Front Matter

Technical Papers

Oral Session 1: Cutaneous Contact
Mon, Mar 26, 09:00 - 10:30, Colonial Ballroom (Chair: Karon E. MacLean; Massimiliano Di Luca)

EIS: A Wearable Device for Epidermal Pressure Sensing
Zijie Zhu, Ruya Li, and Tingrui Pan
University of California at Davis, USA

Publisher's Version Best Paper Award Candidate

Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials
Steven C. Hauser and Gregory J. Gerling
University of Virginia, USA

Publisher's Version Best Paper Award Candidate

Ferro-Fluid Based Portable Fingertip Haptic Display and Its Preliminary Experimental Evaluation
Harsimran Singh, Bhivraj Suthar, Syed Zain Mehdi, and Jee-Hwan Ryu
KOREATECH, South Korea

Publisher's Version

Separating Haptic Guidance from Task Dynamics: A Practical Solution via Cutaneous Devices
Evan Pezent, Simone Fani, Joshua Bradley, Matteo Bianchi, and Marcia K. O'Malley
Rice University, USA; University of Pisa, Italy

Publisher's Version Info

A Skin Stretch Tactor for Sensory Substitution of Wrist Proprioception
Oguz Kayhan, A. Kemal Nennioglu, and Evren Samur
Boğaziçi University, Turkey

Publisher's Version

A Social Haptic Device to Create Continuous Lateral Motion using Sequential Normal Indentation
Heather Culbertson, Cara M. Nunez, Ali Israr, Frances Lau, Freddy Abnousi, and Allison M. Okamura
Stanford University, USA; University of Southern California, USA; Facebook, USA

Publisher's Version

Oral Session 2A: Control of Haptic Devices
Mon, Mar 26, 11:00 - 12:30, Colonial Ballroom (Chair: Nick Colonnese; Jeremy Brown)

Dynamic Model of Cable-Conduit Actuation for Interaction with Non-passive Environments
Andrew Borowski, Alexander Metz, and Fabrizio Sergi
University of Delaware, USA

Publisher's Version

Rendering Mass using Model Matching Framework
Indrajit Desai, Abhishek Gupta, and Debraj Chakraborty
IIT Bombay, India

Publisher's Version Video

The Impact of High-Frequency Haptic Device Behavior on Perception
Emma Treadway and R. Brent Gillespie
University of Michigan, USA

Publisher's Version

Performance and Stability Limitations of Admittance-Based Haptic Interfaces
Chembian Parthiban and Michael Zinn
University of Wisconsin-Madison, USA

Publisher's Version Best Paper Award Candidate

The Effect of Discretization Techniques on Uncoupled Stability of Haptic Simulation Systems
Daniel Cleveland and Keyvan Hashtrudi-Zaad
Queen's University, Canada

Publisher's Version

Model-Reference Model-Mediated Control for Time-Delayed Teleoperation Systems
Leonam S. D. Pecly, Marcelo L. O. Souza, and Keyvan Hashtrudi-Zaad
National Institute for Space Research, Brazil; Queen's University, Canada

Publisher's Version

Oral Session 2B: Actuation and Sensing
Mon, Mar 26, 11:00 - 12:30, Georgian Room (Chair: Alison Okamura; Jeremy Fishel)

Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors
Jian Song, Yuru Zhang, Hongdong Zhang, Dangxiao Wang, and Weiliang Xu
Beihang University, China; University of Auckland, New Zealand

Publisher's Version

Combination of Cathodic Electrical Stimulation and Mechanical Damped Sinusoidal Vibration to Express Tactile Softness in the Tapping Process
Vibol Yem and Hiroyuki Kajimoto
University of Electro-Communications, Japan

Publisher's Version

Object Surface Exploration using Low-Cost Rolling Robotic Fingertips
Yoav Golan, Amir Shapiro, and Elon Rimon
Ben-Gurion University of the Negev, Israel; Technion, Israel

