WHC 2023 – Proceedings

Frontmatter

Oral Session 1A — Perception 1

Perception of and Response to a Haptic Device as a Function of Signal Complexity
Antonio Alvarez Valdivia and Laura H. Blumenschein
(Purdue University, USA)


@InProceedings{WHC23p1, author = {Antonio Alvarez Valdivia and Laura H. Blumenschein}, title = {Perception of and Response to a Haptic Device as a Function of Signal Complexity}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {1-0}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p9, author = {Michaela Jeschke and Knut Drewing and Elena Azañón}, title = {The Tactile Distance Aftereffect Transfers to Roughness Perception}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {9-8}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p17, author = {Quentin Agobert and Corentin Bernard and Balthazar Potet and Nicolas Huloux}, title = {Eyes-Free Fingertip Guidance Based on Tactile Cues, an Extension of the Steering Law}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {17-16}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p25, author = {Junwoo Kim and Heeyeon Kim and Chaeyong Park and Seungmoon Choi}, title = {Human Recognition Performance of Simple Spatial Vibrotactile Patterns on the Torso}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {25-24}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 1B — Wearable Haptics 1

Interpersonal Vibrotactile Phantom Sensation between Hands via Actuated Bracelets
Kenta Ebina and Taku Hachisu
(University of Tsukuba, Japan)


@InProceedings{WHC23p33, author = {Kenta Ebina and Taku Hachisu}, title = {Interpersonal Vibrotactile Phantom Sensation between Hands via Actuated Bracelets}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {33-32}, doi = {}, year = {2023}, } Publisher's Version

WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality
Minjae Jo, DongKyu Kwak, and Sang Ho Yoon
(Korea Advanced Institute of Science and Technology, South Korea)


@InProceedings{WHC23p41, author = {Minjae Jo and DongKyu Kwak and Sang Ho Yoon}, title = {WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {41-40}, doi = {}, year = {2023}, } Publisher's Version

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)


@InProceedings{WHC23p49, author = {Jaejun Park and Junwoo Kim and Chaeyong Park and Sangyoon Han and Junseok Park and Seungmoon Choi}, title = {Information Transfer of Full-Body Vibrotactile Stimuli: An Initial Study with One to Three Sequential Vibrations}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {49-48}, doi = {}, year = {2023}, } Publisher's Version

A Magnetic Soft Device for Tactile Haptic Actuation of the Fingertip
Sarah Costrell, Mahirah Alam, Roberta L. Klatzky, Michael E. McHenry, Lynn M. Walker, and Melisa Orta Martinez
(Carnegie Mellon University, USA; Carnegie Mellon, USA)


@InProceedings{WHC23p57, author = {Sarah Costrell and Mahirah Alam and Roberta L. Klatzky and Michael E. McHenry and Lynn M. Walker and Melisa Orta Martinez}, title = {A Magnetic Soft Device for Tactile Haptic Actuation of the Fingertip}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {57-56}, doi = {}, year = {2023}, } Publisher's Version

Design and Evaluation of a Multimodal Haptic Vest
Bora Celebi, Müge Cavdan, and Knut Drewing
(Justus Liebig University, Germany)


@InProceedings{WHC23p65, author = {Bora Celebi and Müge Cavdan and Knut Drewing}, title = {Design and Evaluation of a Multimodal Haptic Vest}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {65-64}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p73, author = {Nizamettin Taha Tanacar and Moaaz Hudhud Mughrabi and Anil Ufuk Batmaz and Daniele Leonardis and Mine Sarac}, title = {The Impact of Haptic Feedback During Sudden, Rapid Virtual Interactions}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {73-72}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p81, author = {Yong Hae Heo and Mohammad Shadman Hashem and Gyubin An and Hyun-Jeong Kim and Dong-Soo Choi and Seokhee Jeon and Sang-Youn Kim}, title = {Wireless Dual Mode Haptic Thimble based on Magnetoactive Rubber}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {81-80}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 2A — Haptic Applications in Social Interactions

