The Community for Technology Leaders
Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on (2003)
Los Angeles, California, U.S.A.
Mar. 22, 2003 to Mar. 23, 2003
ISBN: 0-7695-1890-7
TABLE OF CONTENTS
Introduction

Preface (PDF)

pp. x
SESSION I: DEVICE DESIGN

The WHaT :A Wireless Haptic Texture Sensor (Abstract)

Dinesh K. Pai , University of British Columbia and Rutgers,the State University of New Jersey
Peter Rizun , University of British Columbia
pp. 3

Multi-Fingered Tactile Feedback from Virtual and Remote Environments (Abstract)

Alexander Kron , Technische Universität München
Günther Schmidt , Technische Universität München
pp. 16

Designing the Haptic Turntable for Musical Control (Abstract)

Karon MacLean , University of British Columbia
Sidney Fels , University of British Columbia
Tim Beamish , University of British Columbia
pp. 24

Development of a Non-Grounded Haptic Interface Using the Gyro Effect (Abstract)

Hiroaki Yano , University of Tsukuba
Hiroo Iwata , University of Tsukuba
Masayuki Yoshie , University of Tsukuba
pp. 32

SmartTouch - Augmentation of Skin Sensation with Electrocutaneous Display (Abstract)

Hiroyuki Kajimoto , University of Tokyo
Naoki Kawakami , University of Tokyo
Susumu Tachi , University of Tokyo
Masahiko Inami , University of Tokyo
pp. 40

Performance Analysis of a 2-Link Haptic Device with Electric Brakes (Abstract)

Jae-Bok Song , Korea University
Changhyun Cho , Korea University
Munsang Kim , Korea Institute of Science and Technology
pp. 47
SESSION II: DEVICE EVALUATION AND PERFORMANCE

Spatial Low Pass Filters for Pin Actuated Tactile Displays (Abstract)

Christopher R. Wagner , Harvard University
Jaime M. Lee , Harvard University
S. J. Lederman , Queen?s University
Robert D. Howe , Harvard University
pp. 57

Motion Guidance Experiments with Scooter Cobot (Abstract)

E. S. Boy , National University of Singapore
E. Burdet , National University of Singapore
J. E. Colgate , National University of Singapore
C. L. Teo , National University of Singapore
pp. 63

Simulating Side Slopes on Locomotion Interfaces Using Torso Forces (Abstract)

Yasuyuki Yanagida , ATR Media Information Sciences Laboratories
John M. Hollerbach , University of Utah
Nobuji Tetsutani , ATR Media Information Sciences Laboratories
Damaso Checcacci , Scuola Superiore S. Anna
Haruo Noma , ATR Media Information Sciences Laboratories
pp. 91
SESSION III: CONTROL AND MODELING

Path-Following Control for Dissipative Passive Haptic Displays (Abstract)

Wayne J. Book , Georgia Institute of Technology
Davin K. Swanson , Georgia Institute of Technology
pp. 101

Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures (Abstract)

Allison M. Okamura , Johns Hopkins University
Ming Li , Johns Hopkins University
pp. 125
SESSION IV: PSYCHOPHYSICS

Feedback Distortion for Rehabilitation: Gauging Perceived Physical Effort (Abstract)

Roberta Klatzky , Carnegie Mellon University
Matthew Fagan , Carnegie Mellon University
Yoky Matsuoka , Carnegie Mellon University
pp. 159

Validity of Haptic Cues and Its Effect on Priming Visual Spatial Attention (Abstract)

Rob Gray , Arizona State University East
Hong Z. Tan , Purdue University
J. Jay Young , Purdue University
pp. 166

Material Discrimination and Thermal Perception (Abstract)

Lynette A. Jones , Massachusetts Institute of Technology
Michal Berris , Massachusetts Institute of Technology
pp. 171

The Role of Multisensory Feedback in Haptic Surface Perception (Abstract)

Thomas Kerwin , Ohio Supercomputer Center
Janet M. Weisenberger , Ohio State University
Gayla L. Poling , Ohio State University
pp. 187
SESSION V: RENDERING

Levels of Detail in Reducing Cost of Haptic Rendering: A Preliminary User Study (Abstract)

Shahram Payandeh , Simon Fraser University
John Dill , Simon Fraser University
Jian Zhang , Simon Fraser University
pp. 205

Haptic Editing of Decoration and Material Properties (Abstract)

Gaura S. Sukhatme , University of Southern California
Laehyun Kim , University of Southern California
Mathieu Desbrun , University of Southern California
pp. 213

An Integral Equation Based Multiresolution Modeling Scheme for Multimodal Medical Simulations (Abstract)

M. A. Srinivasan , Massachusetts Institute of Technology
S. De , Rensselaer Polytechnic Institute
J. Kim , Massachusetts Institute of Technology
pp. 221

Fuzzy Vector Median Based Surface Smoothing in a Haptic Environment (Abstract)

Kenneth E. Barner , University of Delaware
Yuzhong Shen , University of Delaware
pp. 236
SESSION VI: APPLICATIONS

Haptic Effects for Virtual Reality-Based Post-Stroke Rehabilitation (Abstract)

Chan Su Lee , Rutgers University
Judith E. Deutsch , UMDNJ-SHRP,
Rares F. Boian , Rutgers University
Jeffrey Lewis , Rutgers University
Grigore C. Burdea , Rutgers University
pp. 247

Haptic Aided Design: A Case Study (Abstract)

Jian Zhang , Simon Fraser University
John Dill , Simon Fraser University
Shahram Payandeh , Simon Fraser University
pp. 254

Electro-Rheological Fluidic Actuators for Haptic Vehicular Instrument Controls (Abstract)

