The Community for Technology Leaders
World Haptics Conference (2007)
Tsukuba, Japan
Mar. 22, 2007 to Mar. 24, 2007
ISBN: 0-7695-2738-8
TABLE OF CONTENTS
Introduction

Committees (PDF)

pp. xv

Reviewers (PDF)

pp. xvii
Psychophysics

A Behavioral Adaptation Approach to Identifying Visual Dependence of Haptic Perception (Abstract)

Vikram Chib , Northwestern University, USA
J. Edward Colgate , Northwestern University, USA
Arsalan Salamat , Rehabilitation Institute of Chicago, USA
James Sulzer , Northwestern University, USA
pp. 3-8

JND Analysis of Texture Roughness Perception using a Magnetic Levitation Haptic Device (Abstract)

Bertram Unger , Carnegie Mellon University
Ralph Hollis , Carnegie Mellon University
Roberta Klatzky , Carnegie Mellon University
pp. 9-14

The Gestalt Principle of Continuation Applies to both the Haptic and Visual Grouping of Elements (Abstract)

Keith V. Nesbitt , Charles Sturt University, Australia
Dempsey Chang , University of Canberra, Australia
Kevin Wilkins , Charles Sturt University, Australia
pp. 15-20

Haptic Feedback Enhances Force Skill Learning (Abstract)

Hong Tan , Purdue University
Timothy Chang , Stanford University
Dan Morris , Stanford University
Federico Barbagli , Stanford University
Kenneth Salisbury , Stanford University
pp. 21-26

On the Influence of Arm Inertia and Configuration on Motion Planning of Reaching Movements in Haptic Environments (Abstract)

Shigeyuki Hosoe , Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami
Yutaka Kanou , 3D Inc., Japan
Igor Goncharenko , 3D Inc., Japan
Sven Forstmann , 3D Inc., Japan
Mikhail Svinin , Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami
pp. 33-38

Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport (Abstract)

John F. Soechting , University of Minnesota, USA
Martha Flanders , University of Minnesota, USA
Sara A. Winges , University of Minnesota, USA
Bornali Kundu , University of Minnesota, USA
pp. 39-43

Vibration Enhances Geometry Perception with Tactile Shape Displays (Abstract)

Mar?a Oyarz?bal , Universidad Polit?cnica de Madrid, Spain
Masashi Nakatani , University of Tokyo, Japan
Robert D. Howe , Harvard University, Cambridge, MA, USA
pp. 44-49

Mechanical Impedance of the Hand Holding a Spherical Tool at Threshold and Suprathreshold Stimulation Levels (Abstract)

Ali Israr , Purdue University, USA
Hong Z. Tan , Purdue University, USA
Seungmoon Choi , POSTECH, Republic of Korea
pp. 56-60

Texture Gradients and Perceptual Constancy under Haptic Exploration (Abstract)

Daryan Rosic , University of Auckland
Barry Hughes , University of Auckland
Jin Wang , Zhejiang University
Katie Palmer , University of Auckland
pp. 66-71

A Visuo-Haptic Device - Telemaque - Increases Kindergarten Children?s Handwriting Acquisition (Abstract)

F. Bara , Sherbrook University, Canada
P. Gouagout , FranceTelecom Division Research Development, Grenoble, France
R. Palluel-Germain , Moss Rehabilitation Research Institute, Philadelphia, USA
B. Hennion , FranceTelecom Division Research Development, Grenoble, France
A. Hillairet de Boisferon , CNRS UMR-5105, Grenoble II, France
E. Gentaz , Moss Rehabilitation Research Institute, Philadelphia, USA
pp. 72-77

Evaluation of Human Performance with Kinematic and Haptic Errors (Abstract)

Tomonori Yamamoto , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
pp. 78-83

Human Performance in a Knob-Turning Task (Abstract)

A. M. Okamura , Johns Hopkins University, USA
N. Gurari , Johns Hopkins University, USA
pp. 96-101

Design of a Haptic Zoom: levels and steps (Abstract)

Mounia Ziat , Technological University of Compiegne, COSTECH, Compiegne, France
Charles Lenay , Technological University of Compiegne, COSTECH, Compiegne, France
Jerome Bausse , Technological University of Compiegne, France
Olivier Gapenne , Technological University of Compiegne, COSTECH, Compiegne, France
John Stewart , Technological University of Compiegne, COSTECH, Compiegne, France
pp. 102-108
Device Design

