Haptics Symposium 2018 -- Program

A Control Method of Asymmetric Vibrations for a Quantitative Evaluation of Induced Pulling Sensation

Takeshi Tanabe, Hiroaki Yano, and Hiroo Iwata

(University of Tsukuba, Japan)

Demo 8

A Fabric-Based Approach for Wearable Haptics: Neuroscience, Emotions and System Design

Matteo Bianchi

(University of Pisa, Italy)

A Haptic Ring to Provide Skin Deformation and Thermal Cues

Guido Gioioso, Leonardo Meli, Giovanni Spagnoletti, Mirko Aurilio, and Domenico Prattichizzo

(University of Siena, Italy; IIT, Italy)

Demo 24

A Multi-chamber Pneumatic Actuator to Render a Percept of Softness to the Finger Pad

Alton R. Sharpe, Steven C. Hauser, and Gregory J. Gerling

(University of Virginia, USA)

WIP Poster A2

A Multi-finger Interface with MR Actuators for Haptic Applications

Huanhuan Qin, Aiguo Song, Zhan Gao, Yuqing Liu, and Guohua Jiang

(Southeast University, China; China Astronaut Research and Training Center, China)

ToH Poster D4

A Partial Contact Frictional Force Model for Finger-Surface Interactions

Marco Janko, Zhengqiao Zhao, Moshe Kam, and Yon Visell

(Drexel University, USA; New Jersey Institute of Technology, USA; University of California at Santa Barbara, USA)

A Physics-Based Vibrotactile Feedback Library for Collision Events

Gunhyuk Park and Seungmoon Choi

(POSTECH, South Korea)

ToH Poster D7

A Skin Stretch Tactor for Sensory Substitution of Wrist Proprioception

Oguz Kayhan, A. Kemal Nennioglu, and Evren Samur

(Boğaziçi University, Turkey)

A Social Haptic Device to Create Continuous Lateral Motion using Sequential Normal Indentation

Heather Culbertson, Cara M. Nunez, Ali Israr, Frances Lau, Freddy Abnousi, and Allison M. Okamura

(Stanford University, USA; University of Southern California, USA; Facebook, USA)

A Study of Tactile Sensation and Magnitude on Electrostatic Tactile Display

Hirobumi Tomita, Satoshi Saga, Hiroyuki Kajimoto, Simona Vasilache, and Shin Takahashi

(University of Tsukuba, Japan; Kumamoto University, Japan; University of Electro-Communications, Japan)

A Tactile Display with Touch Sensing using a High-Density Microfluidic Chip

Alexander Russomanno, Hrishikesh Rao, Thanasarn Tantivirun, Sile O'Modhrain, and R. Brent Gillespie

(University of Michigan, USA)

Demo 25

A Three Revolute-Revolute-Spherical Wearable Fingertip Cutaneous Device for Stiffness Rendering

Francesco Chinello, Claudio Pacchierotti, and Monica Malvezzi

(Aarhus University, Denmark; Irisa, France; Inria, France; University of Siena, Italy)

ToH Poster B2

A Touch Panel for Presenting Softness with a Virtual Image

Karen Anastasia Murata, Erika Oishi, Takuto Nakamura, Hiroyuki Kajimoto, Takahiro Sano, and Masayuki Naya

(University of Electro-Communications, Japan; FUJIFILM, Japan)

Demo 33

A Two-Fingered Force Feedback Glove using Soft Actuators

Yu Zhang, Dangxiao Wang, Ziqi Wang, Yueping Wang, Li Wen, and Yuru Zhang

(Beihang University, China)

A Vibrotactile “Musical Sculpture” in VR Exploring Apparent Motion Illusions of Frequency Beating and Changing Phase

Alexis Story Crawshaw

(University of Paris 8, France; University of California at Santa Barbara, USA)

Demo 36

Advancing Haptic Design: Focusing on Human Interpretations of Tactile Effects

Sanya Attari, William Rihn, David Birnbaum, and Chris Ullrich

(Immersion Corporation, USA)

Demo 32

An Inverse Neural Network Model for Data-Driven Texture Rendering on Electrovibration Display

Reza Haghighi Osgouei, Sunghwan Shin, Seongwon Cho, Jin Ryong Kim, and Seungmoon Choi

(POSTECH, South Korea)

Demo 9

An Investigation of Haptic Perception of Viscoelastic Materials in the Frequency Domain

Ozan Caldiran, Hong Z. Tan, and Cagatay Basdogan

(Koç University, Turkey; Purdue University, USA)

Analog Haptic Control: Advantages and Challenges

Ryan Schindeler and Keyvan Hashtrudi-Zaad

(Queen's University, Canada)

ToH Poster A5

Announcement for AsiaHaptics Student Challenge

Arm-Worn Tactile Displays

(Max Planck Institute for Intelligent Systems, Germany)

Authoring New Haptic Textures Based on Interpolation of Real Textures in Affective Space: A Demo

Waseem Hassan, Arsen Abdulali, and Seokhee Jeon

(Kyung Hee University, South Korea)

Demo 21

Biometric Campfire

Alan J. Macy

(BIOPAC SYSTEMS, USA; University of California at Santa Barbara, USA)

Demo 7

Biomimetics and Dexterous Manipulation Lab

Mark Cutkosky

(Stanford University, USA)

Body-Grounded Soft Haptics

Allison M. Okamura

(Stanford University, USA)

Boréas Technologies

(Bromont, Canada)

Cable Driven Haptic Interface for Co-localized Desktop VR

Justine Saint-Aubert, Stéphane Régnier, and Sinan Haliyo

(Sorbonne University, France)

Call for Papers for AsiaHaptics

Call for Papers for EuroHaptics

Call for Papers for IEEE Transactions on Haptics

Call for Papers for WorldHaptics

Camarillo Lab

David Camarillo

(Stanford University, USA)

Can Humans Infer Haptic Surface Properties from Images?

