Accepted Papers

O3-4 

Factors Affecting the Design of Untethered Magnetic Haptic Interfaces

Joseph Brink, Andrew Petruska, David Johnson, Jake Abbott

O5-3

Compensating Position Drift in Time Domain Passivity Approach based Teleoperation

Vinay Chawda, Ha Quang, Marcia O'Malley, Jee-Hwan Ryu

O3-2 

Closed-loop Stiffness and Damping Accuracy of Impedance-type Haptic Displays

Nick Colonnese, Sean Sketch, Allison Okamura

O6-1

A Study of Touch Typing Performance with Keyclick Feedback

Jin Ryong Kim, Hong Z. Tan

O4-5 

Combining Haptic Guidance and Haptic Disturbance: An Initial Study of Hybrid Haptic Assistance for Virtual Steering Task

Hojin Lee, Seungmoon Choi

O4-3 

Vibrotactile Guidance for Drumming Learning: Method and Perceptual Assessment

In Lee, Seungmoon Choi

O5-1 

An EMG-Based Approach for On-Line Predicted Torque Control in Robotic-Assisted Rehabilitation

Claudio Loconsole, Stefano Dettori, Antonio Frisoli, Carlo Alberto Avizzano, Massimo Bergamasco

O4-6

Haptic Motion: Improving Sensation of Self-Motion in Virtual Worlds with Force Feedback

Nizar Ouarti, Anatole Lecuyer, Alain Berthoz

O1-5 

Sensory Substitution using 3-Degree-of-Freedom Tangential and Normal Skin Deformation Feedback

Zhan Fan Quek, Samuel Benjamin Schorr, Ilana Nisky, William Provancher, Allison Okamura

O2-1 

Methods for Robotic Tool-Mediated Haptic Surface Recognition

Joseph M. Romano, Katherine J. Kuchenbecker

O5-4

Multilateral Haptic System Stability Analysis: The Effect of Activity or Passivity of Terminations via a Series-Shunt Approach

Ran Tao, Mahdi Tavakoli

O1-3 

Compliance Display using a Tilting-Plate Tactile Feedback Device

Seiedmuhamma Yazdian, Andrew J. Doxon, David E. Johnson, Hong Z. Tan, William R. Provancher

O2-4

The Relationship Between Energy, Phase Charge, Impedance, and Perceived Sensation in Electrotactile Stimulation

Aadeel Akhtar, Brandon Boyce, Timothy Bretl

O1-7

Dexterous Workspace of Human Two- and Three-Fingered Precision Manipulation

Ian Bullock, Thomas Feix, Aaron Dollar

O3-7

Volume Preserving Haptic Pottery

Subhajit Chaudhury, Subhasis Chaudhuri

O2-5

Design and Control of a Novel Thermo-tactile Multimodal Display

Simon Gallo, Lucian Marius Cucu, Nicolas Thevenaz, Ali Sengül, Hannes Bleuler

O3-3

Design of a Joystick with an Adjustable Damper to Study Kinematically Constrained Movements made by Children

Netta Gurari, Gabriel Baud-Bovy

O2-7

A Pinchable Aerial Virtual Sphere by Acoustic Ultrasound Stationary Wave

Seki Inoue, Hiroyuki Shinoda

O4-2

Susceptibility to Periodic Vibrotactile Guidance of Human Cadence

Idin Karuei, Karon MacLean

O6-3

A Low-cost Tactile-Proprioceptive Mobile Communication Aid for Users who are Deafblind

Vinitha Khambadkar, Eelke Folmer

O3-1

Using Haptics To Probe Human Contact Control Strategies For Six Degree-of-Freedom Tasks

Ellen Klingbeil, Samir Menon, Keegan Go, Oussama Khatib

O1-2

Haptic Strip Based on Modular Independent Actuators for Virtual Shapes Rendering

Alessandro Mansutti, Mario Covarrubias, Monica Bordegoni, Umberto Cugini

O4-4

Online Modulation of Assistance in Robot Aided Wrist Rehabilitation: A Pilot Study on a Subject Affected by Dystonia

Francesca Marini, Leonardo Cappello, Valentina Squeri, Pietro Morasso, Paolo Moretti, Assunta Riva, Luca Doglio, Lorenzo Masia

O5-5

High Performance Teleoperation by Bumpless Transfer of Robust Controllers

César A. López Martínez, René van de Molengraft, Maarten Steinbuch

O4-1

Pilot Evaluation of Wearable Tactile Feedback System for Gait Rehabilitation in Peripheral Neuropathy

Zach McKinney, Kent Heberer, Bryan Nowroozi, Marcia Greenberg, Eileen Fowler, Warren Grundfest

O3-5

Dynamic Modeling and Control of Voice-Coil Actuators for High-Fidelity Display of Haptic Vibrations

