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Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on (2006)
Alexandria, VA, USA USA
Mar. 25, 2006 to Mar. 26, 2005
ISBN: 1-4244-0226-3
TABLE OF CONTENTS

Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures (PDF)

J.J. Abbott , Department of Mechanical Engineering, The Johns Hopkins University; Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland, e-mail: jabbott@ethz.ch.
pp. 169-175

Sensor Modeling in Parallel Force Feedback Haptic Interfaces (PDF)

N.L. Bernstein , Aerospace Engineering, University of Colorado, email: nicholas.bernstein@colorado.edu
pp. 177-183

Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course (PDF)

K. Bowen , Mechanical Engineering and Materials Science Rice University Houston TX USA 77005, kbowen@rice.edu
pp. 147-152

Initial results using Eddy Current Brakes as Fast Turn-on, Programmable Physical Dampers for Haptic Rendering (PDF)

G. Campion , Haptics Laboratory, Center for Intelligent Machines McGill University, Montréal, Québec, Canada, e-mail: champ@cim.mcgill.ca
pp. 73-74

Wave Haptics: Providing Stiff Coupling to Virtual Environments (PDF)

N. Diolaiti , AI-Robotics Lab, Stanford University, USA, DEIS, University of Bologna, Italy, e-mail: ndiolaiti@deis.unibo.it
pp. 185-192

Control and Performance of the Rotational-to-Linear Cobotic Transmission (PDF)

E.L. Faulring , North western University, Mechanical Engineering Department, 2145 Sheridan Road, Evanston, IL 60208, USA, e-mail: e-faulring@northwestern.edu
pp. 103-107

Event-Based Haptic Tapping with Grip Force Compensation (PDF)

J. Fiene , Telerobotics Lab, Stanford University, e-mail: jfiene@stanford.edu
pp. 117-123

A Limit-Curve Based Soft Finger god-object Algorithm (PDF)

A. Frisoli , PERCRO -Scuola Superiore S. Anna Pisa, Italy, a.frisoli@sssup.it
pp. 217-223

The Sampling Position Within, Not the Undulating Geometry of, Fingertip Skin Microstructure May Amplify the Sensation of Edges (PDF)

G.J. Gerling , Department of Systems and Information Engineering, University of Virginia, USA, email: gregory-gerling@virginia.edu
pp. 141-145

Performance/Stability Robustness Tradeoffs Induced by the Two-Port Virtual Coupler (PDF)

P.G. Griffiths , Dept. of Mechanical Engineering University of Michigan, e-mail: paulgrif@umich.edu
pp. 193-200

Harness Design and Coupling Stiffness for Two-Axis Torso Haptics (PDF)

D.I. Grow , University of Utah, Department of Mechanical Engineering, e-mail: david.grow@utah.edu
pp. 83-87

A Psychophysically Motivated Compression Approach for 3D Haptic Data (PDF)

P. Hinterseer , Institute of Communication Networks, Fachgebiet Medientechnik, Technische Universität Müunchen, Munich, Germany, e-mail: ph@tum.de
pp. 35-41

A Sensitive Skin Based on Touch-Area-Evaluating Tactile Elements (PDF)

T. Hoshi , The University of Tokyo, e-mail: star@alab.t.u-tokyo.ac.jp
pp. 89-94

Two-dimensional Scanning Tactile Display using Ultrasound Radiation Pressure (PDF)

T. Iwamoto , The University of Tokyo, e-mail: iwa@alab.t.u-tokyo.aac.jp
pp. 57-61

Material Property Recognition by Active Tapping for Fingertip Digitizing (PDF)

Young-Seok Kim , Virtual Reality Laboratory, Department of Mechanical & Aerospace Engineering, State University of New York at Buffalo, email: ykim5@eng.buffalo.edu
pp. 133-139

Energy-Field Optimization and Haptic-Based Molecular Docking and Assembly Search System for Computer-Aided Molecular Design (CAMD) (PDF)

S.K. Lai-Yuen , Dept. of Industrial & Management Systems Eng., University of South Florida, Tampa, Florida 33620-5350 U.S.A. E-mail: laiyuen@eng.usf.edu
pp. 233-240

Unwarping Encoder Ripple in Low Cost Haptic Interfaces (PDF)

D.A. Lawrence , Aerospace Engineering, University of Colorado, Boulder, CO 80309-0429, dale.lawrence@colorado.edu
pp. 75-80

Assessing the Fidelity of Haptically Rendered Deformable Objects (PDF)