Alex Burka

(University of Pennsylvania, USA; Max Planck Institute for Intelligent Systems, Germany)

WIP Poster A4

Capturing and Reproducing Tactile Texture at the Fingertip

Michael Wiertlewski

(Aix-Marseille University, France)

Characterizing and Imaging Gross and Real Finger Contacts under Dynamic Loading

Serena Bochereau, Brygida Dzidek, Mike Adams, and Vincent Hayward

(Sorbonne University, France; University of Birmingham, UK)

IEEE Transactions on Haptics Best Paper Award ToH Poster C1

CHARM Lab

Allison M. Okamura

(Stanford University, USA)

CLAP: Soft-Hand Simulation Library for Natural Interaction

Daniel Lobo, Mickeal Verschoor, and Miguel A. Otaduy

(Universidad Rey Juan Carlos, Spain)

Demo 22

Co-design of Forward-Control and Force-Feedback Methods for Teleoperation of an Unmanned Aerial Vehicle

Dawei Zhang and Rebecca P. Khurshid

(Boston University, USA)

WIP Poster A5

Combination of Cathodic Electrical Stimulation and Mechanical Damped Sinusoidal Vibration to Express Tactile Softness in the Tapping Process

Vibol Yem and Hiroyuki Kajimoto

(University of Electro-Communications, Japan)

Demo 13

Comparing Proprioceptive Acuity in the Arm between Joint Space and Task Space

Sean M. Sketch, Amy J. Bastian, and Allison M. Okamura

(Stanford University, USA; Johns Hopkins School of Medicine, USA)

Best Paper Award Candidate

Continuous and Transparent Authentication of Haptic Users

Fatimah Elsayed, Kiran Balagani, Paolo Gasti, Chung Hyuk Park, and Anand Santhanakrishnan

(New York Institute of Technology, USA; George Washington University, USA)

WIP Poster A6

Continuous Lateral Motion Created using Sequential Normal Indentation for Displaying Social Haptic Cues

Heather Culbertson, Cara M. Nunez, and Allison M. Okamura

(Stanford University, USA; University of Southern California, USA)

Demo 28

Continuous Linear Sensations from a Sequential Discrete Lateral Skin-Slip Haptic Device

Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, and Heather Culbertson

(Stanford University, USA; University of Southern California, USA)

WIP Poster B1

Creating Multi-touch Haptic Feedback on an Electrostatic Tactile Display

Gholamreza Ilkhani and Evren Samur

(Boğaziçi University, Turkey)

Data-Driven Haptic Rendering of Surface Properties

Seungmoon Choi

(Pohang University of Science and Technology, Korea)

Data-Driven Rendering of Fabric Textures on Electrostatic Tactile Displays

Jian Jiao, Yuru Zhang, Dangxiao Wang, Yon Visell, Dekun Cao, Xingwei Guo, and Xiaoying Sun

(Beihang University, China; University of California at Santa Barbara, USA; Jilin University, China)

Data-Driven Thermal Rendering: An Initial Study

Hyejin Choi, Seongwon Cho, Sunghwan Shin, Hojin Lee, and Seungmoon Choi

(POSTECH, South Korea)

Decision-Making Model for Adaptive Impedance Control of Teleoperation Systems

Javier Corredor, Jorge Sofrony, and Angelika Peer

(University of Pamplona, Colombia; Universidad Nacional de Colombia, Colombia; University of the West of England, UK)

ToH Poster F6

Demonstrating a Touch Amplification System for Augmented Surfaces

Anzu Kawazoe, Steve Fyke, Bryan Cunningham, Kayla Sparackin, Bharat Dandu, and Yon Visell

(University of California at Santa Barbara, USA; Snap Pea Design, Canada)

Demo 35

Demonstrations and Exhibits Map

Design and Analysis of a High Performance Impedance Based Hybrid Haptic Interface

Patrick Dills, Chembian Parthiban, It Fufuengsin, Nick Colonnese, and Michael Zinn

(University of Wisconsin-Madison, USA; Oculus Research, USA)

WIP Poster B2

Design and Evaluation of Shape-Changing Haptic Interfaces for Pedestrian Navigation Assistance

Adam J. Spiers and Aaron M. Dollar

(Yale University, USA)

ToH Poster F5

Design of a Wearable Kinesthetic Feedback Device to Study the Effects of Different Hand-Grounding Locations on User Performance

Sajid Nisar, Takahiro Endo, Fumitoshi Matsuno, and Allison M. Okamura

(Stanford University, USA; Kyoto University, Japan)

WIP Poster B3

Determining the Haptic Feedback Position for Optimizing the Targeting Performance on Ultrasonic Tactile Displays

Farzan Kalantari, Edward Lank, Yosra Rekik, Laurent Grisoni, and Frédéric Giraud

(University of Lille, France; CNRS, France; Inria, France; University of Waterloo, Canada)