William McMahan, Katherine J. Kuchenbecker

O2-3

Dynamics of Ultrasonic and Electrostatic Friction Modulation for Rendering Texture on Haptic Surfaces

David Meyer, Michael Wiertlewski, Michael Peshkin, Edward Colgate

O5-6

Stability of Sampled-Data, Delayed Haptic Interaction and Teleoperation

Noushin Miandashti, Mahdi Tavakoli

O1-6

Coordination of Multi-digit Positions and Forces During Unconstrained Grasping in Response to Object Perturbations

Abdeldjallil Naceri, Alessandro Moscatelli, Marco Santello, Marc Ernst

O2-6

Presentation of Spatially Localized Vibration by Means of Phantom Sensation

Kosei Nishi, Koichi Hirota

O6-2

A Tactile Brain-Computer Interface for Severely Disabled Patients

Rupert Ortner, Zulay Lugo, Quentin Noirhomme, Steven Laureys, Christoph Guger

O1-4

A Wearable Device for Controlling a Robot Gripper With Fingertip Contact, Pressure, Vibrotactile, and Grip Force Feedback

Rebecca M. Pierce, Elizabeth A. Fedalei, Katherine J. Kuchenbecker

O5-7

Passive Shared Virtual Environment for Distributed Haptic Cooperation

Ramtin Rakhsha, Daniela Constantinescu

O6-4

Preferences for Touch Gestures in Audio-Tactile Communication

Jussi Rantala, Roope Raisamo

O6-5

End-user Customization of Affective Tactile Messages: A Qualitative Examination of Tool Parameters

Hasti Seifi, Chamila Anthonypillai, Karon MacLean

O1-1

TouchMover 2.0 - 3D Touchscreen with Force Feedback and Haptic Texture

Mike Sinclair, Hrvoje Benko, Michel Pahud

O5-2

An Interaction Torque Control Improving Human Force Estimation of the Rehab-Exos Exoskeleton

Massimiliano Solazzi, Mirko Abbrescia, Rocco Vertechy, Claudio Loconsole, Vitoantonio Bevilacqua, Antonio Frisoli

O3-6

Haptic Rendering based on Finite Element Simulation of Vibration

Ikumi Susa, Yukinobu Takehana, Alfonso Balandra, Hironori Mitake, Shoichi Hasegawa

O4-7

Controlling Fatigue while Lifting Objects using Pseudo-haptics in a Mixed Reality Space

Yuki Taima, Yuki Ban, Takuji Narumi, Tomohiro Tanikawa, Michitaka Hirose

O6-6

Hapteo: Sharing Visual-Haptic Experiences from Virtual Environments

Yongyao Yan, Greg S. Ruthenbeck, Karen J. Reynolds

O2-2

Early Braille Reading as an Exploratory Procedure: Perceptual Sensitivity to Numerosity and Cell Content

Wei Yun, Catherine Scheffer, Barry Hughes

P01

Design and Characterization of a Haptic Paddle for Dynamics Education

Chad Rose, James French, Marcia O'Malley

P02

Sharp Tactile Line Presentation Array using Edge Stimulation Method

Tatsuma Sakurai, Hiroyuki Shinoda

P03

Discrimination Thresholds for Communicating Rotational Inertia and Torque using Differential Skin Stretch Feedback in Virtual Environments

Ashley Guinan, Markus Montandon, Andrew Doxon, William Provancher

P04

Displaying Cutting Force of Soft Tissue Using MR Fluid for Surgical Simulators

Takuya Kameyama, Teppei Tsujita, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama

P05

Presenting Virtual Stiffness by Modulating the Perceived Force Profile with Suction Pressure

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

P06

PreventFHP: Detection and Warning System for Forward Head Posture

Jaebong Lee, Eunji Cho, Minjae Kim, Yongmin Yoon, Seungmoon Choi

P07

Mutual Referral of Thermal Sensation between Two Thermal-tactile Stimuli

Ryo Watanabe, Ryuta Okazaki, Hiroyuki Kajimoto

P08

Wearable Encounter-Type Haptic Device  with 2-DoF Motion and Vibration for Presentation of Friction

Narihiro Nishimura, Daniele Leonardis, Massimiliano solazzi, Antonio Frisoli, Hiroyuki Kajimoto

P09

LinkTouch: a Wearable Haptic Device with Five-Bar Linkage Mechanism for Presentation of Two-DOF Force Feedback at the Fingerpad

Dzmitry Tsetserukou, Shotaro Hosokawa, Kazuhiko Terashima

P10

Large-Area Tactile Display Using Vibration Transmission  of Jammed Particles

Yosuke Kurihara, Masahiro Koge, Ryuta Okazaki, Hiroyuki Kajimoto

P11 

One Hundred Data-Driven Haptic Texture Models and Open-Source Methods for Rendering on 3D Objects

