WHC 2023
2023 IEEE World Haptics Conference (WHC)
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2023 IEEE World Haptics Conference (WHC), July 10–13, 2023, Delft, Netherlands

WHC 2023 – Proceedings

Contents - Abstracts - Authors

Mon, Jul 10, 09:00 - 09:00

Title Page
Message from the Conference Co-Chairs
Message from the Conference Editorial Board
Organization Committee
Program Committee
Associate Editors and Reviewers
Leaflet IEEE Haptics Symposium 2024
Leaflet EUROHAPTICS 2024
Leaflet AsiaHaptics 2024

Oral Session 1A — Perception 1
Tue, Jul 11, 10:30 - 12:00, Collegezaal A

Perception of and Response to a Haptic Device as a Function of Signal Complexity
Antonio Alvarez Valdivia ORCID logo and Laura H. Blumenschein
(Purdue University, USA)
Publisher's Version
The Tactile Distance Aftereffect Transfers to Roughness Perception
Michaela Jeschke, Knut Drewing, and Elena Azañón
(Justus-Liebig University, Germany; Otto-von-Guericke University, Germany; Leibniz Institute for Neurobiology, Germany)
Publisher's Version
Eyes-Free Fingertip Guidance Based on Tactile Cues, an Extension of the Steering Law
Quentin Agobert, Corentin Bernard, Balthazar Potet, and Nicolas Huloux
(Aflokkat, France; Aix Marseille Univ, CNRS, PRISM, France)
Publisher's Version
Human Recognition Performance of Simple Spatial Vibrotactile Patterns on the Torso
Junwoo Kim, Heeyeon Kim, Chaeyong Park, and Seungmoon Choi
(Pohang University of Science and Technology (POSTECH), South Korea)
Publisher's Version

Oral Session 1B — Wearable Haptics 1
Tue, Jul 11, 10:30 - 12:00, Collegezaal B

Interpersonal Vibrotactile Phantom Sensation between Hands via Actuated Bracelets
Kenta Ebina and Taku Hachisu
(University of Tsukuba, Japan)
Publisher's Version Video Info
WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality
Minjae Jo ORCID logo, DongKyu Kwak, and Sang Ho Yoon ORCID logo
(Korea Advanced Institute of Science and Technology, South Korea)
Publisher's Version Video
Information Transfer of Full-Body Vibrotactile Stimuli: An Initial Study with One to Three Sequential Vibrations
Jaejun Park, Junwoo Kim, Chaeyong Park, Sangyoon Han, Junseok Park, and Seungmoon Choi
(Pohang University of Science and Technology, South Korea; Pohang University of Science and Technology (POSTECH), South Korea; ETRI, South Korea)
Publisher's Version
A Magnetic Soft Device for Tactile Haptic Actuation of the Fingertip
Sarah Costrell, Mahirah Alam, Roberta L. Klatzky ORCID logo, Michael E. McHenry, Lynn M. Walker, and Melisa Orta Martinez
(Carnegie Mellon University, USA; Carnegie Mellon, USA)
Publisher's Version
Design and Evaluation of a Multimodal Haptic Vest
Bora Celebi, Müge Cavdan, and Knut Drewing
(Justus Liebig University, Germany)
Publisher's Version
The Impact of Haptic Feedback During Sudden, Rapid Virtual Interactions
Nizamettin Taha Tanacar, Moaaz Hudhud Mughrabi, Anil Ufuk Batmaz, Daniele Leonardis, and Mine Sarac
(Kadir Has University, Turkey; Concordia University, Canada; Scuola Superiore Sant'Anna, Italy)
Publisher's Version
Wireless Dual Mode Haptic Thimble based on Magnetoactive Rubber
Yong Hae Heo, Mohammad Shadman Hashem, Gyubin An, Hyun-Jeong Kim, Dong-Soo Choi, Seokhee Jeon, and Sang-Youn Kim
(Korea University of Technology and Education, South Korea; Kyung Hee University, South Korea; Kumoh National Institute of Technology, South Korea)
Publisher's Version

