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2018


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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

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link (url) DOI [BibTex]

2018


link (url) DOI [BibTex]


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Travelling Ultrasonic Wave Enhances Keyclick Sensation

Gueorguiev, D., Kaci, A., Amberg, M., Giraud, F., Lemaire-Semail, B.

In Haptics: Science, Technology, and Applications, pages: 302-312, Springer International Publishing, Cham, 2018 (inproceedings)

Abstract
A realistic keyclick sensation is a serious challenge for haptic feedback since vibrotactile rendering faces the limitation of the absence of contact force as experienced on physical buttons. It has been shown that creating a keyclick sensation is possible with stepwise ultrasonic friction modulation. However, the intensity of the sensation is limited by the impedance of the fingertip and by the absence of a lateral force component external to the finger. In our study, we compare this technique to rendering with an ultrasonic travelling wave, which exerts a lateral force on the fingertip. For both techniques, participants were asked to report the detection (or not) of a keyclick during a forced choice one interval procedure. In experiment 1, participants could press the surface as many time as they wanted for a given trial. In experiment 2, they were constrained to press only once. The results show a lower perceptual threshold for travelling waves. Moreover, participants pressed less times per trial and exerted smaller normal force on the surface. The subjective quality of the sensation was found similar for both techniques. In general, haptic feedback based on travelling ultrasonic waves is promising for applications without lateral motion of the finger.

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[BibTex]

[BibTex]


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Exploring Fingers’ Limitation of Texture Density Perception on Ultrasonic Haptic Displays

Kalantari, F., Gueorguiev, D., Lank, E., Bremard, N., Grisoni, L.

In Haptics: Science, Technology, and Applications, pages: 354-365, Springer International Publishing, Cham, 2018 (inproceedings)

Abstract
Recent research in haptic feedback is motivated by the crucial role that tactile perception plays in everyday touch interactions. In this paper, we describe psychophysical experiments to investigate the perceptual threshold of individual fingers on both the right and left hand of right-handed participants using active dynamic touch for spatial period discrimination of both sinusoidal and square-wave gratings on ultrasonic haptic touchscreens. Both one-finger and multi-finger touch were studied and compared. Our results indicate that users' finger identity (index finger, middle finger, etc.) significantly affect the perception of both gratings in the case of one-finger exploration. We show that index finger and thumb are the most sensitive in all conditions whereas little finger followed by ring are the least sensitive for haptic perception. For multi-finger exploration, the right hand was found to be more sensitive than the left hand for both gratings. Our findings also demonstrate similar perception sensitivity between multi-finger exploration and the index finger of users' right hands (i.e. dominant hand in our study), while significant difference was found between single and multi-finger perception sensitivity for the left hand.

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[BibTex]

[BibTex]

2012


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Surgical Instrument Vibrations are a Construct-Valid Measure of Technical Skill in Robotic Peg Transfer and Suturing Tasks

Bark, K., Gomez, E. D., Rivera, C., McMahan, W., Remington, A., Murayama, K., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 50-51, London, England, July 2012, Oral presentation given by Bark (inproceedings)

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[BibTex]

2012


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Spectral Subtraction of Robot Motion Noise for Improved Vibrotactile Event Detection

McMahan, W., Kuchenbecker, K. J.

In Haptics: Perception, Devices, Mobility, and Communication: Proc. EuroHaptics, Part I, 7282, pages: 326-337, Lecture Notes in Computer Science, Springer, Tampere, Finland, June 2012, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data

Culbertson, H., Romano, J. M., Castillo, P., Mintz, M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 385-391, Vancouver, Canada, March 2012, Poster presentation given by Culbertson (inproceedings)

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[BibTex]

[BibTex]


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VerroTouch: Detection of Instrument Vibrations for Haptic Feedback and Skill Assessment in Robotic Surgery

Gomez, E. D., Bark, K., McMahan, W., Rivera, C., Remington, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), San Diego, California, USA, March 2012, Emerging Technology Poster presentation given by Gomez. Poster available at \href{http://thesagesmeeting.org/}{http://thesagesmeeting.org/} (inproceedings)

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[BibTex]

[BibTex]


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Using Accelerometers to Localize Tactile Contact Events on a Robot Arm

McMahan, W., Romano, J. M., Kuchenbecker, K. J.