P. Leskovsky , Computer Vision Laborarory, ETH Zürich, 8092 Zürich, Switzerland, e-mail: pleskovs@vision.ee.ethz.ch
pp. 19-25

Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces (PDF)

P. Marayong , Department of Mechanical Engineering, Engineering Research Center for Computer-Integrated Surgical Systems and Technology The Johns Hopkins University Baltimore, MD 21218, USA, e-mail: pmarayong@jhu.edu
pp. 109-115

A Study on Haptic Rendering in a Simulated Surgical Training Environment (PDF)

P. Marshall , Simon Fraser University, Experimental Robotics and Graphics Laboratory, pjm@sfu.ca
pp. 241-247

Controlling the Perceived Vibrational Frequency and Amplitude of a Voice-Coil-Type Tactor (PDF)

M. Niwa , ATR Media Information Science Laboratories; Graduate School of Information Science and Technology, Osaka Institute of Technology, e-mail: m-niwa@atr.jp
pp. 55-56

A Shear Stress Sensing for Robot Hands -Orthogonal arrayed Piezoresistive Cantilevers standing in Elastic Material- (PDF)

K. Noda , Department of Mechano-Informatics, School of Information Science and Technology, The University of Tokyo, e-mail: noda@leopard.t.u-tokyo.ac.jp
pp. 63-66

Determining the Feasibility of Forearm Mounted Vibrotactile Displays (PDF)

I. Oakley , HMCI Lab, Dept of Mechatronics, Gwangju Institute of Science and Technology, Email: ian@whereveriam.org
pp. 27-34

Evaluating the Role of Force Feedback for Biomanipulation Tasks (PDF)

A. Pillarisetti , Program of Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory 3141 Chestnut Street, MEM Department, Room# 2-115 Drexel University, Philadelphia, PA 19104, E-mail: ap99@coe.drexel.edu
pp. 11-18

Standardized Evaluation of Haptic Rendering Systems (PDF)

E. Ruffaldi , PERCRO, Scuola Superiore S. Anna, pit@sssup.it
pp. 225-232

Visual and Haptic Simulation of Linear Viscoelastic Tissue Behavior Based on Experimental Data (PDF)

M. Sedef , College of Engineering, Koc University, Istanbul, Turkey, e-mail: lsedef@ku.edu.tr
pp. 201-208

Measuring Fingertip Forces by Imaging the Fingernail (PDF)

Yu Sun , School of Computing University of Utah e-mail: ysun@cs.utah.edu
pp. 125-131

The Role of Prototyping Tools for Haptic Behavior Design (PDF)

C. Swindells , Department of Computer Science University of British Columbia Vancouver, BC V6T 1Z4 Canada e-mail: swindell@cs.ubc.ca
pp. 161-168

Impulse Response Deformation Model: an Approach to Haptic Interaction with Dynamically Deformable Object (PDF)

K. Tagawa , Intelligent Modeling Laboratory, University of Tokyo, e-mail: tagawa@iml.u-tokyo.ac.jp, URL: http://www.taagwa.info
pp. 209-215

Two-dimensional Active Type Surface Acoustic Wave Tactile Display On a Computer Screen (PDF)

M. Takasaki , Department of Mechanical Engineering, Saitama University; Interaction and Intelligence, PRESTO, JST, E-mail: masaya@mech.saitama-u.ac.jp
pp. 49-54

Discrimination of Real and Virtual High-Definition Textured Surfaces (PDF)

Hong Z. Tan , Haptic Interface Research Laboratory, Purdue University, West Lafayette, IN 47907, hongtan@purdue.edu
pp. 3-9

Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics (PDF)

N.A. Tanner , Telerobotics Lab, Stanford University, email: tanner@stanford.edu
pp. 153-159

Design and Development of a General Purpose 7 DOF Haptic Device (PDF)

G. Tholey , Program for Robotics, Intelligent Sensing, and Mechatronics, (PRISM) Laboratory, Drexel University; PRISM Laboratory, 3141 Chestnut St., MEM Dept., Room 2-115, Philadelphia, PA 19104, USA, e-mail: gtholey@coe.drexel.edu
pp. 95-101

Force Feedback in a Three-Dimensional Ultrasound-Guided Surgical Task (PDF)

C.R. Wagner , Division Of Engineering And Applied Sciences, Harvard University, Cambridge, MA, USA, cwagner@deas.harvard.edu
pp. 43-48

Compact, Portable, Modular, High-performance, Distributed Tactile Transducer Device Based on Lateral Skin Deformation (PDF)

