Haptics: Generating and Perceiving Tangible Sensations, Part I: 7th International Conference, EuroHaptics 2010, Amsterdam, The Netherlands, July 8-10, ... (Lecture Notes in Computer Science, 6191)

Welcome to the proceedings of EuroHaptics 2010. EuroHaptics is the major inter- tional conference and the primary European meeting for researchers in the ?eld of - man haptic sensing and touch-enabled computer applications. We were proud to have received more submissions for presentations, demonstrations and special sessions than ever before. This shows that the topic and the conference s quality and approach appeal to an increasing number of researchers and companies. We received more than 200 submissions for oral and poster presentations, demos and pre-conference special workshops. A team of 25 associate editors and 241 revi- ers read the submissions and advised the four volume editors. We owe the associate - itors and reviewers many thanks. We accepted 43 submissions as oral and 80 as poster presentations, 7 pre-conference workshops were approved and more than 20 demos could be experienced hands-on during the conference. The proceedings contain all oral and poster presentation papers. No distinction between the two presentation types was made because selection was not on the basis of submission quality but on relevance for a broad audience. We were proud to add three distinguished keynote speakers to the conference program: Mark Ernst, Rosalyn Driscoll and Patrick van der Smagt. Besidestheauthors, presentersandreviewers, wewouldliketoexpressourgratitude to our supporting organizations, The Netherlands Organisation for Applied Scienti?c Research TNO, VU University Amsterdam, Utrecht University and Delft University of Technology, and to our sponsors, especially ourfour gold-levelsponsors: Force Dim- sion, Engineering Systems Technologies, TNO and Moog." Title Preface Organization Table of Contents – Part I Mass, Force, and Elasticity Efficient Bimodal Haptic Weight Actuation Introduction Haptic Feedback Rendering Pseudo-Haptic Weight Feedback (Control/Display) Pneumatic Weight Feedback Experiments Psychophysical Scaling of Pseudo-Haptic Weight Feedback (Exp. A) Psychophysical Scaling of Pneumatic Weight Feedback (Exp. B) Conjoint Analysis of Bimodal Weight Feedback (Exp. C) Discussion References The Contribution of Proprioceptive and Cutaneous Cues in Weight Perception: Early Evidence for Maximum-Likelihood Integration Introduction Methods Participants Stimuli and Apparatus Set up and Procedure Results Discussion References The Shape-Weight Illusion Introduction Methods Subjects Stimuli and Procedure Conditions Data Collection Results Discussion References Force-Based Calibration of a Particle System for Realistic Simulation of Nonlinear and Viscoelastic Soft Tissue Behavior Introduction Numerical Model of the Particle System Calibration of the Particle System Results Conclusion References Haptic Perception of Viscosity Introduction Methods Subjects Stimuli Procedure Analysis Results Discussion and Conclusions References Multi-sensorial Interface for 3D Teleoperations at Micro and Nanoscale Introduction Description of the Multisensorial Haptic Interface Quartz Tuning-Fork as a Force Sensor/Actuator Real Time Control Experimental Results Conclusion References Classifying Torque, Normal Force and Direction Using Monkey Afferent Nerve Spike Rates Introduction Methods Neural Recordings Stimulation Procedure Attribute Discrimination Using Afferent Populations Results Discussion Conclusion References A New Coupling Scheme for Haptic Rendering of Rigid Bodies Interactions Based on a Haptic Sub-world Using a Contact Graph Introduction The Graph-Based Haptic Sub-world Coupling Scheme Building the Haptic Sub-world Building the Graph and the Interface Results and Evaluation Same Haptic Frequency for More Complex Scenes Accuracy Measurements Comparison with Other Coupling Methods Conclusion References A New Multi-DOF Haptic Device Using a Redundant Parallel Mechanism Introduction Mechanism DELTA-R D-8 Kinematics of D-8 Implementation Evaluations Accuracy of Display Force Rigidity Resistance Force in Free-Hand Motion Conclusions References Estimation of Normal and Tangential Manipulation Forces by Using Contact Force Sensors Introduction Sensorized Thimble Flexiforce Sensors Sensors in the Thimble Precision of the Designed Thimble Example Application of the Sensorized Thimble Conclusions References Modeling and Experimental Studies of a Novel 6-DOF Haptic Device Introduction Overview of the 6-DOF Haptic Device Force Mapping Experimental Studies Kinematic Correspondence Force Correspondence Experiments and Results Discussion and Conclusion References Inertial Force Display to Represent Content Inside the Box Introduction Related Works Device Implementation Inertial Force Display Representational Models Experiment Identification of Models Identification of Mw Difference Identification of Damping Factor Difference Conclusion References Perception of Stiffness during Interaction with Delay-Like Nonlinear Force Field Introduction Methods Results Discussion References Improving the Prediction of Haptic Impression User Ratings