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Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on (2006)
Alexandria, Virginia
Mar. 25, 2006 to Mar. 29, 2006
ISBN: 1-4244-0226-3
TABLE OF CONTENTS
Session 1: Psychophysics

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

E. Dan Hirleman , Purdue University
Matthew Kocsis , Purdue University
Hong Z. Tan , Purdue University
Ryan Traylor , Purdue University
Bernard D. Adelstein , NASA Ames Research Center, Moffett Field, CA
pp. 1

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

Maxim Pekarev , Drexel University, Philadelphia, PA
Ari D. Brooks , Drexel University, Philadelphia, PA
Anand Pillarisetti , Drexel University, Philadelphia, PA
Jaydev P. Desai , Drexel University, Philadelphia, PA
pp. 2

Assessing the Fidelity of Haptically Rendered Deformable Objects (Abstract)

G?abor Szekely , Computer Vision Laborarory ETH Zurich
Matthias Harders , Computer Vision Laborarory ETH Zurich
Peter Le?skovsk , Computer Vision Laborarory ETH Zurich
pp. 3

Determining the Feasibility of Forearm Mounted Vibrotactile Displays (Abstract)

Jeha Ryu , Gwangju Institute of Science and Technology
Yeongmi Kim , Gwangju Institute of Science and Technology
Ian Oakley , Gwangju Institute of Science and Technology
Junhun Lee , Gwangju Institute of Science and Technology
pp. 81

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

Eckehard Steinbach , Technische Universit?at Munchen, Munich, Germany
Peter Hinterseer , Technische Universit?at Munchen, Munich, Germany
pp. 4

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

Robert D. Howe , Harvard University
Christopher R. Wagner , Harvard University
Nikolay Vasilyev , Department of Cardiac Surgery, Children?s Hospital, Boston
Douglas P. Perrin , Harvard University
Pedro J. Del Nido , Department of Cardiac Surgery, Children?s Hospital, Boston
pp. 5
Session 2: Hardware I

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

Takaaki Nara , University of Tokyo
Hiroyuki Kotani , Saitama University
Masaya Takasaki , Saitama University
Takeshi Mizuno , Saitama University
pp. 6

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

Yasuyuki Yanagida , Meijo University
Masataka Niwa , ATR Media Information Science Laboratories
Kenichi Hosaka , ATR Media Information Science Laboratories
Haruo Noma , ATR Media Information Science Laboratories
Robert W. Lindeman , Worcester Polytechnic Institute
pp. 7

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

Qi Wang , McGill University, Montreal, Quebec, Canada
Vincent Hayward , McGill University, Montreal, Quebec, Canada
pp. 10

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

Gianni Campion , McGill University, Montreal, Quebec, Canada
Andrew H. Gosline , McGill University, Montreal, Quebec, Canada
Vincent Hayward , McGill University, Montreal, Quebec, Canada
pp. 11
Session 3: Hardware II

Unwarping Encoder Ripple in Low Cost Haptic Interfaces (Abstract)

Dale A. Lawrence , University of Colorado
Lucy Y. Pao , University of Colorado
Sutha Aphanuphong , University of Colorado
pp. 12

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

Hsin-Yun Yao , McGill University, Quebec, Canada
Vincent Hayward , McGill University, Quebec, Canada
pp. 13

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

J. Edward Colgate , Northwestern University, IL, USA
Michael A. Peshkin , Northwestern University, IL, USA
Eric L. Faulring , Northwestern University, IL, USA
pp. 17
Session 4: Control/Dynamics/Biomechanics

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

Gregory D. Hager , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
Panadda Marayong , Johns Hopkins University
pp. 18

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

Gunter Niemeyer , Stanford University
Jonathan Fiene , Stanford University
Katherine J. Kuchenbecker , Stanford University
pp. 19

Measuring Fingertip Forces by Imaging the Fingernail (Abstract)

Yu Sun , University of Utah
John M. Hollerbach , University of Utah
Stephen A. Mascaro , University of Utah
pp. 20