Heather Culbertson, Juan Jose Lopez Delgado, Katherine J. Kuchenbecker

P12

Improvising Design with a Haptic Instrument

Oliver Schneider, Karon MacLean

P13 

Perception of a Haptic Jamming Display: Just Noticeable Differences in Stiffness and Geometry

Adam Genecov, Andrew Stanley, Allison Okamura

P14

HaptiGo: An Intelligent and Lightweight Tactile Vest for Improving Active Pedestrian Navigation Experiences

Manoj Prasad, Paul Taele, Ayobami Olubeko, Tracy Hammond

P15

Contactless Touch Interface Supporting Blind Touch Interaction by Aerial Tactile Stimulation

Kazuma Yoshino, Hiroyuki Shinoda

P16

Vibrotactile Actuators: Effect of Load and Body site on Performance

Mojtaba Azadi, Lynette Jones

P17

Haptic Rendering of a Needle Insertion by Enhancing the Real Force Response of a Base Object

Yuichi Kurita, Hiroyuki Ohtsuka, Kazuyuki Nagata, Toshio Tsuji

P18

Mimicking the End Organ Architecture of Slowly Adapting Type I Afferents May Increase the Durability of Artificial Touch Sensors

Daine Lesniak, Gregory Gerling

P19

Evaluation of Rotational and Directional Vibration Patterns on a Tactile Belt for Guiding Visually Impaired People

Akansel Cosgun, E. Akin Sisbot, Henrik I. Christensen

P20 

Delay Compensation in Shared Haptic Virtual Environments

Clemens Schuwerk, Rahul Chaudhari, Eckehard Steinbach

P21

Effect of Load Force Feedback on Grip Force Control During Teleoperation: A Preliminary Study

Tricia Gibo, Darrel Deo, Zhan Fan Quek, Allison Okamura

P22

Coaxial Noncontact Surface Compliance Distribution Measurement for Muscle Contraction Sensing

Masahiro Fujiwara, Hiroyuki Shinoda

P23

An Online Trajectory Generator-Based Impedance Control For Co-manipulation Tasks

Sarra Jlassi, Sami Tliba, Yacine Chitour

P24

Touch-based Brain Computer Interfaces: State of the Art

Jan van Erp, Anne-Marie Brouwer

P25

Modeling Arthroscopic Camera with Haptic Devices in Image-based Virtual Environments

Shahzad Rasool, Alexei Sourin, Vladimir Pestrikov, Fareed Kagda

P26

Framework for K-12 Education Haptic Applications

Marjorie Darrah, Kristen Murphy, Kirill Speransky, Bradley DeRoos

P27

Presenting Normal and Shearing Forces in Mobile Environment with Visuo-haptic Interactino and a Rear Touch Interface

Arata Kokubun, Yuki Ban, Takuji Narumi, Tomohiro Tanikawa, Michitaka Hirose

P28

A Novel Haptic Interface and Control Algorithm for Robotic Rehabilitation of Stoke Patients

Kang Xiang Khor, Patrick Jun Hua Chin, Hisyam Abdul Rahman, Che Fai Yeong, Eileen Lee Ming Su, Aqilah Leela T. Narayanan

P29

Effects of Low Frequency Continuous Muscle Vibration on Learning  and Transfer of a Knee Joint Positioning Task

Amber Chelette, Charles Layne

P30

Towards the Design of a Human-Machine Interface via Disturbance Adaptive Control: An Analogous Machine-to-Machine System

Melda Ulusoy, Rifat Sipahi

P31

Evaluation of force, vibration and thermal tactile feedback in prosthetic limbs

Meghan C. Jimenez, Jeremy Fishel

P32

Using the BioTac as a tumor localization tool

Morelle S. Arian, C. Alexander Blaine, Gerald E. Loeb, Jeremy A. Fishel

P33

Interactive forces caused by scanning wavy surfaces

Yohei Fujii, Shogo Okamoto, Yoji Yamada

P34 

Experimental Evaluation of Microsoft Kinect's Accuracy and Capture Rate for Stroke Rehabilitation Applications

David Webster, Ozkan Celik

P35

Tactile Feedback of Object Slip Improves Performance in a Grasp and Hold Task

Julie Walker, Amy Blank, Patricia Shewokis, Marcia O'Malley

P36

Strategies and Models for Cutting Satellite Insulation in Telerobotic Servicing Missions

