Bernard, Etienne Thoret, Nicolas Huloux, Sølvi Ystad
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Integrating Point Spread Function into Taxel-based Tactile Pattern Super Resolution IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-28 Bing Wu, Qian Liu
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Perception Threshold for Pressure by a Soft Textile Actuator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-27 Judith Weda, Angelika Mader, Hamid Souri, Edwin Dertien, Jan van Erp
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Synthesis, dynamic modeling, prototyping and control of a handheld rotational inertia generator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-27 Samuel Verret, Thierry Laliberte, Rapha ´ el Cloutier, Cl ¨ ement Gosselin
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A Multi-Layer Stacked Microfluidic Tactile Display With High Spatial Resolution IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-23 Boxue Shan, Congying Liu, Yuan Guo, Yiheng Wang, Weidong Guo, Yuru Zhang, Dangxiao Wang
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Learning Effect in Joystick Tactile Guidance IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-22 Pavel Zikmund, Michaela Horpatzká, Miroslav Macík
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A Comparative Study of Physical and Haptic Exhibits in an Informal Learning Environment IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-22 Dajin Lee, Daehyeon Nam, Jinhyuk Yoon, Dukchan Yoon, Seokwon Jeong, Keehoon Kim, Seungmoon Choi
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Touch cannot attentionally select signals based on feature binding IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-20 Scinob Kuroki, Shin'ya Nishida
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Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-13 Kyle T. Yoshida, Zane A. Zook, Hojung Choi, Ming Luo, Marcia K. O'Malley, Allison M. Okamura
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A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-12 Chengjie Li, Doo Yong Lee
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UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-08 Tao Morisaki, Takaaki Kamigaki, Masahiro Fujiwara, Yasutoshi Makino, Hiroyuki Shinoda
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Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-07 Charlélie Saudrais, Bernard Bayle, Marie-Aude Vitrani, Fabien Vérité
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Bi-Manual Sensory Discrimination: A Kinesthetic Study IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-06 Suhas Kakade, Subhasis Chaudhuri, Abhishek Gupta
The ability of humans to perceive and differentiate kinesthetic sensory information significantly influences our daily activities and motor control. This study examines the impact of asynchronous bi-manual discrimination tasks compared to uni-manual discrimination tasks on kinesthetic perception. Our study aims to reveal the relationship between kinesthetic perception of haptic signals by examining
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Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-06 Takuto Nakamura, Hideaki Kuzuoka
The hanger reflex is an illusion phenomenon that induces strong force perception and rotational motion, and it occurs in multiple parts of the body. A potential application of this phenomenon is in upper limb rehabilitation for patients with upper-limb paralysis involving arm rotation. However, the only upper limb movements that have been confirmed in this phenomenon are the inward and outward movements
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A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-05 Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, Sreela Kodali, Allison M. Okamura, Cara M. Nunez
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Establishing Natural Tactile Mappings: Mapping Tactile Parameters to Continuous Data Concepts IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-31 Nicholas Gardella, Sara L. Riggs
There has been limited work developing natural mappings between tactile signals and common data concepts in data rich domains. If these mappings can be established, tactile displays can become more intuitive and readily adopted. The present study aims to identify general natural mappings between perceptual dimensions of vibration and continuous data concepts. Twenty-one participants were tasked to
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Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-29 Huseyin Tugcan Dinc, Thomas Hulin, Christian Ott, Jee-Hwan Ryu
The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic
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Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-26 Erwan Normand, Claudio Pacchierotti, Eric Marchand, Maud Marchal
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Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-25 Drake Rowland, Benjamin Davis, Taylor Higgins, Ann Majewicz Fey
Enhancing human user performance in some complex task is an important research question in many domains from skilled manufacturing to rehabilitation and surgical training. Many examples in the literature explore the effects of both haptic assistance or guidance to complete a task, as well as haptic hindrance to temporarily increase task difficulty for the ultimate goal of faster learning. Studies also
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Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-25 Qian Wu, Jianguang Li
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Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-24 Mirai Azechi, Shogo Okamoto
Virtual tactile bumps and dents are presented by controlling frictional forces on a surface tactile display, a flat touch screen with tactile feedback functions. This technology enables users to touch and feel three-dimensional objects. The resistive force against a sliding finger is increased and then decreased compared to a base level to present a bump. The order of increase and decrease is inverted