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

Young-Seok Kim , State University of New York at Buffalo
Thenkurussi Kesavadas , State University of New York at Buffalo
pp. 21
Session 5: Control/Dynamics II

Sensor Modeling in Parallel Force Feedback Haptic Interfaces (Abstract)

Nicholas L. Bern , University of Colorado
Dale A. Lawrence , University of Colorado
Lucy Y. Pao , University of Colorado
pp. 27

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

G?nter Niemeyer , DEIS, University of Bologna, Italy
Nicola Diolaiti , DEIS, University of Bologna, Italy
pp. 28

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

R. Brent Gillespie , University of Michigan
Jim S. Freudenberg , University of Michigan
Paul G. Griffiths , University of Michigan
pp. 29
Session 6: Rendering/Modeling/Applications

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

Mert Sedef , Koc University, Istanbul, Turkey
Cagatay Basdogan , Koc University, Istanbul, Turkey
Evren Samur , Koc University, Istanbul, Turkey
pp. 30

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

Emanuele Ruffaldi , PERCRO - Scuola Superiore S.Anna, Pisa, Italy
Massimo Bergamasco , PERCRO - Scuola Superiore S.Anna, Pisa, Italy
Kenneth Salisbury , Stanford University
Federico Barbagli , Stanford University
Antonio Frisoli , PERCRO - Scuola Superiore S.Anna, Pisa, Italy
pp. 32

Standardized Evaluation of Haptic Rendering Systems (Abstract)

Dinesh K.Pai , Stanford University
Dan Morris , Stanford University
Emanuele Ruffaldi , PERCRO, Scuola Superiore S. Anna
Federico Barbagli , Stanford University
Timothy Edmunds , Stanford University
pp. 33

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

Paul Marshall , Simon Fraser University
Shahram Payandeh , Simon Fraser University
John Dill , Simon Fraser University
pp. 35
Session 1: Applications

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

Robert L. II Williams , Ohio University
Robert R. Jr. Conatser , Ohio University
Wei Ji , Ohio University
John N. Howell , Ohio University
pp. 36

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

Suvranu De , Polytechnic Institute
Yi-Je Lim , Polytechnic Institute
Tejinder P. Singh , Department of Surgery,Albany Medical College
Daniel B. Jones , Beth Israel Deaconess Medical Center
pp. 37

Haptic-Based Biometrics: A Feasibility Study (Abstract)

Mauricio Orozco , University of Ottawa, Ottawa, Canada
Shervin Shirmohammadi Shirmohammadi, , University of Ottawa, Ottawa, Canada
Andy Adler , University of Ottawa, Ottawa, Canada
Yednek Asfaw , University of Ottawa, Ottawa, Canada
Abdulmotaleb El Saddik , University of Ottawa, Ottawa, Canada
pp. 38

Microfabricated Instruments for Fetal Cardiac Surgery: Experiments on Haptic Tissue Recognition (Abstract)

Giovanna Macri , ARTS Lab - Scuola Superiore Sant?Anna
Paolo Dario , CRIM - Scuola Superiore Sant?Anna
Oliver Tonet , CRIM - Scuola Superiore Sant?Anna
Anna Eisinberg , CRIM - Scuola Superiore Sant?Anna
Maria Chiara Carrozza , ARTS Lab - Scuola Superiore Sant?Anna
pp. 39

Tandem Canoeing over the Internet using Haptic Feedback (Abstract)

Craig Carignan , Georgetown University
Pontus Olsson , Royal Institute of Technology, Stockholm, Sweden
Jonathan Tang , Georgetown University
pp. 40

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

Derek Gaw , Stanford University
Kenneth Salisbury , Stanford University
Daniel Morris , Stanford University
pp. 41

The Application of a Haptic Interface on Microassembly (Abstract)

M. Onosato , Hokkaido University
H.H. Langen , Delft University of Technology
C.J. van Strijp , Delft University of Technology
pp. 42
Session 2: Control/Dynamics/Biomechanics

Environment Parameter Estimation during Bilateral Telemanipulation (Abstract)

