# IEEE Transactions on Haptics

### Early Access Articles

Early Access articles are made available in advance of the final electronic or print versions. Early Access articles are peer reviewed but may not be fully edited. They are fully citable from the moment they appear in IEEE Xplore.

## Filter Results

Displaying Results 1 - 25 of 26
• ### Midair Haptic Pursuit

Publication Year: 2019, Page(s): 1
| | PDF (2428 KB)

In human vision, smooth pursuit eye movement is the basic ability to visually follow a moving object by keeping it at the sight center. In this study, we validate that a human hand has a similar ability to track a midair haptic stimulus, i.e., a human palm exposed to a point vibration by a noncontact ultrasound tactile display can follow the continuous movement of the stimulation point. The experi... View full abstract»

• ### Dynamics and Perception in the Thermal Grill Illusion

Publication Year: 2019, Page(s): 1
| | PDF (7318 KB)

A basic challenge in perception research is to understand how sensory inputs from physical environments and the body are integrated in order to facilitate perceptual inferences. Thermal perception, which arises through heat transfer between extrinsic sources and body tissues, is an integral part of natural haptic experiences, and thermal feedback technologies have potential applications in wearabl... View full abstract»

• ### Thermal-tactile Integration in Object Temperature Perception

Publication Year: 2019, Page(s): 1
| | PDF (1815 KB)

The brain consistently faces a challenge of whether and how to combine the available information sources to estimate the properties of an object explored by hand. While object perception is an inference process involving multisensory inputs, thermal referral (TR) is an illusion demonstrating how interaction between thermal and tactile systems can lead to deviations from physical reality – When obs... View full abstract»

• ### Effects of Stimulus Exploration Length and Time on the Integration of Information in Haptic Softness Discrimination

Publication Year: 2019, Page(s): 1
| | PDF (1206 KB)

In haptic perception information is often sampled serially (e.g. a stimulus is repeatedly indented to estimate its softness), requiring that sensory information is retained and integrated over time. Hence, integration of sequential information is likely affected by memory. Particularly, when two sequentially explored stimuli are compared, integration of information on the second stimulus might be ... View full abstract»

• ### Proprioceptive Localization of the Fingers: Coarse, Biased, and Context-Sensitive

Publication Year: 2019, Page(s): 1
| | PDF (6927 KB)

The proprioceptive sense provides somatosensory information about positions of parts of the body, information that is essential for guiding behavior and monitoring the body. Few studies have investigated the perceptual localization of individual fingers, despite their importance for tactile exploration and fine manipulation. We present two experiments assessing the performance of proprioceptive lo... View full abstract»

• ### The Effect of Applied Normal Force on the Electrovibration

Publication Year: 2019, Page(s): 1
| | PDF (1651 KB)

Electrovibration has become one of the promising approaches for adding tactile feedback on touchscreen. Previous studies revealed that the normal force applied on the touchscreen by the finger affects significantly the electrostatic force. It is obvious that the normal force affects the electrostatic force if it changes the contact area between the finger and the touchscreen. However, it is unclea... View full abstract»

• ### Creating an Illusion of Movement between the Hands Using Mid-Air Touch

Publication Year: 2019, Page(s): 1
| | PDF (7961 KB)

Apparent tactile motion (ATM) has been shown to occur across many contiguous parts of the body, such as fingers, forearms and the back. More recently, the illusion has also been elicited on non-contiguous part of the body, such as from one hand to the other when interconnected or not interconnected by an object in between the hands. Here we explore the reproducibility of the intermanual tactile il... View full abstract»

• ### Gaze Augmented Hand-Based Kinesthetic Interaction: What You See Is What You Feel

Publication Year: 2019, Page(s): 1
| | PDF (1476 KB)

Kinesthetic interaction between the user and the computer mainly utilizes the hand-based input with force-feedback devices. There are two major shortcomings in hand-based kinesthetic interaction: physical fatigue associated with continuous hand movements and the limited workspace of current force-feedback devices for accurately exploring a large environment. To address these shortcomings, we devel... View full abstract»