Publisher's Version Video

The Study of Sensor Structure to Sense a Surface Information for Intelligent Tactile Sensor
Kwonsik Shin, Minkyung Sim, Hyunchul Park, Yuljae Cho, Jung Inn Sohn, Seung Nam Cha, and Jae Eun Jang
Daegu Gyeongbuk Institute of Science and Technology, South Korea; University of Oxford, UK

Publisher's Version

Development of a Miniaturized Thermal Module Designed for Integration in a Wearable Haptic Device
Massimiliano Gabardi, Daniele Leonardis, Massimiliano Solazzi, and Antonio Frisoli
Scuola Superiore Sant'Anna, Italy

Publisher's Version

Harold's Purple Crayon Rendered in Haptics: Large-Stroke, Handheld Ballpoint Force Feedback
Soheil Kianzad and Karon E. MacLean
University of British Columbia, Canada

Publisher's Version

Oral Session 3: Perception and Action
Tue, Mar 27, 09:00 - 10:30, Colonial Ballroom (Chair: Fernando Bello; David Gueorguiev)

Perceptual Dimensionality of Manual Key Clicks
Quan Liu, Hong Z. Tan, Liang Jiang, and Yulei Zhang
Purdue University, USA; AAC Technologies, China

Publisher's Version Best Paper Award Candidate

Evaluation of a Digital Grand Piano for Vibrotactile Feedback Experiments and Impact of Finger Touch on Piano Key Vibrations
Matthias Flückiger, Tobias Grosshauser, and Gerhard Tröster
ETH Zurich, Switzerland

Publisher's Version

Comparing Proprioceptive Acuity in the Arm between Joint Space and Task Space
Sean M. Sketch, Amy J. Bastian, and Allison M. Okamura
Stanford University, USA; Johns Hopkins School of Medicine, USA

Publisher's Version Best Paper Award Candidate

Where Are My Fingers? Assessing Multi-Digit Proprioceptive Localization
Bharat Dandu, Irene A. Kuling, and Yon Visell
University of California at Santa Barbara, USA; VU University Amsterdam, Netherlands

Publisher's Version Best Paper Award Candidate

The Effect of Dissociation between Proprioception and Vision on Perception and Grip Force Control in a Stiffness Judgment Task
Stephanie Hu, Raz Leib, and Ilana Nisky
Massachusetts Institute of Technology, USA; Ben-Gurion University of the Negev, Israel

Publisher's Version

Too Hot, too Fast! Using the Thermal Grill Illusion to Explore Dynamic Thermal Perception
Shriniwas Patwardhan, Anzu Kawazoe, David Kerr, Masashi Nakatani, and Yon Visell
George Mason University, USA; University of California at Santa Barbara, USA; William Sansum Diabetes Center, USA; Keio University, Japan

Publisher's Version Best Paper Award Candidate

Oral Session 4A: Electroadhesive Surfaces
Tue, Mar 27, 11:00 - 12:00, Colonial Ballroom (Chair: Michael Wiertlewski; Masashi Nakatani)

On the Electrical Characterization of Electroadhesive Displays and the Prominent Interfacial Gap Impedance Associated with Sliding Fingertips
Craig D. Shultz, Michael A. Peshkin, and J. Edward Colgate
Northwestern University, USA

Publisher's Version Best Paper Award Candidate

A Study of Tactile Sensation and Magnitude on Electrostatic Tactile Display
Hirobumi Tomita, Satoshi Saga, Hiroyuki Kajimoto, Simona Vasilache, and Shin Takahashi
University of Tsukuba, Japan; Kumamoto University, Japan; University of Electro-Communications, Japan

Publisher's Version

Creating Multi-touch Haptic Feedback on an Electrostatic Tactile Display
Gholamreza Ilkhani and Evren Samur
Boğaziçi University, Turkey

Publisher's Version

Data-Driven Rendering of Fabric Textures on Electrostatic Tactile Displays
Jian Jiao, Yuru Zhang, Dangxiao Wang, Yon Visell, Dekun Cao, Xingwei Guo, and Xiaoying Sun
Beihang University, China; University of California at Santa Barbara, USA; Jilin University, China

Publisher's Version

Oral Session 4B: Wearable Haptics
Tue, Mar 27, 11:00 - 12:00, Georgian Room (Chair: Adam Spiers; Sile O'Modhrain)

