- Thursday sessions, July 7

Programme at a glance is here.

8:45 – registration desk opens (Queen’s Tower rooms)

09:00-10:00 – Oral session 7: Robotics and sensing (Great Hall)

55 9:00-9:15

Hands-On Learning with a Series Elastic Educational Robot
Ata Otaran, Ozan Tokatli, Volkan Patoglu For gaining proficiency in physical human-robot interaction (pHRI), it is crucial for engineering students to be provided with the opportunity to physically interact with and gain hands-on experience on design and control of force-feedback robotic devices. We present a single degree of freedom educational robot that features series elastic actuation and relies on closed loop force control to achieve the desired level of safety and transparency during physical interactions. The proposed device complements the existing impedance type Haptic Paddle designs %by enabling students to experience admittance control architectures for pHRI by demonstrating the challenges involved in the synergistic design and control of admittance-type devices. We present integration of this device into pHRI education, by providing guidelines for use of the device to allow students to experience the performance trade-offs inherent in force control systems, due to the non-collocation between the force sensor and the actuator. These exercises enable students to modify the mechanical design in addition to the controllers, by assigning different levels of stiffness values to the compliant element, and characterize the effects of these design choices on the closed-loop force control performance of the device. We also report initial evaluations of the efficacy of the device for pHRI studies.
056 9:15-9:30

Investigating tactile sensation in the hand using a robot-based tactile assessment tool
Elisabeth Wilhelm, Michael Mace, Atsushi Takagi, ildar farkhatdinov, Sarah Guy This paper describes a new robot-based tool for assessingtactile deficits in the hand of neurologically impaired individuals. Automating tactile assessment could: (1) increase the reliability of the measurement, (2) facilitate assessment in patients with limited mobility, and (3) decrease the time needed to assess tactile deficits. Using a portable robot, all probes needed for clinical or scientific assessment can be presented to the fingertip at a predefined scanning speed (dynamic mode), or pressed against the skin for a precisely defined amount of time with controlled contact force (static mode). In addition to the data collectedfrom the sensors that are used to control the motion of the robot, four force sensors located underneath the sample holder for probes presented in dynamic mode allow precise estimation of the contact force. The usability of the device is demonstrated in a preliminary study investigating the roughness and edge detection thresholds in five healthy subjects.
076 9:30-9:35

Design Principles for Building a Soft, Compliant, High Spatial Resolution Tactile Sensor Array
Heba Khamis, Stephen Redmond, Robert Tripodi, Artis Linarts, Maris Knite, Ingvars Birznieks High-density tactile arrays are required to measure tactile properties, including forces and torques, contact shape and location, and dynamic slip, for dexterous, gripping and manipulation tasks performed by robots and humans through haptic interfaces. However, in all current tactile sensing solutions, there is a trade-off between spatial resolution, flexibility, softness and manufacturing cost. In this work, a new design is proposed for a low cost, soft and malleable tactile sensing system with high spatial resolution that can be reshaped and applied to any surface, and that reduces the number of individual sensing elements, eliminates the need for any electronics within the sensing area and removes the need to time-division multiplex between sensor elements, allowing fully-parallel processing of transducer readings. Here the design is an orthogonal placement of conductive rubber strips with a pressure-dependant resistance. A basic algorithm for estimating the pressure at the intersection of each pair of orthogonal sensing strips is also described. The algorithm was tested with a simulated stimulation by two spherical stimuli onto a 16×16 grid (16 horizontal strips overlaid with 16 vertically strips) – the estimated pressure profile correlates well with the simulated stimulus (r = 0.86). A 5×5 grid prototype was built and was tested by stimulating with a spherical stimuli – the estimated pressure profile correlates well with the real stimulus (r = 0.92). Various design and algorithm improvements are suggested to overcome ambiguity in the estimated pressure profile due to the underdetermined nature of the system.
113 9:45-10:00