Ubi-Pen: Development of a Compact Tactile Display Module and Its Application to a Haptic Stylus (Abstract)

Ki-Uk Kyung , POST-PC Group, Electronics and Telecommunication Research Institute, Korea
Jun-Seok Park , POST-PC Group, Electronics and Telecommunication Research Institute, Korea
pp. 109-114

Braille Display by Lateral Skin Deformation with the STReSS2 Tactile Transducer (Abstract)

Vincent Hayward , McGill University, Montreal, Canada
Vincent Levesque , McGill University, Montreal, Canada
Jerome Pasquero , McGill University, Montreal, Canada
pp. 115-120

Proposal for tactile sense presentation that combines electrical and mechanical stimulus (Abstract)

Susumu Tachi , The University of Tokyo, JPN
Hiroyuki Kajimoto , The University of Electro-Communications, JPN
Shinobu Kuroki , The University of Tokyo, JPN
Hideaki Nii , The University of Tokyo, JPN
Naoki Kawakami , The University of Tokyo, JPN
pp. 121-126

Tactile Perception of Rotational Sliding (Abstract)

Brandt D. Erickson , University of Utah
Hong Z. Tan , Purdue University
Federico Barbagli , Stanford University
William R. Provancher , University of Utah
pp. 127-132

A Wearable Haptic Display to Present the Gravity Sensation - Preliminary Observations and Device Design (Abstract)

Hiroyuki Kajimoto , The University of Electro-Communications, Japan
Naoki Kawakami , The University of Tokyo, Japan
Kouta Minamizawa , The University of Tokyo, Japan
Susumu Tachi , The University of Tokyo, Japan
pp. 133-138

Integrating Two Haptic devices for Performance Enhancement (Abstract)

Enzo Pasquale Scilingo , University of Pisa, via Diotisalvi, 2, Pisa, Italy
Giovanni Tonietti , University of Pisa, via Diotisalvi, 2, Pisa, Italy
Antonio Bicchi , University of Pisa, via Diotisalvi, 2, Pisa, Italy
Nicola Sgambelluri , University of Pisa, via Diotisalvi, 2, Pisa, Italy
pp. 139-144

Finger Ring Tactile Interface Based on Propagating Elastic Waves on Human Fingers (Abstract)

Hiroyuki Shinoda , The University of Tokyo, Japan
Takayuki Iwamoto , The University of Tokyo, Japan
pp. 145-150

Large Area Sensor Skin based on Two-Dimensional Signal Transmission Technology (Abstract)

Yasutoshi Makino , The University of Tokyo, Japan
Hiromasa Chigusa , The University of Tokyo, Japan
Hiroyuki Shinoda , The University of Tokyo, Japan
pp. 151-156

Infrared Thermal Measurement System for Evaluating Model-Based Thermal Displays (Abstract)

Hsin-Ni Ho , Massachusetts Institute of Technology
Lynette A. Jones , Massachusetts Institute of Technology
pp. 157-163
Control and Dynamics

Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware (Abstract)

Andrew H. C. Gosline , McGill University, Montr?eal, Quebec, H3A 2A7 Canada
Vincent Hayward , McGill University, Montr?eal, Quebec, H3A 2A7 Canada
pp. 164-179

Impulse-based Control of an Impulsive Haptic Interface (Abstract)

Yasuyoshi Yokokohji , Kyoto University, Japan
Emmanuel Vander Poorten , Kyoto University, Japan
pp. 176-181

Capturing the Dynamics of Mechanical Knobs (Abstract)

Karon E. MacLean , University of British Columbia, Canada
Colin Swindells , University of British Columbia, Canada
pp. 194-199

A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator (Abstract)

Chee-Meng Chew , National University of Singapore
Hannes Bleuler , Ecole Polytechnique F?ed?erale de Lausanne, Switzerland
Dominique Chapuis , Laboratoire de Systemes Robotiques, Ecole Polytechnique Federale de Lausanne, Switzerland
Roger Gassert , Laboratoire de Systemes Robotiques, Ecole Polytechnique Federale de Lausanne, Switzerland
Xavier Michel , Laboratoire de Systemes Robotiques, Ecole Polytechnique Federale de Lausanne, Switzerland
Etienne Burdet , Imperial College London, UK
pp. 200-205

