IEEE Transactions on Haptics最新文献_第2页

Modulating Multimodal Emotional and Social Perception of Huggable Robot Expressions Through Chest Haptics. 通过胸部触觉调节可拥抱机器人表情的多模态情感和社会感知。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-08-13 DOI: 10.1109/TOH.2026.3723858

Jingru Guo, Hiroshi Ishiguro, Hidenobu Sumioka

{"title":"Modulating Multimodal Emotional and Social Perception of Huggable Robot Expressions Through Chest Haptics.","authors":"Jingru Guo, Hiroshi Ishiguro, Hidenobu Sumioka","doi":"10.1109/TOH.2026.3723858","DOIUrl":"10.1109/TOH.2026.3723858","url":null,"abstract":"Emotional and social expression are important dimensions of socially empathic human-robot interaction. In hug gable robot contexts, the chest is not only a stable bodily contact interface with strong affective relevance, but also a natural site for presenting haptic and auditory cues together. However, existing chest-haptic designs still focus mainly on physical tactile parameters or heartbeat-like patterns. Conversely, chest haptic patterns formed by different stimulation-location combinations over time may offer richer possibilities for multimodal expression and modulation. To explore this, we implemented a parameterizable 3×3 chest-mounted vibrotactile array on a huggable robot and constructed chest haptic patterns using path type and activation area as design parameters. We conducted two experiments. Experiment 1 examined how chest haptic patterns influenced the affective perception of emotional music. Experiment 2, under a fixed activation area setting, examined how the presence of chest haptics and different path conditions influenced the social emotional evaluation of verbal expressions with empathic intentions. The results showed that, in the emotional music context, chest haptic patterns influenced the direction of emotional rating shifts and showed more pronounced modulation effects under some music conditions. In the empathic speech context, the addition of chest haptics generally improved social-emotional evaluations. These findings provide empirical support for the use of chest haptic patterns in multimodal social-emotional expression, and offer guidance for the future development of huggable robots with richer emotional and empathic expression.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148758075","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

Toward Eyes-Free Interaction: Whole-Arm Guidance via Fingertip Deflection with the NURing. 朝向无眼互动：通过指尖偏转与护理的全臂引导。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-08-12 DOI: 10.1109/TOH.2026.3723347

Tomasz P Trzpit, Gregory Reardon, Anthony Shilati, Elizabeth M Gerber, Michael A Peshkin, J Edward Colgate

{"title":"Toward Eyes-Free Interaction: Whole-Arm Guidance via Fingertip Deflection with the NURing.","authors":"Tomasz P Trzpit, Gregory Reardon, Anthony Shilati, Elizabeth M Gerber, Michael A Peshkin, J Edward Colgate","doi":"10.1109/TOH.2026.3723347","DOIUrl":"10.1109/TOH.2026.3723347","url":null,"abstract":"Haptic feedback can convey spatial information without engaging vision or hearing, making it well suited for eyes-free and assistive applications. However, many haptic guidance systems rely on cues that require explicit cognitive interpretation, which can slow user responses and introduce ambiguity in the conveyed spatial information. To address this, we introduce fingertip deflection as a kinesthetic guidance cue via the NURing, a wearable tendon-driven device that delivers controlled fingertip deflections to guide whole-arm motion, designed to leave the fingerpad unobstructed for tactile exploration. Inspired by the instinctive response of toddlers guiding parents by the finger [1], deflection cues provide a mechanically direct and readily interpreted form of haptic guidance. Two user studies evaluated closed-loop guidance in horizontal (single-axis, Study 1) and horizontal-vertical (dual-axis, Study 2) task spaces. In singleaxis tasks, blindfolded participants reached a median endpoint error of 11.3mm in under 3 s on average, and tracked moving targets with 53.5mm mean error. In dual-axis tasks, participants accurately identified deflection cue directions, and successfully reached two-dimensional target poses with a median endpoint error of 12.6mm in under 7 s on average. Kinematic analysis revealed that participants responded rapidly (median 330 ms), with early trajectories biased within 25° toward the target heading, indicating that deflection cues provided early, actionable direction information. These results demonstrate that fingertip deflection via the NURing enables fast, readily interpreted kinesthetic guidance that produces a coordinated whole-arm response without obstructing tactile contact, supporting its potential for eyes-free interaction and assistive applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148725644","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

A Haptic Robot Finger Designed for Guqin Instrument Playing. 一种用于古琴演奏的触觉机器人手指。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-08-05 DOI: 10.1109/TOH.2026.3720822

Tianwei Zhang, Hanming Yan, Yang Yang, Ziya Wang

引用次数: 0

Modeling Subjective User Experience in Haptics Through Individualized Bayesian Models. 基于个性化贝叶斯模型的触觉主观用户体验建模。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-08-04 DOI: 10.1109/TOH.2026.3719775