Basic Study on a Soft Tactile Sensor Based on Subcutaneous Tissue with Collagen Fibers
Yuto Sonoi, Yoshihiro Tanaka, Masayoshi Hashimoto, Motoaki Fukasawa, Nobuteru Usuda, Yoshito Otake, Manabu Fukumoto, Akihito Sano Humans have a high sensitivity and a broad receptive field in tactile function and the skin performs an important role to propagate mechanical stimulation to mechanoreceptors. Previously, a finite element analysis using a skin model with collagen fibers revealed that collagen fibers dispersed stress concentrations in the subcutaneous tissue. Thus, this paper presents the development of a soft tactile sensor having a structure of the subcutaneous tissue composed of adipose tissue and collagen fibers by using urethane resin. As a sensing element, a compression of adipose tissue part occurred by deformation on the sensor’s surface is measured by using the water level. The response of the proposed sensor is compared with that of a sensor having a conventional uniform structure. The results indicate that the proposed sensor has a broad receptive field maintaining a high sensitivity.

10:00-11:00 – Keynote 3: Blake Hannaford, University of Washington (Great Hall)

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

11:20-11:40 – Teaser session 3 (Great Hall)

11:40-13:00 – Oral session 8: Applications

051 11:40-11:55

Haptic feedback to compensate for the Absence of Horizon Cues during Landing
Mounia Ziat, Samantha Wagner, Ilja Frissen The black hole illusion (BHI) is a common visual illusion experienced while landing an aircraft at night or in a featureless environment. In the current study, we compare participants landing trajectories in a featureless environment with and without haptic feedback. We asked the participants to land a virtual object during featured (F+) and featureless night conditions (F-); with (H+) and without haptic feedback (H-). The results showed that the haptic feedback facilitated medio-lateral and superior-inferior directions. However, this benefit was less evident between the visual conditions suggesting that participants were relying on haptic cues during the task. This attentional shift could reduce BHI during night landings, where the BHI is accentuated by the fact that experienced pilots rely mainly on the visual inputs.
080 11:55-12:10

Localized Magnification in Vibrocatile HMDs for Accurate Spatial Awareness
Victor Adriel Oliveira, Luciana Nedel, Anderson Maciel, Luca Brayda Actuator density is an important parameter in the design of vibrotactile displays. When it comes to obstacle detection or navigation tasks, a high number of tactors may provide more information, but not necessarily better performance. Depending on the body site and vibration parameters adopted, high density can make harder to detect tactors in the array. In this paper, we explore the trade-off between actuator density and precision by comparing three kinds of directional cues. After performing a within-subject naive search using a head-mounted vibrotactile display, we found that increasing the density of the array locally provides higher performance in detecting directional cues.
111 12:10-12:25

Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation
Shunya Sakata, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro This study investigated the influence of multipoint vibrotactile stimuli on the basis of propagated vibration on the perception of collision sensation through two experiments.In the first experiment, we measured the vibration waveforms generated by a tennis ball hitting at the gripped racket, wrist, and elbow.The measured vibrations on the three positions displayed different profiles and frequency spectra, which appeared to be caused by the vibration propagation.In the second experiment, participants evaluated the vibrations reproduced on the basis of the measured vibration in terms of the display conditions using subjective evaluation.The results showed that multipoint vibrotactile stimuli improve the magnitude and size of area of collision sensation compared with a single-point vibration, and the unnatural condition in which multipoint stimuli containing recorded and unrecorded waveforms degraded the reality of reproduced collision sensation.
132 12:25-12:40

How geometrical descriptors help to build cognitive maps of solid geometry with a 3DOF tactile mouse
Mariacarla Memeo, Luca Brayda In this work we study how the kind and number of geometrical descriptors affects the way real objects are matched to virtual 2.5D objects, rendered with a 3DOF tactile mouse. We show that elevation and inclination cues are sufficient to recognize a small tactile dictionary of geometrical solids, but that their combination works at best. We also show that inclination alone may generate confusion and elicits the highest perceived cognitive load. Our setup can be the basis to build tactile user desktop interfaces to facilitate learning of mathematical concepts for people with vision loss.
167 12:40-12:55

