The Community for Technology Leaders
World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
TABLE OF CONTENTS
Papers

Committee (PDF)

pp. iii-vi

Table of contents (PDF)

pp. x-xxi

Control of an actuated car door providing outstanding haptic interaction (Abstract)

Martin Buss , Institute of Automatic, Control Engineering, Technische Universit
Michael Strolz , Institute of Automatic, Control Engineering, Technische Universit
Michael Graf , BMW Forschung und Technik GmbH, Munich, Germany
Alexander Mortl , Institute of Automatic, Control Engineering, Technische Universit
pp. 314-319

The role of item fixation in haptic search (Abstract)

Astrid M.L. Kappers , Helmholtz Institute, Utrecht University, The Netherlands
Myrthe A. Plaisier , Helmholtz Institute, Utrecht University, The Netherlands
Wouter M. Bergmann Tiest , Helmholtz Institute, Utrecht University, The Netherlands
Irene A. Kuling , Helmholtz Institute, Utrecht University, The Netherlands
pp. 417-421

Remote dynamic proxies for wave-based peer-to-peer haptic interaction (Abstract)

Daniela Constantinescu , Department of Mechanical Engineering, University of Victoria, BC, Canada
Zhi Li , Department of Mechanical Engineering, University of Victoria, BC, Canada
pp. 553-558

Haptic stiffness identification by veterinarians and novices: A comparison (Abstract)

Neil Forrest , Royal Veterinary College, University of London, Hawkshead Lane, AL9 7TA, UK
Sarah Baillie , Royal Veterinary College, University of London, Hawkshead Lane, AL9 7TA, UK
Hong Z. Tan , Haptic Interface Research Laboratory, Purdue University, West Lafayette, IN, USA
pp. 646-651

Maneuverability of master control devices considering the musculo-skeletal model of an operator (Abstract)

Yasuyoshi Yokokohji , Department of Mechanical, Engineering and Science, Kyoto University, Japan
Sho Ito , Department of Mechanical, Engineering and Science, Kyoto University, Japan
pp. 57-62

Development of tremor-suppression filter for meal-assist robot (Abstract)

Ken'ichi Yano , Gifu University, Japan
Takaaki Aoki , Gifu University, Japan
Satoshi Horihata , Nihon University, Japan
Eiichi Ohara , Gifu University, Japan
Yutaka Nishimoto , Gifu University, Japan
pp. 238-243

Position and force augmentation in a telepresence system and their effects on perceived realism (Abstract)

Carolina Weber , Institute of Automatic Control Engineering (LSR), Technische Universit
Martin Buss , Institute of Automatic Control Engineering (LSR), Technische Universit
Ulrich Unterhinninghofen , Institute of Automatic Control Engineering (LSR), Technische Universit
Berthold Farber , Human Factors Institute (IfA), Universit
Verena Nitsch , Human Factors Institute (IfA), Universit
pp. 226-231

Communication of direction through lateral skin stretch at the fingertip (Abstract)

William R. Provancher , Haptics and Embedded Mechatronics Lab, University of Utah, USA
Scott K. Horschel , Haptics and Embedded Mechatronics Lab, University of Utah, USA
Brian T. Gleeson , Haptics and Embedded Mechatronics Lab, University of Utah, USA
pp. 172-177

Performance improvement with haptic assistance: A quantitative assessment (Abstract)

Amitava Datta , School of Computer Science and Software Engineering, University of Western Australia, Australia
Chris Gunn , Commonwealth Scientific Industrial, Research Organisation (CSIRO), Australia
Warren Muller , Commonwealth Scientific Industrial, Research Organisation (CSIRO), Australia
pp. 511-516

Inverse piano technique for studying finger interaction during pressing tasks (Abstract)

Mark Latash , Motor Control Laboratory, Penn State University, University Park, PA 16802, USA
Vladimir Zatsiorsky , Biomechanics Laboratory, Penn State University, University Park, PA 16802, USA
Joel Martin , Biomechanics Laboratory, Penn State University, University Park, PA 16802, USA
pp. 395-396

Compact MR-brake with serpentine flux path for haptics applications (Abstract)

Hakan Gurocak , School of Engineering and Computer Science, Washington State University Vancouver, USA
Doruk Senkal , School of Engineering and Computer Science, Washington State University Vancouver, USA
pp. 91-96

An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction (Abstract)

Jeha Ryu , Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Jaeha Kim , Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Changhoon Seo , Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
Jong-Phil Kim , Human-Machine-Computer Interface Laboratory, Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Korea
pp. 320-325

Discrimination of thermal diffusivity (Abstract)

Wouter M. Bergmann Tiest , Helmholtz Institute, Utrecht University, The Netherlands
Astrid M. L. Kappers , Helmholtz Institute, Utrecht University, The Netherlands
pp. 635-639

Method for presenting virtual objects to multiple fingers on two-hands using multiple single-point haptic devices (Abstract)

Toshiya Morita , NHK Science&Technical Research Laboratories, Japan
Tadahiro Sakai , NHK Science&Technical Research Laboratories, Japan
Takuya Handa , NHK Science&Technical Research Laboratories, Japan
pp. 244-249

Perceptual coding of haptic data in time-delayed teleoperation (Abstract)

Iason Vittorias , Institute of Automatic Control Engineering (LSR), Technische Universit
Eckehard Steinbach , Institute of Communication Networks (LKN), Technische Universit
Julius Kammerl , Institute of Communication Networks (LKN), Technische Universit
Sandra Hirche , Institute of Automatic Control Engineering (LSR), Technische Universit
pp. 208-213

Five-fingered haptic interface robot: HIRO III (Abstract)

