IEEE Transactions on Haptics最新文献

Haptic-Assisted Soldering Training Protocol in Virtual Reality: The Impact of Scaffolded Guidance. 虚拟现实中的触觉辅助焊接培训协议：支架指导的影响。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-10-10 DOI: 10.1109/TOH.2025.3620038

Mehmet Yilmaz, Anil Ufuk Batmaz, Mine Sarac

{"title":"Haptic-Assisted Soldering Training Protocol in Virtual Reality: The Impact of Scaffolded Guidance.","authors":"Mehmet Yilmaz, Anil Ufuk Batmaz, Mine Sarac","doi":"10.1109/TOH.2025.3620038","DOIUrl":"https://doi.org/10.1109/TOH.2025.3620038","url":null,"abstract":"In this paper, we present a virtual training platform for soldering based on immersive visual feedback (i.e., a Virtual Reality (VR) headset) and scaffolded guidance (i.e., disappearing throughout the training) provided through a haptic device (Phantom Omni). We conducted a between-subject user study experiment with four conditions (2D monitor with no guidance, VR with no guidance, VR with constant, active guidance, and VR with scaffolded guidance) to evaluate their performance in terms of procedural memory, motor skills in VR, and skill transfer to real life. Our results showed that the scaffolded guidance offers the most effective transitioning from the virtual training to the real-life task - even though the VR with no guidance group has the best performance during the virtual training. These findings are critical for the industry and academy looking for safer and more effective training techniques, leading to better learning outcomes in real-life implementations. Furthermore, this work offers new insights into further haptic research in skill transfer and learning approaches while offering information on the possibilities of haptic-assisted VR training for complex skills, such as welding and medical stitching.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145274448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Aerial Push-Button with Two-Stage Tactile Feedback using Reflected Airborne Ultrasound Focus. 利用反射机载超声焦点的两阶段触觉反馈的空中按钮。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-10-09 DOI: 10.1109/TOH.2025.3619566

Hiroya Sugawara, Masaya Takasaki, Keisuke Hasegawa

{"title":"Aerial Push-Button with Two-Stage Tactile Feedback using Reflected Airborne Ultrasound Focus.","authors":"Hiroya Sugawara, Masaya Takasaki, Keisuke Hasegawa","doi":"10.1109/TOH.2025.3619566","DOIUrl":"https://doi.org/10.1109/TOH.2025.3619566","url":null,"abstract":"We developed a new aerial push-button with tactile feedback using focused airborne ultrasound. This study has two significant novelties compared to past related studies: 1) ultrasound emitters are equipped behind the user's finger and reflected ultrasound emission that is focused just above the solid plane placed under the finger presents tactile feedback to a finger pad, and 2) tactile feedback is presented at two stages during pressing motion; at the time of pushing the button and withdrawing the finger from it. The former has a significant advantage in apparatus implementation in that the input surface of the device can be composed of a generic thin plane including touch panels, potentially capable of presenting input touch feedback only when the user touches objects on the screen. We experimentally found that the two-stage tactile presentation is much more effective in strengthening perceived tactile stimulation and believability of input completion when compared with a conventional single-stage method. This study proposes a composition of an aerial push-button in much more practical use than ever. The proposed system composition is expected to be one of the simplest frameworks in the airborne ultrasound tactile interface.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145258139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Exploring Tactile Perception: Development and Evaluation of the PinArray, a Novel Haptic Device. 探索触觉感知：一种新型触觉装置PinArray的开发与评估。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-10-01 DOI: 10.1109/TOH.2025.3616046

Iliyas Tursynbek, John de Grosbois, Brendan Hart, Mounia Ziat

引用次数: 0

Effect of Pressing Force on Perceived Vibrotactile Intensity in Stylus-mediated Interaction. 触控笔交互中按压力对振动触觉强度的影响。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-29 DOI: 10.1109/TOH.2025.3615661

