- Wednesday sessions, July 6

Programme at a glance is here.

8:30 – registration desk opens (Queen’s Tower rooms)

09:00-10:00 – Oral session 4: Tactile cues (Great Hall)

045 9:00-9:15

Ultrasonic Friction Modulation While Pressing Induces a Tactile Feedback
Jocelyn Monnoyer, Emmanuelle Diaz, Christophe Bourdin, Michael Wiertlewski Current touch screen technology makes for intuitive human – computer interactions but often lacks haptic feedback offered by conventional input methods. Typing text on a virtual keyboard is arguably the task in which the absence of tactile cues imparts performance and comfort. Here we investigated the feasibility of modulating friction via ultrasonic vibration as a function of the pressing force to simulate a tactile feedback similar to a keystroke. Ultrasonic vibration is generally used to modulate the sliding friction which occurs when a finger moves laterally on a surface. We found that this method is also effective when the exploratory motion is normal to the surface. Psychophysical experiments show that a mechanical detent is unambiguously perceived in the case of signals starting with a high level of friction and ending to a low friction levels. A weaker effect is experienced when friction is increasing with the pressure exerted by the finger, which suggests that the mechanism involved is a release of the skin stretch accumulated during the high-friction state.
058 9:15-9:30

Perception of Skin Stretch Applied to Palm: Effects of Speed and Displacement
Ahmet Guzererler, William R. Provancher, Cagatay Basdogan Skin stretch is a powerful haptic effect with a great potential as a feedback mechanism for digital gaming applications. For example, it has been shown to communicate directional information accurately to game players. However, the existing devices apply stretch to the tip of index finger except the Reactive Grip game controller, which applies skin stretch to a user’s palm and finger pads. We have designed a compact hand-held haptic device that applies skin stretch to the palm via an actuated tactor. Compared to the fingertip, the palm is slightly less sensitive to skin stretch but affords larger stretch area. The stretch area of the palm enables us to control both tactor displacement and speeds for a broader range, resulting in richer haptic feedback. Using this device, we conduct experiments with 8 participants to investigate the effects of tactor displacement, speed, direction and hand orientation on perceived magnitude of skin stretch. The results of the study show that not only the tactor displacement but also the speed has a significant effect on the perceived intensity of skin stretch and the mapping function between them is nonlinear. Moreover, it appears that the tactile sensitivity of human palm to skin stretch is not homogeneous and stretch applied to the radial aspect of palm (towards the thumb) results in higher intensity than that of ulnar aspect.
059 9:30-9:45

Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens
Yasemin Vardar, Burak Guclu, Cagatay Basdogan The perceived intensity of electrovibration can be altered by modulating the amplitude, frequency, and waveform of the input voltage signal which causes the electrostatic force in electrotactile displays. Even though the effect of first two have been already investigated for sinusoidal signals, we are not aware of any detailed study investigating the effect of waveform on our haptic perception in the domain of electrovibration. In this paper we have conducted absolute detection experiments using square-wave and sinusoidal input signals in seven fundamental frequencies (15, 30, 60, 120, 240, 480 and 1920 Hz). Experimental results depict the well-known U-shaped tactile sensitivity across frequencies. The sensory thresholds are lower for square wave than sinusoidal wave at fundamental frequencies less than 60 Hz, while they are similar at higher frequencies. Using an equivalent circuit model of finger-surface system, we show that the sensation difference between the waveforms at low fundamental frequencies could be explained by frequency-dependent electrical properties of human skin and the differential sensitivity of mechanoreceptor channels to individual frequency components in the electrostatic force. As a matter of fact, when the electrostatic force waveforms are analyzed in the frequency domain based on human vibrotactile sensitivity data from the literature, the electrovibration stimuli caused by the square-wave excitation is found to be detected by the Pacinian psychophysical channel at all fundamental frequencies tested here.
096 9:45-10:00