Fostering Social Empathy in VR through Physiologically Based Affective Haptic Feedback
Jeanne Hecquard, Justine Saint-Aubert, Ferran Argelaguet Sanz, Claudio Pacchierotti, Anatole Lécuyer, and Marc J.-M. Macé
(Inria, France; Inria Bretagne-Atlantique, France; CNRS, France; CNRS; Rennes 1, France)


@InProceedings{WHC23p89, author = {Jeanne Hecquard and Justine Saint-Aubert and Ferran Argelaguet Sanz and Claudio Pacchierotti and Anatole Lécuyer and Marc J.-M. Macé}, title = {Fostering Social Empathy in VR through Physiologically Based Affective Haptic Feedback}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {89-88}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p97, author = {Zackary Todd Landsman and Anika Kao and Gregory John Gerling}, title = {Human-Delivered Brushstroke Characterization Using an Instrumented Brush Focused on Torque}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {97-96}, doi = {}, year = {2023}, } Publisher's Version

Mediated Social Touching: Haptic Feedback Affects Social Experience of Touch Initiators
Martin Maunsbach, Kasper Hornbæk, and Hasti Seifi
(University of Copenhagen, Denmark; Arizona State University, USA)


@InProceedings{WHC23p105, author = {Martin Maunsbach and Kasper Hornbæk and Hasti Seifi}, title = {Mediated Social Touching: Haptic Feedback Affects Social Experience of Touch Initiators}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {105-104}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 2B — Surface Haptics

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)


@InProceedings{WHC23p113, author = {Alexis William Marcel Devillard and Aruna Ramasamy and Damien Faux and Vincent Hayward and Etienne Burdet}, title = {Concurrent Haptic, Audio, and Visual Data Set During Bare Finger Interaction with Textured Surfaces}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {113-112}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p121, author = {Dustin Thomas Goetz and Gregory Reardon and Max Linnander and Yon Visell}, title = {Dynamic Feedback in Wave-Mediated Surface Haptics: A Modular Platform}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {121-120}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 3A — Multimodal Interactions

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)


@InProceedings{WHC23p129, author = {Eifu Narita and Shota Nakayama and Mitsuki Manabe and Keigo Ushiyama and Satoshi Tanaka and Izumi Mizoguchi and Hiroyuki Kajimoto}, title = {Manipulation of Body Sway Interpretation through Kinesthetic Illusion Induced by Ankles Vibration}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {129-128}, doi = {}, year = {2023}, } 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. Okamura, and Cara M. Nunez
(Stanford University, USA; Cornell University, USA)


@InProceedings{WHC23p137, author = {Kyle T. Yoshida and Joel X. Kiernan and Allison M. Okamura and Cara M. Nunez}, title = {Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {137-136}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p145, author = {Jenna Fradin and Sinan D. Haliyo and David Gueorguiev}, title = {Humans Struggle to Perceive Congruence in Visuo-Haptic Textures}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {145-144}, doi = {}, year = {2023}, } Publisher's Version

Communication is a Two-Way Street: Negotiating Driving Intent through a Shape-Changing Steering Wheel
Hannah Baez, Akshay Bhardwaj, Jean Costa, John Gideon, Sile O'Modhrain, Nadine Sarter, and Brent Gillespie
(University of Michigan, USA; Toyota Research Institute, USA)


@InProceedings{WHC23p153, author = {Hannah Baez and Akshay Bhardwaj and Jean Costa and John Gideon and Sile O'Modhrain and Nadine Sarter and Brent Gillespie}, title = {Communication is a Two-Way Street: Negotiating Driving Intent through a Shape-Changing Steering Wheel}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {153-152}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p161, author = {Mauricio Fontana de Vargas and David Marino and Antoine Weill-Duflos and Jeremy R. Cooperstock}, title = {Training to Understand Complex Haptic Phrases: A Longitudinal Investigation}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {161-160}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 3B — Vibrotactile and Electrotactile Displays

Perceptual Simultaneity Between Vibrotactile and Impact Stimuli
Chaeyong Park and Seungmoon Choi
(Pohang University of Science and Technology (POSTECH), South Korea)