Qi Wang , Haptics Laboratory, Center for Intelligent Machines, McGill University, Montréal, Québec, Canada, email: qiwang@cim.mcgill.ca
pp. 67-72

A Network-ready Multi-lateral High Fidelity Haptic Probe (PDF)

Hsin-Yun Yao , Haptics Laboratory, Center for Intelligent Machines, McGill University, Montréal, Québec, Canada, email: hyyao@cim.mcgill.ca
pp. 81-82

Haptic-Based Biometrics: A Feasibility Study (PDF)

M. Orozco , School of Information Technology and Engineering University of Ottawa, Ottawa, Canada morozco@discover.uottawa.ca
pp. 265-271

Stochastic and Deterministic Models for Haptic Pseudo-Textures (PDF)

T.C. Aysal , Electrical and Computer Engineering Department, University of Delaware, e-mails: aysal@mail.eecis.udel.edu
pp. 469-476

The Effect of Prediction on Collaborative Haptic Applications (PDF)

A. Boukerche , School of Information Technology and Engineering University of Ottawa, Ottawa, Canada boukerch@site.uottawa.ca
pp. 515-516

Inverse Piano Technique: a New Tool to Study Finger Interdependence (PDF)

M.K. Budgeon , Department of Kinesiology, Pennsylvania State University, USA
pp. 395-398

Haptic Manipulation of Microspheres Using Optical Tweezers (PDF)

I. Bukusoglu , College of Engineering, Koc University, Istanbul Turkey, e-mail: ibukusoglu@ku.edu.tr
pp. 361-365

A Displacement Driven Real-Time Deformable Model For Haptic Surgery Simulation (PDF)

Pei Chen , Department of Electrical and Computer Engineering University of Delaware and Delaware Biotechnology Institute, pchen@ee.udel.edu
pp. 499-505

Vibrotactile Targeting in Multimodal Systems: Accuracy and Interaction (PDF)

R.W. Cholewiak , Naval Aerospace Medical Research Laboratory 280 Fred Bauer Street Pensacola, FL 32508, E-mail: rcholewi@princeton.eduor
pp. 413-420

Effects of Stiffness on Tapping Performance (PDF)

D. Courousse , Laboratoire Informatique et Création Artistique, Association pour la Création et la Recherche sur les Outils d’Expression, Grenoble, France, e-mail: damien.courousse@imag.fr
pp. 421-428

Portable Haptic Display for Large Immersive Virtual Environments (PDF)

E. Dorjgotov , Envision Center for Data Perceptualization Purdue University, USA, e-mail: edorjgo@purdue.edu
pp. 321-327

Dynamical Issues at the Low Level of Human/Virtual Object Interaction (PDF)

J. Florens , A. C. R. O. E. Ministère de la Culture; ACROE, INPG, 46 Av. Felix Viallet 38000 Grenoble, France, florens@imag.fr
pp. 315-320

Psychophysics and Perceiving Granularity (PDF)

F.K.B. Freyberger , Human Factors Institute (IfA), University of the Bundeswehr Munich, D-85577 Neubiberg, franziska.freyberger@unibw.de
pp. 387-393

Haptically Annotated Movies: Reaching Out and Touching the Silver Screen (PDF)

D. Gaw , Computer Science Department, Stanford University, dgaw@cs.stanford.edu
pp. 287-288

Analysis of Spatially Constrained Reaching Movements in Haptic Environments (PDF)

I. Goncharenko , 3D Inc., 1-1 Sakaecho, Yokohama 221-0052, Japan, e-mail: igor@ddd.co.jp
pp. 399-405

Thermal Model for Hand-Object Interactions (PDF)

Hsin-Ni Ho , Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA e-mail: sineadho@mit.edu
pp. 461-467

The Proxy Chain Method and Its Applicationto Scientific Visualization (PDF)

M. Ikits , Scientific Computing and Imaging Institute, University of Utah
pp. 525-532

Tactual Frequency and Amplitude Discrimination with Fixed and Roving Background (PDF)

A. Israr , Haptic Interface Research Laboratory, Purdue University, USA, israr@purdue.edu
pp. 383-385

3D Stereo Viewing Evaluation for the Virtual Haptic Back Project (PDF)

Wei Ji , Department of Mechanical Engineering Ohio University
pp. 251-258

Physics-based s-Adaptive Haptic Simulation for Deformable Object (PDF)

Seongki Jun , Seoul National University, e-mail: zenith74@snu.ac.kr
pp. 477-483

Low-Force Kinesthetic Guidance for Accurate Positioning and Tracking (PDF)