Oral Session 2A — Haptic Applications in Social Interactions
Tue, Jul 11, 14:30 - 15:30, Collegezaal A

Fostering Social Empathy in VR through Physiologically Based Affective Haptic Feedback
Jeanne Hecquard, Justine Saint-Aubert, Ferran Argelaguet Sanz, Claudio Pacchierotti ORCID logo, Anatole Lécuyer, and Marc J.-M. Macé
(Inria, France; Inria Bretagne-Atlantique, France; CNRS, France; CNRS; Rennes 1, France)
Publisher's Version Archive submitted (4.3 MB)
Human-Delivered Brushstroke Characterization Using an Instrumented Brush Focused on Torque
Zackary Todd Landsman, Anika Kao, and Gregory John Gerling
(University of Virginia, USA)
Publisher's Version
Mediated Social Touching: Haptic Feedback Affects Social Experience of Touch Initiators
Martin Maunsbach ORCID logo, Kasper Hornbæk ORCID logo, and Hasti Seifi ORCID logo
(University of Copenhagen, Denmark; Arizona State University, USA)
Publisher's Version

Oral Session 2B — Surface Haptics
Tue, Jul 11, 14:30 - 15:30, Collegezaal B

Concurrent Haptic, Audio, and Visual Data Set During Bare Finger Interaction with Textured Surfaces
Alexis William Marcel Devillard, Aruna Ramasamy, Damien Faux, Vincent Hayward, and Etienne Burdet
(Imperial College, UK; Ecole Normale Superieure, France; Actronika SAS, France; Actronika, France; Institut des Systèmes Intelligent et de Robotique, France; Imperial College London , UK)
Publisher's Version
Dynamic Feedback in Wave-Mediated Surface Haptics: A Modular Platform
Dustin Thomas Goetz, Gregory Reardon, Max Linnander, and Yon Visell
(University of California Santa Barbara, USA; University of California, Santa Barbara, USA)
Publisher's Version

Oral Session 3A — Multimodal Interactions
Tue, Jul 11, 16:00 - 17:30, Collegezaal A

Manipulation of Body Sway Interpretation through Kinesthetic Illusion Induced by Ankles Vibration
Eifu Narita, Shota Nakayama, Mitsuki Manabe, Keigo Ushiyama, Satoshi Tanaka, Izumi Mizoguchi, and Hiroyuki Kajimoto
(University of Electro-Communications, Japan)
Publisher's Version
Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device
Kyle T. Yoshida, Joel X. Kiernan, Allison M. OkamuraORCID logo, and Cara M. Nunez
(Stanford University, USA; Cornell University, USA)
Publisher's Version
Humans Struggle to Perceive Congruence in Visuo-Haptic Textures
Jenna Fradin, Sinan D. Haliyo, and David Gueorguiev
(Institut des Systemes Intelligents et de Robotique, France; ISIR, France; CNRS, France; Sorbonne University, France)
Publisher's Version
Communication is a Two-Way Street: Negotiating Driving Intent through a Shape-Changing Steering Wheel
Hannah Baez, Akshay BhardwajORCID logo, Jean Costa, John Gideon, Sile O'Modhrain, Nadine Sarter, and Brent Gillespie
(University of Michigan, USA; Toyota Research Institute, USA)
Publisher's Version
Training to Understand Complex Haptic Phrases: A Longitudinal Investigation
Mauricio Fontana de Vargas, David Marino, Antoine Weill-Duflos, and Jeremy R. Cooperstock
(McGill University, Canada)
Publisher's Version

Oral Session 3B — Vibrotactile and Electrotactile Displays
Tue, Jul 11, 16:00 - 17:30, Collegezaal B