• ### Rendering Stiff Virtual Walls Using Model Matching Based Haptic Controller

Publication Year: 2019, Page(s): 1
| | PDF (2178 KB)

This paper presents a model matching framework for design of haptic controllers. The controller design problem is formulated as a sequence of $H_\infty$ optimization problems to achieve maximal transparency bandwidth. This enables automatic synthesis of robust controllers to achieve desired bandwidth while limiting actuator forces and guaranteeing stability. This meth... View full abstract»

• ### The Perception of Ultrasonic Square Reductions of Friction with Variable Sharpness and Duration

Publication Year: 2019, Page(s): 1
| | PDF (3094 KB)

The human perception of square ultrasonic modulation of the finger-surface friction was investigated during active tactile exploration by using short frictional cues of varying duration and sharpness. In a first experiment, we asked participants to discriminate the transition time and duration of short square ultrasonic reductions of friction. They proved very sensitive to discriminate millisecond... View full abstract»

• ### Can wearable haptic devices foster the embodiment of virtual limbs?

Publication Year: 2019, Page(s): 1
| | PDF (6424 KB) |  Media

Increasing presence is one of the primary goals of virtual reality research. A crucial aspect is that users are capable of distinguishing their self from the external virtual world. The hypothesis we investigate is that wearable haptics play an important role in the body experience and could thereby contribute to the immersion of the user in the virtual environment. A within-subject study (n=32) c... View full abstract»

• ### Unilateral and Bilateral Virtual Springs: Contact Transitions Unmask Device Dynamics

Publication Year: 2018, Page(s): 1
| | PDF (8656 KB)

The study of haptic perception often makes use of haptic rendering to display the variety of impedances needed to run an experiment. Unacknowledged in many cases is the influence of the selected device hardware on what the user will feel, particularly in interactions featuring frequencies above the control bandwidth. While human motion is generally limited to 10Hz, virtual environments with unilat... View full abstract»

• ### Increasing Impact by Mechanical Resonance for Teleoperated Hammering

Publication Year: 2018, Page(s): 1
| | PDF (1545 KB)

Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks. A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and to evaluate the influe... View full abstract»

• ### Toward Whole-hand Kinesthetic Feedback: A Survey of Force Feedback Gloves

Publication Year: 2018, Page(s): 1
| | PDF (2085 KB)

Force feedback gloves have found many applications in fields such as teleoperation and virtual reality. In order to enhance the immersive feeling of interaction with remote or virtual environments, glove-like haptic devices are used, which enable users to touch and manipulate virtual objects in a more intuitive and direct way via the dexterous manipulation and sensitive perception capabilities of ... View full abstract»

• ### Hand-Exoskeleton Assisted Progressive Neurorehabilitation using Impedance Adaptation based Challenge Level Adjustment Method

Publication Year: 2018, Page(s): 1
| | PDF (9398 KB)

This paper presents an underactuated design of a robotic hand exoskeleton and a challenge based neurorehabilitation strategy. The exoskeleton is designed to reproduce natural human fingertip paths during extension and grasping, keeping minimal kinematic complexity. It facilitates an impedance adaptation based trigged assistance control strategy by a switching between active non-assist and passive ... View full abstract»

• ### Haptic Assistance Improves Tele-manipulation With Two Asymmetric Slaves

Publication Year: 2018, Page(s): 1
| | PDF (4482 KB) |  Media

Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both slaves with a single, hybrid interface. Accurate and saf... View full abstract»

• ### Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks

Publication Year: 2018, Page(s): 1
| | PDF (4398 KB)

During interaction with objects using a tool, we experience force and tactile feedback. One form of tactile feedback is local fingerpad skin deformation. In this paper, we provide haptic feedback to users of a teleoperation system through a skin deformation tactile feedback device. The device is able to provide tangential and normal skin deformation in a coupled manner, and is designed so that use... View full abstract»