Joseph C Liechty, Pengshun Tang, John C Liechty, Edoardo Battaglia

{"title":"Modeling Subjective User Experience in Haptics Through Individualized Bayesian Models.","authors":"Joseph C Liechty, Pengshun Tang, John C Liechty, Edoardo Battaglia","doi":"10.1109/TOH.2026.3719775","DOIUrl":"10.1109/TOH.2026.3719775","url":null,"abstract":"In many areas of haptics, evaluation has prioritized objective task performance, with subjective aspects of user experience (UX), such as emotional response and user preference, often being treated as complementary measures. In this work we present a unified modeling framework for UX in haptic and physical human-robot interaction that simultaneously evaluates metrics of performance, emotional response, and preference as a function of system design parameters. Our framework uses Bayesian hierarchical modeling to capture both individual variability and population-level trends. We apply this approach to a line-following task conducted with a custom-built haptic knob platform in a study with 30 participants, in which we measure task performance together with subjective ratings of emotion and preference while manipulating damping, task difficulty, and feedback given to participants on their performance. Results show that while population-level models capture consistent effects on performance, emotion and preference did not show similarly consistent population-level trends. Instead, subjective responses varied substantially across users, and examining individual models helped reveal participant-specific patterns that were not apparent from population-level summaries alone. Together, these findings highlight the importance of individualized modeling in the design and evaluation of haptic systems that aim to quantitatively account for the full spectrum of user experience.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148701067","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

Vis2Touch: Perceptually Grounded 3D Printing of Visual Art With AI-Driven Depth and Texture Estimation. Vis2Touch：基于ai驱动的深度和纹理估计的视觉艺术感知接地3D打印。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-29 DOI: 10.1109/TOH.2026.3717908

Faraz Faruqi, Azfar Sulaiman, Joshua Yin, Donald Degraen, Martin Nisser

引用次数: 0

Haptic Interfaces for Accessible Audio Mixing. 触觉接口可访问的音频混合。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-23 DOI: 10.1109/TOH.2026.3716643

J Hurley, J Drummond, A J Bongers

{"title":"Haptic Interfaces for Accessible Audio Mixing.","authors":"J Hurley, J Drummond, A J Bongers","doi":"10.1109/TOH.2026.3716643","DOIUrl":"10.1109/TOH.2026.3716643","url":null,"abstract":"Digital Audio Workstations (DAWs) form the basis of contemporary music, audio production, and sound-based artistic practice, yet their increasingly visual interfaces present significant accessibility barriers for blind and partially sighted (BPS) sound creators. While screen reader technologies provide partial access, they are poorly suited to the real-time, embodied demands of mixing, spatial manipulation, and continuous parameter control, where serial speech feedback can interfere with listening and constrain creative flow. This paper examines how vibrotactile interaction can support accessible, non-visual engagement with DAWs by providing real-time, embodied feedback at the point of control. Working with nine BPS sound creators using non-visual participatory design methods, we developed two haptic prototype interfaces: the Haptic Audio Parameter Control Interface (HAPCI) and the Haptic Fader Audio Meter (HFAM). The interfaces were evaluated for their capacity to convey audio peak-level metering, spatial positioning, and continuous parameter changes through vibrotactile tactons and textures. Reflexive thematic analysis revealed that vibrotactile feedback enabled forms of real-time spatial and parametric awareness that are difficult to achieve using speech-based accessibility tools alone, distributed attentional demand across modalities to avoid over-burdening the auditory channel, and supported more fluid creative workflows. Participants developed personalized interaction strategies and expressed strong preferences for haptic feedback integrated into familiar hardware. The findings suggest an initial design framework for mapping DAW control data to vibrotactile feedback, organized around parameter type, with implications for supporting accessible, non-visual, and embodied engagement with professional audio production for this research population.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148578436","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

Crip Haptic Jam: Vibrotactile Composition for Disability-Centered Dance. 瘸子触觉果酱：以残疾为中心的舞蹈的振动触觉作曲。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-02 DOI: 10.1109/TOH.2026.3709095

Premankur Banerjee, Selwa Sweidan, Catherine Yunis, Vanessa Hernandez Cruz, Heather Culbertson

引用次数: 0

ThermalTexture: Temperature-Integrated Surface Rendering Using Thermal Referral Induced by Texture Slip-Feedback ThermalTexture：使用纹理滑动反馈诱导的热参照的温度集成表面渲染。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-03-23 DOI: 10.1109/TOH.2026.3676774