J. Nikitczuk , Rutgers University
B. Weinberg , Rutgers University
C. Mavroidis , Rutgers University
J. Melli-Huber , Rutgers University
A. Fisch , Rutgers University
C. Wampler , General Motors R&D Center
pp. 262

Haptic Task Constraints fo 3D Interaction (Abstract)

Rick Komerska , University of New Hampshire
Colin Ware , University of New Hampshire
pp. 270

Implementation of a Haptic Interface for a Virtual Reality Simulator for Flexible Endoscopy (Abstract)

Olaf Körner , Universities of Mannheim and Heidelberg
Reinhard Männer , Universities of Mannheim and Heidelberg
pp. 278

Performance and Co-Presence in Heterogeneous Haptic Collaboration (Abstract)

Margaret McLaughlin , University of Southern California
Jacob Parks , University of Southern California
Gaurav Sukhatme , University of Southern California
Weirong Zhu , University of Southern California
Wei Peng , University of Southern California
pp. 285
SESSION VII: POSTER AND DEMONSTRATION PAPERS

Sensors Assisted Telemanipulation for Maximizing Manipulation Capabilities of Persons With Disabilities (Abstract)

Rajiv V. Dubey , University of South Florida
Michael Jurczyk , University of South Florida
Norali Pernalete , Western Michigan University
Wentao Yu , University of South Florida
Benjamin E. Fritz , University of South Florida
pp. 295

The Role of Torque in Haptic Perception of Object Location in Virtual Environments (Abstract)

Steve Wang , Massachusetts Institute of Technology
Mandayam A. Srinivasan , Massachusetts Institute of Technology
pp. 302

Design of a Uniactuated Bimanual Haptic Interface (Abstract)

Nicholas L. Bernstein , University of Colorado
Dale A. Lawrence , University of Colorado
Lucy Y. Pao , University of Colorado
pp. 310

Web-Based Haptic Applications for Blind People to Create Virtual Graphs (Abstract)

Stephen Brewster , University of Glasgow
Katri Kangas , University of Glasgow
Wai Yu , Queen?s University of Belfast
pp. 318

Real-Time Rigid Body Simulation Based on Volumetric Penalty Method (Abstract)

Yasuharu Koike , Tokyo Institute of Technology
Nobuaki Fujii , Tokyo Institute of Technology
Shoichi Hasegawa , Tokyo Institute of Technology
Makoto Sato , Tokyo Institute of Technology
pp. 326

An Actuator for the Tactile Vest — A Torso-Based Haptic Device (Abstract)

Mealani Nakamura , Massachusetts Institute of Technology
Lynette Jones , Massachusetts Institute of Technology
pp. 333

A Framework for the Haptic Rendering of the Human Hand (Abstract)

Guillaume Moreau , CERMA UMR CNRS
Philippe Fuchs , Robotics Center-Ecole des Mines de Paris
Mehdi Ammi , Robotics Center-Ecole des Mines de Paris
Panagiotis Stergiopoulos , Robotics Center-Ecole des Mines de Paris
pp. 340

The Hapticon Editor: A Tool in Support of Haptic Communication Research (Abstract)

Karon E. MacLean , University of British Columbia
Mario J. Enriquez , University of British Columbia
pp. 356

Role of Haptics in Teaching Structural Molecular Biology (Abstract)

Ganesh Sankaranarayanan , University of Washington
Michel Sanner , The Scripps Research Institute
Alexandre Gillet , The Scripps Research Institute
Arthur Olson , The Scripps Research Institute
Suzanne Weghorst , University of Washington
pp. 363

Omni-Directional Treadmill System (Abstract)

Thomas Sugar , Arizona State University
Kurt Bauernfeind , Arizona State University
Zheng Wang , Arizona State University
pp. 367

Design and Analysis of a Novel Virtual Walking Machine (Abstract)

Jungwon Yoon , Kwangju Institute of Science and Technology
Grigore Burdea , Rutgers — The State University of New Jersey
Jeha Ryu , Kwangju Institute of Science and Technology
pp. 374

Transparency and Stability Analysis of a Surgical Teleoperator System (Abstract)

J. Wikander , Royal Institute of Technology
H. Flemmer , Royal Institute of Technology
pp. 382

A Haptic Based Virtual Grinding Tool (Abstract)

T. Kesavadas , State University of New York at Buffalo
Arvind Balijepalli , State University of New York at Buffalo
pp. 390

Controller Design for a Wearable, Near-Field Haptic Display (Abstract)

Robert W. Lindeman , George Washington University
Justin R. Cutler , George Washington University
pp. 397

Activation Cues and Force Scaling Methods for Virtual Fixtures (Abstract)

Allison M. Okamura , The Johns Hopkins University
Jason T. Nolin , The Johns Hopkins University
Paul M. Stemniski , The Johns Hopkins University
pp. 404

Haptic Interface for Hands-On Instruction in System Dynamics and Embedded Control (Abstract)

James Freudenberg , University of Michigan
Mark B. Hoffman , University of Michigan
R. Brent Gillespie , University of Michigan
pp. 410

Haptic Feedback Using Local Models of Interaction (Abstract)

Daniela Constantinescu , University of British Columbia
Elizabeth A. Croft , University of British Columbia
Septimiu E. Salcudean , University of British Columbia
pp. 416

Design of Data Glove and Arm Type Haptic Interface (Abstract)

Hu Lei , Beijing University of Aeronautics and Astronautics
Chou Wousheng , Beijing University of Aeronautics and Astronautics
Wang Tianmiao , Beijing University of Aeronautics and Astronautics
pp. 422
AUTHOR INDEX

Author Index (PDF)

pp. 439
100 ms
(Ver )