IEEE Transactions on Haptics最新文献_第3页

Investigating the Role of Vibrotactile Cue Sequencing in Inducing Intuitive Wrist Motion From a Stationary Pose 研究振动触觉线索序列在诱导从静止姿势的直观手腕运动中的作用。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-06-29 DOI: 10.1109/TOH.2026.3708064

Anas N. Yousaf;Drake Rowland;Ann Majewicz Fey

{"title":"Investigating the Role of Vibrotactile Cue Sequencing in Inducing Intuitive Wrist Motion From a Stationary Pose","authors":"Anas N. Yousaf;Drake Rowland;Ann Majewicz Fey","doi":"10.1109/TOH.2026.3708064","DOIUrl":"10.1109/TOH.2026.3708064","url":null,"abstract":"Wearable haptic devices increasingly use vibrotactile feedback for user movement guidance, yet fundamental questions remain about how cue sequences impact induced user motion. This study systematically evaluates how cue sequencing in a wrist-worn vibrotactile device induces wrist rotation from a static starting position. Sixteen participants responded to ten different cue sequences (five clockwise/counterclockwise pairs, presented at random) while manipulating a haptic device in a controlled virtual environment. Results reveal three critical findings: first, inducing wrist rotation requires at least one vibrotactile stimulus on the opposite side of the wrist from where the sequence begins; second, overlapping tactor actuation intended to create smoother sensations counter-intuitively increases confusion and produces more lateral translation than sequential actuation; and third, clockwise and counterclockwise cue sequences elicit symmetrical user responses. Statistical analysis using Friedman tests and post-hoc Wilcoxon signed-rank tests confirmed significant differences between cue sequences in both rotational and translational movement (<inline-formula><tex-math>$p< 0.05$</tex-math></inline-formula>). These findings provide evidence-based guidelines for designing vibrotactile cue sequences in wearable haptic systems where reliably inducing rotational motion in users can reduce cognitive load and improve task performance.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"784-791"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148351589","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

Reconciling Reduced the Sense of Ownership and Agency Toward a Virtual Keypad With Enhanced Haptic Experience Using Visually Adjusted Self-Haptics for Key-Input Interaction 调和减少的所有权感和代理对虚拟键盘与增强触觉体验使用视觉调整自触觉键输入交互。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-07-06 DOI: 10.1109/TOH.2026.3710603

Daiki Hagimori;Yuki Yamada;Hiroki Zukawa

{"title":"Reconciling Reduced the Sense of Ownership and Agency Toward a Virtual Keypad With Enhanced Haptic Experience Using Visually Adjusted Self-Haptics for Key-Input Interaction","authors":"Daiki Hagimori;Yuki Yamada;Hiroki Zukawa","doi":"10.1109/TOH.2026.3710603","DOIUrl":"10.1109/TOH.2026.3710603","url":null,"abstract":"Self-Haptics is a tactile feedback technique where users utilize their own body to generate tactile sensations. This method allows the body to act purely as a prop, making it useful for virtual objects and user interfaces not directly related to the body. However, any method for maintaining the sense of ownership (SoO) and agency (SoA) of the user’s body and interaction targets that aligns with the perceptual interaction by visual cues has not been established. To address this, we present the concept of “(Not My) Self-Haptics,” which aims to resolve these inconsistencies, leveraging vision’s dominance in sensory integration. In this study, through the user’s interaction with a virtual keypad (VPad) displayed at the position of the real hand (RHand), we clarified how the user’s experience changed, including SoO and SoA toward the VPad, and how the task performance was affected by the interaction with the VPad. The results show that displaying the VHand at a misaligned position with the RHand or hiding the VHand significantly reduces SoO and SoA toward the VPad. Conversely, obtaining tactile feedback through Self-Haptics during interaction with the VPad significantly decreases task performance and increases SoO toward the VPad displayed near the VHand. Despite these unintended effects, this visual modification also significantly enhances Autotelics, Involvement, and Realism based on the Haptic Experience Inventory compared to typical mid-air interaction without tactile feedback. These findings contribute to the understanding of the interaction between visual and tactile sensations in Self-Haptics and the feasibility and practicality of “(Not My) Self-Haptics”.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"578-590"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148396243","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