Chongyang Sun, Xuezhi Yan, Weizhi Nai, Xiaoying Sun, Qinglong Wang

{"title":"Effect of Pressing Force on Perceived Vibrotactile Intensity in Stylus-mediated Interaction.","authors":"Chongyang Sun, Xuezhi Yan, Weizhi Nai, Xiaoying Sun, Qinglong Wang","doi":"10.1109/TOH.2025.3615661","DOIUrl":"https://doi.org/10.1109/TOH.2025.3615661","url":null,"abstract":"Vibration feedback is a widely used form of haptic feedback in stylus-mediated interaction with screens of mobile devices. To accurately and efficiently present haptic effects, it is important to investigate key design factors that influence vibrotactile perception. In this paper, we perform experiments using two actuators (linear resonant actuator and voice-coil actuator) to investigate the effect of pressing force on perceived intensity with various combinations of factors such as actuator orientation, frequency of the driving signals, baseline perceived intensity, and user's motion speed in the vibrotactile feedback of stylus-mediated interaction. The results show that in stationary condition when the actuator is placed with its long side perpendicular to the axis of the stylus, the larger the pressing force is, the weaker the perceived intensity is; when the actuator is placed with its long side parallel to the axis of the stylus, the perceived intensity increases slightly with increasing pressing force. Another experiment is conducted and shows that the perceived intensity is more uniform when the amplitude is dynamically changed with the variation of the pressing force. For the moving conditions, the changes in pressing force have almost no effect on the perceived intensity. The results provide knowledge about the perceived intensity of vibrations in the stylus-mediated vibrotactile rendering.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145191709","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Elastic or Stiff? Light or Heavy? Pseudo-Haptic Photograph Interaction for Fabric Perception. 弹性还是刚性？轻的还是重的？织物感知的伪触觉照片交互。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-24 DOI: 10.1109/TOH.2025.3612506

Marina Ricci, Sylvia Pont, Gijs Huisman, Maarten Wijntjes

{"title":"Elastic or Stiff? Light or Heavy? Pseudo-Haptic Photograph Interaction for Fabric Perception.","authors":"Marina Ricci, Sylvia Pont, Gijs Huisman, Maarten Wijntjes","doi":"10.1109/TOH.2025.3612506","DOIUrl":"https://doi.org/10.1109/TOH.2025.3612506","url":null,"abstract":"Online retail is still mostly limited to the visual channel despite haptic interface technology advances. One potential strategy for overcoming the lack of touch in online retail is using pseudo-haptics: illusory haptic sensations resulting from manipulating the visual feedback of mouse or touchscreen interactions. Previous research used computer-generated graphics for pseudo-haptic experiences, while online retailers rely heavily on accurate photos of their products. Therefore, our study proposes a novel approach to designing pseudo-haptics using interactive photograph series together with mouse cursor gain modulations, called Pseudo-Haptic Photograph Interaction (PHPI). Unlike prior approaches that rely on simulated or stylized imagery, PHPI introduces pseudo-haptic effects through real photographic sequences of fabric motion, bridging the gap between visual realism and interactive haptic simulation. We conducted user studies on the perception of stiffness and weight to validate our approach. In experiment 1, we investigated the relation between the perception of weight and stiffness and increased or decreased gain of mouse movement. The study reveals a strong relation between mouse gain and perception. To test whether this corresponded to pseudo-haptic sensations, we performed experiment 2, in which actual fabrics had to be matched with those displayed through PHPI. We found a correlation between the haptically perceived weight and stiffness of fabrics, and their digital surrogate mediated by visual cues, confirming the potential of PHPI for multimodal experiences in online retail and other photographic presentations.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145137333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Correction to “Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification” 修正“墙体和自由空间阻尼等级对虚拟墙体刚度分级的影响”

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-19 DOI: 10.1109/TOH.2025.3585659

Emma Treadway;Kristian Journet;Andrew Deering;Cora Lewis;Noelle Poquiz

引用次数: 0

Twenty Years of World Haptics: Retrospective and Future Directions 世界触觉学二十年：回顾与未来方向

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-19 DOI: 10.1109/TOH.2025.3605032

J. Edward Colgate;Lynette A. Jones;Hong Z. Tan

引用次数: 0

Rendering Affective Touch With an Array of Pneumatic Unit Cell Actuators. 用气动单元格执行器阵列呈现情感触摸。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-18 DOI: 10.1109/TOH.2025.3611671