Perceptual Simultaneity Between Vibrotactile and Impact Stimuli
Chaeyong Park and Seungmoon Choi
(Pohang University of Science and Technology (POSTECH), South Korea)
Publisher's Version
Vibrotactile Display of Distance Information in a Virtual Object Exploration Task
Johannes Rueschen and Hong Z. Tan
(Purdue University, USA)
Publisher's Version
Spatiotemporal Perception of Single Overlapped Vibrotactile Stimulation to Multiple Body Locations
Takumi Kuhara, Kakagu Komazaki, Junji Watanabe, and Yoshihiro Tanaka
(Nagoya Institute of Technology, Japan; Nippon Telegraph and Telephone Corporation, Japan; NTT Communication Science Laboratories, Japan)
Publisher's Version
Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites
Yijie Gong, Bernard Javot, Anja Patricia Regina Lauer, Oliver Sawodny, and Katherine J. KuchenbeckerORCID logo
(Max Planck Institute for Intelligent Systems, Germany; University of Stuttgart, Germany)
Publisher's Version

Oral Session 4A — Neuroscience of Touch and Motor Control
Wed, Jul 12, 10:30 - 12:00, Collegezaal A

Neural Correlates of Cooperation during Interactive Visuomotor Task: An fNIRS Hyperscanning Study
Yilei Zheng, Shiyi Liu, Bohao Tian, Yuru ZhangORCID logo, and Dangxiao Wang
(Beijing Information Science and Technology University, China; Beihang University, China; State Key Laboratory of Virtual Reality Technology and Systems, China)
Publisher's Version
Spatiotemporal Organization of Touch Information in Tactile Neuron Population Responses
Neeli Tummala, Yitian Shao, and Yon Visell
(University of California, Santa Barbara, USA; Technische Universität Dresden, Germany)
Publisher's Version
A Wearable System Integrating Force Myography and Skin Stretch Feedback toward Force Skill Learning
Arata Horie, Yunao Zheng, and Masahiko Inami
(The University of Tokyo, Japan)
Publisher's Version
Measurement of Rhythmical Movements in Street Dance for Quantifying Movement Timing Skills
Ritsuko Kiso, Yuko Hashimoto, and Masashi Nakatani
(Keio University, Japan; Ochanomizu University, Japan)
Publisher's Version
Tactile Feedback Involving Actual Operation for Motor Skill Learning
Hikari Yukawa, Moena Tsuruoka, Takayuki Kodama, Masashi Odagiri, Masayuki Sato, Michiya Takeda, Masahiko Kurachi, and Yoshihiro Tanaka
(Nagoya Institute of Technology, Japan; Kyoto Tachibana University, Japan; Konica Minolta, Japan; Konica Minolta INC., Japan)
Publisher's Version

Oral Session 4B — Mid-Air Haptic Displays
Wed, Jul 12, 10:30 - 12:00, Collegezaal B

Performance Evaluation of Airborne Ultrasound Focus Measurement Using Thermal Imaging on the Surface of a Finger
Sota Iwabuchi, Ryoya Onishi, Shun Suzuki, Takaaki Kamigaki, Yasutoshi Makino, and Hiroyuki Shinoda
(University of Tokyo, Japan)
Publisher's Version Archive submitted (1.9 MB)

Oral Session 5A — Thermal Displays and Illusions
Wed, Jul 12, 14:30 - 15:30, Collegezaal A