Allison M. Okamura , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
pp. 45

Dynamical issues at the low level of human / virtual object interaction (Abstract)

Daniela Urma , ICA Laboratory
Jean-Loup Florens , A.C.R.O.E. Minist?re de la Culture
pp. 47
Session 3: Hardware

Portable Haptic Display for Large Immersive Virtual Environments (Abstract)

Gary R. Bertoline , Purdue University, USA
Seungmoon Choi , POSTECH, Korea
Steven R. Dunlop , Purdue University, USA
Enkhtuvshin Dorjgotov , Purdue University, USA
pp. 48

Demonstration of a Large Dissipative Haptic Environment (Abstract)

Mike Vande Weghe , Robotics Institute,Carnegie Mellon University
Sean Kelly , Mechanical Engineering, Carnegie Mellon University
Yoky Matsuoka , Carnegie Mellon University
Richard Juchniewicz , Carnegie Mellon University
Brian Dellon , Mechanical Engineering, Carnegie Mellon University
pp. 49

Mechanical Design of Haptic Forceps for Robotic Surgery (Abstract)

Dylan C. Gunn , University of Calgary & University of British Columbia, Canada
Peter R. Rizun , University of Calgary & University of British Columbia, Canada
Garnette R. Sutherland , University of Calgary & University of British Columbia, Canada
Brian L. Cox , University of Calgary & University of British Columbia, Canada
pp. 50

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

Yasuyuki Yanagida , Meijo University, Japan
Robert W. Lindeman , Worcester Polytechnic Institute
Kenichi Hosaka , ATR International Media Information Science Laboratories
Shinji Abe , ATR Intelligent Robotics and Communication Laboratories
pp. 51

A Study of Mounting Methods for Tactors Using an Elastic Polymer (Abstract)

Robert W. Lindeman , Worcester Polytechnic Inst.
Haruo Noma , ATR Media Information Science Labs.
Kenichi Hosaka , ATR Media Information Science Labs.
Yasukimi Hashida , ATR Media Information Science Labs.
Yasuyuki Yanagida , Meijyo Univ., Japan
Kenji Susami , ATR Media Information Science Labs.
Yuichiro Kume , Tokyo Polytechnic Univ.
pp. 52

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

Andreas Kunz , Swiss Federal Institute of Technology (ETH)
Rui Zhang , Swiss Federal Institute of Technology (ETH)
Gabor Kovacs , Swiss Federal Laboratories
Patrick Lochmatter , Swiss Federal Laboratories
pp. 53

Development of a High-resolution Surface Type Haptic interface for Rigidity Distribution Rendering (Abstract)

Keita Komine , University of Tsukuba
Hiroo Iwata , University of Tsukuba
Hiroaki Yano , University of Tsukuba
pp. 54

Haptic Manipulation of Microspheres Using Optical Tweezers (Abstract)

Alper Kiraz , Koc University, Istanbul Turkey
Cagatay Basdogan , Koc University, Istanbul Turkey
Ibrahim Bukusoglu , Koc University, Istanbul Turkey
Adnan Kurt , Koc University, Istanbul Turkey
pp. 55

Free Hand Haptic Interfaces Based on Magnetorheological Fluids (Abstract)

Marco Raugi , Department of Electrical Systems and Automation
Nicola Sgambelluri , Interdepartmental Research Center "E. Piaggio"
Antonio Bicchi , Interdepartmental Research Center "E. Piaggio"
E. Pasquale Scilingo , Interdepartmental Research Center "E. Piaggio"
Rocco Rizzo , Department of Electrical Systems and Automation
pp. 56

Fingertip Vibratory Transducer for Detecting Optical Edges Using Regenerative Feedback (Abstract)

Apryl Craig , University of Pittsburgh
Kimberly Zawrotny , University of Pittsburgh
George Stetten , University of Pittsburgh
David Weiser , University of Pittsburgh
Roberta Klatzky , Carnegie Mellon University
pp. 57

Performance Enhancement of a Haptic Arm Exoskeleton (Abstract)