Temporal integration of tactile inputs from multiple sites
Sarah McIntyre, Ingvars Birznieks, Robin Andersson, Gabriel Dicander, Paul Breen, Richard Vickery We investigated the perceived frequency elicited by two vibrating probes on the skin. The two-interval forced choice protocol had subjects (n = 11) compare two probes vibrating in counter-phase (25Hz), with comparison stimuli of in-phase vibration (18 – 54Hz). They indicated which had the higher perceived frequency. Skin sites on the palm (glabrous) and arm (hairy) were tested with a range of probe separations (1 – 16cm) and amplitudes (10 – 120µm). Perceived frequency increased with decreasing separation of the probes (F1,10 = 182.8, p < 0.001). The two skin sites did not significantly differ (F1,10 = 3.6, p = 0.087). Perceived frequency was only minimally affected by amplitude changes between 40 and 120μm (F2,20 = 6.4, p = 0.007, η2 = 0.06). Both phase and spatial separation strongly influence vibrotactile interaction between two skin locations in a manner largely independent of changes in amplitude, and of activated receptor types.


10:00-11:00 – Keynote 2:
 Henrik Jorntell, Lund University, (Great Hall)

11:00-11:20: coffee/tea break (Queen’s tower rooms)

11:20-11:40 – Teaser session 2 (Great Hall)

11:40-13:00 – Oral session 5: Control of haptics interfaces

020 11:40-11:55

Improved Control Methods for Vibrotactile Rendering
Quang Ha-van, Matthias Harders Many applications in the domain of haptics make use of vibrotactile rendering. One means for the delivery of the signals is employing voice coil actuators. However, existing control strategies for these exhibit limitations, for instance the dynamic behaviour of a user’s hand is often not considered. We propose two new control methods to improve vibrotactile rendering — once based on data-driven spline interpolation and once on following power spectral density. Both approaches rely on the idea of first decomposing a desired signal into a combination of harmonic components of different frequencies. For these, separate optimal gains are then employed to achieve a flat frequency response. The behaviour of these controllers is examined in experiments and compared to a constant gain strategy. Both proposed methods result in improvements.
047 11:55-12:10

Co-Actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device
Jian Song, Yuru Zhang, Hongdong Zhang, Dangxiao Wang Achieving high stiffness while keeping low inertia is a big challenge in the design of a haptic device. We describe a new concept of co-actuation to overcome this difficulty. The co-actuation method decomposes the motion of actuators and joints of a haptic device, making the two components disconnected and work cooperatively according to characteristics of simulated motions. In free space, the joints are free but tracked and followed by the actuators. Users can move the joints freely without feeling resistance from the actuators. In constraint space, physical constraints driven by the actuators apply impedance to the joints. By producing a direct physical contact between the joints and the physical constraints, users can feel a hard virtual surface. The paper describes the mechanical and control design and implementation of a one degree-of-freedom (DOF) co-actuation module. Preliminary experiments on the module demonstrate how the performances of low inertia in free space and high stiffness in constrained space can be balanced by introducing the concept of co-actuation. The paper also explains how the one DOF co-actuation module can be applied to multi-DOF haptic devices.
066 12:10-12:25

Comparing Series Elasticity and Admittance Control for Haptic Rendering
Takamasa Horibe, Emma Treadway, Brent Gillespie While feedback control can be used to cause a motorized device to render the dynamic behavior of a virtual environment, this capacity inevitably breaks down at high frequencies where the rendered impedance reverts to the impedance of the device hardware. This situation amounts to a disadvantage for admittance display, for which hardware impedance is high.  Series elastic actuators offer an attractive alternative with lower impedance at high frequencies, though stability considerations impose limits on the stiffest virtual environment that may be rendered.  In this paper we explore the tradeoffs between admittance control and series elastic actuation with the use of analytical comparisons in the frequency domain backed up by experiments and complemented with a passivity analysis that accounts for an excess of passivity contributed by human biomechanics.
126 12:25-12:40