Krishna Dheeraj Kommuri, Mehmet Ege Cansev, Philipp Beckerle, Irene A Kuling

{"title":"Rendering Affective Touch With an Array of Pneumatic Unit Cell Actuators.","authors":"Krishna Dheeraj Kommuri, Mehmet Ege Cansev, Philipp Beckerle, Irene A Kuling","doi":"10.1109/TOH.2025.3611671","DOIUrl":"https://doi.org/10.1109/TOH.2025.3611671","url":null,"abstract":"Rendering affective touch through haptic interfaces has gathered significant interest due to its ability to elicit emotional responses. Among various forms of affective touch, this study focuses on stroke stimuli. An illusory stroke stimulus is rendered using eight discrete Pneumatic Unit Cell (PUC) actuators on the left forearm. The study systematically investigates how rendering parameters-including the traveling speed of the illusory stroke, the stimulus onset asynchrony (SOA) of consecutive indentations, and indentation pressure-affect the perceived pleasantness and continuity of the stimulus. Results reveal that higher speeds significantly improved both pleasantness and continuity, with speed emerging as the most influential factor. In contrast, SOA has no significant effect on either perceived pleasantness or continuity. Indentation pressure shows a moderate impact on pleasantness, with high pressures reducing pleasantness but having no significant effect on continuity. Additionally, a positive correlation is observed between perceived pleasantness and continuity, underscoring the relevance of the continuity illusion created by sequential indentations with discrete actuators in evoking pleasant sensations. These findings demonstrate the potential of PUC actuators for creating affective touch stimuli and provide preliminary insights into the influence of rendering parameters on affective touch in human-machine and human-robot interactions.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145085904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing. 划清界限：引导呼吸的可穿戴线性触觉。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-09-15 DOI: 10.1109/TOH.2025.3609959

Jake D Little, Jennifer L Tennison, Jenna L Gorlewicz

{"title":"Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing.","authors":"Jake D Little, Jennifer L Tennison, Jenna L Gorlewicz","doi":"10.1109/TOH.2025.3609959","DOIUrl":"https://doi.org/10.1109/TOH.2025.3609959","url":null,"abstract":"Haptic wearables provide an intuitive human-machine interface to convey information through the sense of touch, which may have promising applications in guided breathing. In this paper, we detail the design and evaluation of three wearable prototypes (Vibration, Skin Drag, and Tapping) capable of administering discrete (individual, separate pulses and stimuli) and continuous (overlapping or uninterrupted stimuli) forms of linear haptic cycles with inspiration from slow, deep guided breathing. Characterization was performed to quantify and validate the performance of six haptic stimuli (discrete/continuous vibration, skin drag, and tapping). Devices were quantified with key metrics that described the applied stimuli and the dynamics of the wearable. A human subjects study (N=25), composed of two-cycle tracking tasks, was conducted to determine device performance and user aptitude. Results indicated consistent directional recognition across all six stimuli, but discrete stimuli performed better in spatial localization tasks. Although outperformed in tracking/localization tasks, continuous stimuli, especially skin drag, were described as the most apt and intuitive pairing to guided breathing. Findings highlight the potential of these linear haptic stimuli in a number of applications, including guided breathing, navigation, virtual immersion, and communication.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145069429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Haptics of Pulse Palpation: Simulation and Validation through Novel Sensor-Actuator System. 脉搏触诊触觉：基于新型传感器-执行器系统的仿真与验证。

IF 2.8 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-08-29 DOI: 10.1109/TOH.2025.3604476

Debadutta Subudhi, K K Deepak, Manivannan Muniyandi

{"title":"Haptics of Pulse Palpation: Simulation and Validation through Novel Sensor-Actuator System.","authors":"Debadutta Subudhi, K K Deepak, Manivannan Muniyandi","doi":"10.1109/TOH.2025.3604476","DOIUrl":"https://doi.org/10.1109/TOH.2025.3604476","url":null,"abstract":"Palpation of arteries holds significant physiological importance. Existing pulse actuator designs intended to replicate the haptic sensations of palpation primarily focus on normal force interactions, often overlooking the shear forces generated by oscillations of the arterial wall during blood flow. This study aims to evaluate the normal, longitudinal, and transverse forces exerted by arteries through both theoretical and experimental analyses during palpation. The experimental validation features a pulse actuator-sensor system. The actuator component is a hydroelectromagnetic actuator, while the haptic sensing is performed by the Subblescope. The Subblescope measures arterial force feedback from both soft and hard artery models, as well as from the radial pulse in 18 human subjects. Mathematical analysis establishes the operational range of the sensor-actuator system as 0.005 N to 2.5 N. The force feedback from the simulation has been used for designing the total force generation by the actuator. The reactive force along the Z-axis varies between 19.3 mN to 500 mN, while the transverse and longitudinal forces along the Y and X axes range from 6.9 mN to 88.01 mN and 5.46 mN to 87.85 mN, respectively. The pulse-force map of the hard artery reveals higher three-dimensional force interactions compared to the soft artery. The hydroelectromagnetic actuator effectively generates both normal and shear forces during pulsatile flow. Future work will focus on developing training modules that replicate pulse haptics associated with various physiological conditions, such as diabetes.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.8,"publicationDate":"2025-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144952146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0