@InProceedings{WHC23p169, author = {Chaeyong Park and Seungmoon Choi}, title = {Perceptual Simultaneity Between Vibrotactile and Impact Stimuli}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {169-168}, doi = {}, year = {2023}, } Publisher's Version

Vibrotactile Display of Distance Information in a Virtual Object Exploration Task
Johannes Rueschen and Hong Z. Tan
(Purdue University, USA)


@InProceedings{WHC23p177, author = {Johannes Rueschen and Hong Z. Tan}, title = {Vibrotactile Display of Distance Information in a Virtual Object Exploration Task}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {177-176}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p185, author = {Takumi Kuhara and Kakagu Komazaki and Junji Watanabe and Yoshihiro Tanaka}, title = {Spatiotemporal Perception of Single Overlapped Vibrotactile Stimulation to Multiple Body Locations}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {185-184}, doi = {}, year = {2023}, } 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. Kuchenbecker
(Max Planck Institute for Intelligent Systems, Germany; University of Stuttgart, Germany)


@InProceedings{WHC23p193, author = {Yijie Gong and Bernard Javot and Anja Patricia Regina Lauer and Oliver Sawodny and Katherine J. Kuchenbecker}, title = {Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {193-192}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 4A — Neuroscience of Touch and Motor Control

Neural Correlates of Cooperation during Interactive Visuomotor Task: An fNIRS Hyperscanning Study
Yilei Zheng, Shiyi Liu, Bohao Tian, Yuru Zhang, and Dangxiao Wang
(Beijing Information Science and Technology University, China; Beihang University, China; State Key Laboratory of Virtual Reality Technology and Systems, China)


@InProceedings{WHC23p201, author = {Yilei Zheng and Shiyi Liu and Bohao Tian and Yuru Zhang and Dangxiao Wang}, title = {Neural Correlates of Cooperation during Interactive Visuomotor Task: An fNIRS Hyperscanning Study}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {201-200}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p209, author = {Neeli Tummala and Yitian Shao and Yon Visell}, title = {Spatiotemporal Organization of Touch Information in Tactile Neuron Population Responses}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {209-208}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p217, author = {Arata Horie and Yunao Zheng and Masahiko Inami}, title = {A Wearable System Integrating Force Myography and Skin Stretch Feedback toward Force Skill Learning}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {217-216}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p225, author = {Ritsuko Kiso and Yuko Hashimoto and Masashi Nakatani}, title = {Measurement of Rhythmical Movements in Street Dance for Quantifying Movement Timing Skills}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {225-224}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p233, author = {Hikari Yukawa and Moena Tsuruoka and Takayuki Kodama and Masashi Odagiri and Masayuki Sato and Michiya Takeda and Masahiko Kurachi and Yoshihiro Tanaka}, title = {Tactile Feedback Involving Actual Operation for Motor Skill Learning}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {233-232}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 4B — Mid-Air Haptic Displays

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)


@InProceedings{WHC23p241, author = {Sota Iwabuchi and Ryoya Onishi and Shun Suzuki and Takaaki Kamigaki and Yasutoshi Makino and Hiroyuki Shinoda}, title = {Performance Evaluation of Airborne Ultrasound Focus Measurement Using Thermal Imaging on the Surface of a Finger}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {241-240}, doi = {}, year = {2023}, } Publisher's Version Archive submitted (1.9 MB)

Oral Session 5A — Thermal Displays and Illusions

Modeling and Simulation of Thermal Grill Illusion Using Neurophysiological Theory
Subhankar Karmakar, Madhan Kumar Vasudevan, and Manivannan Muniyandi
(Indian Institute of Technology Madras, India)


