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The CUFF, Clenching Upper-Limb Force Feedback Wearable Device: Design, Characterization and Validation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-13 Barontini F., Catalano M. G., Fani S., Grioli G., Bianchi M., Bicchi A.
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HaptiYarn: Development of an Actuator Yarn That Can Transform Everyday Textiles Into Haptic Devices IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-04 Pasindu Lugoda, Richard Arm, Angus Wooler, Lincoln Barnes, Ahmed Tamkin Butt, Carlos Oliveira, Arash Shahidi, William Navaraj
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Analog Position Estimation for Enhanced Stability and Fidelity of Haptic Systems IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-03-01 Leonam Pecly, Keyvan Hashtrudi-Zaad
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The high/low frequency balance drives tactile perception of noisy vibrations IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-28 Corentin Bernard, Etienne Thoret, Nicolas Huloux, Sølvi Ystad
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Integrating Point Spread Function into Taxel-based Tactile Pattern Super Resolution IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-28 Bing Wu, Qian Liu
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Perception Threshold for Pressure by a Soft Textile Actuator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-27 Judith Weda, Angelika Mader, Hamid Souri, Edwin Dertien, Jan van Erp
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Synthesis, dynamic modeling, prototyping and control of a handheld rotational inertia generator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-27 Samuel Verret, Thierry Laliberte, Rapha ´ el Cloutier, Cl ¨ ement Gosselin
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A Multi-Layer Stacked Microfluidic Tactile Display With High Spatial Resolution IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-23 Boxue Shan, Congying Liu, Yuan Guo, Yiheng Wang, Weidong Guo, Yuru Zhang, Dangxiao Wang
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Learning Effect in Joystick Tactile Guidance IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-22 Pavel Zikmund, Michaela Horpatzká, Miroslav Macík
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A Comparative Study of Physical and Haptic Exhibits in an Informal Learning Environment IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-22 Dajin Lee, Daehyeon Nam, Jinhyuk Yoon, Dukchan Yoon, Seokwon Jeong, Keehoon Kim, Seungmoon Choi
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Touch cannot attentionally select signals based on feature binding IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-20 Scinob Kuroki, Shin'ya Nishida
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Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-13 Kyle T. Yoshida, Zane A. Zook, Hojung Choi, Ming Luo, Marcia K. O'Malley, Allison M. Okamura
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A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-12 Chengjie Li, Doo Yong Lee
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UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-08 Tao Morisaki, Takaaki Kamigaki, Masahiro Fujiwara, Yasutoshi Makino, Hiroyuki Shinoda
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Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-07 Charlélie Saudrais, Bernard Bayle, Marie-Aude Vitrani, Fabien Vérité
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Bi-manual Sensory Discrimination: A Kinesthetic Study IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-06 Suhas Kakade, Subhasis Chaudhuri, Abhishek Gupta
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Rotational Motion due to Skin Shear Deformation at Wrist and Elbow IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-06 Takuto Nakamura, Hideaki Kuzuoka
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A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-02-05 Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, Sreela Kodali, Allison M. Okamura, Cara M. Nunez
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Establishing natural tactile mappings: Mapping tactile parameters to continuous data concepts IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-31 Nicholas Gardella, Sara L. Riggs
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Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-29 Huseyin Tugcan Dinc, Thomas Hulin, Christian Ott, Jee-Hwan Ryu
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Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-26 Erwan Normand, Claudio Pacchierotti, Eric Marchand, Maud Marchal
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Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-25 Drake Rowland, Benjamin Davis, Taylor Higgins, Ann Majewicz Fey
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Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-25 Qian Wu, Jianguang Li
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Bumps and Dents are not Perceptually Opposite When Exploring with Lateral Force Cues IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-24 Mirai Azechi, Shogo Okamoto
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Telemetry-based Haptic Rendering for Racing Game Experience Improvement IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-24 Jiwan Lee, Junwoo Kim, Jeonggoo Kang, Eunsoo Jo, Dong Chul Park, Seungmoon Choi
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Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source through Multiple Vibrotactile Stimuli on the Forearms IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-23 Gen Ohara, Daiki Kikuchi, Masashi Konyo, Satoshi Tadokoro
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Haptic Interactions Subject to Variable Latency IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-23 Chantal Hutchison, Joseph Hewlett, Siamak Arbatani, Antoine Weill-Duflos, Jozsef K ´ ovecses
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Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic Range IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Daziyah H. Sullivan, Elyse D. Z. Chase, Marcia K. O'Malley
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Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Behnam Khojasteh, Yitian Shao, Katherine J. Kuchenbecker
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Spatiotemporal Modulation for Ultrasonic Mid-Air Haptics: Sensation's Specification and Validation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-22 Eduardo Mendes, Paulo Santos, João Carvalho, Jorge Cabral