R. Kikuuwe , Nagoya Institute of Technology, Nagoya, Aichi 466-8555, Japan, e-mail: kikuuwe@ieee.org
pp. 491-498

Towards Effective Information Display Using Vibrotactile Apparent Motion (PDF)

L. Kohli , The University of North Carolina at Chapel Hill; ATR Media Information Science Laboratories, luv@cs.unc.edu
pp. 445-451

In situ Measurement of Cadaveric Soft Tissue Mechanical Properties and Fulcrum Forces for Use in Physics-Based Surgical Simulation (PDF)

Yi-Je Lim , Department of Mechanical, Aerospace and Nuclear Engineering, Rensselaer Polytechnic Institute, limy@rpi.edu
pp. 259-263

The TactaPack: A Wireless Sensor/Actuator Package for Physical Therapy Applications (PDF)

R.W. Lindeman , Dept. of Computer Science, Worcester Polytechnic Institute; ATR International Media Information, Science Laboratories, e-mail: gogo@wpi.edu
pp. 337-341

Geometric Properties of Contacts Involving a Deformable Object (PDF)

Qi Luo , IMI Lab, Department of Computer Science, University of North Carolina at Charlotte, 9201 University Blvd, Charlotte, NC28223, USA, e-mail: qluo@uncc.edu
pp. 533-538

Environment Parameter Estimation during Bilateral Telemanipulation (PDF)

S. Misra , Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD 21218, USA, sarthak@jhu.edu
pp. 301-307

Perceptual Analysis of Haptic Icons: an Investigation into the Validity of Cluster Sorted MDS (PDF)

J. Pasquero , Center for Intelligent Machines, McGill University, Montreal, Qc, H3A 2A7, Canada, e-mail: jay@cim.mcgill.ca
pp. 437-444

Mechanical Design of Haptic Forceps for Robotic Surgery (PDF)

P.R. Rizun , Project neuroArm Advanced Prototyping & Engineering Laboratory, University of Calgary, Canada, prizun@ucalgary.ca
pp. 331-335

Free Hand Haptic Interfaces Based on Magnetorheological Fluids (PDF)

N. Sgambelluri , Interdepartmental Research Center ”E. Piaggio”, e-mail: n.sgambelluri@ing.unipi.it
pp. 367-371

Haptic Force Shading Parameter Effects on Path Tracing Accuracy (PDF)

Youngung Shon , Mechanical Engineering, University of California at Berkeley, e-mail: yshon@me.berkeley.edu
pp. 517-523

Performance Enhancement of a Haptic Arm Exoskeleton (PDF)

A. Sledd , Mechanical Engineering and Materials Science, Rice University, Houston, TX USA 77005, amsledd@rice.edu
pp. 375-381

Haptic Attributes and Human Motor Skills (PDF)

G. Srimathveeravalli , VR Lab, State University of New York at Buffalo, USA, E-mail: gks2@eng.buffalo.edu
pp. 453-459

The Application of a Haptic Interface on Microassembly (PDF)

C.J. van Strijp , Advanced Mechatronics, Delft University of Technology, e-mail: cjvanstrijp@gmail.com
pp. 289-293

Tandem Canoeing over the Internet using Haptic Feedback (PDF)

J. Tang , Georgetown University, Imaging Science and Information Systems Center, Washington, DC 20057, e-mail: jtang@isis.georgetown.edu
pp. 281-285

A Virtual Reality Toolkit for Path Planning and Manipulation at Nano-scale (PDF)

A. Varol , College of Engineering, Koc University, Istanbul, Turkey email: avarol@ku.edu.tr
pp. 485-489

Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback (PDF)

L.N. Verner , Department of Mechanical Engineering The Johns Hopkins University Baltimore, MD 21218, USA lverner@jhu.edu
pp. 309-314

Demonstration of a Large Dissipative Haptic Environment (PDF)

M.V. Weghe , Robotics Institute, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA 15213 email: michaelv@andrew.cmu.edu
pp. 329-330

Effects of Haptic Feedback on Exploration (PDF)

M. Wu , Department of Mechanical Engineering The Johns Hopkins University Baltimore, MD 21218, USA mwu23@jhu.edu
pp. 407-411

Dielectric Elastomer Spring Roll Actuators for a Portable Force Feedback Device (PDF)

Rui Zhang , Swiss Federal Institute of Technology (ETH), Center of Product Development, Tannenstrasse 3, 8092 Zurich, Switzerland, e-mail: rui.zhang@imes.mavt.ethz.ch
pp. 347-353
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