Task Instruction: the largest Influence on Human Operator Motion Control Dynamics (Abstract)

David A. Abbink , Delft University of Technology, the Netherlands
pp. 206-211

Optimal Control of a Robotic System for Human Power Enhancement (Abstract)

M. Bergamasco , PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
A. Frisoli , PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
E. Sanchez , CEIT (Centro de Estudios e Investigaciones T?cnicas de Guip?zcoa), San Sebastian, Spain
S. Marcheschi , PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
A. Montagner , PERCRO Laboratory, Scuola Superiore Sant?Anna, Pisa, Italy
pp. 212-218
Modeling and Rendering

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks (Abstract)

Claire Lackner , Columbia University, New York, USA
Matei Ciocarlie , Columbia University, New York, USA
Peter Allen , Columbia University, New York, USA
pp. 219-224

Transparent Rendering of Tool Contact with Compliant Environments (Abstract)

Miguel A. Otaduy , Computer Graphics Laboratory, ETH Zurich
Markus Gross , Computer Graphics Laboratory, ETH Zurich
pp. 225-230

An Algorithm of State-Space Precomputation Allowing Non-linear Haptic Deformation Modelling Using Finite Element Method (Abstract)

Igor Peterlik , Faculty of Informatics, Brno, Czech Republic
Ludek Matyska , Faculty of Informatics, Brno, Czech Republic
pp. 231-236

Surface Interrogation Methods for Haptic Rendering of Virtual Objects (Abstract)

Sethuraman Panchanathan , Arizona State University, Tempe, Arizona
Anusha Sridaran , Arizona State University, Tempe, Arizona
Dianne Hansford , Arizona State University, Tempe, Arizona
Kanav Kahol , Arizona State University, Tempe, Arizona
pp. 237-242

Haptic Models of an Automotive Turn-Signal Switch: Identification and Playback Results (Abstract)

Mark B. Colton , Brigham Young University, USA
John M. Hollerbach , University of Utah, USA
pp. 243-248

Incorporating Geometric Algorithms in Impedance- and Admittance-Type Haptic Rendering (Abstract)

Hideo Fujimoto , Nagoya Institute of Technology, Nagoya, 466-8555, Japan
Ryo Kikuuwe , Nagoya Institute of Technology, Nagoya, 466-8555, Japan
pp. 249-254

High Resolution Analysis of Impact Sounds and Forces (Abstract)

L-M Reissell , University of British Columbia and Rutgers University
Dinesh K. Pai , University of British Columbia and Rutgers University
pp. 255-260

Design and Psychophysical Study of Volume Compression for Haptic Rendering (Abstract)

Gabriele von Voigt , Leibniz University Hannover
Gabriel Gaus , Leibniz University Hannover
Nils Jensen , Leibniz University Hannover
Stephan Olbrich , University Computer Center Heinrich-Heine-University Dusseldorf, Germany
pp. 261-267
Haptic Systems and Applications

User Perception and Preference in Model Mediated Telemanipulation (Abstract)

Gunter Niemeyer , Telerobotics Lab, Stanford University, USA
Diana Gentry , Telerobotics Lab, Stanford University, USA
Probal Mitra , Telerobotics Lab, Stanford University, USA
pp. 268-273

An Authoring/Editing Framework for Haptic Broadcasting: Passive Haptic Interactions using MPEG-4 BIFS (Abstract)

Jongeun Cha , Gwangju Institute of Science and Technology, KOREA
Yongwon Seo , Gwangju Institute of Science and Technology, KOREA
Jeha Ryu , Gwangju Institute of Science and Technology, KOREA
Yeongmi Kim , Gwangju Institute of Science and Technology, KOREA
pp. 274-279

Dynamic Video Resolution Control Based on Haptic Media in Haptic and Visual Communications (Abstract)

Seiji Kameyama , Nagoya Institute of Technology, Nagoya 466-8555, Japan
Yutaka Ishibashi , Nagoya Institute of Technology, Nagoya 466-8555, Japan
pp. 280-285

Visuo-Haptic Systems: Half-Mirrors Considered Harmful (Abstract)

Hiroyuki Yamamoto , Human Machine Perception Laboratory, Canon Inc.
Christian Sandor , Human Machine Perception Laboratory, Canon Inc.
Shinji Uchiyama , Human Machine Perception Laboratory, Canon Inc.
pp. 292-297