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Realism of Tactile Texture Playback: A Combination of Stretch and Vibration IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-19 Zhenyu Liu, Jin-Tae Kim, John A. Rogers, Roberta L. Klatzky, J. Edward Colgate
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Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Dexin Liu, Hengxin Chen
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Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Jungeun Lee, Seungmoon Choi
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Lever Mechanism for Diaphragm-Type Vibrators to Enhance Vibrotactile Intensity IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-16 Taku Hachisu, Masayuki Kajiura, Toshihiro Takeshita, Yusuke Takei, Takeshi Kobayashi, Masashi Konyo
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Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-15 Dajin Lee, Gyeore Yun, Seungmoon Choi
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Origami-based Haptic Syringe for Local Anesthesia Simulator IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-15 Ken Iiyoshi, Shadi Khazaaleh, Ahmed S. Dalaq, Mohammed F. Daqaq, Georgios Korres, Mohamad Eid
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Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-10 Yusuke Ujitoko, Yuko Takenaka, Koichi Hirota
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Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-08 Bingjian Huang, Paul H. Dietz, Daniel Wigdor
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Representing Fine Texture of Pencil Hardness by High-frequency Vibrotactile Equivalence Conversion Using Ultra-thin PZT-MEMS Vibrators IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-05 Masamune Waga, Toru Matsubara, Masashi Konyo, Toshihiro Takeshita, Yusuke Takei, Takeshi Kobayashi, Satoshi Tadokoro
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Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment IEEE Trans. Haptics (IF 2.9) Pub Date : 2024-01-05 Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren, Thomas S. Lendvay, Ilana Nisky, Anthony M. Jarc, Allison M. Okamura, Zonghe Chua
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Editorial IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-12-21 Seungmoon Choi
In 2023, we organized a distinctive program for short papers in collaboration with the IEEE World Haptics Conference (WHC). This program offered a unique opportunity for authors to publish papers in IEEE Transactions on Haptics (ToH) while also presenting their work at WHC 2023. This initiative garnered significant attention within the haptics community, resulting in a high number of 87 submissions
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Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-13 Mor Farajian, Raz Leib, Hanna Kossowsky, Ilana Nisky
When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial
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Tactile Features of Human Finger Contact Motor Primitives IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-13 Qianqian Tian, Jixiao Liu, Kuo Liu, Shijie Guo
The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental
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Fuzzy Evaluation Method for Haptic Perceptual Similarity IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-10 Yan Zhang, Riting Xia, Xiaoying Sun
Tactile rendering in virtual interactive scenes plays an important role in improving the quality of user experience. The subjective rating is currently the mainstream measurement to assess haptic rendering realism, which ignores various subjective and objective uncertainties in the evaluation process and also neglects the mutual influence among tactile renderings. In this paper, we extend the existing
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Teaching Motor Skills Without a Motor: A Semi-Passive Robot to Facilitate Learning. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-08 Thomas E Augenstein,C David Remy,Edward S Claflin,Rajiv Ranganathan,Chandramouli Krishnan
Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robots use controllable active force elements (e.g., motors). Semi-passive robots can address cost and safety limitations of active robots, but it is unclear
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Three-Dimensional Position Presentation Via Head and Waist Vibrotactile Arrays. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-03 Syunsuke Tawa,Hikaru Nagano,Yuichi Tazaki,Yasuyoshi Yokokohji
This paper introduces a novel system designed to convey the three-dimensional positions surrounding the user. The system incorporates circumferential vibrotactile arrays strategically positioned on both the user's head and waist. Through the synergy of this two-dimensional arrangement and modulations in vibration amplitude, the system adeptly presents comprehensive three-dimensional positional information
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A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-11-03 Wenjie Wang, Jie Wang, Yang Luo, Xiaohua Wang, Huajian Song
Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of
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Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-30 Kezi Li, Jeremy D. Brown
Individuals with upper-extremity limb difference who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information, these approaches often rely on single-modality feedback schemes which are necessary but insufficient for the feedforward and feedback control
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Exploring Perceptual Intensity Properties Using Electrotactile Stimulation on Fingertips IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-30 Ziliang Zhou, Xiaoxin Wang, Yicheng Yang, Jia Zeng, Honghai Liu
Understanding electrotactile parametric properties is a crucial milestone in achieving intuitive haptics. Perceptual intensity is a primary property, but its exploration remains challenging due to subjectivity. To address this problem, this study conducted two experiments on fingertips and proposed two metrics based on significant findings. Experiment 1 found a significant linear relationship (R $^{2}$
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Interpersonal Transmission of Vibrotactile Feedback Via Smart Bracelets: Mechanics and Perception. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-25 Taku Hachisu,Gregory Reardon,Yitian Shao,Kenji Suzuki,Yon Visell
The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors
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Mediated Social Touch With Mobile Devices: A Review of Designs and Evaluations IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-25 Qianhui Wei, Min Li, Jun Hu
Background: Mediated social touch has been widely studied for remote affective communication in the field of human-computer interaction. Goal: We conducted this literature review to comprehensively understand the state of the art of the designs and evaluations of mediated social touch for mobile devices. Method: We selected 52 articles based on related keywords from four main digital libraries, i.e
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Integration of Independent Heat Transfer Mechanisms for Non-Contact Cold Sensation Presentation With Low Residual Heat IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-16 Jiayi Xu, Shoichi Hasegawa, Kiyoshi Kiyokawa, Naoto Ienaga, Yoshihiro Kuroda
Thermal sensation is crucial to enhancing our comprehension of the world and enhancing our ability to interact with it. Therefore, the development of thermal sensation presentation technologies holds significant potential, providing a novel method of interaction. Traditional technologies often leave residual heat in the system or the skin, affecting subsequent presentations. Our study focuses on presenting
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It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-13 Roberto Montano-Murillo,Dario Pittera,William Frier,Orestis Georgiou,Marianna Obrist,Patricia Cornelio
Ultrasonic mid-air haptic technology allows for the perceptual rendering of textured surfaces onto the user's hand. Unlike real textured surfaces, however, mid-air haptic feedback lacks implicit multisensory cues needed to reliably infer a texture's attributes (e.g., its roughness). In this paper, we combined mid-air haptic textures with congruent sound feedback to investigate how sonification could
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On the Correlation Between Tactile Stimulation and Pleasantness IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-06 Nicole D'Aurizio, Teresa Ramundo, Tommaso Lisini Baldi, Alessandro Moscatelli, Domenico Prattichizzo
Several studies in the affective haptics research field showed the potential of using haptic technology to convey emotions in remote communications. In this context, it is of interest to simplify the haptic feedback without altering the informative content of the stimulus, with a two-fold advantage. On one side, it would allow the development of affective haptic devices whose technological complexity
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Novel Electrode Designs for Electrotactile Stimulation of the Finger: A Comparative Assessment IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-06 Martin A. Garenfeld, Mauricio Carlos Henrich, Milica Isaković, Jovana Malešević, Matija Štrbac, Strahinja Došen
Electrotactile stimulation can be an attractive technology to restore tactile feedback in different application scenarios (e.g., virtual and augmented reality, tele-manipulation). This technology allows designing compact solutions with no mechanical elements that can integrate a high-density matrix of stimulation points. The present study introduced four novel multi-pad finger-electrode designs with
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Tactile Feedback in Upper Limb Prosthetics: A Pilot Study on Trans-Radial Amputees Comparing Different Haptic Modalities IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-06 Federica Barontini, Alina Obermeier, Manuel Giuseppe Catalano, Simone Fani, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi, Eike Jakubowitz
Despite technological advancements, upper limb prostheses still face high abandonment/rejection rates due to limitations in control interfaces and the absence of force/tactile feedback. Improving these aspects is crucial for enhancing user acceptance and optimizing functional performance. This pilot study, therefore, aims to understand which sensory feedback in combination with a soft robotic prosthetic
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Perception of Soft Objects in Virtual Environments Under Conflicting Visual and Haptic Cues. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-10-05 Cagatay Basdogan,Berke Ataseven,Mandayam A Srinivasan
In virtual/augmented/mixed reality (VR/AR/MR) applications, rendering soft virtual objects using a hand-held haptic device is challenging due to the anatomical restrictions of the hand and the ungrounded nature of the design, which affect the selection of actuators and sensors and hence limit the resolution and range of forces displayed by the device. We developed a cable-driven haptic device for rendering
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Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-09-25 Unnikrishnan Radhakrishnan,Lisheng Kuang,Konstantinos Koumaditis,Francesco Chinello,Claudio Pacchierotti
This paper investigates the relationship between fine motor skill training in VR, haptic feedback, and physiological arousal. To do so, we present the design and development of a motor skill task (buzzwire), along with a custom vibrotactile feedback attachment for the Geomagic Touch haptic device. A controlled experiment following a between-subjects design was conducted with 73 participants, studying
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Phantom Illusion based Vibrotactile Rendering of Affective Touch Patterns. IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-09-15 Robert Kirchner,Robert Rosenkranz,Brais Gonzalez Sousa,Shu-Chen Li,M Ercan Altinsoy
Physically accurate (authentic) reproduction of affective touch patterns on the forearm is limited by actuator technology. However, in most VR applications a direct comparison with actual touch is not possible. Here, the plausibility is only compared to the user's expectation. Focusing on the approach of plausible instead of authentic touch reproduction enables new rendering techniques, like the utilization
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Design and Assessment of a Bimanual Haptic Epidural Needle Insertion Simulator IEEE Trans. Haptics (IF 2.9) Pub Date : 2023-09-07 Nitsan Davidor, Yair Binyamin, Tamar Hayuni Kosovsky, Ilana Nisky
The case experience of anesthesiologists is one of the leading causes of accidental dural punctures and failed epidurals-the most common complications of epidural analgesia used for pain relief during delivery. We designed a bimanual haptic simulator to train anesthesiologists and optimize epidural analgesia skill acquisition. We present an assessment study conducted with 22 anesthesiologists of different