Yasutoshi Doi , Gifu University, Japan
Masato Matsumura , e-Valley Co. Ltd, Japan
Takahiro Endo , Gifu University, Japan
Tetsunori Yoshida , Gifu University, Japan
Tetsuya Mouri , Gifu University, Japan
Hisayuki Shimomura , Dainichi Co. Ltd, Japan
Kazumi Koketsu , Tec Gihan Co. Ltd, Japan
Yasuhiko Ishigure , Marutomi Seikou Co. Ltd, Japan
Haruhisa Kawasaki , Gifu University, Japan
pp. 458-463

Computationally efficient techniques for data-driven haptic rendering (Abstract)

Gabor Szekely , Computer Vision Lab - ETH Zurich, Sternwartstr. 7, CH-8092, Switzerland
Matthias Harders , Computer Vision Lab - ETH Zurich, Sternwartstr. 7, CH-8092, Switzerland
Massimiliano Di Luca , Max Planck Institute for Biological Cybernetics, Spemannstr. 41, D-72076 T
Raphael Hover , Computer Vision Lab - ETH Zurich, Sternwartstr. 7, CH-8092, Switzerland
pp. 39-44

Toward tactilely transparent gloves: Collocated slip sensing and bibrotactile actuation (Abstract)

Steven R. Gray , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Katherine J. Kuchenbecker , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Joseph M. Romano , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Nathan T. Jacobs , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
pp. 279-284

Vibrotactile score: A score metaphor for designing vibrotactile patterns (Abstract)

Seungmoon Choi , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
Jonghyun Ryu , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
Jaebong Lee , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
pp. 302-307

Haptics as an aid to copying for people with Williams Syndrome (Abstract)

Jin Lee , Department of Cognitive Science, The Johns Hopkins University, USA
Barbara Landau , Department of Cognitive Science, The Johns Hopkins University, USA
Allison M. Okamura , Department of Mechanical Engineering, The Johns Hopkins University, USA
pp. 356-361

Development of a miniature pin-array tactile module using elastic and electromagnetic force for mobile devices (Abstract)

Tae-Heon Yang , Human-Robot Interaction Center, KAIST, Korea
Chong Hui Kim , Agency for Defense Development, Korea
Wayne J. Book , Georgia Institute of Technology, USA
Sang-Youn Kim , Interaction Lab. KUT Univ., Korea
Dong-Soo Kwon , Human-Robot Interaction Center, KAIST, Korea
pp. 13-17

Measurement of the detection thresholds of hair on human hairy skin using direct vibrotactile stimulation (Abstract)

Masahiko Inami , Graduate School of Media Design Keio University, Japan
Naohisa Nagaya , The University of Electro-Communications, Japan
Yuki Hashimoto , The University of Electro-Communications, Japan
Masahiro Furukawa , The University of Electro-Communications, Japan
Hiroyuki Kajimoto , The University of Electro-Communications, Japan
pp. 127-132

Small and lightweight tactile display(SaLT) and its application (Abstract)

Gi-Hun Yang , KIST(Korea Institute of Science and Technology), Korea
Chong-Hui Kim , ADD(Agency for Defense Development), Korea
Tae-Heon Yang , KAIST(Korea Advanced Institute of Science and Technology), Korea
Seung-Chan Kim , KAIST(Korea Advanced Institute of Science and Technology), Korea
Dong-Soo Kwon , KAIST(Korea Advanced Institute of Science and Technology), Korea
Sung-Chul Kang , KIST(Korea Institute of Science and Technology), Korea
Byung-Kil Han , KAIST(Korea Advanced Institute of Science and Technology), Korea
pp. 69-74

Providing two-dimensional tactile directional information with one-dimensional movement (Abstract)

Roope Raisamo , Multimodal Interaction Research Group, Tampere Unit for Computer-Human Interaction (TAUCHI), Department of Computer Sciences, University of Tampere, Finland
Jani Lylykangas , Research Group for Emotions Sociality, and Computing Tampere Unit for Computer-Human Interaction (TAUCHI), Department of Computer Sciences, University of Tampere, Finland
Jussi Rantala , Multimodal Interaction Research Group, Tampere Unit for Computer-Human Interaction (TAUCHI), Department of Computer Sciences, University of Tampere, Finland
Veikko Surakka , Research Group for Emotions Sociality, and Computing Tampere Unit for Computer-Human Interaction (TAUCHI), Department of Computer Sciences, University of Tampere, Finland
pp. 593-598

Dielectric elastomer actuators for tactile displays (Abstract)

Peter Lotz , Technische Universit
Helmut F. Schlaak , Technische Universit
Thomas Winterstein , Technische Universit
Marc Matysek , Technische Universit
pp. 290-295

A haptic device DELTA-4: Kinematics and its analysis (Abstract)

Hiroyuki Kondo , Nagoya Institute of Technology, Japan
Masamichi Sakaguchi , Nagoya Institute of Technology, Japan
Jumpei Arata , Nagoya Institute of Technology, Japan
Hideo Fujimoto , Nagoya Institute of Technology, Japan
pp. 452-457

Performance of equivalent frequency-dependent damping (Abstract)

Jeha Ryu , Department of Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Korea
Yo-An Lim , Department of Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Korea
Hyo Sung Ahn , Department of Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Korea
pp. 559-564

Signal manipulation based on perceptual thresholds enhances surface experience with common haptic device (Abstract)

Marco Vicentini , Computer Science Department, University of Verona, Italy
Debora Botturi , Computer Science Department, University of Verona, Italy
pp. 133-138

Multidimensional visual aid enhances haptic training simulations (Abstract)

Osama Halabi , Department of Computer and Information Sciences, Iwate University, Japan
Norishige Chiba , Department of Computer and Information Sciences, Iwate University, Japan
pp. 500-504