Donghyeon Kim;Chungman Lim;Gunhyuk Park

{"title":"ThermalTexture: Temperature-Integrated Surface Rendering Using Thermal Referral Induced by Texture Slip-Feedback","authors":"Donghyeon Kim;Chungman Lim;Gunhyuk Park","doi":"10.1109/TOH.2026.3676774","DOIUrl":"10.1109/TOH.2026.3676774","url":null,"abstract":"Thermal–vibration feedback has been reported to elicit the thermal referral phenomenon, offering new possibilities for enhancing user experience. Yet, little research has explored whether thermal referral occurs in the presence of texture-slip feedback. To address this, we developed a custom haptic device capable of delivering integrated thermal and slip feedback to the middle and distal phalanges of an index finger. We primarily estimated the thermal referral occurrence under passive and active touch conditions across two different perceptual experiments, while each further examined its impact on texture perceptions and user experiences (UX). In Perceptual Experiment 1 (passive), we observed the highest occurrence of thermal referral at 40 <inline-formula><tex-math>$^{circ }mathrm{C}$</tex-math></inline-formula> (0.86 on a 0–1 scale), and found that referral increased the median of perceived roughness from 43.5 to 60 on a 0—100 scale. In Perceptual Experiment 2 (active), the kinesthetic cues significantly enhanced thermal referral, with the occurrence probability at 24 <inline-formula><tex-math>$^{circ }mathrm{C}$</tex-math></inline-formula> increasing to 0.86 compared to 0.51 (0—1 scale) in the first study. In addition, high UX ratings demonstrated the applicability of our device to temperature-integrated virtual texture interactions. Our findings expand the scope of thermal referral and highlight the potential for enabling VR users to interact with virtual surfaces that provide temperature cues.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"517-532"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11454471","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147503764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study of the Influence of Visuo-Haptic Feedback on Prosthetic Embodiment 视觉-触觉反馈对假肢体化影响的研究。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-06-17 DOI: 10.1109/TOH.2026.3704717

Alessia S. Ivani;Sara Rossi;Giorgio Grioli;Manuel G. Catalano;Maud Marchal;Antonio Bicchi;Claudio Pacchierotti

{"title":"Study of the Influence of Visuo-Haptic Feedback on Prosthetic Embodiment","authors":"Alessia S. Ivani;Sara Rossi;Giorgio Grioli;Manuel G. Catalano;Maud Marchal;Antonio Bicchi;Claudio Pacchierotti","doi":"10.1109/TOH.2026.3704717","DOIUrl":"10.1109/TOH.2026.3704717","url":null,"abstract":"When improving an upper-limb prosthetic system, choosing whether to prioritise visual design or haptic performance becomes crucial and offers valuable insights for advancing prosthesis development. This paper investigates the influence of multisensory feedback on prosthetic embodiment, focusing on key components of embodiment, including ownership, multisensory, and agency, through two Virtual Reality (VR) experiments. Our first study involved 24 participants without limb loss in a target-reaching task using different visual renderings (glove, realistic, prosthetic hands) and haptic feedback modalities (none, vibrotactile, pressure, combined). Results showed that visual appearance was a powerful determinant across all components. Realistic hands produced the highest embodiment scores, whereas the prosthetic hand representation significantly degraded them. Haptic feedback substantially affected ownership and multisensory scores; pressure feedback improved ownership compared to no feedback, and all haptic conditions elevated multisensory scores. A subsequent experiment with 12 new participants explored the effect of haptic feedback location (wrist, forearm, upper arm, contralateral forearm). This experiment found no significant performance differences among locations, though co-located feedback was preferred, where the visual feedback in VR appeared at the same spatial position as the perceived tactile contact. Finally, a pilot study with a prosthetic user provided preliminary support for the relevance of realistic visual appearance and multimodal haptic feedback. Overall, results suggest that visual realism and haptic feedback support different dimensions of prosthetic embodiment, with visual realism mainly enhancing ownership and haptic feedback strengthening multisensory. Importantly, concurrent vibrotactile-pressure feedback emerged as a promising and well-accepted solution, providing richer interaction cues without compromising embodiment.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"674-686"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148271205","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

Multi-Dimensional Perception of Two-Channel Skin-Stretch: Effects of Cue Pattern and Spatial Configuration 双通道皮肤拉伸的多维感知：线索模式和空间配置的影响。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-06-11 DOI: 10.1109/TOH.2026.3702652

Ching Hei Cheng;Jonathan Eden;Denny Oetomo;Ying Tan

{"title":"Multi-Dimensional Perception of Two-Channel Skin-Stretch: Effects of Cue Pattern and Spatial Configuration","authors":"Ching Hei Cheng;Jonathan Eden;Denny Oetomo;Ying Tan","doi":"10.1109/TOH.2026.3702652","DOIUrl":"10.1109/TOH.2026.3702652","url":null,"abstract":"Assistive robots lack natural proprioceptive feedback, often forcing users to rely on vision. With recent advances, haptic interfaces can now accommodate the multidimensional nature of proprioceptive information. Skin-stretch is one promising haptic modality to provide proprioceptive information that resembles natural body mechanisms and conveys both magnitude and direction information, enabling compact multi-channel designs. While prior studies have examined perceptibility and channel interference, the ability of participants to integrate information across multiple channels remains not well understood. This study evaluates how effectively users can combine two skin-stretch channels to interpret two-dimensional cues. 21 non-disabled participants judged, in collocated and non-collocated placement, the linear projection of stimuli under four patterns of skin-stretch variation. Participants could generally perceive and integrate both channels into a coherent understanding of two-dimensional cues, though some non-uniformity in interpretation was observed. Channel proximity showed no clear effect on performance or workload. These findings provide the first systematic investigation of multi-channel integration in skin-stretch feedback and inform the design of scalable proprioceptive haptic feedback interfaces for assistive robots.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"776-783"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148224851","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