Development of a Miniaturized Thermal Module Designed for Integration in a Wearable Haptic Device

Massimiliano Gabardi, Daniele Leonardis, Massimiliano Solazzi, and Antonio Frisoli

(Scuola Superiore Sant'Anna, Italy)

Development of a Wearable Haptic Device That Presents Haptics Sensation of the Finger Pad to the Forearm

Taha K. Moriyama, Ayaka Nishi, Rei Sakuragi, Takuto Nakamura, and Hiroyuki Kajimoto

(University of Electro-Communications, Japan)

Demo 18

Differentiated Haptic Stimulation by Modal Synthesis of Vibration Field

Ehsan Enferad, Christophe Giraud-Audine, and Michel Amberg

(University of Lille, France)

Dynamic Model of Cable-Conduit Actuation for Interaction with Non-passive Environments

Andrew Borowski, Alexander Metz, and Fabrizio Sergi

(University of Delaware, USA)

EEG Correlates of Motor Control Difficulty in Physical Human-Robot Interaction: A Frequency Domain Analysis

Amirhossein H. Memar and Ehsan T. Esfahani

(SUNY Buffalo, USA)

Effect of Electrostatic Tactile Feedback on Accuracy and Efficiency of Pan Gestures on Touch Screens

Guohong Liu, Xiaoying Sun, Dangxiao Wang, Yue Liu, and Yuru Zhang

(Jilin University, China; Beihang University, China; Beijing Institute of Technology, China)

ToH Poster C4

Effect of Waveform on Tactile Perception by Electrovibration Displayed on Touch Screens

Yasemin Vardar, Burak Güçlü, and Cagatay Basdogan

(Koç University, Turkey; Boğaziçi University, Turkey)

ToH Poster E2

Effects of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation

Dangxiao Wang, Teng Li, Gaofeng Yang, and Yuru Zhang

(Beihang University, China)

ToH Poster C6

Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task

Rebecca P. Khurshid, Naomi Fitter, Elizabeth Fedalei, and Katherine J. Kuchenbecker

(University of Pennsylvania, USA)

ToH Poster F4

EIS: A Wearable Device for Epidermal Pressure Sensing

Zijie Zhu, Ruya Li, and Tingrui Pan

(University of California at Davis, USA)

Best Paper Award Candidate

Electrical and Kinesthetic Stimulation for Virtual Walking Sensation

Hirofumi Kaneko, Ren Koide, Yasushi Ikei, Tomohiro Amemiya, Koichi Hirota, and Michiteru Kitazaki

(Tokyo Metropolitan University, Japan; NTT, Japan; University of Electro-Communications, Japan; Toyohashi University of Technology, Japan)

WIP Poster B4

Electrostatic Adhesive Brakes for High Spatial Resolution Refreshable 2.5D Tactile Shape Displays

Kai Zhang and Sean Follmer

(Stanford University, USA)

Demo 14

EmBIT: Electromechanical Boundary Impedance Tomography for Soft Tactile Sensor

Shunsuke Yoshimoto, Yoshihiro Kuroda, and Osamu Oshiro

(Osaka University, Japan)

Demo 19

Encountered-Type Haptic Interface for Representation of Shape and Rigidity of 3D Virtual Objects

Naoki Takizawa, Hiroaki Yano, Hiroo Iwata, Yukio Oshiro, and Nobuhiro Ohkohch

(University of Tsukuba, Japan)

ToH Poster D5

Enhancing Human Performance with Wearable Haptics

Marcia K. O'Malley

(Rice University, USA)

Enhancing the Pseudo-Haptic Effect on the Touch Panel using the Virtual String

Yuki Ban and Yusuke Ujitoko

(University of Tokyo, Japan; Hitachi, Japan)

eShiver: Lateral Force Feedback on Fingertips through Oscillatory Motion of an Electroadhesive Surface

Joe Mullenbach, Michael A. Peshkin, and J. Edward Colgate

(Northwestern University, USA)

ToH Poster A2

Estimation and Presentation of Racket Grip Vibration with Tennis Video

Kentaro Yoshida, Yuuki Horiuchi, Tomohiro Ichiyama, Seki Inoue, Yasutoshi Makino, and Hiroyuki Shinoda

(University of Tokyo, Japan)

Demo 5

Estimation of Racket Grip Vibration from Tennis Video using Neural Network

Kentaro Yoshida, Yuuki Horiuchi, Tomohiro Ichiyama, Seki Inoue, Yasutoshi Makino, and Hiroyuki Shinoda

(University of Tokyo, Japan)

WIP Poster B5

Evaluating Approaches to Rendering Braille Text on a High-Density Pin Display

Valerie Morash, Alexander Russomanno, R. Brent Gillespie, and Sile O'Modhrain

(Smith-Kettlewell Eye Research Institute, USA; University of Michigan, USA)

ToH Poster B1

Evaluation of a Digital Grand Piano for Vibrotactile Feedback Experiments and Impact of Finger Touch on Piano Key Vibrations

Matthias Flückiger, Tobias Grosshauser, and Gerhard Tröster

(ETH Zurich, Switzerland)

Evaluation of a Friction Reduction Based Haptic Surface at High Frequency

Tomohiro Hara, Christophe Giraud-Audine, Michel Amberg, and Masaya Takasaki

(University of Lille, France; University of Saitama, Japan)

Evaluation of Non-collocated Force Feedback Driven by BCI-Based Noisy Signals

Darrel R. Deo, Zonghe Chua, and Allison M. Okamura

(Stanford University, USA)