Development of a Motion Teaching System Using an Immersive Projection Display and a Haptic Interface (Abstract)

Mutsuki Matsumoto , University of Tsukaba, Japan
Hiroo Iwata , University of Tsukaba, Japan
Hiraoki Yano , University of Tsukaba, Japan
pp. 298-303

Comparative Study: Virtual Fixtures and Shared Control for Rehabilitation of Fine Motor Skills (Abstract)

Govindarajan Srimathveeravalli , Virtual Reality Laboratory, State University of New York
Thenkurussi Kesavadas , Virtual Reality Laboratory, State University of New York
Venkatraghavan Gourishankar , Virtual Reality Laboratory, State University of New York
pp. 304-309

A haptic/acoustic application to allow blind the access to spatial information (Abstract)

F. Renna , Institute of Intelligent Systems for Automation - C.N.R., Italy
F. De Felice , Institute of Intelligent Systems for Automation - C.N.R., Italy
G. Attolico , Institute of Intelligent Systems for Automation - C.N.R., Italy
A. Distante , Institute of Intelligent Systems for Automation - C.N.R., Italy
pp. 310-315

Where are we with Haptic Visualization? (Abstract)

Sabrina Paneels , Computing Laboratory, University of Kent, UK
Jonathan C. Roberts , Computing Laboratory, University of Kent, UK
pp. 316-323
Psychophysics

Toward Visualization of Skill in VR: Adaptive Real-Time Guidance for Learning Force Exertion through the "Shaping" Strategy (Abstract)

Hiroyuki Yoshihara , Kyoto University Hospital
Mikko J. Rissanen , Kyoto University
Naoto Kume , Kyoto University
Yoshihiro Kuroda , Osaka University
Tomohiro Kuroda , Kyoto University Hospital
Megumi Nakao , NAIST, Japan
pp. 324-329

Group Work About Geometrical Concepts Among Blind and Sighted Pupils Using Haptic Interfaces (Abstract)

Jonas Moll , Royal Institute of Technology, Sweden
Kerstin Severinson-Eklundh , Royal Institute of Technology, Sweden
Eva-Lotta Sallnas , Royal Institute of Technology, Sweden
pp. 330-335

Role of vision on haptic length perception (Abstract)

Kazunori Terada , Gifu University
Akira Ito , Gifu University
Akinori Kumazaki , Gifu University
pp. 336-341

Tilt Perception by Constant Tactile and Constant Proprioceptive Feedback through a Human System Interface (Abstract)

Berthold Farber , Universitat der Bundeswehr Munchen
Martin Buss , Technische Universitat Munchen
Martin Kuschel , Technische Universitat Munchen
Franziska K.B. Freyberger , Universitat der Bundeswehr M?unchen
Roberta L. Klatzky , Carnegie Mellon University
pp. 342-347

Discriminability of Real and Virtual Surfaces with Triangular Gratings (Abstract)

Matthew Kocsis , Purdue University, USA
Hong Z. Tan , Purdue University, USA
Bernard D. Adelstein , NASA Ames Research Center, USA
pp. 348-353

The Effect of Sound on Haptic Perception (Abstract)

Seung-Chan Kim , Telerobotics and Control Lab at KAIST, Korea
Ki-Uk Kyung , POST-PC Group, Digital Home Division at ETRI, Korea
Dong-Soo Kwon , Telerobotics and Control Lab at KAIST, Korea
pp. 354-360
Device Design

A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator (Abstract)

G?oran A.V. Christiansson , Delft University of Technology
Erik C. Fritz , Delft University of Technology
pp. 361-366

A Hybrid Actuation Approach for Haptic Devices (Abstract)

Charles Baur , VRAI Group, Laboratoire de Syst?mes Robotiques EPFL, Switzerland
Fran?ois Conti , Stanford University
Oussama Khatib , Stanford University
pp. 367-372

Effects of Longitudinal Skin Stretch on the Perception of Friction (Abstract)

Nicholas D. Sylvester , University of Utah, Salt Lake City, Utah, USA
William R. Provancher , University of Utah, Salt Lake City, Utah, USA
pp. 373-378

A Wearable 3-DOF Wire-driven Force Feedback Device (Abstract)