Feel-a-Bump: Haptic Feedback for Foot-Based Angular Menu Selection
Jan Anlauff, Taeyong Kim, and Jeremy R. Cooperstock
McGill University, Canada

Publisher's Version

Development of a Wearable Haptic Device That Presents Haptics Sensation of the Finger Pad to the Forearm
Taha K. Moriyama, Ayaka Nishi, Rei Sakuragi, Takuto Nakamura, and Hiroyuki Kajimoto
University of Electro-Communications, Japan

Publisher's Version

A Two-Fingered Force Feedback Glove using Soft Actuators
Yu Zhang, Dangxiao Wang, Ziqi Wang, Yueping Wang, Li Wen, and Yuru Zhang
Beihang University, China

Publisher's Version

The Rice Haptic Rocker: Altering the Perception of Skin Stretch through Mapping and Geometric Design
Janelle P. Clark, Sung Y. Kim, and Marcia K. O'Malley
Rice University, USA

Publisher's Version

Oral Session 5A: Ultrasonic Surfaces
Tue, Mar 27, 13:30 - 14:30, Colonial Ballroom (Chair: Jenna Gorliewicz; Hiroyuki Kajimoto)

UltraShiver: Lateral Force Feedback on a Bare Fingertip via Ultrasonic Oscillation and Electroadhesion
Heng Xu, Michael A. Peshkin, and J. Edward Colgate
Northwestern University, USA

Publisher's Version

Determining the Haptic Feedback Position for Optimizing the Targeting Performance on Ultrasonic Tactile Displays
Farzan Kalantari, Edward Lank, Yosra Rekik, Laurent Grisoni, and Frédéric Giraud
University of Lille, France; CNRS, France; Inria, France; University of Waterloo, Canada

Publisher's Version

Evaluation of a Friction Reduction Based Haptic Surface at High Frequency
Frédéric Giraud, Tomohiro Hara, Christophe Giraud-Audine, Michel Amberg, Betty Lemaire-Semail, and Masaya Takasaki
University of Lille, France; University of Saitama, Japan

Publisher's Version

Differentiated Haptic Stimulation by Modal Synthesis of Vibration Field
Ehsan Enferad, Christophe Giraud-Audine, Frédéric Giraud, Michel Amberg, and Betty Lemaire-Semail
University of Lille, France

Publisher's Version

Oral Session 5B: Medicine and Neuroscience
Tue, Mar 27, 13:30 - 14:30, Georgian Room (Chair: Matthias Harders; Evren Samur)

An Investigation of Haptic Perception of Viscoelastic Materials in the Frequency Domain
Ozan Caldiran, Hong Z. Tan, and Cagatay Basdogan
Koç University, Turkey; Purdue University, USA

Publisher's Version

EEG Correlates of Motor Control Difficulty in Physical Human-Robot Interaction: A Frequency Domain Analysis
Amirhossein H. Memar and Ehsan T. Esfahani
SUNY Buffalo, USA

Publisher's Version

Haptic Stroke Testbed for Pharmacological Evaluation of Dynamic Allodynia in Mouse Models
Jin Lee, Brian J. Atwood, Salim Megat, Gregory Dussor, Theodore J. Price, and Ann Majewicz Fey
University of Texas at Dallas, USA

Publisher's Version

Toward Improved Surgical Training: Delivering Smoothness Feedback using Haptic Cues
William H. Jantscher, Shivam Pandey, Priyanshu Agarwal, Sadie H. Richardson, Bowie R. Lin, Michael D. Byrne, and Marcia K. O'Malley
Rice University, USA

Publisher's Version

Oral Session 6: Modeling and Rendering
Tue, Mar 27, 16:30 - 17:45, Colonial Ballroom (Chair: Seokhee Jeon; Shogo Okamoto)

Toward High-Fidelity Haptic Interaction with Virtual Materials: A Robotic Material Scanning, Modelling, and Display System
Matti Strese and Eckehard Steinbach
TU Munich, Germany