Tactile object exploration using cursor navigation sensors (Abstract)

Alexander Bierbaum , Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
Tamim Asfour , Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
Rudiger Dillmann , Institute of Computer Science and Engineering, University of Karlsruhe (TH), Germany
pp. 296-301

Haptic, visual and visuo-haptic softness judgments for objects with deformable surfaces (Abstract)

Knut Drewing , Justus-Liebig-Universit
Florian Bayer , Justus-Liebig-Universit
Andreas Ramisch , Justus-Liebig-Universit
pp. 640-645

Finger force of exploratory movements is adapted to the compliance of deformable objects (Abstract)

Lukas R. Kaim , University of Giessen, Germany
Knut Drewing , University of Giessen, Germany
pp. 565-569

Vibrotactile display for hand-held input device providing spatial and directional information (Abstract)

Gi-Hun Yang , Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Korea
Sungchul Kang , Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Korea
Dongseok Ryu , Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Korea
pp. 79-84

A body-conforming tactile jacket to enrich movie viewing (Abstract)

Jack van den Eerenbeemd , Philips Research Europe, Germany
Floris Crompvoets , Philips Research Europe, Germany
Gert-Jan de Vries , Philips Research Europe, Germany
Paul Lemmens , Philips Research Europe, Germany
Dirk Brokken , Philips Research Europe, Germany
pp. 7-12

Haptical exploration of an unsteady flow (Abstract)

Patrick Bourdot , CNRS-LIMSI, University of Paris-Sud XI, France
Mehdi Ammi , CNRS-LIMSI, University of Paris-Sud XI, France
Bob Menelas , CNRS-LIMSI, University of Paris-Sud XI, France
Luc Pastur , CNRS-LIMSI, University of Paris-Sud XI, France
pp. 232-237

System improvements in Mobile Haptic Interface (Abstract)

Oh Kyu Choi , Robotics and Automation Laboratory, POSTECH, Korea
In Lee , Haptics and Virtual Reality Laboratory, POSTECH, Korea
Kyung-Lyoung Han , Robotics and Automation Laboratory, POSTECH, Korea
Inwook Hwang , Haptics and Virtual Reality Laboratory, POSTECH, Korea
Jin S. Lee , Robotics and Automation Laboratory, POSTECH, Korea
Seungmoon Choi , Haptics and Virtual Reality Laboratory, POSTECH, Korea
pp. 109-114

An HMM approach to realistic haptic human-robot interaction (Abstract)

Angelika Peer , Institute of Automatic Control Engineering, Technische Universit
Zheng Wang , Institute of Automatic Control Engineering, Technische Universit
Martin Buss , Institute of Automatic Control Engineering, Technische Universit
pp. 374-379

Evaluation of weight perception during unimanual and bimanual manipulation of virtual objects (Abstract)

Javier Ortego , Universidad Polit
Christos Giachritsis , University of Birmingham, Sensory Motor Neuroscience Laboratory, UK
Jorge Barrio , Universidad Polit
Manuel Ferre , Universidad Polit
Alan Wing , University of Birmingham, Sensory Motor Neuroscience Laboratory, UK
pp. 629-634

Design of a new fMRI compatible haptic interface (Abstract)

Antonio Frisoli , PERCRO Lab, Scuola Superiore Sant'Anna, Pisa, Italy
Massimo Bergamasco , PERCRO Lab, Scuola Superiore Sant'Anna, Pisa, Italy
Luigi Borelli , PERCRO Lab, Scuola Superiore Sant'Anna, Pisa, Italy
Markus Raabe , Experimental Psychology, University of Regensburg, Germany
Siqiao Li , PERCRO Lab, Scuola Superiore Sant'Anna, Pisa, Italy
Mark W. Greenlee , Experimental Psychology, University of Regensburg, Germany
pp. 535-540

Control strategies and perception effects in co-located and large workspace dynamical encountered haptics (Abstract)

Paolo Tripicchio , PERCeptual RObotics Laboratoty, Scuola Superiore Sant'Anna, Italy
Emanuele Ruffaldi , PERCeptual RObotics Laboratoty, Scuola Superiore Sant'Anna, Italy
Massimo Bergamasco , PERCeptual RObotics Laboratoty, Scuola Superiore Sant'Anna, Italy
Carlo Alberto Avizzano , PERCeptual RObotics Laboratoty, Scuola Superiore Sant'Anna, Italy
pp. 63-68

Robust perception-based data reduction and transmission in telehaptic systems (Abstract)

Jilin Zhou , School of Information Technology and Engineering, University of Ottawa, Ontario, Canada
Emil M. Petriu , School of Information Technology and Engineering, University of Ottawa, Ontario, Canada
Nizar Sakr , School of Information Technology and Engineering, University of Ottawa, Ontario, Canada
Jiying Zhao , School of Information Technology and Engineering, University of Ottawa, Ontario, Canada
Nicolas D. Georganas , School of Information Technology and Engineering, University of Ottawa, Ontario, Canada
pp. 214-219

A model of perception of the central point of elastic force fields (Abstract)

Gabriel Baud-Bovy , San Raffaele Vita-Salute University, Italy
Francesca Bocca , San Raffaele Vita-Salute University, Italy
pp. 576-581

Piezoelectric actuator for a force-feedback application: Preliminary evaluation (Abstract)

G. M'Boungui , Laboratoire d'Electrotechnique et d'Electronique de Puissance de Lille, IRCICA, France
B. Lemaire-Semail , Laboratoire d'Electrotechnique et d'Electronique de Puissance de Lille, IRCICA, France
F. Giraud , Laboratoire d'Electrotechnique et d'Electronique de Puissance de Lille, IRCICA, France
pp. 85-90