Using Perception-Based Weighting Methods:Experimental Evaluation Introduction Intention of This Study Experiment Measurement of Force-Displacement-Curves User Rating Tests Combination of Parameter and User Ratings Results Conclusions and Further Work References Vibrotactile Force Perception Thresholds at the Fingertip Introduction Applications for Force Perception Data Experimental Setup Procedure Apparatus Force Prediction and Measurement Model Results and Conclusions References Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery Introduction Kinematics of the Robotic Arm Objective Function for Maximum Transparency Design Parameters and Constraints Optimization and Results Conclusions References Creating Virtual Stiffness by Modifying Force Profile of Base Object Introduction Experimental System Subjective Assessment Experiment Conclusion References Extended Rate-Hardness: A Measure for Perceived Hardness Introduction Extended Rate-Hardness Evaluation Methods Evaluation Results Discussion Conclusions References Using a Fingertip Tactile Device to Substitute Kinesthetic Feedback in Haptic Interaction Introduction The Tactile Device Substituting Kinesthetic Feedback Experiments Experiment 1: Comparison of the Feedback Modalities Experiment 2: Stability with Time Delay Conclusion References The Effect of Bimanual Lifting on Grip Force and Weight Perception Introduction Methods Participants Stimulus and Apparatus Procedure Results Discussion References How to Build an Inexpensive 5-DOF Haptic Device Using Two Novint Falcons Introduction Hardware Gravity Compensation The 5-DOF Controller Conclusion References Revisiting the Effect of Velocity on Human Force Control Introduction Methods Hardware Control Systems Pilot Testing Experimental Design Results Discussion and Conclusion References Teleoperation A Coordinating Controller for Improved Task Performance in Multi-user Teleoperation Introduction Coordinating Controller Stability Analysis Conclusion References Mechatronic Design Optimization of a Teleoperation System Based on Bounded Environment Passivity Introduction A Mechatronic System A Rigid Body Slave A Flexible Slave A Mechatronic Analysis A Rigid Body Slave A Flexible Slave A Mechatronic Optimization Conclusions References On the Impact of Haptic Data Reduction and Feedback Modality on Quality and Task Performance in aTelepresence and Teleaction System Introduction Previous Work Research Questions Methodology Participants Experimental Design and Setup Procedure Results Data Reduction Performance Perceived Haptic Feedback Quality Task Performance Discussion References Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain Introduction Overview of Mobile Robot Teleoperation Stability Analysis Simulation Conclusion References Transparency of the Generalized Scattering Transformation for Haptic Telepresence Introduction Background Transparency Analysis Experiment Conclusions References VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery Introduction Prior Approaches System Design Testing and Results Conclusion References A Turing-Like Handshake Test for Motor Intelligence Introduction The Turing-Like Handshake Test The Handshake Experimental Protocol Smoothness and Harmonicity of a Natural Handshake Demonstrating the Turing-Like Handshake Test Discussion References The Influence of Different Haptic Environments on Time Delay Discrimination in Force Feedback Introduction Delay Discrimination Experiment Stimuli and Procedure Results Discussion Conclusion References Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System Introduction The INKOMAN System Scope of This Paper Kinematic Structures Kinematic Topologies in 3 DOF Actuation Principle and Topology Selection Adapting a 3-RUU Mechanism Workspace Force Transmission Conclusions and Further Work References Mechanical Impedance: A Cobotic and Haptic Actuators Performance Criterion Introduction Mechanical Behavior and Limitations of Electric Actuators Comparison of Different Haptics and Cobotics Actuators Mechanical Impedance Variable Stiffness, Variable Inertia (CVT), Magneto-Rheological Brake in Parallel or Stand Alone Electric Actuator Model Model of Passive System Driven by Magneto Rheological Brake Alone SDA System Model: Magneto-Rheological Brake in Series with Actuator Mechanical Stops Model Extreme Mechanical Impedance Comparison Conclusion References Online Intention Recognition in Computer-Assisted Teleoperation Systems Introduction RelatedWork Control Architecture for Computer-Assisted Teleoperation Main Building Blocks of Computer Assistant Intention Recognition in Computer-Assisted Teleoperation Systems Experimental Evaluation Conclusion and Future Work References Evaluation of a Coordinating Controller for ImprovedTask Performance in Multi-user Teleoperation Introduction Coordinating Controller Research Questions Experiment Results and Discussion Conclusion References Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task Introduction Teleoperation System Methods Data Analysis Results Discussion and Conclusion References Telepresence Technology for Production:From Manual to Automated Assembly Introduction Manual Telepresent