Modeling and Simulation of Thermal Grill Illusion Using Neurophysiological Theory
Subhankar Karmakar, Madhan Kumar Vasudevan, and Manivannan Muniyandi
(Indian Institute of Technology Madras, India)
Publisher's Version
Spatially Continuous Non-Contact Cold Sensation Presentation Based on Low-Temperature Airflows
Koyo Makino, Jiayi Xu, Akiko Kaneko, Naoto Ienaga, and Yoshihiro Kuroda
(University of Tsukuba, Japan)
Publisher's Version
Determination of the Thermal-Tactile Simultaneity Window for Multisensory Cutaneous Displays
Takuya Jodai, Masahiko Terao, Lynette Jones, and Hsin-Ni Ho
(Kyushu Univeristy, Japan; Yamaguchi University, Japan; Massachusetts Institute of Technology, USA)
Publisher's Version
Perception of Friction-Related Cues Induced by Temperature Variation on a Surface Display
Matej Mayet, Jean-Loïc Le Carrou, and David Gueorguiev
(Institut Jean Le Rond D'Alembert, France; CNRS, France; Sorbonne Université, France; ISIR, France)
Publisher's Version

Oral Session 5B — Haptic Devices and Sensors
Wed, Jul 12, 14:30 - 15:30, Collegezaal B

Optical Measurements of the Skin Surface to Infer Bilateral Distinctions in Myofascial Tissue Stiffness
Anika Kao, Zackary Todd Landsman, M. Terry Loghmani, and Gregory John Gerling
(University of Virginia, USA; Indiana University, USA)
Publisher's Version
Flexos: A Portable, SEA-Based Shoulder Exoskeleton with Hyper-redundant Kinematics for Weight Lifting Assistance
Gianluca Rinaldi, Luca Tiseni, Michele Xiloyannis, Lorenzo Masia, Antonio Frisoli, and Domenico Chiaradia ORCID logo
(Sant'Anna School of Advanced Studies, Italy; Akina, Switzerland; Heidelberg University, Germany)
Publisher's Version

Oral Session 6A — Control and Haptic Rendering
Wed, Jul 12, 16:00 - 17:30, Collegezaal A

Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove
Qianqian Tong, Weipeng Shen, Dangxiao Wang, and Miguel A. Otaduy
(Peng Cheng Laboratory, China; Universidad Rey Juan Carlos, Spain; Beihang University, China)
Publisher's Version
Shaping Human Movement via Bimanually-Dependent Haptic Force Feedback
Jacob R. Boehm, Ann Majewicz Fey, and Nicholas P. Fey
(The University of Texas at Austin, USA; University of Texas at Austin, USA)
Publisher's Version
CatBoost for Haptic Modeling of Homogeneous Viscoelastic Deformable Objects
Gautam Kumar, Shashi Prakash, and Amit Bhardwaj
(Indian Institute of Technology Jodhpur, India; IIT Jodhpur, India)
Publisher's Version
Physics Engine-Based Whole-Hand Haptic Rendering for Sensorimotor Neurorehabilitation
Raphael Rätz and Laura Marchal-Crespo
(University of Bern, Switzerland; Delft University of Technology, Netherlands)
Publisher's Version

Oral Session 6B — Wearable Haptics 2
Wed, Jul 12, 16:00 - 17:30, Collegezaal B

Wearable Sensory Substitution for Proprioception via Deep Pressure
Sreela Kodali ORCID logo, Brian Vuong ORCID logo, Thomas Bulea ORCID logo, Alexander Chesler ORCID logo, Carsten Bönnemann ORCID logo, and Allison M. OkamuraORCID logo
(Stanford University, USA; National Institutes of Health, USA)
Publisher's Version
A Miniature Direct-Drive Hydraulic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation
Daniele Leonardis, Domenico Chiaradia ORCID logo, and Antonio Frisoli
(Scuola Superiore Sant'Anna of Pisa, Italy)
Publisher's Version
Fingertip Wearable High-resolution Electrohydraulic Interface for Multimodal Haptics
Purnendu, Jess Hartcher-O'Brien, Vatsal Mehta, Nicholas Colonnese, Aakar Gupta, Carson J. Bruns, and Priyanshu Agarwal
(Meta, USA; University of Colorado Boulder, USA)
Publisher's Version