Gait enhancing mobile shoe (GEMS) for rehabilitation (Abstract)

Ryan Decker , Laboratory for Computational Sensing and Robotics, Johns Hopkins University, USA
Kyle B. Reed , Laboratory for Computational Sensing and Robotics, Johns Hopkins University, USA
Allison de Groot , Biomedical Engineering Department, Virginia Commonwealth University, USA
pp. 190-195

Improved feature detection over large force ranges using history dependent transfer functions (Abstract)

Lena A.E. Tibell , Department of Clinical and Experimental Medicine, Sweden
Petter Bivall Persson , Department of Science and Technology, Sweden
Gunnar E. Host , Department of Science and Technology, Sweden
Matthew D. Cooper , Department of Science and Technology, Sweden
Anders Ynnerman , Department of Science and Technology, Link
pp. 476-481

Morphing in periodic tactile signals (Abstract)

Karon E. MacLean , Department of Computer Science, University of British Columbia, Vancouver, Canada
Mario J. Enriquez , Department of Computer Science, University of British Columbia, Vancouver, Canada
Tian Lim , Department of Computer Science, University of British Columbia, Vancouver, Canada
pp. 178-183

Stiffness discrimination with visual and proprioceptive cues (Abstract)

Netta Gurari , Johns Hopkins University, USA
Allison M. Okamura , Johns Hopkins University, USA
Katherine J. Kuchenbecker , University of Pennsylvania, USA
pp. 121-126

Role determination in human-human interaction (Abstract)

Angelika Peer , Technische Universit
Nikolay Stefanov , Technische Universit
Martin Buss , Technische Universit
pp. 51-56

Least conservative robust stability condition for linear bilateral teleoperation control systems (Abstract)

Keyvan Hashtrudi-Zaad , Department of Electrical and Computer Engineering, Queen's University, Kingston, ON K7L 3N6, Canada
Amir Haddadi , Department of Electrical and Computer Engineering, Queen's University, Kingston, ON K7L 3N6, Canada
pp. 220-225

Data-driven haptic modeling using polynomial hypersurfaces (Abstract)

Mark B. Colton , Brigham Young University, USA
Paul A. Theodosis , Brigham Young University, USA
pp. 35-38

Vibrotactile perception assessment for a rowing training system (Abstract)

Emanuele Ruffaldi , Scuola Superiore S.Anna, Italy
Alessandro Filippeschi , Scuola Superiore S.Anna, Italy
Carlo Alberto Avizzano , Scuola Superiore S.Anna, Italy
Oscar Sandoval , Scuola Superiore S.Anna, Italy
Massimo Bergamasco , Scuola Superiore S.Anna, Italy
Antonio Frisoli , Scuola Superiore S.Anna, Italy
pp. 350-355

A wearable skin stretch device for haptic feedback (Abstract)

Jason Wheeler , Stanford University, USA
Joan Savall , CEIT and Tecun, University of Navarra, Spain
Gayle Lee , Stanford University, USA
Karlin Bark , Stanford University, USA
Mark Cutkosky , Stanford University, USA
pp. 464-469

On-line precomputation algorithm for real-time haptic interaction with non-linear deformable bodies (Abstract)

Jiri Filipovic , Masaryk University, Czech Republic
Igor Peterlik , Masaryk University, Czech Republic
Ludek Matyska , Masaryk University, Czech Republic
pp. 24-29

Passive set-position modulation approach for haptics with slow, variable, and asynchronous update (Abstract)

Ke Huang , Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA
Dongjun Lee , Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA
pp. 541-546

Toward a robot-assisted assessment of the control processes of the motor system (Abstract)

Gabriel Baud-Bovy , IIT Network Research National Institute of Neuroscience, San Raffaele Foundation, Milan, Italy
David Meary , IIT Network Research National Institute of Neuroscience, San Raffaele Foundation, Milan, Italy
pp. 368-373

Performance related energy exchange in haptic human-human interaction in a shared virtual object manipulation task (Abstract)

Daniela Feth , Institute of Automatic Control Engineering, Technische Universit
Angelika Peer , Institute of Automatic Control Engineering, Technische Universit
Raphaela Groten , Institute of Automatic Control Engineering, Technische Universit
Sandra Hirche , Institute of Automatic Control Engineering, Technische Universit
Martin Buss , Institute of Automatic Control Engineering, Technische Universit
pp. 338-343

Wind display device for locomotion interface in a virtual environment (Abstract)

Mark Minor , University of Utah, Salt Lake City, 84112, USA
Sandip Kulkarni , University of Utah, Salt Lake City, 84112, USA
Charles Fisher , University of Utah, Salt Lake City, 84112, USA
John Hollerbach , University of Utah, Salt Lake City, 84112, USA
Eric Pardyjak , University of Utah, Salt Lake City, 84112, USA
pp. 184-189

Determining appropriate parameters to elicit linear and circular apparent motion using vibrotactile cues (Abstract)

Masataka Niwa , Graduate School of Information Science and Technology, Osaka University, Japan
Yuichi Itoh , Graduate School of Information Science and Technology, Osaka University, Japan
Fumio Kishino , Graduate School of Information Science and Technology, Osaka University, Japan
Robert W. Lindeman , Department of Computer Science, Worcester Polytechnic Institute, USA
pp. 75-78

Effects of sounds on tactile roughness depend on the congruency between modalities (Abstract)

Yuika Suzuki , Department of Psychology, Graduate School of Arts and Letters, Tohoku University, Japan
Jiro Gyoba , Research Fellow, Japan Society for the Promotion of Science, Japan
pp. 150-153

The ultimate haptic device: First step (Abstract)