Control Strategies for Texture Rendering with a Capacitive Based Visual-Haptic High Fidelity Friction Control Device
Eric Vezzoli, Thomas Sednaoui, Michel Amberg, Frédéric Giraud, Betty Semail  Ultrasonic vibrations of a plate can modify the perception of the fric- tion between a surface and a sliding finger. This principle, coupled with modern position sensing techniques, is able to reproduce texturized materials. In this paper, an open loop control through model inversion of the friction force be- tween the finger and the plate is presented. The device incorporating the control system is described, and two different reproduction strategies are formalized to address the reproduction of objects and textures. In the end, a psychophysical experiment evaluating the two control strategies is described.
129 12:40-12:55

Successive Stiffness Increment Approach for High Stiffness Haptic Interaction
Harsimran Singh, Aghil Jafari, Jee-Hwan Ryu This paper proposes a method to further enlarge the displayed stiffness range of the impedance-type haptic interfaces. Numerous studies have been done for a stable haptic interaction in a wide impedance range. However, most of the approaches sacrifice the actual displayed stiffness as a cost of stability. A novel approach, which successively increases the stiffness as the number of interaction cycle increase, is presented. The stiffness is sequentially modulated from a low value to a high value, close to the desired stiffness while maintaining stability. This sequential stiffness increment was possible because the proposed approach guarantees the convergence of the penetration distance and increases the feedback force  with every successive interaction cycle. The main advantage of the proposed approach over conventional approaches is that this approach allows much larger actual displayed stiffness than any other approach, such as time-domain passivity approach, force bounding and energy bounding approach. Experiments with PHANToM Premium 1.5 evaluate the performance of the proposed approach, and compare the actual displayed stiffness with other approaches.

13:00-13:45 – Lunch break (Queen’s tower rooms)

13:45-16:30 - Posters/demonstrations/expo (Queen’s tower rooms)

