Haptics: Science, Technology, Applications : 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, Hamburg, Germany, May 22–25, 2022, Proceedings

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022.\ \ The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications. Preface Organization Contents Haptic Science Haptic Discrimination of Different Types of Soft Materials 1 Introduction 2 Methods 2.1 Participants 2.2 Setup and Materials 2.3 Design and Procedure 2.4 Data Analysis 3 Results 4 Discussion Appendix A References Moving Hands Feel Stimuli Before Stationary Hands 1 Introduction 2 Methods 2.1 Participants 2.2 Stimuli and Setup 2.3 Design and Procedure 2.4 Data Analysis 3 Results 4 Discussion References Perception of Friction in Tactile Exploration of Micro-structured Rubber Samples 1 Introduction 2 Experiments 3 Results 4 Conclusion References Influence of Prior Visual Information on Exploratory Movement Direction in Texture Perception 1 Introduction 2 Methodology 2.1 Participants 2.2 Stimuli and Setup 2.3 Procedure and Design 2.4 Data Analysis 3 Results 4 Discussion References Guidance for the Design of Vibrotactile Patterns for Use on the Human Back 1 Introduction 2 Relevant Perceptual Findings 2.1 Anisotropy 2.2 Temporal Aspects 2.3 Anchor Points 2.4 Resolution 2.5 Intensity 3 Design Recommendations 4 Conclusions References Speed Discrimination in the Apparent Haptic Motion Illusion 1 Introduction 1.1 Speed Perception and Impacting Parameters 1.2 Speed Perception of the Apparent Motion Illusion 1.3 Contribution 2 User Study 2.1 Experimental Set-Up and Stimulation Modes 2.2 Experimental Design 2.3 Experimental Procedure 3 Results 4 Discussion and Conclusions References Neutral Point in Haptic Perception of Softness 1 Introduction 2 Methods 2.1 Participants 2.2 Apparatus 2.3 Stimuli 2.4 Design and Procedure 2.5 Analysis 3 Results 4 Discussion References Pilot Study on Presenting Pulling Sensation by Electro-Tactile Stimulation 1 Introduction 2 Method 2.1 Electrical Stimulation Device 2.2 Stimulus Pattern 3 Experiment 1 3.1 Experimental Procedure 3.2 Experimental Result 3.3 Discussion 4 Experiment 2 4.1 Experimental Procedure 4.2 Experimental Result 4.3 Discussion 5 Conclusion References A Preliminary Study on the Perceptual Independence Between Vibrotactile and Thermal Senses 1 Introduction 2 Exp. 1: Unimodal Stimuli 2.1 Methods 2.2 Results and Discussion 3 Exp. 2: Multimodal Stimuli 3.1 Methods 3.2 Results and Discussion 4 Conclusions References Spatial Compatibility of Visual and Tactile Stimulation in Shared Haptic Perception 1 Introduction 2 Method 2.1 Experimental Setup 2.2 Conditions 2.3 Stimuli 2.4 Procedure and Analysis 3 Results 4 Discussion 5 Conclusions References Increasing Perceived Weight and Resistance by Applying Vibration to Tendons During Active Arm Movements 1 Introduction 2 Experiments 2.1 Apparatus 2.2 Tendon Vibration During Active Movements 2.3 Experiment 1: Increasing the Weight of a Handheld Object 2.4 Experiment 2: Increasing Resistance of a Handheld Object 3 Discussion 4 Conclusion References A Comparison of Haptic and Auditory Feedback as a Warning Signal for Slip in Tele-Operation Scenarios 1 Introduction 2 Material and Methods 2.1 Participants 2.2 Setup 2.3 Testing Auditory and Haptic Latencies 2.4 Paradigm 2.5 Data Analysis 3 Results 4 Discussion References Experiencing Touch by Technology 1 Introduction 2 Study 1. Interviews for the Experience Profiling 3 Study 2. Experience Profiling for Pressure Stimuli 4 Discussion and Conclusion References Effect of Focus Direction and Agency on Tactile Perceptibility 1 Introduction 2 Methods 2.1 Participants 2.2 Experimental Hardware 2.3 Experimental Conditions 2.4 Procedure 3 Results 4 Discussion 5 Conclusion