Sinan Haliyo , UPMC Univ Paris 06, UMR 7222, Institut des Syst
Guillaume Millet , UPMC Univ Paris 06, UMR 7222, Institut des Syst
Stephane Regnier , UPMC Univ Paris 06, UMR 7222, Institut des Syst
Vincent Hayward , UPMC Univ Paris 06, UMR 7222, Institut des Syst
pp. 273-278

A data compression method for impulse response deformation model (Abstract)

Koichi Hirota , Graduate School of Frontier Sciences, The University of Tokyo, Japan
Michitaka Hirose , Graduate School of Information Science and Technology, The University of Tokyo, Japan
Kazuyoshi Tagawa , Intelligent Modeling Laboratory, The University of Tokyo, Japan
pp. 428-433

Tactile displays for multitask environments: The role of concurrent task processing code (Abstract)

Thomas Ferris , Center for Ergonomics, Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, USA
Shameem Hameed , Center for Ergonomics, Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, USA
Nadine Sarter , Center for Ergonomics, Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, USA
pp. 160-165

ShiverPad: A device capable of controlling shear force on a bare finger (Abstract)

J. Edward Colgate , Northwestern University, 2145 Sheridan Rd, Evanston IL 60208, USA
Michael A. Peshkin , Northwestern University, 2145 Sheridan Rd, Evanston IL 60208, USA
Erik C. Chubb , Northwestern University, 2145 Sheridan Rd, Evanston IL 60208, USA
pp. 18-23

A 2D haptic glyph method for tactile arrays : Design and evaluation (Abstract)

Christoph W. Borst , University of Louisiana, Lafayette, USA
Vijay B. Baiyya , University of Louisiana, Lafayette, USA
pp. 599-604

Good vibrations: Asymmetric vibrations for directional haptic cues (Abstract)

Bert Unger , Robotics Institute, Carnegie Mellon University, Qatar
Hanns W. Tappeiner , Robotics Institute, Carnegie Mellon University, Qatar
Roberta L. Klatzky , Department of Psychology, Carnegie Mellon University, Qatar
Ralph Hollis , Robotics Institute, Carnegie Mellon University, Qatar
pp. 285-289

Functional analysis of finger contact locations during grasping (Abstract)

Jamie Lukos , Arizona State University, USA
Peter Allen , Columbia University, USA
Hao Dang , Columbia University, USA
Marco Santello , Arizona State University, USA
Matei Ciocarlie , Columbia University, USA
pp. 401-405

Precise manipulation of GUI on a touch screen with haptic cues (Abstract)

Ki-Uk Kyung , IT Technology Convergence Lab, Electronics and Telecommunications Research Institute(ETRI), Korea
Jun-Young Lee , Korea Institute of Science and Technology(KIST), Korea
Mandayam A. Srinivasan , Touch Lab, Massachusetts Institute of Technology(MIT), USA
pp. 202-207

A high fidelity ungrounded torque feedback device: The iTorqU 2.0 (Abstract)

Katherine J. Kuchenbecker , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Kyle N. Winfree , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Thomas Mather , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Jonathan Fiene , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Jamie Gewirtz , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
pp. 261-266

Evidence for haptic memory (Abstract)

Adam Dubrowski , Center for Research in Nursing Education, Faculty of Nursing, University of Toronto, Ontario, Canada
Heather Carnahan , Department of Occupational Science and Occupational Therapy, University of Toronto, Ontario, Canada
Ron Shih , University of Waterloo, Ontario, Canada
pp. 145-149

Improving haptic experience through biomechanical measurements (Abstract)

Gwanseob Shin , Occupational Biomechanics Lab, University at Buffalo, NY, USA
Govindarajan Srimathveeravalli , Virtual Reality Lab, University at Buffalo, NY, USA
Thenkurussi Kesavadas , Virtual Reality Lab, University at Buffalo, NY, USA
Ashirwad J. Chowriappa , Virtual Reality Lab, University at Buffalo, NY, USA
John John Kocherry , Virtual Reality Lab, University at Buffalo, NY, USA
pp. 362-367

Bilateral Energy Transfer for high fidelity haptic telemanipulation (Abstract)

Claudio Melchiorri , Universit
Carsten Preusche , Institute of Robotics and Mechatronics, DLR - German Aerospace Center, Munich, Germany
Jordi Artigas , Institute of Robotics and Mechatronics, DLR - German Aerospace Center, Munich, Germany
Gianni Borghesan , Universit
Gerd Hirzinger , Institute of Robotics and Mechatronics, DLR - German Aerospace Center, Munich, Germany
pp. 488-493

Effects of magnitude and phase cues on human motor adaptation (Abstract)

Volkan Patoglu , Sabanci University, Turkey
Ali Israr , Rice University, USA
Marcia K. O'Malley , Rice University, USA
Hakan Kapson , Sabanci University, Turkey
pp. 344-349

Ergonomics of exoskeletons: Objective performance metrics (Abstract)

Andr Schiele , European Space Agency, Mechanical Engineering Department, Automation&Robotics Section, The Netherlands
pp. 103-108

Assessment of haptics-based interaction for assembly tasks in virtual reality (Abstract)

Mervyn G. Marasinghe , Statistical Laboratory, Iowa State University, Ames, USA
Judy M. Vance , Virtual Reality Applications Center, Iowa State University, Ames, USA
Dao M. Vo , Virtual Reality Applications Center, Iowa State University, Ames, USA
pp. 494-499

Progressive shared control for training in virtual environments (Abstract)

Joel C. Huegel , Rice University, USA
Yanfang Li , Rice University, USA
Marcia K. O'Malley , Rice University, USA
Volkan Patoglu , Sabanci University, Istanbul, Turkey
pp. 332-337

Quantifying perception of nonlinear elastic tissue models using multidimensional scaling (Abstract)