Yong Won Seo , Gwang Ju Institute of Science and Technology, Korea
Yo-An Lim , Gwang Ju Institute of Science and Technology, Korea
Jeha Ryu , Gwang Ju Institute of Science and Technology, Korea
pp. 379-384

Using an Ultrasonic Transducer: Evidence for an Anisotropic Deprivation of Frictional Cues in Microtexture Perception (Abstract)

Loic Boulon , Universite des Sciences et Technologies de Lille,L2EP-IRCICA, France
Betty Lemaire-Semail , Universite des Sciences et Technologies de Lille,L2EP-IRCICA, France
Francois Martinot , Universite des Sciences et Technologies de Lille,L2EP-IRCICA, France
Melisande Biet , Universite des Sciences et Technologies de Lille,L2EP-IRCICA, France
Frederic Giraud , Universite des Sciences et Technologies de Lille,L2EP-IRCICA, France
pp. 385-390

Improvement of Shape Distinction by Kinesthetic-Tactile Integration (Abstract)

Hiroyuki Kajimoto , University of Electro-Communications, JPN
Susumu Tachi , University of Tokyo, JPN
Naoki Kawakami , University of Tokyo, JPN
Katsunari Sato , The University of Tokyo, JPN
pp. 391-396

Multi-Fingered Haptic Interface Robot Handling Plural Tool Devices (Abstract)

Yoshio OHTSUKA , Gifu University, Japan
Tetsuya MOURI , Gifu University, Japan
Haruhisa KAWASAKI , Gifu University, Japan
Sho IKENOHATA , Gifu University, Japan
Takahiro ENDO , Gifu University, Japan
pp. 397-402

Free-Form Tactile Sensor Using 3-Dimensional Shape Capture Sheet (Abstract)

Takayuki Hoshi , University of Tokyo
Hiroyuki Shinoda , University of Tokyo
pp. 403-408

A fingertip haptic display for improving local perception of shape cues (Abstract)

Massimo Bergamasco , PERCRO, Scuola Superiore Sant?Anna, Italy
Fabio Salsedo , PERCRO, Scuola Superiore Sant?Anna, Italy
Massimiliano Solazzi , PERCRO, Scuola Superiore Sant?Anna, Italy
Antonio Frisoli , PERCRO, Scuola Superiore Sant?Anna, Italy
pp. 409-414

A 2D-Motion Platform: The Cybercarpet (Abstract)

Thomas Thummel , Institute of Applied Mechanics
Heinz Ulbrich , Institute of Applied Mechanics
Martin C. Schwaiger , Institute of Applied Mechanics
pp. 415-420

T-PaD: Tactile Pattern Display through Variable Friction Reduction (Abstract)

Laura Winfield , Northwestern University, USA
Michael Peshkin , Northwestern University, USA
John Glassmire , Northwestern University, USA
J. Edward Colgate , Northwestern University, USA
pp. 421-426

Assessing the Efficacy of Variable Compliance Tactile Displays (Abstract)

Michael A. Taylor , Northwestern University, USA
J. Edward Colgate , Northwestern University, USA
Aaron R. Ferber , Northwestern University, USA
pp. 427-432

Comfortable Wristband Interface Measuring Myoelectric Pattern (Abstract)

Hiroyuki Shinoda , The University of Tokyo
Yasutoshi Makino , The University of Tokyo
pp. 433-438

Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device (Abstract)

Blake Hannaford , University of Washington, Seattle, WA
Gina Donlin , University of Washington, Seattle, WA
Rainer Leuschke , University of Washington, Seattle, WA
pp. 439-445
Control and Dynamics

General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control (Abstract)

Vincent Duchaine , Universite Laval, Quebec (QC), Canada
Clement M. Gosselin , Universite Laval, Quebec (QC), Canada
pp. 446-451

Widening 6-DOF haptic devices workspace with an additional degree of freedom (Abstract)

Xavier Merlhiot , Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Florian Gosselin , Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Claude Andriot , Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Florian Bergez , Laboratoire d?Int?gration des Syst?mes et des Technologies, France
pp. 452-457

Accurate Haptic Teleoperation on Soft Tissues through Slave Friction Compensation by Impedance Reflection (Abstract)