Isha Kandaswamy, Tian Xia, Peter Kazanzides

P37

Deadzone Analysis of 2D Kinesthetic Perception

Amit Bhardwaj, Subhasis Chaudhuri, Onkar Dabeer

P38

Rapid Prototyping of Low Cost 1DOF Haptic Interfaces

Nicolai Beni, Marco Grottoli, Francesco Ferrise, Monica Bordegoni

P39

Haptic and Audio Displays for Augmented Reality Tourism Applications

Side Wei, Gang Ren, Eamonn O'Neill

P40

Multi-Finger Surface Visuo-Haptic Rendering Using Electrostatic Stimulation with Force-Direction Sensing Gloves

Taku Nakamura, Akio Yamamoto

P41

Estimating Grip Forces with a Tactilely Transparent Finger Exoskeleton for Pinch Grip Force Assistance

Pilwon Heo, Jung Kim

P42

Carbon nanotubes plastic actuator: towards lightweight, low-voltage haptic devices

Grzegorz Bubak, Luca Ceseracciu, Alberto Ansaldo, Don N. Futaba, Kenji Hata, Davide Ricci

P43

Design and Perceptibility of a Wearable Haptic Device Using Low-Frequency Stimulations on the Forearm

Andrew Erwin, Frank Sup

P44

A First Order Transfer Function to Balance the Workload in Brake-Motor Hybrid Actuators

Michele Antolini, Orhun Kose, Hakan Gurocak

P45

Medium Fidelity Rapid Prototyping of  Vibrotactile Haptic, Audio and Video Effects

Colin Swindells, Seppo Pietarinen, Arto Viitanen

P46 

Effects of Tibialis Anterior Muscle Vibration on Quiet Stance

David Temple, Beom-Chan Lee, Charles Layne

P47

Throwing of a Ceramic Cylindrical Vessel: How Height is Affected by Sensory Deprivation

Mounia Ziat, Cheryl Konieczny, Brian Kakas

P48

Comparative study of collaborative methods to control rotation of shared objects

Adrien Girard, Yacine BELLIK, Mehdi AMMI

P49

Mobius Transformation and Application to Coupled Stability Analysis of cascaded Master-Slave Networks

Kamran Razi, Kayvan Hashtrudi-Zaad

P50

Haptic Body-Powered Upper-Extremity Prosthesis Simulator with Tunable Stiffness and Sensitivity

Lee-Kuen Chua, John A. Martinez, Ozkan Celik

P51

The 'Chopstick’ Illusion: A Simply Demonstrated Tactile Illusion

Ismet Handzic, Kyle Reed

P52

Controlling Perceived Stiffness of Pinched Objects Using Visual Feedback of Hand Deformation

Yuki Ban, Takuji Narumi, Tomohiro Tanikawa, Michitaka Hirose

P53

Uncoupled Stability Analysis of Haptic Simulation Systems for Various Kinematic Sampled Data and Discretization Methods

Siyuan Yin, Ajay Koti, Amir Haddadi, Keyvan Hashtrudi-Zaad

P54

A Novel Device for Multi-Modal Sensory Feedback in Hand Prosthetics: Design and Preliminary Prototype

Francesco Clemente, Christian Cipriani

P55

Providing Contact Sensory Feedback for Upper Limb Robotic Prosthesis

Mohammad Aziziaghdam, Evren Samur

P56

Ebbinghaus Illusion in the Tactile Modality

Mounia Ziat, Erin Smith, Cecilia Brown, Carrie DeWolfe, Vincent Hayward

P57

A Simplified Approach to Admittance-type Haptic Device Impedance Evaluation

Chembian Parthiban, Michael Zinn

P58

Design and Preliminary Affective Characterization of a Novel Fabric-based Tactile Display

Matteo Bianchi, Gaetano Valenza, Alessandro Serio, Antonio Lanatà, Alberto Greco, Mimma Nardelli, Enzo Pasquale Scilingo, Antonio Bicchi

P59

A User Centric Model to Design Tactile Codes with Shapes and Waveforms

Manoj Prasad, Murat Russell, Tracy Hammond

P60

Transparency Optimized Interaction in Telesurgery Devices via Time-Delayed Communications

Amin Mahdizadeh, M. Ali Nasseri, Allois Knoll

P61

Series Elasticity for Free Free-Space Motion for Free

Brent Gillespie, Dongwon Kim, Jacob Suchoski, Bo Yu, Jeremy Brown

P62

Haptic Interactions During Natural Orifice Translumenal Endoscopic Surgery

Cecilia Brino, Saurabh Dargar, Ganesh Sankaranarayanan, Kai Matthes, Suvranu De

P63

Calibration of Fingernail Imaging for Multidigit Force Measurement

Thomas Grieve, Courtney Doyle, John Hollerbach, Stephen Mascaro

P64

Configuration-Space Data-Driven Haptic Rendering for Multi-Link Multi-Contact Haptic Interaction

Sangyul Park, Dongjun Lee

P65

On Utilizing Pseudo-Haptics for Cutaneous Fingertip Haptic Device

Inyoung Jang, Dongjun Lee