K. T. Ramesh , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
Sarthak Misra , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
Philipp Fuernstahl , Virtual Reality in Medicine Group, Computer Vision Laboratory, ETH Zurich, 8092, Switzerland
Matthias Harders , Virtual Reality in Medicine Group, Computer Vision Laboratory, ETH Zurich, 8092, Switzerland
Allison M. Okamura , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
pp. 570-575

Effects of haptic device attributes on vibration detection thresholds (Abstract)

Federico Barbagli , BioRobotics Laboratory, Stanford University, USA
R. Brent Gillespie , The Haptix Laboratory, University of Michigan, USA
Hong Tan , Haptic Interface Research, Laboratory, Purdue University, USA
J. Kenneth Salisbury , BioRobotics Laboratory, Stanford University, USA
Curt Salisbury , BioRobotics Laboratory, Stanford University, USA
pp. 115-120

How is tactile timing information integrated-, somatotopically or spatiotopically? (Abstract)

Naoki Kawakami , Graduate School of Information Science and Technology, the University of Tokyo, Japan
Shinobu Kuroki , Graduate School of Information Science and Technology, the University of Tokyo, Japan
Susumu Tachi , Graduate School of Information Science and Technology, the University of Tokyo, Japan
Junji Watanabe , Japan Science and Technology Agency / NTT Communication, Japan
pp. 139-144

Realization of button click feeling by use of ultrasonic vibration and force feedback (Abstract)

Takashi Maeno , Keio University, Graduate School of System Design and Management, Japan
Kaoru Tashiro , Keio University, Graduate School of Integrated Design Engineering, Japan
Yuta Shiokawa , Keio University, Graduate School of System Design and Management, Japan
Tomotake Aono , Kyocera Corporation, 1st Section 1st Department Yokohama R&D Center, Japan
pp. 1-6

Toward automated haptic modeling using commercial haptic interfaces: surface normal estimation and static model identification (Abstract)

Travis L. Brown , Brigham Young University, Department of Mechanical Engineering, USA
Mark A. Judd , Brigham Young University, Department of Mechanical Engineering, USA
Mark B. Colton , Brigham Young University, Department of Mechanical Engineering, USA
pp. 434-439

Homotopy switching model for dyad haptic interaction in physical collaborative tasks (Abstract)

Abderrahmane Kheddar , CNRS-LIRMM, CNRS-AIST JRL, USA
Paul Evrard , CNRS-LIRMM, CNRS-AIST JRL, USA
pp. 45-50

Force & torque feedback vs force only feedback (Abstract)

Allison M. Okamura , Department of Mechanical Engineering, The Johns Hopkins University, USA
Lawton N. Verner , Department of Mechanical Engineering, The Johns Hopkins University, USA
pp. 406-410

An adaptive controller for bilateral teleoperation under time delay (Abstract)

Ali Shahdi , McMaster University, Hamilton, Ontario, Canada
Shahin Sirouspour , McMaster University, Hamilton, Ontario, Canada
pp. 308-313

Pneumatic haptic interface fuzzy controller for simulation of abdominal palpations during colonoscopy (Abstract)

Olivier Salvado , The University of Queensland, School of Medicine, Brisbane Australia
Josh Passenger , The University of Queensland, School of Medicine, Brisbane Australia
Mario Cheng , The University of Queensland, School of Medicine, Brisbane Australia
Stephan Riek , The University of Queensland, School of Human Movement Studies, Brisbane, Australia
Marcus Watson , Queensland Health Skills Development Centre, Royal Brisbane and Women's Hospital, Herston, Australia
Sebastien Ourselin , Centre for Medical Imaging Computing, University of College London, United Kingdom
pp. 250-255

3-D force control on the human fingerpad using a magnetic levitation device for fingernail imaging calibration (Abstract)

John M. Hollerbach , School of Computing, University of Utah, USA
Yu Sun , School of Computing, University of Utah, USA
Thomas Grieve , Department of Mechanical Engineering, University of Utah, USA
Stephen A. Mascaro , Department of Mechanical Engineering, University of Utah, USA
pp. 411-416

Dynamic coupling haptic suturing based on orthogonal decomposition (Abstract)

V. Parra-Vega , Robotics and Advanced Manufacturing, Division, Research Centre for Advanced, Studies - Cinvestav, Mexico
G. Sepulveda-Cervantes , Mechatronics Division, Research Center for Advanced Studies - Cinvestav, CIDETEC-IPN, Mexico
O. A. Dominguez-Ramirez , Research Centre on Information, Technolgies and Systems - CITIS, Hidalgo State University, Mexico
pp. 482-487

Improving transparency in network-based haptics (Abstract)

Sina Niakosari , McMaster University, Hamilton, Ontario, Canada
Shahin Sirouspour , McMaster University, Hamilton, Ontario, Canada
pp. 547-552

Designing 6DOF haptic transfer functions for effective exploration of 3D diffusion tensor fields (Abstract)

Yuriko Takeshima , IFS, Tohoku University, Japan
Yuta Ogawa , GSIS, Tohoku University, Japan
Issei Fujishiro , IFS, Tohoku University, Japan
Yasuko Suzuki , GSIS, Tohoku University, Japan
pp. 470-475

The equivalence of vision and haptics when matched spatiotemporally (Abstract)

Mark A Symmons , Psychological Studies, Monash University Gippsland, Australia, 3842
Barry L Richardson , Psychological Studies, Monash University Gippsland, Australia, 3842
pp. 582-586

Toward iconic vibrotactile information display using floor surfaces (Abstract)