Publisher's Version

A Partial Contact Frictional Force Model for Finger-Surface Interactions
Marco Janko, Zhengqiao Zhao, Moshe Kam, and Yon Visell
Drexel University, USA; New Jersey Institute of Technology, USA; University of California at Santa Barbara, USA

Publisher's Version

Geometry-Based Haptic Texture Modeling and Rendering using Photometric Stereo
Sunghwan Shin and Seungmoon Choi
POSTECH, South Korea

Publisher's Version

An Inverse Neural Network Model for Data-Driven Texture Rendering on Electrovibration Display
Reza Haghighi Osgouei, Sunghwan Shin, Jin Ryong Kim, and Seungmoon Choi
POSTECH, South Korea; Electronics and Telecommunications Research Institute, South Korea

Publisher's Version

Enhancing the Pseudo-Haptic Effect on the Touch Panel using the Virtual String
Yuki Ban and Yusuke Ujitoko
University of Tokyo, Japan; Hitachi, Japan

Publisher's Version

Oral Session 7A: Tactile Perception
Wed, Mar 28, 09:00 - 10:30, Colonial Ballroom (Chair: Brent Gillespie; Vincent Levesque)

Haptic Display of Melodic Intervals for Musical Applications
Deborah C. Egloff, Marcelo M. Wanderley, and Ilja Frissen
McGill University, Canada

Publisher's Version

Single Pitch Perception of Multi-frequency Textures
Rebecca Fenton Friesen, Roberta L. Klatzky, Michael A. Peshkin, and J. Edward Colgate
Northwestern University, USA; Carnegie Mellon University, USA

Publisher's Version

Tactile Spatial Acuity of the Neck using a Two-Point Orientation Discrimination Task
Kelly A. Morrow and Mounia Ziat
Northern Michigan University, USA; University of Maryland at College Park, USA

Publisher's Version

Tactile Distances Are Greatly Underestimated in Perception and Motor Reproduction
Jasper M. van de Lagemaat, Irene A. Kuling, and Yon Visell
VU University Amsterdam, Netherlands; University of California at Santa Barbara, USA

Publisher's Version

Perceptual Dimensions of Vibrotactile Actuators
Lynette A. Jones and Anshul Singhal
Massachusetts Institute of Technology, USA

Publisher's Version

Six Principal Modes of Vibrotactile Display via Stylus
Ruisi Zhang, Andrew J. Boyles, and Jake J. Abbott
University of Utah, USA

Publisher's Version

Oral Session 7B: Designing Interactions
Wed, Mar 28, 09:00 - 10:30, Georgian Room (Chair: Matteo Bianchi; Jeremy Cooperstock)

Electrostatic Adhesive Brakes for High Spatial Resolution Refreshable 2.5D Tactile Shape Displays
Kai Zhang and Sean Follmer
Stanford University, USA

Publisher's Version Video Info

Exploration of Geometry and Forces Occurring within Human-to-Robot Handovers
Matthew K. X. J. Pan, Elizabeth A. Croft, and Günter Niemeyer
University of British Columbia, Canada; Monash University, Australia; Disney Research, USA

Publisher's Version

HapticDrone: An Encountered-Type Kinesthetic Haptic Interface with Controllable Force Feedback: Example of Stiffness and Weight Rendering
Muhammad Abdullah, Minji Kim, Waseem Hassan, Yoshihiro Kuroda, and Seokhee Jeon
Kyung Hee University, South Korea; Osaka University, Japan

Publisher's Version

Remotely Displaying Cooling Sensation via Ultrasound-Driven Air Flow
Mitsuru Nakajima, Keisuke Hasegawa, Yasutoshi Makino, and Hiroyuki Shinoda
University of Tokyo, Japan

Publisher's Version

Data-Driven Thermal Rendering: An Initial Study
Hyejin Choi, Seongwon Cho, Sunghwan Shin, Hojin Lee, and Seungmoon Choi
POSTECH, South Korea

Publisher's Version

Cable Driven Haptic Interface for Co-localized Desktop VR
Justine Saint-Aubert, Stéphane Régnier, and Sinan Haliyo
Sorbonne University, France

Publisher's Version

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