References Haptic Technology Haptic Guidance for Teleoperation: Optimizing Performance and User Experience 1 Introduction 2 Methods 2.1 Apparatus 2.2 Sample, Experimental Setup and Tasks 2.3 Experimental Design and Procedure 2.4 Measures and Statistical Analysis 3 Results 3.1 Objective Performance Measures 3.2 Subjective Ratings 4 Discussion References A Multi-modal Haptic Armband for Finger-Level Sensory Feedback from a Prosthetic Hand 1 Introduction 2 Multi-modal Haptic Armband 2.1 Rendering of Feedback 2.2 Mechanisms of Feedback 3 Experimental Evaluation 4 Results and Discussion 5 Conclusion and Future Work References Sound Pressure Field Reconstruction for Ultrasound Phased Array by Linear Synthesis Scheme Optimization 1 Introduction 2 Methods 2.1 Linear Synthesis Scheme Optimization 2.2 Greedy Algorithm with Brute-Force Search 3 Experiments 3.1 Outline 3.2 Evaluations 4 Conclusion References A Rotary Induction Actuator for Kinesthetic and Tactile Rendering 1 Introduction 2 Eddy-Current Based Haptic Devices 3 Human Haptic Perception and the Design Requirements of an Ideal Haptic Interface 4 The Principle of Operation of the Axial-DSIM 5 Important Parameters and Considerations 6 The Design of the Axial-DSIM 6.1 The Primaries 6.2 The Winding Design 7 The Experimental Setup and the Shape of the Supply 8 The Experimental Results 9 Conclusion References Haptic Feedback for Wrist Angle Adjustment 1 Introduction 2 Vibrotactile Feedback on the Wrist Through a Wristband 3 Experimental Design 3.1 Participants 3.2 Procedure 3.3 Analysis 4 Results 5 Discussion and Conclusion References Larger Skin-Surface Contact Through a Fingertip Wearable Improves Roughness Perception 1 Introduction 2 Materials and Methods 3 Results 4 Discussion References Expanding Dynamic Range of Electrical Stimulation Using Anesthetic Cream 1 Introduction 2 Experiments and Result 2.1 Experiment 1 2.2 Experiment 2 2.3 Experiment 3 3 Discussion 4 Conclusion References Haptic Rattle: Multi-modal Rendering of Virtual Objects Inside a Hollow Container 1 Introduction 2 Related Work 3 Methods 3.1 Apparatus 3.2 Acceleration-Based Rendering Model 4 User Study 4.1 Population, Materials and Setup 4.2 Experimental Conditions and Hypotheses 4.3 Results 5 Discussion and Conclusion References Design of a 2-DoF Haptic Device for Motion Guidance 1 Introduction 2 Device Design and Actuation 2.1 Mechanism and Structure 2.2 Kinematics Analysis 3 Experimental Evaluation 3.1 Setup 3.2 Participants 3.3 Procedure 3.4 Results 4 Discussion and Conclusions References Preliminary Design of a Flexible Haptic Surface 1 Introduction 2 Design of the Device 2.1 Design of the Haptic Pixel 2.2 Design of the Surface 3 Haptic Evaluation of the Device 3.1 Tribological Evaluation 3.2 Psychophysical Evaluation 4 Conclusion References Human Self-touch vs Other-Touch Resolved by Machine Learning 1 Introduction 1.1 Present Study 1.2 Signal Database 1.3 Feature Extraction 1.4 Performance Measures 1.5 Ambiguity and Abstention 2 Results 2.1 Relative Performance of Classification Techniques 2.2 Importance of Feature Extraction 2.3 Discussion and Conclusion References Investigating Movement-Related Tactile Suppression Using Commercial VR Controllers 1 Introduction 2 Methods 2.1 Participants 2.2 Apparatus 2.3 Experimental Task 2.4 Data Analysis 3 Results 4 Discussion References Estimation of Frictional Force Using the Thermal Images of Target Surface During Stroking 1 Introduction 2 Proposed Method 2.1 Problem Definition 2.2 Making Dataset 2.3 Machine Learning Model 3 Experiment 4 Results and Discussion 5 Conclusion References Spatial Resolution of Mesoscopic Shapes Presented by Airborne Ultrasound 1 Introduction 2 Methods 2.1 Overview of the Methods 2.2 Contact Position Change Method 2.3 Contact Strength Change Method 2.4 Ultrasound Focus Point Presentation Method 3 Experiment 3.1 System 3.2 Procedure 3.3 Results 3.4 Discussion 4 Conclusion References Haptic Applications Vibrotactile Similarity Perception in Crowdsourced and Lab Studies 1 Introduction 2 Stimuli and Apparatus 3 Similarity Rating Data Collection 4 Results 4.1 RQ1. How Comparable Are VT Similarity Ratings Obtained from Crowdsourced and Lab Studies? 