Thimble End Effector for Palpation Skills Training
Arthur Loisillier, Alejandro Granados, Alastair Barrow, Fernando Bello When applied to medical simulation, haptics can address existing is-sues in traditional teaching approaches and offer an alternative method of training and assessment. Previous research has focused on developing new geometrical and haptic models, as well as physical models in order to increase both the functional and physical fidelity of simulators. However, there is a paucity of work focusing on the interaction between the haptic device and the user. New designs of thimbles, responsible for fastening the end effector of a haptic device onto the finger of the user have been explored, but do not solve the issue of introducing elements that are not present in the task being simulated. The designs of the thimbles presented in this paper include rings and different opening shapes, which aim at creating a vacuum effect, as well as a mechanical grip around the finger of the user in order to hold it. Thimble effectiveness, as a function of low impedance on insertion and high impedance on removal, was assessed through a study which highlighted that the relationship between thimble opening size and finger circumference is a critical factor. We present results about the impact of the size of the rings on the insertion and extraction force, followed by a reflection on an improved experimental protocol.

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

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

POSTERS 3 (Thu, Jul 7, 13:45-16:15, Queen’s Tower rooms)
073 Low-Frequency Vibration Actuator using a DC Motor Vibol Yem, Ryuta Okazaki, Hiroyuki Kajimoto
088 Enabling wearable soft tactile displays with electroactive smart elastomers Gabriele Frediani, Hugh Boys, Stefan Poslad, Federico Carpi
110 Individual Differences in Skin Vibration and Contact Force during Active Touch Makiko Natsume, Yoshihiro Tanaka, Akihito Sano
128 An attempt to induce a strong rubber hand illusion under active-hand movement with tactile feedback and visuotactile stimulus Ken Itoh, Shogo Okamoto, Masayuki Hara, Yoji Yamada
131 [withdrawn] A novel haptic module that can provides vibrothemal tactile feedback Masashi Nakatani, Katsunari Sato, Kunio Sato, Yuzuru Kawana, Daisuke Takai, Kouta Minamizawa, Susumu Tachi
133 Psychophysical Power Optimization of Friction Modulation for Tactile Interfaces Sednaoui Thomas, Eric Vezzoli, David Gueorguiev, Michel Amberg, Cedrick Chappaz, Betty Semail
134 End Effector for a Kinesthetic Haptic Device Capable of Displaying Variable Size and Stiffness Nathan Usevitch, Rohan Khanna, Robert Carrera, Allison Okamura
136 Tactile Apparent Movement as a Modality for Lower Limb Haptic Feedback Daniel Chen, Junkai Xu, Peter Shull, Thor Besier
138 withdrawn: [Digital Drawing Tools for Blind Users – A State-of-the-Art and Requirement Analysis] Jens Bornschein, Gerhard Weber
139 Toward Non-Visual Graphics Representations on Vibratory Touchscreens: Shape Exploration and Identification Jennifer Tennison, Jenna Gorlewicz
142 Studying one and two-finger perception for the discrimination of tactile directional cues Yoren Gaffary, Maud Marchal, Adrien Girard, Marine Pellan, Anouk Asselin, Benoit Peigne, Mathieu Emily, Anatole Lécuyer
143 Computational Assessment of Mechanical Triggers for Spiking Activity during Surface Exploration Teja Vodlak, Zlatko Vidrih, Primoz Sustaric, Tomaz Rodic, Johan Wessberg, Djordje Peric