WIP Poster B6

Evaluation of Piano Key Vibrations among Different Acoustic Pianos and Relevance to Vibration Sensation

Matthias Flückiger, Tobias Grosshauser, and Gerhard Tröster

(ETH Zurich, Switzerland)

ToH Poster A4

Evaluation of the Perceptual Characteristics of a Force Induced by Asymmetric Vibrations

Takeshi Tanabe, Hiroaki Yano, and Hiroo Iwata

(University of Tsukuba, Japan)

ToH Poster B6

Evaluation of Wearable Haptic Systems for the Fingers in Augmented Reality Applications

Maurizio Maisto, Claudio Pacchierotti, Francesco Chinello, Gionata Salvietti, Alessandro De Luca, and Domenico Prattichizzo

(Sapienza University of Rome, Italy; CNRS, France; Irisa, France; Inria, France; Aarhus University, Denmark; IIT, Italy)

ToH Poster B3

Expanding Sensory Interactions: The Path to Intelligent Clothes and Objects Able to Change the Way We Communicate with the World

Domenico Prattichizzo and Leonardo Meli

(University of Siena, Italy; IIT, Italy; CNRS, France)

Exploration of Geometry and Forces Occurring within Human-to-Robot Handovers

Matthew K. X. J. Pan, Elizabeth A. Croft, and Günter Niemeyer

(University of British Columbia, Canada; Monash University, Australia; Disney Research, USA)

Exploring Laterotactile Reading for Non-Braille Users

Anupama Thomas and Elizabeth Rufus

(Vellore Institute of Technology, India)

WIP Poster C1

Feel-a-Bump: Haptic Feedback for Foot-Based Angular Menu Selection

Jan Anlauff, Taeyong Kim, and Jeremy R. Cooperstock

(McGill University, Canada)

Ferro-Fluid Based Portable Fingertip Haptic Display and Its Preliminary Experimental Evaluation

Harsimran Singh, Bhivraj Suthar, Syed Zain Mehdi, and Jee-Hwan Ryu

(KOREATECH, South Korea)

FerroFluid Based Lightweight and Portable Tactile Haptic Display for Displaying Persuasive Haptic Cues of Material and Geometric Perception

Harsimran Singh, Bhivraj Suthar, Syed Zain Mehdi, and Jee-Hwan Ryu

(KOREATECH, South Korea)

Demo 12

FOLDAWAY Touch – A Force Rendering Joystick for Virtual and Augmented Reality

Stefano Mintchev, Marco Salerno, Alexandre Cherpillod, Simone Scaduto, and Jamie Paik

Force-Rate Cues Reduce Object Deformation Necessary to Discriminate Compliances Harder Than the Skin

Steven C. Hauser and Gregory J. Gerling

(University of Virginia, USA)

ToH Poster C8

Friction Reduction through Ultrasonic Vibration Part 1: Modelling Intermittent Contact

Eric Vezzoli, Zlatko Virdih, Vincenzo Giamundo, Betty Lemaire-Semail, Frédéric Giraud, Tomaz Rodic, Djordje Peric, and Mike Adams

(University of Lille, France; Arts et Metiers ParisTech, France; HEI, France; L2EP, France; Swansea University, UK; Centre for Computational Continuum Mechanics, Slovenia; University of Birmingham, UK)

ToH Poster F1

From a Robot's Fingertip to Yours: Simulating Real-World Textures through Quantified Touch

Ariel Stutzman, Vijay Anandani, and Jeremy Fishel

(SynTouch, USA)

Demo 3

Functional Contour-Following via Haptic Perception and Reinforcement Learning

Randall Hellman, Cem Tekin, Mihaela van der Schaar, and Veronica Santos

(University of California at Los Angeles, USA; Bilkent University, Turkey)

ToH Poster B5

Garment-Based Electronics and Actuation for Haptic Displays

Brad Holschuh

(University of Minnesota, USA)

Geometry-Based Haptic Texture Modeling and Rendering using Photometric Stereo

Sunghwan Shin and Seungmoon Choi

(POSTECH, South Korea)

Grip Amplifier: A Residual Force Control Strategy to Support Pinch Grip with a Minimalistic Hand Exoskeleton

Quentin Sanders, Joan Lobo-Prat, and David Reinkensmeyer

(University of California at Irvine, USA)

WIP Poster C2

Haplink Customizations

Melisa Orta Martinez, Kaitlyn Gee, Tyler Cloyd, Maria Paula Hernandez, Thomas Hsieh, Bradley Immel, Jonathan A. Sosa, Meilan Steimle, Tiger Sun, and Allison M. Okamura

(Stanford University, USA)

Demo 2

Haptic Dimensionality of Fine Textures – Feeling Smooth, Small and Fine (Keynote)

Lisa Skedung

(RISE Research Institutes of Sweden, Sweden)

Haptic Dimensions of Surfaces

Jeremy Fishel and J. Edward Colgate

(SynTouch, USA; Northwestern University, USA)

Haptic Display of Melodic Intervals for Musical Applications

Deborah C. Egloff, Marcelo M. Wanderley, and Ilja Frissen

(McGill University, Canada)

Haptic Feedback to Non-manipulating Hand in Manipulating Virtual Hand

Naruki Tanabe, Yuki Asai, Ryuichi Enomoto, Haruka Matsukura, Daisuke Iwai, and Kosuke Sato