Oral Session 7A — Perception 2
Thu, Jul 13, 10:30 - 11:00, Collegezaal A

Realism of Visual, Auditory, and Haptic Cues in Phenomenal Causality
Elyse D. Z. Chase, Tobias Gerstenberg, and Sean Follmer
(Stanford University, USA)
Publisher's Version Archive submitted (13 MB) Info
The Effects of Movement Direction and Glove on Spatial Frequency Discrimination in Oriented Textures
Didem Katircilar and Knut Drewing
(Justus Liebig University Giessen, Germany; Giessen University, Germany)
Publisher's Version
Influence of Electrical Stimulation Intensity on the Perception of Piquancy
Masaki Ohno, Kazuma Aoyama, Tomohiro Amemiya, Hideaki Kuzuoka, Keigo Matsumoto, and Takuji Narumi
(University of Tokyo, Japan; Gunma University, Japan)
Publisher's Version
Controlling Human Perception of Haptic Profiles Using Contextual Cues
Derek Van Delden, Alison Jenkins, William Singhose, Franziska Schlagenhauf, and Kelly Dobson
(Georgia Tech, USA; Google, USA)
Publisher's Version

Oral Session 7B — Robotics Applications and Teleoperation
Thu, Jul 13, 10:30 - 11:00, Collegezaal B

Towards Differential Magnetic Force Sensing for Ultrasound Teleoperation
David Black, Amir Hossein Hadi Hosseinabadi, Nicholas Rangga Pradnyawira, Maxime Pol, Mika Nogami, and Tim Salcudean
(University of British Columbia, Canada; École Polytechnique, France)
Publisher's Version
Optimized Time-Domain Control of Passive Haptic Teleoperation Systems for Multi-DoF Interaction
Gianni Bianchini ORCID logo, Davide Barcelli, Domenico PrattichizzoORCID logo, and Claudio Pacchierotti ORCID logo
(Università di Siena, Italy; University of Siena, Italy; CNRS, France)
Publisher's Version
Active Haptic Exploration Based on Dual-Stage Perception for Object Recognition
Pakorn Uttayopas, Xiaoxiao Cheng, and Etienne Burdet
(Imperial College London, UK)
Publisher's Version

TP Posters Day 2
Tue, Jul 11, 12:00 - 14:30, Commissiekamer 3

Temporal Detection Threshold of Audio-Tactile Delays under Conditions of Active Touch with and without a Visual Cue
Detjon Brahimaj, Giulia Esposito, Arthur Courtin, Andre Mouraux, Frederic GIRAUD, Betty SEMAIL, and Olivier Collignon
(University of Lille, France; Université catholique de Louvain, Belgium; Université de Lille, France)
Publisher's Version
3D Shape Presentation by Combination of Force Feedback and Electro-tactile Stimulation
Yui Suga, Masahiro Miyakami, Izumi Mizoguchi, and Hiroyuki Kajimoto
(University of Electro-Communications, Japan)
Publisher's Version
Implementation and Evaluation of a Vibrotactile Assisted Monitoring and Correction System for Partial Weight-Bearing in Lower Extremities
Øystein Bjelland, William Gulliksen, Arkadiusz Damian Kwiatkowski, Martin Skavø, Håkon Isern, Mohammadamin Shayestehpour, Martin Steinert, Alf-Inge Hellevik, and Robin T. Bye
(Norwegian University of Science and Technology, Norway; NTNU TrollLABS, Norway; Ålesund General Hospital, Norway)
Publisher's Version
1-D Manual Tracing Based on a High Density Haptic Stimulation Grid: A Pilot Effort
Brendan Driscoll, Ming Liu, and Helen Huang
(North Carolina State University, USA)
Publisher's Version
Portable Self-propelled Force Feedback Device
Ayaka Fukasawa, Riho Taniguchi, Takumi SATO, and Shoichi Hasegawa
(Tokyo Institute of Technology, Japan)
Publisher's Version
Wearable 3D Shape Display for Dynamic Interfaces Rendering
Bilige Yang, Benjamin Stephens-Fripp, Priyanshu Agarwal, Sonny Chan, Nathan Usevitch, Andrew Stanley, and Yatian Qu
(Meta, USA; Yale University, USA)
Publisher's Version