Alvin Law , McGill University, Department of Electrical and Computer Engineering, Centre for Intelligent Machines and CIRMMT, USA
Jeremy R. Cooperstock , McGill University, Department of Electrical and Computer Engineering, Centre for Intelligent Machines and CIRMMT, USA
Yon Visell , McGill University, Department of Electrical and Computer Engineering, Centre for Intelligent Machines and CIRMMT, USA
pp. 267-272

Haptic interface for perceiving remote object using a laser range finder (Abstract)

Hiroo Iwata , University of Tsukuba, Japan
Hiroaki Yano , University of Tsukuba, Japan
Yuichi Miyamoto , University of Tsukuba, Japan
pp. 196-201

Perceptually augmented simulator design through decomposition (Abstract)

Timothy Edmunds , Rutgers University, USA
Dinesh K. Pai , University of British Columbia, USA
pp. 505-510

Design and modeling of a novel 6 degree of freedom haptic device (Abstract)

Zhouming Tang , Experimental Robotics Laboratory, Simon Fraser University, USA
Shahram Payandeh , Experimental Robotics Laboratory, Simon Fraser University, USA
pp. 523-528

Virtual active touch: Perceived roughness through a pointing-stick-type tactile interface (Abstract)

Masashi Konyo , Tohoku University, Japan
Satoshi Tadokoro , Tohoku University, Japan
Shogo Okamoto , Tohoku University, Japan
Takahiro Yamauchi , Tohoku University, Japan
pp. 605-610

Real-time estimation of human impedance for haptic interfaces (Abstract)

Matthew D. Hill , Stanford Telerobotics Laboratory, Department of Mechanical Engineering, Stanford University, USA
Gunter Niemeyer , Stanford Telerobotics Laboratory, Department of Mechanical Engineering, Stanford University, USA
pp. 440-445

Recovering haptic performance by relaxing passivity requirements (Abstract)

R. Brent Gillespie , Department of Mechanical Engineering, The University of Michigan, USA
Paul G. Griffiths , Department of Mechanical Engineering, Johns Hopkins University, USA
pp. 326-331

Efficient object exploration and object presentation in TeleTA, Teleoperation system with Tactile feedback (Abstract)

Dzmitry Tsetserukou , University of Tokyo, Department of Information Physics and Computing, Japan
Susumu Tachi , University of Tokyo, Department of Information Physics and Computing, Japan
pp. 97-102

PhyNeSS: A Physics-driven Neural Networks-based Surgery Simulation system with force feedback (Abstract)

Dhanannjay Deo , Department of Mechanical Aerospace and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA
Suvranu De , Department of Mechanical Aerospace and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA
pp. 30-34

Extending the motion ranges of magnetic levitation for haptic interaction (Abstract)

Michael Dzadovsky , University of Hawaii-Manoa, Department of Mechanical Engineering, USA
Peter Berkelman , University of Hawaii-Manoa, Department of Mechanical Engineering, USA
pp. 517-522

A whole-arm tactile display system (Abstract)

Riichiro Tadakuma , Harvard School of Engineering and Applied Sciences, USA
Robert D. Howe , Harvard School of Engineering and Applied Sciences, USA
pp. 446-451

Variable Resistance Hand Device using an electro-rheological fluid damper (Abstract)

B. Patritti , Spaulding Rehabilitation Hospital, Boston, MA, USA
G. Bonmassar , Martinos Center for Biomedical Imaging, Massachusetts General Hospital, Boston, MA, USA
P. Bonato , Spaulding Rehabilitation Hospital, Boston, MA, USA
B. Weinberg , Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA
O. Unluhisarcikli , Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA
J. Kelliher , WGI, Inc., 34 Hudson Drive, Southwick MA, USA
J. Shannon , WGI, Inc., 34 Hudson Drive, Southwick MA, USA
M. Sivak , Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA
G. Morel , Institut Systemes Intelligents et Robotique, University Paris VI, France
A. Khanicheh , Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA
C. Mavroidis , Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA
M. Sabadosa , WGI, Inc., 34 Hudson Drive, Southwick MA, USA
pp. 529-534

Non-contact tactile sensation synthesized by ultrasound transducers (Abstract)

Takayuki Iwamoto , Canon Inc., Japan
Takayuki Hoshi , The University of Tokyo, Japan
Hiroyuki Shinoda , The University of Tokyo, Japan
pp. 256-260

ERP evidence of tactile texture processing: Effects of roughness and movement (Abstract)

Jose Manuel Reales , Departamento de Psicolog
Soledad Ballesteros , Departamento de Psicolog
Francisco Munoz , Departamento de Psicolog
Beatriz Garcia , Departamento de Psicolog
Manuel Sebastian , Departamento de Psicolog
pp. 166-171

Influence of contact conditions on thermal responses of the hand (Abstract)

Lynette A. Jones , Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
Hsin-Ni Ho , NTT Communication Science Laboratories, NTT Corp., Atsugi, Kanagawa, Japan
Jessica Galie , Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
pp. 587-592

Collaborative haptic environment assessment (Abstract)

Benjamin M. Lambeth , Armstrong Atlantic State University, USA
James LaPlant , Armstrong Atlantic State University, USA
Felix G. Hamza-Lup , Armstrong Atlantic State University, USA
pp. 397-398

Intravascular palpation and haptic feedback during angioplasty (Abstract)

Roland Werthschutzky , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
Stephanie Sindlinger , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
Christoph Budelmann , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
Thorsten A. Kern , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
Carlos Minamisava , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
Thorsten Mei , Institute for Electromechanical Design; University of Technology, Darmstadt, Germany
pp. 380-381

A new softness display based on bi-elastic fabric (Abstract)

A. Serio , Interdepartmental Research Center
E. P. Scilingo , Interdepartmental Research Center
M. Bianchi , Interdepartmental Research Center
A. Bicchi , Interdepartmental Research Center
pp. 382-383

