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Haptics, IEEE Transactions on

Issue 1 • Date Jan.-June 2008

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Displaying Results 1 - 12 of 12
  • [Front cover]

    Page(s): c1
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  • [Inside front cover]

    Page(s): c2
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  • Welcome Message

    Page(s): 1
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  • Editorial

    Page(s): 2 - 8
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  • Asymmetric Oscillation Distorts the Perceived Heaviness of Handheld Objects

    Page(s): 9 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1114 KB) |  | HTML iconHTML  

    Weight perception has been of great interest for over three centuries. Most research has been concerned with the weight of static objects, and some illusions have been discovered. Here, we show a new illusion related to the perception of the heaviness of oscillating objects. We performed experiments that involved comparing the weight of two objects of identical physical appearance but with different gross weights and oscillation patterns (vibrating vertically at frequencies of 5 or 9 cycles per second with symmetric and asymmetric acceleration patterns). The results show that the perceived weight of an object vibrating with asymmetric acceleration increases compared to that with symmetric acceleration when the acceleration peaks in the gravity direction. In contrast, almost no heaviness perception change was observed in the anti-gravity direction. We speculate that the reason for the divergence between these results is caused by the differential impact of these two hypothesized perceptual mechanisms as follows: the salience of pulse stimuli appears to have a strong influence in the gravity direction, whereas filling-in could explain our observations in the anti-gravity direction. The study of this haptic illusion can provide valuable insights into not only human perceptual mechanisms but into the design of ungrounded haptic interfaces. View full abstract»

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  • Factors Influencing Haptic Perception of Complex Shapes

    Page(s): 19 - 26
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1257 KB) |  | HTML iconHTML  

    Exploration of an object by arm movement and somatosensation is a serial process that relies on memories and expectations. The present experiments tested the hypothesis that this process involves breaking the object into component shapes (primitives). This was tested by having human subjects explore shapes composed of semicircular arcs as well as quarter circles or quarter ellipses. The subjects' perception was reported using a visual display. In the first experiment, in which a series of semicircular arcs was presented, with offsets that differed from trial to trial, performance was consistent with the perception of two (left and right) semicircles. In the second experiment, subjects often failed to detect the quarter circles or quarter ellipses and again behaved as if the object was composed of two (top and bottom) semicircles. The results suggest that the synthesis of haptically sensed shapes is biased toward simple geometric objects, and that it can be strongly influenced by expectations. View full abstract»

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  • Haptic Processing of Facial Expressions of Emotion in 2D Raised-Line Drawings

    Page(s): 27 - 38
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1089 KB) |  | HTML iconHTML  

    Participants haptically (vs. visually) classified universal facial expressions of emotion (FEEs) depicted in simple 2D raised-line displays. Experiments 1 and 2 established that haptic classification was well above chance; face-inversion effects further indicated that the upright orientation was privileged. Experiment 2 added a third condition in which the normal configuration of the upright features was spatially scrambled. Results confirmed that configural processing played a critical role, since upright FEEs were classified more accurately and confidently than either scrambled or inverted FEEs, which did not differ. Because accuracy in both scrambled and inverted conditions was above chance, feature processing also played a role, as confirmed by commonalities across confusions for upright, inverted, and scrambled faces. Experiment 3 required participants to visually and haptically assign emotional valence (positive/negative) and magnitude to upright and inverted 2-D FEE displays. While emotional magnitude could be assigned using either modality, haptic presentation led to more variable valence judgments. We also documented a new face-inversion effect for emotional valence visually, but not haptically. These results suggest emotions can be interpreted from 2-D displays presented haptically as well as visually; however, emotional impact is judged more reliably by vision than by touch. Potential applications of this work are also considered. View full abstract»

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  • Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models

    Page(s): 39 - 52
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3331 KB) |  | HTML iconHTML  

    Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the voxmap pointshell method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts. We demonstrate that stable haptic interactions can be achieved by point-sampling offset surfaces to input "polygon soup'' geometry using particle repulsion. We introduce a multi-resolution nested pointshell construction which permits level-of-detail contact force computation, and enables contact graceful degradation in close-proximity scenarios. Parametrically deformed distance fields are proposed to support contact between reduced deformable objects. We present several examples of 6-DoF haptic rendering of geometrically complex rigid and deformable objects in distributed contact at real-time kilohertz rates. View full abstract»

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  • Warm or Cool, Large or Small? The Challenge of Thermal Displays

    Page(s): 53 - 70
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1777 KB) |  | HTML iconHTML  

    Thermal displays have been developed to present thermal cues to the hand to facilitate object recognition in virtual environments or in teleoperated robotic systems. This review focuses on this application domain of thermal displays and considers the models developed to simulate the thermal interaction between an object and the hand as they make contact. An overview of thermal perception and the mechanisms underlying the processing of thermal information is provided to give a framework for analyzing the design of thermal displays. The models developed to simulate thermal feedback are examined together with a description of the implementation of these models in thermal displays. The domains in which thermal displays have been used are described; this includes the simulation of material properties, the recreation of large-scale thermal effects in virtual environments, the encoding of abstract concepts and the use of thermal feedback in interactive art. The review concludes by considering the advantages and challenges associated with using thermal displays in these diverse areas. View full abstract»

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  • Call for Papers for Special Issue on Ambient Haptic Systems

    Page(s): 71 - 72
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  • ToH Information for authors

    Page(s): c3
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  • [Back cover]

    Page(s): c4
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Aims & Scope

IEEE Transactions on Haptics addresses the science, technology and applications associated with information acquisition and object manipulation through touch.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Lynette Jones
Dept. of Mechanical Engineering
Massachusetts Institute of Technology
77 Massachusetts Ave.
Cambridge, MA 02139
USA
Phone: 617-253-3973
Fax: 617-253-2218
Email: ljones@mit.edu
Website: http://meche.mit.edu/people/index.html?id=128

Associate Editor-in-Chief
Cagatay Basdogan
Koc University
College of Engineering
Istanbul, 34450 Turkey
Phone: 902123381721