POSTERS 2 (Wed, Jul 5, 13:45-16:30, Queen’s Tower rooms)
030 Both Fingers and Head are Acceptable in Sensing Tactile Feedback of Gaze Gestures Jari Kangas, Jussi Rantala, Deepak Akkil, Poika Isokoski, Päivi Majaranta, Roope Raisamo
031 A Reconfigurable Haptic Joystick based on Magneto-Rheological Elastomers – System Design and First Evaluation Christian Hatzfeld, Johannes Bilz, Tobias Fritzsche, Mario Kupnik
054 Brain responses to execution errors during 3D motion. Boris Yazmir, miriam reiner, Hillel Pratt, Miriam Zacksenhouse
065 Investigation of human subjective feelings for surface textures of slipping objects based on the analysis of contact conditions Tsuyoshi Arakawa, Akira Nakahara, Kiyotaka Yarimizu, Masato Takahashi, Michiko Ohkura, Toshio Tsuji, Yuichi Kurita
071 Reconsideration of Ouija Board Motion in Terms of Haptics Illusions Takahiro Shitara, Yuriko Nakai, Haruya Uematsu, Vibol Yem, Hiroyuki Kajimoto, Satoshi Saga
077 Method of Observing Finger Skin Displacement on a Textured Surface Using Index Matching Seitaro Kaneko, Hiroyuki Kajimoto
082 Frequency-Specific Masking Effect by Vibrotactile Stimulation to the Forearm Yoshihiro Tanaka, Shota Matsuoka, Wouter Bergmann Tiest, Astrid Kappers, Kouta Minamizawa, Akihito Sano
083 The Roughness Display with Pen-like Tactile Device for Touchscreen Device Peng Deng, Juan Wu, Xingjian Zhong
087 ViSecure: A Haptic Gesture Authentication System Steven Strachan, Sabrina Panëels
089 Accuracy Improvement of Torque Estimation between a Surgical Robot Instrument and Environment in Single-DOF Motion Suhwan Park, Cheongjun Kim, Doo Yong Lee
093 Observing Touch from Video: The Influence of Social Cues on Pleasantness Perceptions Christian Willemse, Gijs Huisman, Merel Jung, Jan Van Erp, Dirk Heylen
097 Low-amplitude textures explored with the bare finger: roughness judgments follow an inverted U-shaped function of texture period modified by texture type Knut Drewing
099 A linear optimization procedure for a EMG-driven NeuroMusculoSkeletal model parameters adjusting: validation through a myoelectric exoskeleton control Domenico Buongiorno, Francesco Barone, Massimiliano Solazzi, Vitoantonio Bevilacqua, Antonio Frisoli
100 Data-Driven Modeling of Anisotropic Haptic Textures: Data Segmentation and Interpolation Arsen Abdulali, Seokhee Jeon
102 Simulating Affective Touch: Using a Vibrotactile Array to Generate Pleasant Stroking Sensations Gijs Huisman, Aduén Darriba Frederiks, Dirk Heylen
107 Design and Development of a Multimodal Vest for Virtual Immersion and Guidance Gonzalo Garcia Valle, Ferre Manuel, Jose Breñosa, Rafael Aracil, Jose María Sebastian, Christos Giachritsis
108 Reducing Visual Dependency with Surface Haptic Touchscreens Yu-Jen Lin, Sile O’Modhrain
109 Tension Based Wearable Vibro Acoustic Device for Music Appreciation Yusuke Yamazaki, Hironori Mitake, Shoichi Hasegawa
118 At-Home Computer-Aided Myoelectric Training System for Wrist Prosthesis Anastasios Vilouras, Hadi Heidari, William Taube Navaraj, Ravinder Dahiya
123 Textile Fabrics’ Texture: from Multi-Level Feature Extraction to Tactile Simulation Wael Ben Messaoud, Marie-Ange BUENO, Betty Semail
141 Electrovibration Signal Design A Simulative Approach Zlatko Vidrih, Eric Vezzoli
DEMONSTRATIONS 2 (Wed, Jul 6, 13:45-16:30, Queen’s Tower rooms)
006 Illusion of wet sensation by controlling  temperature and softness of dry cloth Mai Sibahara, Katsunari Sato
012 Jorro Beat: Physical and Perceptual Characteristics of  Shower Tactile Display Keisuke Hoshino, Masahiro Koge, Taku Hachisu, Ryo Kodama, Hiroyuki Kajimoto
024 Relationship between Force Sensation and Stimulation Parameters in Tendon Electrical Stimulation Akifumi Takahashi, Kenta Tanabe, Hiroyuki Kajimoto
022 An Immersive Visuo-Haptic Game for Attention Training Xiaoxiao Yang, Dangxiao Wang, Yuru Zhang
056 Recognizing virtual shapes with an assistive tactile device, the TActile MOuse 3 Mariacarla Memeo, Giulio Sandini, Luca Brayda
057 Haptic feedback modeling for realistic button click  on a touchscreen HyunSik Lee, Gil-Man Kim, Tae-Jeong Jang
061 Characterisation of Compliant Gripper Optimal Strength with Remote Control and Monitoring Jason Spiliotopoulos, Riccardo Secoli, Fangde Liu, Ferdinando Rodriguez y Baena
071 Dual-Stage and Contact-free Haptic Interfaces for High-Fidelity Micro-Telemanipulation Antoine Weill–Duflos, Alberto ortega, Sinan Haliyo, Stéphane Régnier, Vincent Hayward
072 HyperFlat : Next Generation Pin-Based Tactile Display Özgür Mutlu, Uwe Grotz
075 Tacton Recognition for Musical Score Delivery John Sullivan, Deborah Egloff, Marcello Giordano, Marcelo Wanderley, Joseph Browne, Alex Bachmayer, Julian Stein, Sandeep Bhagwati
080 Acceptable Mismatch between Scaled 3D Images and Tactile Stimulation Ryota Arai, Yasutoshi Makino, Hiroyuki Shinoda
084 Seeing distance through time-delayed tactile feedback Isaac Malka, Jess Hartcher-O’Brien, Vincent Hayward
087 The Viscous Force Segmentation by the Haptic Shoes that Display Vibrotactile Feedback in Synchronization with the Walking Movement Yu Iwata, Nobuhisa Hanamitsu, Atsuro Ueki, Kouta Minamizawa, Masa Inakage
088 Hybrid neuro-rehabilitation system using Brain Computer Interface, Virtual Reality and Soft Robotics Victoria Oguntosin, Maitreyee Wairagkar, Ioannis Dimitrios Zoulias, William Seymour Harwin, Yoshikatsu Hayashi, Slawomir Jaroslaw Nasuto
089 HandsOn-SEA: A Series Elastic Educational Robot Ata Otaran, Ozan Tokatli, Volkan Patoglu
091 Squeezeability in Virtual Reality Diar Abdlkarim, Alan Wing
100 Tactile Presentation to the Back of a Smartphone with Simultaneous Screen Operation Sugarragchaa Khurelbaatar, Yuriko Nakai, Ryuta Okazaki, Vibol Yem, Hiroyuki Kajimoto