(Osaka University, Japan)

Demo 1

Haptic Orientation Guidance using Two Parallel Double-Gimbal Control Moment Gyroscopes

Julie Walker, Michael Raitor, and Allison M. Okamura

(Stanford University, USA)

ToH Poster D3

Haptic Stroke Testbed for Pharmacological Evaluation of Dynamic Allodynia in Mouse Models

Jin Lee, Brian J. Atwood, Salim Megat, Gregory Dussor, Theodore J. Price, and Ann Majewicz Fey

(University of Texas at Dallas, USA)

HapticDrone: An Encountered-Type Kinesthetic Haptic Interface with Controllable Force Feedback: Example of Stiffness and Weight Rendering

Muhammad Abdullah, Minji Kim, Waseem Hassan, Yoshihiro Kuroda, and Seokhee Jeon

(Kyung Hee University, South Korea; Osaka University, Japan)

Haptics of Screwing and Unscrewing for Its Application in Robotics

Dima Mironov, Miguel Altamirano, Alina Liviniuk, Hasan Zabihifar, Kamal Youcef-Toumi, and Dzmitry Tsetserukou

(Skoltech, Russia; Massachusetts Institute of Technology, USA)

WIP Poster C3

Haptics-Based Rehabilitation of ADL Skills using Massed Practice Therapy

Shrey Pareek, Pramod Chembrammel, and Thenkurussi Kesavadas

(University of Illinois at Urbana-Champaign, USA)

Demo 27

Haptipedia: An Expert-Sourced Interactive Device Visualization for Haptic Designers

Hasti Seifi, Karon E. MacLean, and Gunhyuk Park

(Max Planck Institute for Intelligent Systems, Germany; University of British Columbia, Canada)

WIP Poster C6

Hardness Perception of Viscoelasticity in a Probing Task

Fangshu He, Ravindra S. Goonetilleke, and Caroline G. L. Cao

(Hong Kong University of Science and Technology, China; Wright State University, USA)

WIP Poster C5

Harold's Haptic Crayon: Draw Your World, Then Feel It through a Ballpoint Drive

Soheil Kianzad and Karon E. MacLean

(University of British Columbia, Canada)

Demo 20

Harold's Purple Crayon Rendered in Haptics: Large-Stroke, Handheld Ballpoint Force Feedback

Soheil Kianzad and Karon E. MacLean

(University of British Columbia, Canada)

HUE: Hybrid Ultrasonic and Electrostatic Haptic Tablet

Kyle DeProw

(Saint Louis University, USA)

Demo 31

Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials

Steven C. Hauser and Gregory J. Gerling

(University of Virginia, USA)

Best Paper Award Candidate

Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces

Heather Culbertson and Katherine J. Kuchenbecker

(University of Pennsylvania, USA)

ToH Poster F3

Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors

Jian Song, Yuru Zhang, Hongdong Zhang, Dangxiao Wang, and Weiliang Xu

(Beihang University, China; University of Auckland, New Zealand)

Improving 3D Shape Recognition with Electrostatic Friction Display

Reza Haghighi Osgouei, Jin Ryong Kim, and Seungmoon Choi

(POSTECH, South Korea; Electronics and Telecommunications Research Institute, South Korea)

ToH Poster D8

Improving Perception Accuracy with Multi-modal Haptic Cue Delivery

Nathan Dunkelberger, Joshua Bradley, Jenny Sullivan, and Marcia K. O'Malley

(Rice University, USA)

Demo 26

Integrating Electronic Systems into Textiles and Apparel

Meg Grant

(Seismic, Inc, USA)

Interactive Generation of Virtual Fixtures for Bilateral Teleoperation

Vitalii Pruks, Ildar Farkhatdinov, and Jee-Hwan Ryu

(KOREATECH, South Korea; Queen Mary University of London, UK)

WIP Poster C4

Intermanual Apparent Tactile Motion and Its Extension to 3D Interactions

Siyan Zhao, Ali Israr, Micah Fenner, and Roberta L. Klatzky

(Carnegie Mellon University, USA; Disney Research, USA)

ToH Poster E1

Investigating the After-Effects of Stochastic Resonance for Use in Laparoscopic Surgery

Muhammed S. Hamdan and Caroline G. L. Cao

(Wright State University, USA)

WIP Poster D1

KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion

Tianming Lu, Cecile Pacoret, David Hériban, Abdenbi Mohand-Ousaid, Stéphane Régnier, and Vincent Hayward

(Sorbonne University, France; University of Geneva, Switzerland; Percipio Robotics, France; University Bourgogne Franche-Comté, France; UFC, France; CNRS, France; ENSMM, France)

ToH Poster C3

Large-Area, Soft, Wearable Haptics: Challenges and Opportunities of Smart Clothing (Keynote)

Lucy Dunne

(University of Minnesota, USA)

Linkage between Free Exploratory Movements and Subjective Tactile Ratings

Takumi Yokosaka, Scinob Kuroki, Junji Watanabe, and Shin'ya Nishida

(NTT, Japan)

ToH Poster E5

LinkGlide: A Wearable Haptic Device with Inverted Five-Bar Linkages for Delivering Multi-contact and Multi-modal Tactile Stimuli

Dzmitry Tsetserukou

(Skoltech, Russia)