Dominiek Reynaerts , Div. Production Engineering, Machine Design and Automation, K.U.Leuven, Belgium
Gudrun De Gersem , Div. Production Engineering, Machine Design and Automation, K.U.Leuven, Belgium
Mauro Sette , Div. Production Engineering, Machine Design and Automation, K.U.Leuven, Belgium
Pauwel Goethals , Div. Production Engineering, Machine Design and Automation, K.U.Leuven, Belgium
pp. 458-463

High performance explicit force control for finger interaction haptic interface (Abstract)

S. Marcheschi , PERCRO Scuola Superiore Sant?Anna, Italy
M. Bergamasco , PERCRO Scuola Superiore Sant?Anna, Italy
F. Tarri , PERCRO Scuola Superiore Sant?Anna, Italy
O. Portillo-Rodr?guez , PERCRO Scuola Superiore Sant?Anna, Italy
F. Salsedo , PERCRO Scuola Superiore Sant?Anna, Italy
M. Fontana , PERCRO Scuola Superiore Sant?Anna, Italy
pp. 464-469

Enhancing Transparency of a Position-Exchange Teleoperator (Abstract)

Mohsen Mahvash , Johns Hopkins University, USA
Allison M. Okamura , Johns Hopkins University, USA
pp. 470-475

Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique (Abstract)

Riichiro Tadakuma , University of Tokyo
Naoki Kawakami , University of Tokyo
Hiroyuki Kajimoto , University of Electro-Communications, Japan
Dzmitry Tsetserukou , University of Tokyo
pp. 476-481

A Novel Haptic Interface for Navigation in Large Volume Environments (Abstract)

A. L. Barrow , Reading University, UK
R. G. Barrow , Reading University, UK
W. S. Harwin , Reading University, UK
T. A. Smith , Reading University, UK
pp. 482-487

Development of a String-Based Haptic Interface by Using a Hybrid Control Approach (Abstract)

Laure Leroy , Ecole des Mines de Paris, France
Rasul Fesharakifard , Ecole des Mines de Paris, France
Philippe Fuchs , Ecole des Mines de Paris, France
pp. 488-493

HapStick: A High Fidelity Haptic Simulation for Billiards (Abstract)

Govindarajan Srimathveeravalli , State University of New York
Venkatraghavan Gourishankar , State University of New York
Thenkurussi Kesavadas , State University of New York
pp. 494-500
Modeling, Rendering and Applications

Fast and High Precision Volume Haptics (Abstract)

Karljohan Lundin Palmerius , Linkoping University, Sweden
pp. 501-506

Fast Rendering for a Multifinger Haptic Display (Abstract)

Rainer Leuschke , University of Washington, Seattle, USA
Blake Hannaford , University of Washington, Seattle, USA
pp. 507-512

Haptic Rendering of Point Set Surfaces (Abstract)

Young J. Kim , Ewha Womans University, Seoul, Korea
Jae-Kyu Lee , Ewha Womans University, Seoul, Korea
pp. 513-518

Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models (Abstract)

Sarthak Misra , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
K. T. Ramesh , Johns Hopkins University
pp. 519-524

Construction of Training Environment for Surgical Exclusion with a Basic Study of Multi-finger Haptic Interaction (Abstract)

Osamu Oshiro , Graduate School of Engineering Science, Osaka University, Japan
Tomohiro Kuroda , Kyoto University Hospital, Japan
Yoshihiro Kuroda , Graduate School of Engineering Science, Osaka University, Japan
Yasushi Masuda , Graduate School of Engineering Science, Osaka University, Japan
Makoto Hirai , Kobe Steel, Ltd., Japan
Megumi Nakao , NAIST, Japan
Toshihiko Sato , Kyoto University, Japan
pp. 525-530

conTACT - A Vibrotactile Display for Computer Aided Surgery (Abstract)

Melina Brell , University of Oldenburg, Germany
Andreas Hein , University of Oldenburg, Germany
pp. 531-536

Time-Based Haptic Analysis of Protein Dynamics (Abstract)

Guido Reina , University of Stuttgart, Germany
Fabian Bos , University of Stuttgart, Germany
Thomas Ertl , University of Stuttgart, Germany
Katrin Bidmon , University of Stuttgart, Germany
Jurgen Pleiss , University of Stuttgart, Germany
pp. 537-542