@InProceedings{WHC23p249, author = {Subhankar Karmakar and Madhan Kumar Vasudevan and Manivannan Muniyandi}, title = {Modeling and Simulation of Thermal Grill Illusion Using Neurophysiological Theory}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {249-248}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p257, author = {Koyo Makino and Jiayi Xu and Akiko Kaneko and Naoto Ienaga and Yoshihiro Kuroda}, title = {Spatially Continuous Non-Contact Cold Sensation Presentation Based on Low-Temperature Airflows}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {257-256}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p265, author = {Takuya Jodai and Masahiko Terao and Lynette Jones and Hsin-Ni Ho}, title = {Determination of the Thermal-Tactile Simultaneity Window for Multisensory Cutaneous Displays}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {265-264}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p273, author = {Matej Mayet and Jean-Loïc Le Carrou and David Gueorguiev}, title = {Perception of Friction-Related Cues Induced by Temperature Variation on a Surface Display}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {273-272}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 5B — Haptic Devices and Sensors

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)


@InProceedings{WHC23p281, author = {Anika Kao and Zackary Todd Landsman and M. Terry Loghmani and Gregory John Gerling}, title = {Optical Measurements of the Skin Surface to Infer Bilateral Distinctions in Myofascial Tissue Stiffness}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {281-280}, doi = {}, year = {2023}, } 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
(Sant'Anna School of Advanced Studies, Italy; Akina, Switzerland; Heidelberg University, Germany)


@InProceedings{WHC23p289, author = {Gianluca Rinaldi and Luca Tiseni and Michele Xiloyannis and Lorenzo Masia and Antonio Frisoli and Domenico Chiaradia}, title = {Flexos: A Portable, SEA-Based Shoulder Exoskeleton with Hyper-redundant Kinematics for Weight Lifting Assistance}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {289-288}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 6A — Control and Haptic Rendering

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)


@InProceedings{WHC23p297, author = {Qianqian Tong and Weipeng Shen and Dangxiao Wang and Miguel A. Otaduy}, title = {Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {297-296}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p305, author = {Jacob R. Boehm and Ann Majewicz Fey and Nicholas P. Fey}, title = {Shaping Human Movement via Bimanually-Dependent Haptic Force Feedback}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {305-304}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p313, author = {Gautam Kumar and Shashi Prakash and Amit Bhardwaj}, title = {CatBoost for Haptic Modeling of Homogeneous Viscoelastic Deformable Objects}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {313-312}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p321, author = {Raphael Rätz and Laura Marchal-Crespo}, title = {Physics Engine-Based Whole-Hand Haptic Rendering for Sensorimotor Neurorehabilitation}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {321-320}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 6B — Wearable Haptics 2

Wearable Sensory Substitution for Proprioception via Deep Pressure
Sreela Kodali, Brian Vuong, Thomas Bulea, Alexander Chesler, Carsten Bönnemann, and Allison M. Okamura
(Stanford University, USA; National Institutes of Health, USA)


@InProceedings{WHC23p329, author = {Sreela Kodali and Brian Vuong and Thomas Bulea and Alexander Chesler and Carsten Bönnemann and Allison M. Okamura}, title = {Wearable Sensory Substitution for Proprioception via Deep Pressure}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {329-328}, doi = {}, year = {2023}, } Publisher's Version

A Miniature Direct-Drive Hydraulic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation
Daniele Leonardis, Domenico Chiaradia, and Antonio Frisoli
(Scuola Superiore Sant'Anna of Pisa, Italy)


@InProceedings{WHC23p337, author = {Daniele Leonardis and Domenico Chiaradia and Antonio Frisoli}, title = {A Miniature Direct-Drive Hydraulic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {337-336}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p345, author = { Purnendu and Jess Hartcher-O'Brien and Vatsal Mehta and Nicholas Colonnese and Aakar Gupta and Carson J. Bruns and Priyanshu Agarwal}, title = {Fingertip Wearable High-resolution Electrohydraulic Interface for Multimodal Haptics}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {345-344}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 7A — Perception 2

Realism of Visual, Auditory, and Haptic Cues in Phenomenal Causality
Elyse D. Z. Chase, Tobias Gerstenberg, and Sean Follmer
(Stanford University, USA)