4.2 RQ2. How Comparable Are Results from Android and iOS Smartphones Given Their Distinct VT Hardware and Software? 5 Discussion and Conclusion References Perception of Spatialized Vibrotactile Impacts in a Hand-Held Tangible for Virtual Reality 1 Introduction and Related Work 2 Experimental Design 2.1 Research Questions and Hypotheses 2.2 Rendering Impacts Distance and Direction 2.3 Materials and Methods 3 Results 4 Discussion 5 Conclusion and Perspectives References Wearable Haptics in a Modern VR Rehabilitation System: Design Comparison for Usability and Engagement 1 Introduction 2 Materials and Methods 2.1 Device 1: The Light Haptic Thimble 2.2 Device 2: The Haptic Thimble 2.3 The Virtual Reality Serious Game: Potions 2.4 Experimental Setup and Protocol 3 Results 4 Discussion and Conclusions References Perceiving Sequences and Layouts Through Touch 1 Introduction 2 Related Work 3 Experiments 3.1 Experiment 1 3.2 Experiment 2 4 Discussion 4.1 Salience of Boundary and Structure 4.2 Exploration and Retention Strategies 5 Conclusion References Whole-Hand Haptics for Mid-air Buttons 1 Introduction 2 Mid-air Button Design 3 User Study 4 Results 5 Discussion and Conclusion References Proximity-Based Haptic Feedback for Collaborative Robotic Needle Insertion 1 Introduction 2 Methods 2.1 Sensor and Phantom Setup 2.2 Robotic System 2.3 Experiments 3 Results 4 Discussion and Outlook References Furekit: Wearable Tactile Music Toolkit for Children with ASD 1 Introduction 2 Related Works 2.1 Interventions for Children with ASD 2.2 Effects of Tactile and Audio Feedback 3 Furekit Development 3.1 Hardware Prototyping 3.2 System Interface Design 4 Workshop in Special Needs Education School 4.1 Procedure 4.2 Results and Discussion 5 Conclusion References A Database of Vibratory Signals from Free Haptic Exploration of Natural Material Textures and Perceptual Judgments (ViPer): Analysis of Spectral Statistics 1 Introduction 2 Methods 2.1 Participants 2.2 Stimuli 2.3 Procedure and Apparatus 2.4 Vibratory Signals 2.5 Analysis 3 Results 4 Discussion References Appendix Developing a VR Training Environment for Fingers Rehabilitation with Haptic Feedback 1 Introduction 2 Game Development 3 Experimental Results 4 Conclusion References Impedance Control and Remote Operation of Robotic Wrist Therapy Systems 1 Introduction 2 Impedance Controller 3 Haptic Feedback 4 Experiments and Conclusion References Feasibility of Smartphone Vibrations as a Sensory Diagnostic Tool 1 Introduction 2 Instrument Vibration Characterization 3 Preliminary Tool Validation 4 Conclusions and Future Work References Deixis Without Sight: Use of Spatial Demonstratives in the Absence of Vision Abstract 1 Introduction 2 Methodology References A Scalable Haptic Circuit for Multi-digit Grasps Abstract 1 Experiment 1 2 Experiment 2 3 Discussion Acknowledgement References Instrumented Force and Optical Point Tracking to Measure Manual Brushing in Pleasant Touch Abstract 1 Introduction 2 Methods 3 Experiments and Results Acknowledgements References Instrumented Object for Finger Pad Imaging During Active Manipulation 1 Introduction 2 Design and Testing 3 Discussion References Vibrotactile Stimuli are Perceived More Intense at the Front than at the Back of the Torso Abstract 1 Introduction 2 Methods 3 