A Modular Software Haptic Interface for Teleoperated Nanomanipulation and AFM Probe Based Characterization of Carbon Nanotubes (Abstract)

Volkmar Eichhorn , University of Oldenburg, D26111 Oldenburg, Germany
Atanas Dobrinov , University of Oldenburg, D26111 Oldenburg, Germany
pp. 543-550
Psychophysics

The Effect of Weight on the Perception of Vibrotactile Intensity with Handheld Devices (Abstract)

Manuel Cruz , Immersion Canada Inc.
Vincent Hayward , McGill Univ., Montreal, Qc, H3A 2A7 Canada
Danny Grant , Immersion Canada Inc.
Hsin-Yun Yao , McGill Univ., Montreal, Qc, H3A 2A7 Canada
pp. 551-552

Haptic and Visual Working Memory in Young Adults, Healthy Older Adults, and Mild Cognitive Impairment Adults (Abstract)

Susana Paz , UNED Research Institute (CEEN) and Department of Basic Psychology II., Madrid, Spain
Soledad Ballesteros , UNED Research Institute (CEEN) and Department of Basic Psychology II., Madrid, Spain
Julia Mayas , UNED Research Institute (CEEN) and Department of Basic Psychology II., Madrid, Spain
pp. 553-554

Dynamic Perceptual Maps - A Psychophysical Approach to Spatiotemporal Interactions and Plasticity in Body Perception (Abstract)

Dieter Kleinbohl , University of Mannheim, Germany
Rupert Holzl , University of Mannheim, Germany
Jorg Trojan , University of Mannheim, Germany
pp. 555-556

An Eyetracker Study of the Haptic Cuing of Visual Attention (Abstract)

J. Jay Young , Purdue University
Charles Spence , Oxford University, Oxford, UK
Hong Z. Tan , Purdue University
Rob Gray , Arizona State University East, Mesa, AZ
Chanon M. Jones , Purdue University
pp. 557-558

Can A Narrow Field of View Explain The Extremely Small Amount of Tactile Memory During Tactile Search for Change? (Abstract)

Kenji Yokoi , University of Tokyo, JAPAN
Hiromi Wake , Kanagawa University, JAPAN
Yuki Miyazaki , Chukyo University, JAPAN
Tenji Wake , Chukyo University, JAPAN
Takako Yoshida , Harvard University, USA
pp. 559-560

Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control (Abstract)

Katherine J. Kuchenbecker , Johns Hopkins University
Netta Gurari , Johns Hopkins University
Allison M. Okamura , Johns Hopkins University
pp. 561-562

Sensory Property in Fusion of Visual/Haptic Cues by Using Mixed Reality (Abstract)

Yuichi Ohta , University of Tsukuba, Japan
Morio Nakahara , University of Tsukuba, Japan
Itaru Kitahara , University of Tsukuba, Japan
pp. 565-566

Active vs passive touch: the state of play and the future (Abstract)

Mark A Symmons , Monash University, Churchill, Australia
Dianne B. Wuillemin , Monash University, Churchill, Australia
Barry L. Richardson , Monash University, Churchill, Australia
pp. 567-568
Device Design

Hand-held Force Display with Spring-Cam Mechanism for Generating Asymmetric Acceleration (Abstract)

Taro Maeda , NTT Communication Science Laboratories
Hideyuki Ando , NTT Communication Science Laboratories,
Tomohiro Amemiya , NTT Communication Science Laboratories,
pp. 572-573

Tactile Vocabulary for Tactile Displays (Abstract)

Lynette A. Jones , Massachusetts Institute of Technology
Jacquelyn Kunkel , Massachusetts Institute of Technology
Edgar Torres , Massachusetts Institute of Technology
pp. 574-575

A Hand-held Display Presenting Visual and Force Information (Abstract)

Hidenori Kuribayashi , Tokyo Polytechnics University, Japan
Shoko Nakamura , Tokyo Polytechnics University, Japan
Yuichiro Kume , Tokyo Polytechnics University, Japan
pp. 576-577

Development of Quantitative Tactile Display Device to Provide Both Pin- Array-Type Tactile Feedback and Thermal Feedback (Abstract)

M.A. Srinivasan , Touch Lab., MIT, USA
Dong-Soo Kwon , Human-Robot Interaction Research Center, KAIST, Korea
Gi-Hun , Human-Robot Interaction Research Center, KAIST, Korea
Ki-Uk Kyung , POST PC Research Group, ETRI, Korea
pp. 578-579