• ### A Force Bounding Approach in Joint Space for Interacting with Dynamic Multi-Degrees of Freedom Virtual Objects

Publication Year: 2018, Page(s): 1
| | PDF (2453 KB)

This paper proposes a new relative motion-based dynamic force bounding approach (dynamic FBA) for stably interacting with dynamic multi-degrees of freedom (DOF) virtual objects. Considering the relative motion of the moving virtual object and human operator, a new multi-DOF passivity condition is derived in the joint space to easily cover the rotational motion in the task space. This approach over... View full abstract»

• ### Tactile Display Design for Flight Envelope Protection and Situational Awareness

Publication Year: 2018, Page(s): 1
| | PDF (2083 KB)

Spatial disorientation and visual channel saturation are defined as critical situations encountered by military pilots. Such subjects are interesting research areas likely to create innovative systems able to surmount obstacles of this kind. The integration of new stimulation techniques (sensory substitute, adjunct for visual and audio feedback) may be considered to make the visual channel better.... View full abstract»

• ### A Tactile Computer Mouse for the Display of Surface Material Properties

Publication Year: 2018, Page(s): 1
Cited by:  Papers (1)
| | PDF (9157 KB) |  Media

We present a novel input/output device to display the tactile properties of surface materials. The proposed Tactile Computer Mouse (TCM) is equipped with a series of actuators that can create perceptually relevant tactile cues to a user. The display capabilities of our TCM match the major tactile dimensions in human surface material perception, namely, hardness, friction, warmth, microscopic rough... View full abstract»

• ### Reliance on haptic assistance reflected in haptic cue weighting

Publication Year: 2018, Page(s): 1
| | PDF (7203 KB)

When using an automated system, user trust in the automation is an important factor influencing performance. Prior studies have analyzed trust during supervisory control of automation, and how trust influences reliance: the behavioral correlate of trust. Here, we investigated how reliance on haptic assistance affects performance during shared control with an automated system. Subjects made reaches... View full abstract»

• ### Path Following in Non-Visual Conditions

Publication Year: 2018, Page(s): 1
| | PDF (4453 KB)

Path-following tasks have been investigated mostly under visual conditions, that is when subjects are able to see both the path and the tool, or limb, used for navigation. Moreover, only basic path shapes are usually adopted. In the present experiment, participants must rely exclusively on audio and vibrotactile feedback to follow a path on a flat surface. Two different, asymmetric path shapes wer... View full abstract»

• ### A Phonemic-Based Tactile Display for Speech Communication

Publication Year: 2018, Page(s): 1
| | PDF (1931 KB) |  Media

Despite a long history of research, the development of synthetic tactual aids to support the communication of speech has proven to be a difficult task. The current paper describes a new tactile speech device based on the presentation of phonemic-based tactile codes. The device consists of 24 tactors under independent control for stimulation at the forearm. Using properties that include frequency a... View full abstract»

• ### Detection and Discrimination Thresholds for Haptic Gratings on Electrostatic Tactile Displays

Publication Year: 2018, Page(s): 1
| | PDF (1642 KB)

Designing algorithms for rendering haptic texture on electrostatic tactile displays requires a quantitative understanding of human perception. In this paper, we report detection and discrimination thresholds for haptic gratings rendered on such displays based on the waveform and amplitude of the applied voltage. The haptic gratings consist of functions that describe the variation in voltage amplit... View full abstract»

• ### Sensitivity to Conflict Between Visual Touch and Tactile Touch

Publication Year: 2018, Page(s): 1
| | PDF (2598 KB)

The two point discrimination test is a well known means of assessing tactile sensory acuity. In this paper, we describe a similar test wherein one point of stimulation is tactile and the other one is visual. We propose this test to measure how vision and taction combine to form a unified touch percept, in the presence of sensory conflict. We perform the test at the leg above the knee, using virtua... View full abstract»

## 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: https://www.cutaneous.mit.edu

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