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Telemetry-Based Haptic Rendering for Racing Game Experience Improvement IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-24 Jiwan Lee, Junwoo Kim, Jeonggoo Kang, Eunsoo Jo, Dong Chul Park, Seungmoon Choi
Many recent games, such as racing and flight games, open their game telemetry data to users by storing them in the local memory. Such telemetry data can provide useful information for haptic rendering, and this advantage has been exploited by the industry. This approach applies to any applications that export telemetry data in run time. The haptic rendering module operates as a separate process that
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Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-23 Gen Ohara, Daiki Kikuchi, Masashi Konyo, Satoshi Tadokoro
This paper proposes a novel concept of “stereohaptic vibration,” which employs distributed vibration to localize vibration sources outside the body. Inspired by amplitude panning, a stereophonic sound display technique, we developed a method to localize a virtual vibration source (VVS) by polarizing the perceived intensity of multiple vibration stimuli to a specific orientation. Considering the perceptual
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Haptic Interactions Subject to Variable Latency IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-23 Chantal Hutchison, Joseph Hewlett, Siamak Arbatani, Antoine Weill-Duflos, József Kövecses
Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions to be known. We propose a novel approach – which we refer to as the DelayRIM – which uses the time-stepping aspect of a Reduced Interface Model for the
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Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic Range IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Daziyah H. Sullivan, Elyse D. Z. Chase, Marcia K. O'Malley
Wearable devices increasingly incorporate vibrotactile feedback notifications to users, which are limited by the frequency-dependent response characteristics of the low-cost actuators that they employ. To increase the range and type of information that can be conveyed to users via vibration feedback, it is crucial to understand user perception of vibration cue intensity across the narrow range of frequencies
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Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Behnam Khojasteh, Yitian Shao, Katherine J. Kuchenbecker
Sliding a tool across a surface generates rich sensations that can be analyzed to recognize what is being touched. However, the optimal configuration for capturing these signals is yet unclear. To bridge this gap, we consider haptic-auditory data as a human explores surfaces with different steel tools, including accelerations of the tool and finger, force and torque applied to the surface, and contact
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Spatiotemporal Modulation for Ultrasonic Mid-Air Haptics: Sensation's Specification and Validation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Eduardo Mendes, Paulo Santos, João Carvalho, Jorge Cabral
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Realism of Tactile Texture Playback: A Combination of Stretch and Vibration IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-19 Zhenyu Liu, Jin-Tae Kim, John A. Rogers, Roberta L. Klatzky, J. Edward Colgate
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Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Dexin Liu, Hengxin Chen
Some interactions in virtual environments need to be operated on inclined planes. If a real inclined plane can be found in the real environment that corresponds exactly to the angle of the virtual inclined plane to provide haptic feedback, the user's immersion can be enhanced. However, it is not easy to find such a real inclined plane in the real environment. We proposed a horizontal plane haptic redirection
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Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Jungeun Lee, Seungmoon Choi
In this paper, we explore the effects of multimodal haptic feedback combining vibrotactile and electrical muscle stimulation (EMS) on expressing virtual collisions. We first present a wearable multimodal haptic device capable of generating both mechanical vibration and EMS stimuli. The two types of haptic stimulus are combined into a haptic rendering method that conveys improved virtual collision sensations
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Lever Mechanism for Diaphragm-Type Vibrators to Enhance Vibrotactile Intensity IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Taku Hachisu, Masayuki Kajiura, Toshihiro Takeshita, Yusuke Takei, Takeshi Kobayashi, Masashi Konyo
Thin and light vibrators that leverage the inverse piezoelectric effect with a diaphragm mechanism are promising vibrotactile actuators owing to their form factors and high temporal and frequency response. However, generating perceptually sufficient displacement in the low-frequency domain is challenging. This study presents a lever mechanism mounted on a diaphragm vibrator to enhance the vibrotactile
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Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-15 Dajin Lee, Gyeore Yun, Seungmoon Choi
Full-body haptic suits, which can provide tactile sensations across the entire body, have been gaining popularity recently. The tightness of a suit to the user's body determines the contact force between the tactile actuators and the body. The contact force is likely to alter the intended perceptual effects, but relatively little is known about the extent of the alteration. Under this context, we present
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Origami-Based Haptic Syringe for Local Anesthesia Simulator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-15 Ken Iiyoshi, Shadi Khazaaleh, Ahmed S. Dalaq, Mohammed F. Daqaq, Georgios Korres, Mohamad Eid
Although medical simulators have benefited from the use of haptics and virtual reality (VR) for decades, the former has become the bottleneck in producing a low-cost, compact, and accurate training experience. This is particularly the case for the inferior alveolar nerve block (IANB) procedure in dentistry, which is one of the most difficult motor skills to acquire. As existing works are still oversimplified