@InProceedings{WHC23p353, author = {Elyse D. Z. Chase and Tobias Gerstenberg and Sean Follmer}, title = {Realism of Visual, Auditory, and Haptic Cues in Phenomenal Causality}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {353-352}, doi = {}, year = {2023}, } Publisher's Version Archive submitted (13 MB)

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)


@InProceedings{WHC23p361, author = {Didem Katircilar and Knut Drewing}, title = {The Effects of Movement Direction and Glove on Spatial Frequency Discrimination in Oriented Textures}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {361-360}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p369, author = {Masaki Ohno and Kazuma Aoyama and Tomohiro Amemiya and Hideaki Kuzuoka and Keigo Matsumoto and Takuji Narumi}, title = {Influence of Electrical Stimulation Intensity on the Perception of Piquancy}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {369-368}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p377, author = {Derek Van Delden and Alison Jenkins and William Singhose and Franziska Schlagenhauf and Kelly Dobson}, title = {Controlling Human Perception of Haptic Profiles Using Contextual Cues}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {377-376}, doi = {}, year = {2023}, } Publisher's Version

Oral Session 7B — Robotics Applications and Teleoperation

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)


@InProceedings{WHC23p385, author = {David Black and Amir Hossein Hadi Hosseinabadi and Nicholas Rangga Pradnyawira and Maxime Pol and Mika Nogami and Tim Salcudean}, title = {Towards Differential Magnetic Force Sensing for Ultrasound Teleoperation}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {385-384}, doi = {}, year = {2023}, } Publisher's Version

Optimized Time-Domain Control of Passive Haptic Teleoperation Systems for Multi-DoF Interaction
Gianni Bianchini, Davide Barcelli, Domenico Prattichizzo, and Claudio Pacchierotti
(Università di Siena, Italy; University of Siena, Italy; CNRS, France)


@InProceedings{WHC23p393, author = {Gianni Bianchini and Davide Barcelli and Domenico Prattichizzo and Claudio Pacchierotti}, title = {Optimized Time-Domain Control of Passive Haptic Teleoperation Systems for Multi-DoF Interaction}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {393-392}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p401, author = {Pakorn Uttayopas and Xiaoxiao Cheng and Etienne Burdet}, title = {Active Haptic Exploration Based on Dual-Stage Perception for Object Recognition}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {401-400}, doi = {}, year = {2023}, } Publisher's Version

TP Posters Day 2

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)


@InProceedings{WHC23p409, author = {Detjon Brahimaj and Giulia Esposito and Arthur Courtin and Andre Mouraux and Frederic GIRAUD and Betty SEMAIL and Olivier Collignon}, title = {Temporal Detection Threshold of Audio-Tactile Delays under Conditions of Active Touch with and without a Visual Cue}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {409-408}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p417, author = {Yui Suga and Masahiro Miyakami and Izumi Mizoguchi and Hiroyuki Kajimoto}, title = {3D Shape Presentation by Combination of Force Feedback and Electro-tactile Stimulation}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {417-416}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p425, author = {Øystein Bjelland and William Gulliksen and Arkadiusz Damian Kwiatkowski and Martin Skavø and Håkon Isern and Mohammadamin Shayestehpour and Martin Steinert and Alf-Inge Hellevik and Robin T. Bye}, title = {Implementation and Evaluation of a Vibrotactile Assisted Monitoring and Correction System for Partial Weight-Bearing in Lower Extremities}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {425-424}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p433, author = {Brendan Driscoll and Ming Liu and Helen Huang}, title = {1-D Manual Tracing Based on a High Density Haptic Stimulation Grid: A Pilot Effort}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {433-432}, doi = {}, year = {2023}, } Publisher's Version

Portable Self-propelled Force Feedback Device
Ayaka Fukasawa, Riho Taniguchi, Takumi SATO, and Shoichi Hasegawa
(Tokyo Institute of Technology, Japan)