A fingertip shear tactile display for communicating direction cues (Abstract)

Scott K. Horschel , Haptics and Embedded Mechatronics Lab, University of Utah, USA
William R. Provancher , Haptics and Embedded Mechatronics Lab, University of Utah, USA
Brian T. Gleeson , Haptics and Embedded Mechatronics Lab, University of Utah, USA
pp. 611-612

Haptic augmented reality: Modulation of real object stiffness (Abstract)

Seungmoon Choi , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
Seokhee Jeon , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
pp. 384-385

Dynamic touch on friction controlled tactile display (Abstract)

Romuald Vanbelleghem , INRIA Futur, 50 avenue Halley 59655 Villeneuve d'Ascq c
Michel Amberg , INRIA Futur, 50 avenue Halley 59655 Villeneuve d'Ascq c
Betty Lemaire-Semail , INRIA Futur, 50 avenue Halley 59655 Villeneuve d'Ascq c
Frederic Giraud , INRIA Futur, 50 avenue Halley 59655 Villeneuve d'Ascq c
pp. 386-387

Displaying realistic contact accelerations via a dedicated vibration actuator (Abstract)

William McMahan , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Katherine J. Kuchenbecker , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
pp. 613-614

Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo (Abstract)

Jernej Barbic , Massachusetts Institute of Technology, USA
Doug L. James , Cornell University, USA
pp. 393-394

Feasibility study of a rotational haptic display - rotational action and measuring the rotational moment at the wrist - (Abstract)

Kinya Fujita , Graduate School of Tokyo University of Agriculture and Technology, Japan
Tomoaki Nakajima , Tokyo Polytechnic University, Japan
Yuuki Hosono , Tokyo Polytechnic University, Japan
Junji Sone , Tokyo Polytechnic University, Japan
Katsumi Yamada , Tokyo Polytechnic University, Japan
pp. 615-616

Graphical authoring tools for vibrotactile patterns (Abstract)

Jonghyun Ryu , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
Seungmoon Choi , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
Jaebong Lee , Haptics and Virtual Reality Laboratory, Department of Computer Science and Engineering, POSTECH, Republic of Korea
pp. 388-389

Energy-bounding algorithm for stable haptic interaction and bilateral teleoperation (Abstract)

Jong-Phil Kim , Haptic Technology Research Center, Gwangju Institute of Science and Technology(GIST), Republic of Korea
Jeha Ryu , Haptic Technology Research Center, Gwangju Institute of Science and Technology(GIST), Republic of Korea
Changhoon Seo , Haptic Technology Research Center, Gwangju Institute of Science and Technology(GIST), Republic of Korea
Jaeha Kim , Haptic Technology Research Center, Gwangju Institute of Science and Technology(GIST), Republic of Korea
pp. 617-618

Visual versus haptic progressive guidance for training in a virtual dynamic task (Abstract)

Marcia K. O'Malley , Mechanical Engineering and Materials Science Department, Rice University, USA
Joel C. Huegel , Mechanical Engineering and Materials Science Department, Rice University, USA
pp. 399-400

Development of a haptic environment for biomedical engineering simulation An educational software to help demonstrate a virtual human torso model (Abstract)

Behrad Vahedi , School of Aerospace, Automotive and Design Engineering, University of Hertfordshire, Hatfield, UK, AL10 9AB
William Tiu , School of Aerospace, Automotive and Design Engineering, University of Hertfordshire, Hatfield, UK, AL10 9AB
pp. 390

A user-centered designed FOSS implementation of bone surgery simulations (Abstract)

Eva-Lotta Sallnas , Royal Institute of Technology, Sweden
Jonas Forsslund , Royal Institute of Technology, Sweden
pp. 391-392

A low cost vibrotactile array to manage respiratory motion (Abstract)

Marcia K. O'Malley , Rice University, USA
Ali Israr , Rice University, USA
Sastry S. Vedam , M. D. Anderson Cancer Center, Houston, USA
Dillon P. Eng , Rice University, USA
pp. 619-620

Vibrotactile feedback system for intuitive upper-limb rehabilitation (Abstract)

Pulkit Kapur , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Katherine J. Kuchenbecker , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Laurel J. Buxbaum , Cognition and Action Laboratory, Moss Rehabilitation Research Institute, USA
Amanda M. Dawson , Cognition and Action Laboratory, Moss Rehabilitation Research Institute, USA
Sunthar Premakumar , Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
Steven A. Jax , Cognition and Action Laboratory, Moss Rehabilitation Research Institute, USA
pp. 621-622

Compact and low-cost tendon vibrator for inducing proprioceptive illusions (Abstract)

Patricia A. Shewokis , Drexel University, USA
R. Brent Gillespie , University of Michigan, USA
Marcia K. O'Malley , Rice University, USA
Jose Luis Contreras-Vidal , University of Maryland, USA
Ozkan Celik , Rice University, USA
pp. 623-624

Stretchable fingernail sensors for measurement of fingertip force (Abstract)

Jung Woo Park , Department of Mechanical Engineering, University of Utah, USA
Jumana M. Abu-Khalaf , Department of Mechanical Engineering, University of Utah, USA
Stephen A. Mascaro , Department of Mechanical Engineering, University of Utah, USA
Debra J. Mascaro , Department of Mechanical Engineering, University of Utah, USA
pp. 625-626

Functionally biarticular control for smart prosthetics (Abstract)

Brent Gillespie , University of Michigan, USA
John Baker , University of Michigan, USA
Marcia O'Malley , Rice University, USA
Jose Luis Contreras-Vidal , University of Maryland, USA
Patricia Shewokis , Drexel University, USA
pp. 627-628

Author index (PDF)

pp. xxii-xxviii
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