Results 4 Discussion References Imaging Sub-surface Skin Strain Patterns During Fingertip Sliding 1 Introduction 2 Materials and Methods 3 Preliminary Results and Future Work References Sense of Agency Over Hands-free Gestural Control is Modulated by the Timing of Haptic Feedback Abstract 1 Introduction 2 Method 2.1 Participants 2.2 Experimental Design and Procedure 3 Results 4 Discussion and Conclusion Acknowledgements References Exploiting a Wearable Extra-Finger for Haptic Applications 1 Introduction 2 The Improvement of the Sixth Finger 3 Future Works References Finger Pad Deformation Under Torsion 1 Introduction 2 Methods 3 Results 4 Discussion References Haptic Shape Discrimination is Independent of Weight Abstract 1 Introduction 2 Methods 2.1 Materials 2.2 Procedure 2.3 Participants 3 Results 4 Discussion References Human-to-Human Strokes Recordings for Tactile Apparent Motion 1 Introduction 2 Materials and Method 2.1 Apparatus 2.2 Procedure 3 Results 4 Discussion References Between-Tactor Display Using Dynamic Tactile Stimuli 1 Introduction 2 Methods 3 Discussion References Measuring Oddball Responses to Vibrotactile Textures Abstract 1 Introduction 2 Methods 3 Preliminary Results and Conclusion Acknowledgements References Distinguishable Virtual Haptic Textures to Understand Multisensory Sensation 1 Introduction 2 Methods 2.1 Texture Recording 2.2 Psychophysical Task 3 Results 4 Discussion References The Role of the Visuo-Tactile Congruence Between the Size of a Collider and Virtual Contents in the Interactions with Virtual Objects Abstract 1 Introduction 2 Methods 3 Results 4 Discussion References Thermal Sensation Display Controlling the Thermal Conductivity of a Surface Abstract 1 Introduction 1.1 Human Touch Sense 1.2 Previous Work 1.3 Description of the Technology 2 Testing 2.1 Test with Thermal Camera 2.2 Test Human Perception References Simulating the Influence of Surface Hardness on the Contact Area Formation for Dry and Moist Finger Skin Contacts Abstract 1 Introduction 2 Contact Modelling Methodology 3 Results and Discussion 4 Conclusion References Embedded 3D Printing: A Cost-effective Development Platform for Tactile Sensors 1 Introduction 2 Materials and Methods 3 Results and Discussion References Acoustic Finger Force Observation in a Longitudinal Ultrasonic Surface Haptic Device and Its Relation to Friction Abstract 1 Introduction 2 Friction vs. Acoustic Finger Force Experiments 3 Results and Conclusions Acknowledgment References Design and Implementation of a Cartesian Impedance Control in a Bilateral Telemanipulation System Using UR10e Robots 1 Introduction 2 Basic Concepts 2.1 Cartesian Impedance Control 2.2 Telemanipulation System Using Cartesian Impedance Control 3 Experiments 4 Summary References Mid-air Haptic Biosignal Transfer Abstract 1 Introduction 2 System and Methods 3 Results 4 Conclusion References Ultrasonic Friction Modulation Modifies the Area of Contact, Not the Shear Strength 1 Introduction 2 Methods 3 Results 4 Conclusion and Discussion References Fingertip Friction and Tactile Rating of Wrapping Papers Abstract 1 Introduction and Methods 2 Fingertip Friction Results 3 Perception Results Acknowledgements References A Psychological and Behavioral Study on Remote Audio-Visual-Tactile Communication System with Pressure Stimulation 1 Introduction 2 Remote Audio-visual-tactile Communication System 3 Experiment 4 Results and Discussion References Using Digital Image Correlation to Quantify the Effects of Thin Films on Skin Deformation Abstract 1 Introduction 2 Methods 3 Experiments and Results Acknowledgements References Engineering Haptic Devices 3rd Edition in 2022 in Open-Access 1 History 2 Changes Between Edition 2 and 3 3 Future Editions References