WIP Poster D2

Localization Performance of Multiple Vibrotactile Cues on Both Arms

Dangxiao Wang, Cong Peng, Naqash Afzal, Weiang Li, Dong Wu, and Yuru Zhang

(Beihang University, China; Beijing Sports University, China)

ToH Poster C5

Loosely-Fitting Tactile Jacket with Vibrator Clusters

Akihito Noda

(Nanzan University, Japan)

Magnetic Levitation Haptic Interface with a Compact Array of Cylindrical Coils

Peter Berkelman

(University of Hawaii at Manoa, USA)

Demo 34

Mathematical Models to Convert Strain Energy Density into Mechanoreceptor Activity for Finite Element Analysis

Shouki Kitaguchi, Hidenori Yoshimura, and Hiroki Ishizuka

(Kagawa University, Japan)

WIP Poster D3

Measuring Tactile Information Relevant to Human Perception (Keynote)

Jeremy Fishel

(SynTouch, USA)

Miniature Three Degree-of-Freedom Skin Deformation Actuator

Matthew Gilbertson, Zane Anthony Zook, Stephanie Moon, and Allison M. Okamura

(Stanford University, USA)

Demo 29

Model-Reference Model-Mediated Control for Time-Delayed Teleoperation Systems

Leonam S. D. Pecly, Marcelo L. O. Souza, and Keyvan Hashtrudi-Zaad

(National Institute for Space Research, Brazil; Queen's University, Canada)

Modeling and Perception of Tool-Based Virtual Surfaces

Heather Culbertson

(University of Southern California, USA)

Multimodal Evaluation of the Differences between Real and Virtual Assemblies

Mikel Sagardia and Thomas Hulin

(German Aerospace Center, Germany)

ToH Poster C7

Neural Correlates of Dynamic Adaptation during Wrist Pointing

Andria J. Farrens, Andrea Zonnino, and Fabrizio Sergi

(University of Delaware, USA)

WIP Poster D4

Object Surface Exploration using Low-Cost Rolling Robotic Fingertips

Yoav Golan, Amir Shapiro, and Elon Rimon

(Ben-Gurion University of the Negev, Israel; Technion, Israel)

Oculus Research

(Redmond, USA)

On the Electrical Characterization of Electroadhesive Displays and the Prominent Interfacial Gap Impedance Associated with Sliding Fingertips

Craig D. Shultz, Michael A. Peshkin, and J. Edward Colgate

(Northwestern University, USA)

Best Paper Award Candidate

Optimization-Based Wearable Tactile Rendering

Alvaro Perez, Daniel Lobo, Francesco Chinello, Gabriel Cirio, Monica Malvezzi, José San Martín, and Miguel A. Otaduy

(Universidad Rey Juan Carlos, Spain; University of Siena, Italy)

ToH Poster B4

Organizing Committee

Parameterizing the Tactile Gamut (Keynote)

J. Edward Colgate

(Northwestern University, USA)

Perceived Cooling using Asymmetrically-Applied Hot and Cold Stimuli

Ahmad Manasrah, Nathan Crane, Rasim Guldiken, and Kyle B. Reed

(University of South Florida, USA)

ToH Poster F2

Perceiving Minimal Frictional Cues

David Gueorguiev

(Max Planck Institute for Intelligent Systems, Germany)

Perceptual Dimensionality of Manual Key Clicks

Quan Liu, Hong Z. Tan, Liang Jiang, and Yulei Zhang

(Purdue University, USA; AAC Technologies, China)

Best Paper Award Candidate

Perceptual Dimensions of Vibrotactile Actuators

Lynette A. Jones and Anshul Singhal

(Massachusetts Institute of Technology, USA)

Performance and Stability Limitations of Admittance-Based Haptic Interfaces

Chembian Parthiban and Michael Zinn

(University of Wisconsin-Madison, USA)

Best Paper Award Candidate

Physical-Perceptual Correspondence for Dynamic Thermal Stimulation

Hsin-Ni Ho, Katsunari Sato, Scinob Kuroki, Junji Watanabe, Takashi Maeno, and Shin'ya Nishida

(NTT, Japan; Nara Women's University, Japan; Keio University, Japan)

ToH Poster E6

Planar Force Feedback Display using a Magnetic Stylus and Lorentz Forces

Peter Berkelman, Bernadette Tix, and Hamza Abdul-Ghani

(University of Hawaii at Manoa, USA)

Recommended Lunch Locations near the Hotel

Remotely Displaying Cooling Sensation via Ultrasound-Driven Air Flow

Mitsuru Nakajima, Keisuke Hasegawa, Yasutoshi Makino, and Hiroyuki Shinoda

(University of Tokyo, Japan)

Rendering Mass using Model Matching Framework

Indrajit Desai, Abhishek Gupta, and Debraj Chakraborty

(IIT Bombay, India)

Reviewers

Sensing Materials Thermally

Lynette A. Jones

(Massachusetts Institute of Technology, USA)

Sensory Evaluation Uses Descriptive Analysis to Document Perceived Attributes of Textures (Keynote)

Gail Vance Civille

(Sensory Spectrum, Inc., USA)

Separating Haptic Guidance from Task Dynamics: A Practical Solution via Cutaneous Devices

Evan Pezent, Simone Fani, Joshua Bradley, Matteo Bianchi, and Marcia K. O'Malley

(Rice University, USA; University of Pisa, Italy)

SHAPE Lab

Sean Follmer

(Stanford University, USA)