Marcia K. O?Malley , Rice University
Alan Sledd , Rice University
pp. 58
Session 4: Psychophysics

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

Ali Israr , Purdue University, USA
Hong Z. Tan , Purdue University, USA
pp. 59

Psychophysics and Perceiving Granularity (Abstract)

Franziska K.B. Freyberger , University of the Bundeswehr Munich, Germany
Berthold Farber , University of the Bundeswehr Munich, Germany
pp. 60

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

Mark K. Budgeon , Pennsylvania State University, USA
Vladimir M. Zatsiorsky , Pennsylvania State University, USA
Mark L. Latash , Pennsylvania State University, USA
Zong-Ming Li , University of Pittsburgh, USA
pp. 61

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

Mikhail Svinin , Bio-Mimetic Control Research Center,RIKEN, Japan
Igor Goncharenko , 3D Incorporated,Japan
Yutaka Kanou , 3D Incorporated,Japan
Shigeyuki Hosoe , Bio-Mimetic Control Research Center,RIKEN, Japan
pp. 62

Effects of Haptic Feedback on Exploration (Abstract)

Mengnan (Mary) Wu , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
pp. 63

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

Christopher McGrath , Naval Aerospace Medical Research Laboratory
Roger W. Cholewiak , Naval Aerospace Medical Research Laboratory
pp. 64

Effects of Stiffness on Tapping Performance (Abstract)

Jean-Loup Florens , Laboratoire Informatique et Cr?ation Artistique, France
Damien Courouss? , Laboratoire Informatique et Cr?ation Artistique, France
Annie Luciani , Laboratoire Informatique et Cr?ation Artistique, France
pp. 65

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

Shannon Little , University of British Columbia, Canada
Karon MacLean , University of British Columbia, Canada
Joseph Luk , University of British Columbia, Canada
Jerome Pasquero , McGill University, Canada
pp. 67

Towards Effective Information Display Using Vibrotactile Apparent Motion (Abstract)

Yasuyuki Yanagida , Meijo University
Kenichi Hosaka , ATR Media Information Science Laboratories
Masataka Niwa , Osaka Institute of Technology
Robert W. Lindeman , Worcester Polytechnic Institute
Haruo Noma , ATR Media Information Science Laboratories
Yuichiro Kume , Tokyo Polytechnic University
Luv Kohli , University of North Carolina at Chapel Hill
Kenji Susami , ATR Media Information Science Laboratories
pp. 68

Table of contents (PDF)

pp. iii-vii
Session 5: Rendering/Modeling

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

Kenneth E. Barner , University of Delaware
Tuncer C. Aysal , University of Delaware
pp. 71

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

Seongki Jun , Seoul National University
Jinbok Choi , Seoul National University
Maenghyo Cho , Seoul National University
pp. 72

AVirtual Reality Toolkit for Path Planning and Manipulation at Nano-scale (Abstract)

Ihsan Gunev , Koc University, Istanbul, Turkey
Aydin Varol , Koc University, Istanbul, Turkey
Cagatay Basdogan , Koc University, Istanbul, Turkey
pp. 73

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

Takahiro Yamamoto , Nagoya Institute of Technology, Japan
Hideo Fujimoto , Nagoya Institute of Technology, Japan
Ryo Kikuuwe , Nagoya Institute of Technology, Japan
pp. 74

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

Pei Chen , University of Delaware
Kenneth E. Barner , University of Delaware
Karl V. Steiner , University of Delaware
pp. 75

The Effect of Prediction on Collaborative Haptic Applications (Abstract)

A. Hossein , University of Ottawa, Ottawa, Canada
A. Boukerche , University of Ottawa, Ottawa, Canada
S. Shirmohammadi , University of Ottawa, Ottawa, Canada
pp. 77

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

Sara McMains , University of California at Berkeley
Youngung Shon , University of California at Berkeley
pp. 78

Geometric Properties of Contacts Involving a Deformable Object (Abstract)

Qi Luo , University of North Carolina at Charlotte
Jing Xiao , University of North Carolina at Charlotte
pp. 80
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