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Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-10 Yusuke Ujitoko, Yuko Takenaka, Koichi Hirota
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Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-08 Bingjian Huang, Paul H. Dietz, Daniel Wigdor
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Representing Fine Texture of Pencil Hardness by High-Frequency Vibrotactile Equivalence Conversion Using Ultra-Thin PZT-MEMS Vibrators IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-05 Masamune Waga, Toru Matsubara, Masashi Konyo, Toshihiro Takeshita, Yusuke Takei, Takeshi Kobayashi, Satoshi Tadokoro
This study aims to represent fine texture differences in pencil hardness using intensity segment modulation (ISM), a sensory equivalent conversion method of vibration from high to low frequencies. This method enables the presentation of delicate tactile sensations even with small transducers. We integrated this approach in the world's thinnest ultra-thin PZT-MEMS vibrator with a stylus-type device
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Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-05 Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren, Thomas S. Lendvay, Ilana Nisky, Anthony M. Jarc, Allison M. Okamura, Zonghe Chua
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Editorial IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-12-21 Seungmoon Choi
In 2023, we organized a distinctive program for short papers in collaboration with the IEEE World Haptics Conference (WHC). This program offered a unique opportunity for authors to publish papers in IEEE Transactions on Haptics (ToH) while also presenting their work at WHC 2023. This initiative garnered significant attention within the haptics community, resulting in a high number of 87 submissions
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Sound-to-Touch Crossmodal Pitch Matching for Short Sounds IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-12-01 Dong-Geun Kim, Jungeun Lee, Gyeore Yun, Hong Z. Tan, Seungmoon Choi
This article explores how to relate sound and touch in terms of their spectral characteristics based on crossmodal congruence. The context is the audio-to-tactile conversion of short sounds frequently used for user experience improvement across various applications. For each short sound, a single-frequency amplitude-modulated vibration is synthesized so that their intensive and temporal characteristics
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Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-13 Mor Farajian, Raz Leib, Hanna Kossowsky, Ilana Nisky
When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial
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Tactile Features of Human Finger Contact Motor Primitives IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-13 Qianqian Tian, Jixiao Liu, Kuo Liu, Shijie Guo
The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental
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Fuzzy Evaluation Method for Haptic Perceptual Similarity IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-10 Yan Zhang, Riting Xia, Xiaoying Sun
Tactile rendering in virtual interactive scenes plays an important role in improving the quality of user experience. The subjective rating is currently the mainstream measurement to assess haptic rendering realism, which ignores various subjective and objective uncertainties in the evaluation process and also neglects the mutual influence among tactile renderings. In this paper, we extend the existing
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Teaching Motor Skills Without a Motor: A Semi-Passive Robot to Facilitate Learning. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-08 Thomas E Augenstein,C David Remy,Edward S Claflin,Rajiv Ranganathan,Chandramouli Krishnan
Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robots use controllable active force elements (e.g., motors). Semi-passive robots can address cost and safety limitations of active robots, but it is unclear
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Three-Dimensional Position Presentation Via Head and Waist Vibrotactile Arrays. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-03 Syunsuke Tawa,Hikaru Nagano,Yuichi Tazaki,Yasuyoshi Yokokohji
This paper introduces a novel system designed to convey the three-dimensional positions surrounding the user. The system incorporates circumferential vibrotactile arrays strategically positioned on both the user's head and waist. Through the synergy of this two-dimensional arrangement and modulations in vibration amplitude, the system adeptly presents comprehensive three-dimensional positional information
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A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-03 Wenjie Wang, Jie Wang, Yang Luo, Xiaohua Wang, Huajian Song
Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of
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Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-30 Kezi Li, Jeremy D. Brown
Individuals with upper-extremity limb difference who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information, these approaches often rely on single-modality feedback schemes which are necessary but insufficient for the feedforward and feedback control
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Exploring Perceptual Intensity Properties Using Electrotactile Stimulation on Fingertips IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-30 Ziliang Zhou, Xiaoxin Wang, Yicheng Yang, Jia Zeng, Honghai Liu
Understanding electrotactile parametric properties is a crucial milestone in achieving intuitive haptics. Perceptual intensity is a primary property, but its exploration remains challenging due to subjectivity. To address this problem, this study conducted two experiments on fingertips and proposed two metrics based on significant findings. Experiment 1 found a significant linear relationship (R $^{2}$