TP Posters Day 3
Wed, Jul 12, 12:00 - 14:30, Commissiekamer 3

Easy-to-Recognize Bump Shapes Using Only Lateral Force Cues for Real and Virtual Surfaces
Mirai Azechi and Shogo Okamoto
(Tokyo Metropolitan University, Japan)
Publisher's Version
Enhancing Perceived Resistance and Propulsion by Combining Pseudo-haptics and Pulling Illusion
Tomohiro Kawagishi, Yuki Ban, Yusuke Ujitoko, and Shinichi Warisawa
(University of Tokyo, Japan; NTT Communication Science Laboratories, Japan)
Publisher's Version
An Exploration of Just Noticeable Differences in Mid-Air Haptics
Katarzyna Wojna, Orestis Georgiou, David Beattie, William Frier, Michael Wright, and Christof Lutteroth
(University of Bath, UK; Ultraleap, UK; Ultrahaptics, UK)
Publisher's Version Archive submitted (1.5 MB)
The Influence of Surface Roughness and Surface Size on Perceived Pleasantness
Lisa Pui Yee Lin, Müge Cavdan, Katja Doerschner, and Knut Drewing
(Justus-Liebig University Gießen, Germany; Justus Liebig Uni Giessen, Germany; Giessen University, Germany)
Publisher's Version
Effects on Perception when Removing One Frequency Component from Two Harmonic Vibrations
Keisuke Tozuka and Hiroshi Igarashi
(Tokyo Denki University, Japan)
Publisher's Version
Identifying Human Grasp Properties During Robot-to-Human Handovers
Paul Pacaud, etienne chassaing, Yilin Cai, Connor Yako, and Kenneth Salisbury
(Stanford University, USA; CentraleSupélec-Paris Saclay, France; Carnegie Mellon University, USA)
Publisher's Version

TP Posters Day 4
Thu, Jul 13, 12:00 - 14:30, Commissiekamer 3

Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash
Patrick Dills and Michael Zinn
(University of Wisconsin - Madison, USA)
Publisher's Version
An Extended Virtual Proxy Haptic Algorithm for Dexterous Manipulation in Virtual Environments
Aldo Fabrizio Galvan, Job Donaldo Ramirez, Ashish Deshpande, and Ann Majewicz Fey
(University of Texas - Austin, USA)
Publisher's Version
Handheld Haptic Device with Coupled Bidirectional Input
Megh Doshi, Michael Hagenow, Robert Radwin, Michael Gleicher, Bilge Mutlu, and Michael Zinn
(University of Wisconsin-Madison, USA; University of Wisconsin- Madison, USA; University of Wisconsin - Madison, USA)
Publisher's Version
A User Study of a Cable Haptic Interface with a Reconfigurable Structure
Bastien Jacques Étienne Poitrimol and Hiroshi Igarashi
(Tokyo Denki University , Japan; Tokyo Denki University, Japan)
Publisher's Version
Haptic Mushroom: A 3-DoF Shape-Changing Encounter-Type Haptic Device with Interchangeable End-Effectors
Lisheng Kuang, Francesco Chinello, Paolo Robuffo Giordano, Maud Marchal, and Claudio Pacchierotti ORCID logo
(CNRS, France; Aarhus University, Denmark; Univ. Rennes, INSA, IRISA, Inria, France; Institut Universitaire de France, France)
Publisher's Version Video
Dynamic Pattern Recognition with Localised Surface Haptics and Apparent Motion
Mathilde Jeannin, Ayoub Ben Dhiab, Charles Hudin, and Sabrina Panëels
(LIX, France; Université Paris-Saclay, CEA, List, France)
Publisher's Version

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