Assembly Systems Towards Automation of Assembly Systems Framework Overview Task Automation Conclusion References High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes Introduction Simulation Overview Cataract Surgery Deformable Model Contact Model Haptic Rendering Topology Modifications System Matrix Modification Compliance Matrix Update Algorithm Results Conclusion References Novel Approaches Basic Properties of Phantom Sensation for Practical Haptic Applications Introduction Methods Set up Waveforms for Stimulation Experiments Experiment 1: Basic Properties of PhS with Different Types of Pulse Stimulation Experiment 2: Change in PhS Clarity with Change in Pulse Cycle Experiment 3: PhS Induced by Three Stimulators Conclusion References Evaluation of Transmission System for Spatially Distributed Tactile Information Introduction Transmission of Spatially Distributed Tactile Information Finger-Shaped GelForce Electrotactile Display Methods for Information Transmission Experiment Material and Method Result Discussion Conclusion References Electro-tactile Display with Real-Time Impedance Feedback Introduction Previous Studies Real-Time Feedback System Structure Hardware Evaluation and Preliminary Experiments Feedback Loop Speed Contact Detection Correlation between Impedance and Threshold Conclusion References Life Log System Based on Tactile Sound Introduction Tactile Sound Detection Experiments Experiment 1: Recognition of 12 Daily Actions Experiment 2: Recognition of Different Mouse Devices Results Summary References What Is It Like to Be a Rat? Sensory Augmentation Study Introduction Methods Apparatus The Tasks Results Radial Discrimination Task Shape Recognition Task Roughness Estimation General Discussion References Innovative Real-Time Communication System with Rich Emotional and Haptic Channels Introduction Affective Haptics. Emerging Frontier Architecture of the System Affect Recognition Affective Haptic Devices HaptiHug: Realistic Hugging over a Distance HaptiHeart Enhancing User Emotions Butterflies in the Stomach and Shivers on Body’s Spine HaptiTickler: Device for Positive Emotions User Study Conclusions References Tactile vs Graphical Authentication Introduction Tactile Authentication System Experiment Design Results and Discussion Conclusion References Haptics Can “Lend a Hand” to a Bionic Eye Introduction Haptics Can Complement and Supplement Vision Tactile Displays Can Inform Vision Tactile Displays Can Enhance Cortical Connections Technical Considerations Conclusion References Analysis of Active Handrest Control Methods Introduction and Background Device Description and Controller Experiment: Active Handrest Control Methods Conclusions and Future Work References Roly-poly: A Haptic Interface with a Self-righting Feature Introduction Motion Input Return to the Original Position Various Patterns Coordinate Calibration for Input-Output Correspondence Haptic Feedback Ungrounded Haptic Wheel Indirect Haptic Feedback System Applications Bimanual Input Tactile Notification and Assist tick Conclusion References HaptiHug: A Novel Haptic Display for Communication of Hug over a Distance Introduction Architecture of the System Development of Haptic Hug Display Emotional Haptic Design Social Pseudo-haptic Touch Hug Measurement Conclusions References Physical Contact of Devices:Utilization of Beats for Interpersonal Communication Introduction Tactile Beats between Devices Beats Phenomenon Direct Contact of Devices: Utilization of Beats for Communication System Configuration: Rolypoly Type Interface Applications A Mobile Device with an Assigned Vibration Frequency Social Interaction with Tactile Beats Conclusion and Discussion References Tremor Suppression Controlfor a Meal-Assist Robot Introduction Meal-Assist Robot MARo Tremor Suppression Using Resonance Experimental Results Conclusions References Reflective Haptics: Enhancing Stylus-Based Interactions on Touch Screens Introduction Related Work Pen Prototype Using Reflective Haptics Interface Applications Conclusion and Future Work References A Novel Tactile Sensor for Detecting Lumps in Breast Tissue Introduction Materials and Methods Tactile Sensor and Processor Module Data Acquisition and Calibration Phantom Experiments and Analyses Results Conclusion and Future Work References Tactile Sensation Imaging for Artificial Palpation Introduction Tactile Imaging Sensor Design and Sensing Principle Tactile Imaging Sensor Design Sensing Principle Inclusion Detection Experiments Empirical Equation of Inclusion Characterization Inclusion Diameter and Depth Estimation Conclusions References Improving Vehicular Window Control with Haptic and Visual Feedback Introduction Experimental Setup and Procedure Results and Discussion Conclusions and Future Work References Gesture Recognition in the Haptic Creature Introduction Background Mechatronic Description System Goals and Proof of Concept The Creature Gesture Recognition Engine GRE Description Current Capabilities Conclusions and Future Work References Author Index Constitutes the proceedings of the conference on Haptics: Generating and Perceiving Tangible Sensations ,held in Amsterdam, Netherlands in July 2010.