Shape Localization and Recognition using a Magnetorheological-Fluid Haptic Display

Rocco Rizzo, Antonino Musolino, and Lynette A. Jones

(University of Pisa, Italy; Massachusetts Institute of Technology, USA)

ToH Poster D2

shapeShift: A Mobile Tabletop Shape Display for Tangible and Haptic Interaction

Alexa Fay Siu, Eric J. Gonzalez, Shenli Yuan, Jason Bud Ginsberg, and Sean Follmer

(Stanford University, USA)

Demo 17

Single Pitch Perception of Multi-frequency Textures

Rebecca Fenton Friesen, Roberta L. Klatzky, Michael A. Peshkin, and J. Edward Colgate

(Northwestern University, USA; Carnegie Mellon University, USA)

Demo 16

Six Principal Modes of Vibrotactile Display via Stylus

Ruisi Zhang, Andrew J. Boyles, and Jake J. Abbott

(University of Utah, USA)

Sponsor Organizations

Stanford Robotics Lab

Oussama Khatib

(Stanford University, USA)

Stiffness Perception of Virtual Objects using FOLDAWAY-Touch

Marco Salerno, Stefano Mintchev, Alexandre Cherpillod, Simone Scaduto, and Jamie Paik

(EPFL, Switzerland)

WIP Poster D6

Surprising Facts about the Biomechanics and the Biotribology of Skin — the Foundations of Wearable Haptics (Keynote)

Vincent Hayward

(University of London, UK; Actronika SAS, France)

SynTouch

(Montrose, USA)

Tactile Dimensions of Texture

Shogo Okamoto

(Nagoya University, Japan)

Tactile Distances Are Greatly Underestimated in Perception and Motor Reproduction

Jasper M. van de Lagemaat, Irene A. Kuling, and Yon Visell

(VU University Amsterdam, Netherlands; University of California at Santa Barbara, USA)

Tactile Perceptual Effects Specifically Relating to Surfaces

Vincent Hayward

(University of London, UK; Actronika SAS, France)

Tactile Spatial Acuity of the Neck using a Two-Point Orientation Discrimination Task

Kelly A. Morrow and Mounia Ziat

(Northern Michigan University, USA; University of Maryland at College Park, USA)

The Application of Tactile, Audible, and Ultrasonic Forces to Human Fingertips using Broadband Electroadhesion

Craig D. Shultz, J. Edward Colgate, and Michael A. Peshkin

(Northwestern University, USA)

ToH Poster A1

The Effect of Discretization Techniques on Uncoupled Stability of Haptic Simulation Systems

Daniel Cleveland and Keyvan Hashtrudi-Zaad

(Queen's University, Canada)

The Effect of Dissociation between Proprioception and Vision on Perception and Grip Force Control in a Stiffness Judgment Task

Stephanie Hu, Raz Leib, and Ilana Nisky

(Massachusetts Institute of Technology, USA; Ben-Gurion University of the Negev, Israel)

The Effects of Transition Type and Haptic Feedback on Shared Control of a Simulated Vehicle

Steven Cutlip, Akshay Bhardwaj, Lars Watts, and R. Brent Gillespie

(University of Michigan, USA)

WIP Poster E1

The Haply Development Platform: A Modular, Open-Source Haptic Ecosystem That Enables Accessible Multi-platform Simulation Development

Colin Gallacher, Steve Ding, and Karon E. MacLean

(Haply, Canada; University of British Columbia, Canada; McGill University, Canada)

Demo 30

The Impact of High-Frequency Haptic Device Behavior on Perception

Emma Treadway and R. Brent Gillespie

(University of Michigan, USA)

The Path to Wearability: The Challenge of Designing Human-Symbiotic Robotic Devices

Antonio Frisoli

(TeCIP Institute, Italy)

The Rice Haptic Rocker: Altering the Perception of Skin Stretch through Mapping and Geometric Design

Janelle P. Clark, Sung Y. Kim, and Marcia K. O'Malley

(Rice University, USA)

The Role of Direct and Visual Force Feedback in Suturing using a 7-DOF Dual-Arm Teleoperated System

Ali Talasaz, Ana Luisa Trejos, and Rajni Patel

(Stryker, USA; CSTAR, Canada; Lawson Health Research Institute, Canada)

ToH Poster E4

The Study of Sensor Structure to Sense a Surface Information for Intelligent Tactile Sensor

Kwonsik Shin, Minkyung Sim, Hyunchul Park, Yuljae Cho, Jung Inn Sohn, Seung Nam Cha, and Jae Eun Jang

(Daegu Gyeongbuk Institute of Science and Technology, South Korea; University of Oxford, UK)

Thermal Stimulation Effect on Emotion

Mehdi Hojatmadani and Kyle B. Reed

(University of South Florida, USA)

WIP Poster E2

Title Page

Too Hot, too Fast! Using the Thermal Grill Illusion to Explore Dynamic Thermal Perception

Shriniwas Patwardhan, Anzu Kawazoe, David Kerr, Masashi Nakatani, and Yon Visell

(George Mason University, USA; University of California at Santa Barbara, USA; William Sansum Diabetes Center, USA; Keio University, Japan)

Best Paper Award Candidate

Torque Contribution to Haptic Rendering of Virtual Textures

Sahba Aghajani Pedram, Roberta L. Klatzky, and Peter Berkelman

(University of California at Los Angeles, USA; Carnegie Mellon University, USA; University of Hawaii at Manoa, USA)