@InProceedings{WHC23p441, author = {Ayaka Fukasawa and Riho Taniguchi and Takumi SATO and Shoichi Hasegawa}, title = {Portable Self-propelled Force Feedback Device}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {441-440}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p449, author = {Bilige Yang and Benjamin Stephens-Fripp and Priyanshu Agarwal and Sonny Chan and Nathan Usevitch and Andrew Stanley and Yatian Qu}, title = {Wearable 3D Shape Display for Dynamic Interfaces Rendering}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {449-448}, doi = {}, year = {2023}, } Publisher's Version

TP Posters Day 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)


@InProceedings{WHC23p457, author = {Mirai Azechi and Shogo Okamoto}, title = {Easy-to-Recognize Bump Shapes Using Only Lateral Force Cues for Real and Virtual Surfaces}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {457-456}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p465, author = {Tomohiro Kawagishi and Yuki Ban and Yusuke Ujitoko and Shinichi Warisawa}, title = {Enhancing Perceived Resistance and Propulsion by Combining Pseudo-haptics and Pulling Illusion}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {465-464}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p473, author = {Katarzyna Wojna and Orestis Georgiou and David Beattie and William Frier and Michael Wright and Christof Lutteroth}, title = {An Exploration of Just Noticeable Differences in Mid-Air Haptics}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {473-472}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p481, author = {Lisa Pui Yee Lin and Müge Cavdan and Katja Doerschner and Knut Drewing}, title = {The Influence of Surface Roughness and Surface Size on Perceived Pleasantness}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {481-480}, doi = {}, year = {2023}, } Publisher's Version

Effects on Perception when Removing One Frequency Component from Two Harmonic Vibrations
Keisuke Tozuka and Hiroshi Igarashi
(Tokyo Denki University, Japan)


@InProceedings{WHC23p489, author = {Keisuke Tozuka and Hiroshi Igarashi}, title = {Effects on Perception when Removing One Frequency Component from Two Harmonic Vibrations}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {489-488}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p497, author = {Paul Pacaud and etienne chassaing and Yilin Cai and Connor Yako and Kenneth Salisbury}, title = {Identifying Human Grasp Properties During Robot-to-Human Handovers}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {497-496}, doi = {}, year = {2023}, } Publisher's Version

TP Posters Day 4

Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash
Patrick Dills and Michael Zinn
(University of Wisconsin - Madison, USA)


@InProceedings{WHC23p505, author = {Patrick Dills and Michael Zinn}, title = {Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {505-504}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p513, author = {Aldo Fabrizio Galvan and Job Donaldo Ramirez and Ashish Deshpande and Ann Majewicz Fey}, title = {An Extended Virtual Proxy Haptic Algorithm for Dexterous Manipulation in Virtual Environments}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {513-512}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p521, author = {Megh Doshi and Michael Hagenow and Robert Radwin and Michael Gleicher and Bilge Mutlu and Michael Zinn}, title = {Handheld Haptic Device with Coupled Bidirectional Input}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {521-520}, doi = {}, year = {2023}, } 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)


@InProceedings{WHC23p529, author = {Bastien Jacques Étienne Poitrimol and Hiroshi Igarashi}, title = {A User Study of a Cable Haptic Interface with a Reconfigurable Structure}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {529-528}, doi = {}, year = {2023}, } 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
(CNRS, France; Aarhus University, Denmark; Univ. Rennes, INSA, IRISA, Inria, France; Institut Universitaire de France, France)


@InProceedings{WHC23p537, author = {Lisheng Kuang and Francesco Chinello and Paolo Robuffo Giordano and Maud Marchal and Claudio Pacchierotti}, title = {Haptic Mushroom: A 3-DoF Shape-Changing Encounter-Type Haptic Device with Interchangeable End-Effectors}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {537-536}, doi = {}, year = {2023}, } Publisher's Version

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)


@InProceedings{WHC23p545, author = {Mathilde Jeannin and Ayoub Ben Dhiab and Charles Hudin and Sabrina Panëels}, title = {Dynamic Pattern Recognition with Localised Surface Haptics and Apparent Motion}, booktitle = {Proc.\ WHC}, publisher = {IEEE}, pages = {545-544}, doi = {}, year = {2023}, } Publisher's Version

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