In Proc. Workshop on Advances in Tactile Sensing and Touch-Based Human-Robot Interaction, ACM/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, March 2012, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]


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Recreating the feel of the human chest in a CPR manikin via programmable pneumatic damping

Stanley, A. A., Healey, S. K., Maltese, M. R., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 37-44, Vancouver, Canada, March 2012, Oral presentation given by Stanley (inproceedings)

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[BibTex]

[BibTex]


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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation

Wang, Y., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 527-532, Vancouver, Canada, March 2012, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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VerroTeach: Visuo-audio-haptic Training for Dental Caries Detection

Maggio, M. P., Parajon, R., Kuchenbecker, K. J.

In Proc. Annual American Dental Educator’s Association (ADEA) Conference, Orlando, Florida, 2012, Oral presentation given by Maggio (inproceedings)

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[BibTex]

[BibTex]


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A Data-Driven Method for Determining Natural Human-Robot Motion Mappings in Teleoperation

Pierce, R. M., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics, pages: 169-176, Rome, Italy, 2012, Poster presentation given by Pierce (inproceedings)

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[BibTex]

[BibTex]


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Low Bitrate Source-filter Model Based Compression of Vibrotactile Texture Signals in Haptic Teleoperation

Chaudhari, R., Çizmeci, B., Kuchenbecker, K. J., Choi, S., Steinbach, E.

In Proc. ACM Multimedia, pages: 409-418, Nara, Japan, 2012, Oral presentation given by {Chaudhari} (inproceedings)

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[BibTex]

[BibTex]


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Robotic Learning of Haptic Adjectives Through Physical Interaction

McMahon, I., Chu, V., Riano, L., McDonald, C. G., He, Q. (., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IROS Workshop on Advances in Tactile Sensing and Touch-based Human-robot Interaction, Vilamoura, Algarve, Portugal, 2012, Oral presentation given by McMahon (inproceedings)

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[BibTex]

[BibTex]

2008


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A GPU-Based Approach for Real-Time Haptic Rendering of 3D Fluids

Yang, M., Lu, J., Zhou, Z., Safonova, A., Kuchenbecker, K. J.

In Proc. SIGGRAPH Asia Conference, Singapore, December 2008, Oral presentation given by Yang (inproceedings)

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[BibTex]

2008


[BibTex]


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A Practice-Integrated Curriculum in Mechanical Engineering

Yim, M., Kuchenbecker, K. J., Arratia, P., Bassani, J., Fiene, J. P., Kumar, V., Lukes, J.

In Proc. ASEE Annual Conference and Exposition, Pittsburgh, Pennsylvania, USA, June 2008, Oral presentation given by Yim (inproceedings)

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[BibTex]

[BibTex]


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Measurement-Based Modeling for Haptic Rendering

Okamura, A. M., Kuchenbecker, K. J., Mahvash, M.

In Haptic Rendering: Algorithms and Applications, pages: 443-467, 21, A. K. Peters, May 2008 (incollection)

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[BibTex]

[BibTex]


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Effects of Proprioceptive Motion Feedback on Sighted and Unsighted Control of a Virtual Hand Prosthesis

Blank, A., Okamura, A. M., Kuchenbecker, K. J.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 141-142, Reno, Nevada, USA, March 2008, Poster presentation given by Blank (inproceedings)

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[BibTex]

[BibTex]


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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction

Kuchenbecker, K. J., Ferguson, D., Kutzer, M., Moses, M., Okamura, A. M.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 239-246, Reno, Nevada, USA, March 2008, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Haptography: Capturing the Feel of Real Objects to Enable Authentic Haptic Rendering

Kuchenbecker, K. J.

In Proc. Haptic in Ambient Systems (HAS) Workshop, in conjunction with the First International Conference on Ambient Media and Systems, Montreal, Canada, February 2008 (inproceedings)

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[BibTex]

[BibTex]