ToH Poster D6

Touch and Weight Sensitive Robotic Arm for UAV Aimed at Aerial Manipulation and Safe Physical Human-Drone Interaction

Grigoriy A. Yashin, Ivan A. Kalinov, Evgeny V. Tsykunov, and Dzmitry Tsetserukou

(Skoltech, Russia)

WIP Poster E3

Touchy: Tactile Sensations on Touchscreens using a Cursor and Visual Effects

Antoine Costes, Fabien Danieau, Ferran Arguelaguet, Anatole Lécuyer, and Philippe Guillotel

(Technicolor, France; Inria, France)

Demo 15

Toward High-Fidelity Haptic Interaction with Virtual Materials: A Robotic Material Scanning, Modelling, and Display System

Matti Strese and Eckehard Steinbach

(TU Munich, Germany)

Toward Improved Surgical Training: Delivering Smoothness Feedback using Haptic Cues

William H. Jantscher, Shivam Pandey, Sadie H. Richardson, Bowie R. Lin, Michael D. Byrne, and Marcia K. O'Malley

(Rice University, USA)

Toward Improved Surgical Training: Mirror Tracing

William H. Jantscher, Shivam Pandey, Priyanshu Agarwal, Sadie H. Richardson, Bowie R. Lin, Michael D. Byrne, and Marcia K. O'Malley

(Rice University, USA; Oculus Research, USA)

Demo 4

Towards a Generalized Experimental Framework for Comparing Haptic Feedback Modalities in Myoelectric Upper-Limb Prostheses

Neha Thomas, Jacob Carducci, and Jeremy D. Brown

(Johns Hopkins School of Medicine, USA; Johns Hopkins University, USA)

WIP Poster E4

Towards a Statistical Model of Fingertip Contact Deformations from 4D Data

David Gueorguiev, Dimitrios Tzionas, and Michael J. Black

(Max Planck Institute for Intelligent Systems, Germany; CNRS, France)

WIP Poster F1

Towards an Understanding of the Role Operator Limb Dynamics Plays in Haptic Perception of Stiffness

Mohit Singhala and Jeremy D. Brown

(Johns Hopkins University, USA)

WIP Poster F2

Towards Haptic Transparency in Real-Time MRI-Guided Needle Biopsies: A 3-DOF Manipulator

Samuel Frishman, Genliang Chen, Alexander Gruebele, and Mark Cutkosky

(Stanford University, USA; Shanghai Jiao Tong University, China)

WIP Poster F3

Towards Universal Haptic Library: Library-Based Haptic Texture Assignment using Image Texture and Perceptual Space

Waseem Hassan, Arsen Abdulali, Muhammad Abdullah, Sang Chul Ahn, and Seokhee Jeon

(Kyung Hee University, South Korea; KOREATECH, South Korea)

ToH Poster A3

Training Behavior of Successful Tacton-Phoneme Learners

Genna Angello, Guanlong Zhao, Akhil Babu Manam, and Ricardo Gutierrez-Osuna

(Texas A&M University, USA)

WIP Poster F4

UltraShiver: Lateral Force Feedback on a Bare Fingertip via Ultrasonic Oscillation and Electroadhesion

Heng Xu, Michael A. Peshkin, and J. Edward Colgate

(Northwestern University, USA)

Demo 10

Venue Maps

Vibration Feedback Latency Affects Material Perception during Rod Tapping Interactions

Taku Hachisu and Hiroyuki Kajimoto

(University of Tsukuba, Japan; University of Electro-Communications, Japan)

ToH Poster E3

Virtual Textures by Electrostatic Attraction

Evren Samur

(Bogazici University, Turkey)

Visionary Requirements for Wearable Haptics: What Far-Out Applications Will Need from Materials and Textiles Science

Karon E. MacLean

(University of British Columbia, Canada)

VR Haptic Controllers: Multi-purpose Handheld Haptics beyond Vibro-tactors (Keynote)

Hrvoje Benko

(Oculus Research, USA)

Wearable Haptics for Virtual and Augmented Reality: Applications in the Entertainment and Robotic Fields

(CNRS, France)

Wearable Haptics to Render Interaction Forces and Object Textures in 3D Virtual Environments

Giovanni Spagnoletti, Leonardo Meli, Tommaso Lisini Baldi, Guido Gioioso, and Domenico Prattichizzo

(University of Siena, Italy; IIT, Italy; CNRS, France)

Demo 11

Wearable Haptics: From VR/AR to Human Sensorimotor Enhancement (Keynote)

Domenico Prattichizzo

(University of Siena, Italy; Italian Institute of Technology, Italy)

Wearable Robotics in Clinical Neuroscience

Simone Rossi

(University of Siena, Italy)

Wearables for Sensory Communication

Hong Z. Tan

(Purdue University, USA)

Wearables: Haptic Interfaces and Multipurpose Input Devices

Leonardo Meli

(University of Siena, Italy)

Welcome

Katherine J. Kuchenbecker and Gregory J. Gerling

(Max Planck Institute for Intelligent Systems, Germany; University of Pennsylvania, USA; University of Virginia, USA)

Where Are My Fingers? Assessing Multi-Digit Proprioceptive Localization

Bharat Dandu, Irene A. Kuling, and Yon Visell

(University of California at Santa Barbara, USA; VU University Amsterdam, Netherlands)

Best Paper Award Candidate

WIP Editorial Board