Wearable Haptic Device for Individuals with Congenital Absence of Proprioception 1 Introduction 2 Prototype and Preliminary Results 3 Conclusions and Future Work References Remote High Five: Bidirectional Transmission System for Video, Audio, and Vibrotactile Information Applied for Communication of Athletes with Family; a Case Study Abstract 1 Introduction 2 System Overview 3 Application Example 4 Conclusion and Future Work Acknowledgments References Rolling Handle for Hand Motion Guidance and Teleoperation 1 Introduction 2 Rolling Handle with Force Feedback 2.1 The Parallel Mechanism 2.2 User Input for Bilateral Control 3 Use Cases 4 Conclusion and Future Work References Is Tactile Shape Coding Invariant Against Small Location Shifts on the Skin? Abstract 1 Introduction 2 Methods 3 Results and Discussion References Precision Grip Discrimination of Object Thickness Abstract 1 Introduction 2 Methods 2.1 Participants 2.2 Apparatus 2.3 Psychophysics 2.4 Analysis 3 Results 4 Discussion References Use of Multiple Frequencies of Ultrasound in Midair Haptic Stimulation Abstract 1 Introduction 2 Proposed Method 2.1 Focal Point Movement Speed 2.2 Spatial Pattern and Valid Range 3 Experiments 4 Conclusion Reference Presenting Sliding Sensation by Electro-tactile Stimulation Abstract 1 Introduction 2 Method 2.1 Electrical Stimulation Device 2.2 Stimulus Pattern 3 Conclusion Acknowledgements References Uncoupled Stability Dynamic Rangepg for Kelvin- Voigt and Hunt-Crossleypg Virtual Environments 1 Introduction 2 Methodology 3 Results and Analysis 4 Conclusion References Fashion Touch. Surface Haptics in Fashion E-commerce Abstract 1 Introduction 2 FashionTouch E-commerce Haptic Simulation 3 Early Research Results and Discussion References The Influence of Aging on Perceptual Grouping in Haptic Search Abstract 1 Introduction 2 Method 2.1 Participants 2.2 Setup and Procedure 3 Results 4 Discussion References Investigating Haptic Feedback and Arousal for Motor Skill Training in Virtual Reality 1 Introduction 2 Methods 3 Results and Future Work References Safe Movement for the Blind Using Localised Haptic Stimulation 1 Existing Solutions 2 Our Proposal 2.1 The Device - Head Band 2.2 User Experience - Localised Haptic Stimulation 3 Evaluation References An Immersive Virtual Paleontology Application 1 Introduction 2 Methodology 3 Results 4 Conclusions References Mapping of Vibrotactile Stimuli into a Perceptual Space Abstract 1 Introduction 2 Methods 3 Results, Discussion and Future Work Acknowledgments References Perception of Guitar Strings on a Flat Visuo-Tactile Display 1 Introduction 2 Materials and Methods 3 Results 4 Discussion References Pseudo Forces from Asymmetric Vibrations Can Modulate Movement Velocity 1 Introduction 2 Methods 3 Results 4 Discussion and Conclusion References Tactile Friction of UV-Curable Coatings and Its Relation to Surface Hardness Abstract 1 Introduction 2 Materials and Methods 3 Results and Discussion 4 Conclusion References Electrotactile Patterns for Single Finger Interactions in VR 1 Introduction 2 Methodology 3 Results and Discussion References Sit-By-Me: A Multi-Sensory Feedback Bench for Social Impromptu Interactions 1 Introduction 2 System Design 3 Preliminary Workshop and Results 4 Conclusion and Future Works References ExoSpine: Artificial Muscle-Driven Spine for Posture Correction 1 Introduction 2 Implementation 3 Preliminary Study and Results 4 Conclusion and Future Works References Design of Robot End-Effector to Be Used in Studying Actuator-Performance for Vibrotactile Perception in a Telemanipulation Setup 1 Introduction 2 Case Study 3 Telemanipulation Setup Used 3.1 Measuring Human Hand Impedance 3.2 End-Effector Design 4 Summary References Author Index