Implementing Compact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module (Abstract)

Sung-Chul Kang , Intelligent Robot Research Center, KIST, Korea
Tae-Heon Yang , Human-Robot Interaction Research Center, KAIST, Korea
Gi-Hun Yang , Human-Robot Interaction Research Center, KAIST, Korea
Dong-Soo Kwon , Human-Robot Interaction Research Center, KAIST, Korea
pp. 580-581

Development of Fingertip Type Non-grounding Force Feedback Display (Abstract)

Norio , National Institute of Advanced Industrial Science and Technology (AIST), Japan
Yukio FUKUI , University of Tsukuba, Japan
pp. 582-583

Producing Softness Sensation on an Electrostatic Texture Display for Rendering Diverse Tactile Feelings (Abstract)

Hideaki Yokota , University of Tokyo, Japan
Akio Yamamoto , University of Tokyo, Japan
Hiroaki Yamamoto , University of Tokyo, Japan
Toshiro Higuchi , University of Tokyo, Japan
pp. 584-585

Piezoelectric Ultrasonic Actuator for a Haptic Display for Catheterisation (Abstract)

Stephanie Klages , Institut f?r Elektromechanische Konstruktionen, Darmstadt, Germany
Roland Werthsch? , Institut f?r Elektromechanische Konstruktionen, Darmstadt, Germany
Thorsten Meiss , Institut f?r Elektromechanische Konstruktionen, Darmstadt, Germany
Thorsten A. Kern , Institut f?r Elektromechanische Konstruktionen, Darmstadt, Germany
pp. 586-588
Rendering and Applications

GPU-Based Distance Map Calculation for Vector Field Haptic Rendering (Abstract)

Alexander Barlit , ETH Zurich, Switzerland
Matthias Harders , ETH Zurich, Switzerland
pp. 589-590

Accelerated Proximity Queries for Haptic Rendering of Deformable Models (Abstract)

Paul Mecklenburg , University of North Carolina at Chapel Hill, USA
Nico Galoppo , University of North Carolina at Chapel Hill, USA
Ming C. Lin , University of North Carolina at Chapel Hill, USA
Miguel A. Otaduy , ETH Zurich, Switzerland
Markus Gross , ETH Zurich, Switzerland
pp. 591-592

A viscoelastic soft tissue model for haptic surgical simulation (Abstract)

Vincent Mora , Industrial Materials Institute, National Research Council, Canada
Iman Brouwer , Industrial Materials Institute, National Research Council, Canada
Denis Laroche , Industrial Materials Institute, National Research Council, Canada
pp. 593-594

Roughness Feeling Telepresence System with Communication Time-D (Abstract)

Satoshi Tadokoro , Tohoku University, Japan
Takashi Maeno , Keio University, Japan
Masashi Konyo , Tohoku University, Japan
Shogo Okamoto , Tohoku University, Japan
pp. 595-596

Closed loop stability analysis of an assistance system for catheterization (Abstract)

Thorsten A. Kern , Institute for Electromechanical Design Darmstadt University of Technology
Roland Werthschutzky , Institute for Electromechanical Design Darmstadt University of Technology
Thorsten Meib , Institute for Electromechanical Design Darmstadt University of Technology
Stephanie Klages , Institute for Electromechanical Design Darmstadt University of Technology
pp. 597-598

Transfer method of Force Information using Five-Fingered Haptic Interface Robot (Abstract)

Haruhisa Kawasaki , Gifu University, Japan
Takahiro Endo , Gifu University, Japan
Kazushige Kigaku , Gifu University, Japan
Tetsuya Mouri , Gifu University, Japan
pp. 599-600

The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency (Abstract)

Nikolas H. Blevins , Stanford University, Stanford, CA, USA
Hong Z. Tan , Purdue University
Sumanth Peddamatham , Purdue University
Christopher Sewell , Stanford University, Stanford, CA, USA
pp. 601-603

Experiments in Planar Haptic Contour Exploration (Abstract)

Kee-Yip Chan , University of California, Santa Cruz
Kelly Kitagawa , University of California, Santa Cruz
Roberto Manduchi , University of California, Santa Cruz
pp. 604-606
Author Index

Author Index (PDF)

pp. 607
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