16:30 – 17:15 – Oral session 6: Thermal perception (Great Hall)

004 16:30-16:45

A century later, the hue-heat hypothesis: does color affect truly temperature perception?
Mounia Ziat, Carrie Anne Balcer, Taylor Rolison, Andrew Shirtz The present study aims to determine whether color had an impact on temperature perception, a paradigm known as the hue-heat hypothesis. Our results shows that a color-temperature association exists as the participants hold a hot vessel longer when associated with blue and similarly a cold vessel longer when paired with red. This indicates that participants’ responses were influenced by crossmodal interaction between color and temperature. These findings are consistent with previous studies and validates the hue-heat hypothesis that was first investigated almost a century ago.
014 16:45-17:00

Influence of object material properties and geometry on skin temperature responses during contact
Hsin-Ni Ho When the hand makes contact with an object, the changes in skin temperature provide information about not only the object’s material properties but also its geometry. Consider, for example, the temperature difference felt when touching an aluminum block and a piece of aluminum foil. In this study, the changes in skin temperature elicited when touching objects with varying material properties and geometries were measured. The results confirmed that there was a strong dependence of the skin temperature responses on both the material properties and object thickness. These temperature data were compared to the theoretical predictions obtained from two thermal models, of which one assumes the object in contact being a semi-infinite body and the other takes into consideration the influence of object geometry. The comparison results suggest that the former model is effective in predicting the rapid temperature changes at the moment of contact for materials that covered a broad range of thermal properties, while the latter model is useful for predicting the temperature changes elicited during prolonged contact with materials with high thermal conductivity (e.g. metal). These findings are expected to provide a knowledge basis for the development of an automatic object identification system, with which the material and the geometry of an object can be identified based on thermal feedback.
022 17:00-17:15

Space-time Dependencies and Thermal Perception
Anshul Singhal, Lynette Jones This experiment was focused on determining whether the spatial representation of thermal stimuli is influenced by the temporal parameters of stimulation as has been demonstrated for tactile stimuli. Four warm thermal pulses within the innocuous range of temperatures were presented on the forearm in varying spatial and temporal sequences. Participants indicated the perceived location of the first two pulses in the four-pulse sequence after each trial. The results indicate that the perceived position of the second pulse changed substantially in the direction of the third pulse when the interval between the pulses was brief (0.2 s).  At longer intervals there was no change in perceived location. These results indicate that de-spite the limitations in the spatial and temporal processing of thermal stimuli, somatotopic information appears to be integrated similarly for tactile and thermal stimuli.

17:15-17:45 – European Haptics Society PhD award (Great Hall)

17:45-18:00 – Announcements

19:00 – 22:00 Conference banquet at Royal College of Surgeons

Go to Thursday sessions