144 Impact of Combined Stimuli on the Perception of Transient Forces Connie Wu, Erica Chin, Michael Fanton, Allison Okamura
147 HandsOn: enabling embodied, creative STEM e-learning with programming-free force feedback Gordon Minaker, Oliver Schneider, Richard Davis, Karon MacLean
150 Mind the bump: effect of geometrical descriptors on the perception of curved surfaces with a novel tactile mouse Mariacarla Memeo, Luca Brayda
157 On Generation of Active Feedback with Electrostatic Attraction Ugur Alican Alma, Gholamreza Ilkhani, Evren Samur
158 A novel distal and proximal upper limb stroke rehabilitation system Michele Barsotti, Edoardo Sotgiu, Daniele Leonardis, Mine Sarac, Giada Sgherri, Giuseppe Lamola, Caterina Procopio, Carmelo Chisari, Antonio Frisoli
164 Calibration Method of Thermal-Radiation-Based Haptic Display Satoshi Saga
166 Milliseconds matter: Temporal order of visuo-tactile stimulation affects the ownership of a virtual hand Ioannis Dimitrios Zoulias, William Seymour Harwin, Yoshikatsu Hayashi, Slawomir Jaroslaw Nasuto
171 Automatic Visualization and Graphical Editing of Virtual Modeling Networks for the Open-Source Synth-A-Modeler Compiler Edgar Berdahl, Peter Vasil, Andrew Pfalz
172 Acceptable Mismatch between Scaled 3D Image and Tactile Stimulation Ryota Arai, Yasutoshi Makino, Hiroyuki Shinoda
DEMONSTRATIONS 3 (Thu, Jul 7, 13:45-16:15, Queen’s Tower rooms)
031 The Design and Field observation of a Haptic Watch for Presenting Time on the Wrist Using Vibrotactile Cues Naqash Afzal, Dangxiao Wang, Amine Serir, Yuru Zhang
052 A Pocket-size Alphabet Display with Letter Trajectories Presented to Fingers Koji Tanaka (tanaka@hapis.k.u-tokyo.ac.jp)
045 Augmentation of Thermal Sensation on Finger Pad using Stimuli for Finger Side Katsunari Sato
058 Method of Observing Finger Skin Displacement on a Textured Surface Using Index Matching Seitaro Kaneko, Hiroyuki Kajimoto
059 Towards Universal Haptic Library– Library-Based Haptic Texture Selection Using Image Texture Waseem Hassan, Arsen Abdulali, Seokhee Jeon
064 Softness sensing based on human perception by forceps-type acoustic tactile sensor Tomohiro Fukuda, Yoshihiro Tanaka, Michitaka Fujiwara, Akihito Sano
065 Demonstration: Wearable Fingertip Devices for Rendering Cutaneous Force Feedback in Virtual Manipulation Daniele Leonardis, Massimiliano Solazzi, Ilaria Bortone, Antonio Frisoli
076 E-ViTa: Enhanced Visual Tactile Stimulator Eric Vezzoli, Michel Amberg, Frédéric Giraud, Betty Semail
081 Portable Haptic Tweezers for Remote or Direct Fine Manipulation Thomas Daunizeau, David Heriban, Tianming Lu, Sinan Haliyo, Stéphane Régnier
101 Tactile display combining electrical and mechanical stimulation Sugarragchaa Khurelbaatar, Hiroyuki Kajimoto
099 A Pneumatic Refreshable Braille Display with Integrated Microfluidic Logic Circuitry Alex Russomanno, Brent Gillespie, Sile O’Modhrain, Mark Burns
104 Haptic Nasendoscopy Simulation and Surgical Tissue Simulations Greg Ruthenbeck
055 Demonstration: Ultrasonic Friction Modulation While Pressing Induces a Tactile Feedback Jocelyn Monnoyer, Emmanuelle Diaz, Christophe BOURDIN, Michael Wiertlewski
039 The Tactikinetophone Maria Karam, Patrick Langdon
041 Successive Force Augment Approach for Enhancing the Rate-Hardness of Haptic Interaction Harsimran Singh, JeeHwan Ryu

16:30 – 17:15 – Industry session (Great Hall)

17:15 – 17:45 – Awards/Future conferences/Closing (Great Hall)

18:00 – 20:00 – Farewell