Spatio-Temporal Control of Vibrotactile Stimulation on OLED Displays With Inverse Filtering 基于反滤波的OLED显示器振动触觉刺激的时空控制。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-07-20 DOI: 10.1109/TOH.2026.3714920

Charles Hudin;Ayoub Ben Dhiab

{"title":"Spatio-Temporal Control of Vibrotactile Stimulation on OLED Displays With Inverse Filtering","authors":"Charles Hudin;Ayoub Ben Dhiab","doi":"10.1109/TOH.2026.3714920","DOIUrl":"10.1109/TOH.2026.3714920","url":null,"abstract":"This work presents an inverse filter method capable of controlling complex and independent haptic stimulations for up to ten fingers interacting concurrently with a display. Our approach extends the inverse filtering framework to support continuous operation, enabling real-time streaming of multitouch vibrotactile signals while accounting for finger motion. We provide a comprehensive theoretical analysis that establishes the relationship between key design parameters—such as actuator count, display mechanical properties, and finger configuration—and system performance metrics, including vibration amplitude, spatial resolution, stability, and waveform reconstruction error. This analysis offers valuable engineering guidelines for the design of such systems. Our experimental setup showcases the seamless integration of this inverse filtering approach into a commercial off-the-shelf 15.6 inches OLED tactile display, equipped with 16 low-cost piezoelectric patches affixed to the rear. The resulting system can control broadband vibrations at moving positions or playback the vibrations of different musical instruments in a recording. The theoretical insights and practical implementation demonstrated in this work pave the way for advanced haptic feedback systems with broad applications in human-computer interaction and accessible technology.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"746-761"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148535795","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 Wearable Shoulder Skin-Deformation Device Generating Illusory Forces for Posture Correction 一种可穿戴肩部皮肤变形装置，产生用于姿势矫正的虚幻力。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-04-22 DOI: 10.1109/TOH.2026.3686631

Kohei Okuda;Takuto Nakamura;Hideaki Kuzuoka;Kohei Yamakoshi;Yusuke Suzuki

{"title":"A Wearable Shoulder Skin-Deformation Device Generating Illusory Forces for Posture Correction","authors":"Kohei Okuda;Takuto Nakamura;Hideaki Kuzuoka;Kohei Yamakoshi;Yusuke Suzuki","doi":"10.1109/TOH.2026.3686631","DOIUrl":"10.1109/TOH.2026.3686631","url":null,"abstract":"The hanger reflex is a haptic illusion in which skin-shear deformation elicits a directional force sensation. This study presents a wearable haptic device that uses four pneumatic airbags to apply controlled skin shear to both shoulders for posture guidance. Although previous work has shown that shoulder skin shear can induce illusory forces, neither the magnitude of these forces nor their influence on upper-body posture has been quantitatively examined. In Experiment 1, we quantified perceived force using a psychophysical comparison between skin-shear stimulation and real traction forces. The device generated perceived forces of up to 4.4 N in the forward direction and 4.8 N in the backward direction, more than an order of magnitude larger than those reported for conventional illusion-based haptic methods. Perceived force increased systematically with air pressure and was well approximated by a linear model. In Experiment 2, we evaluated the effects of these stimuli on upper-body posture by measuring trunk pitch under varying initial postures, stimulation directions, and intensities. The device induced consistent posture adjustments, particularly in the backward direction, with significant effects of both initial posture and stimulus intensity. These results demonstrate that shoulder hanger-reflex stimulation provides strong, controllable force sensations and measurable posture modification, supporting its use in wearable posture-support and rehabilitation systems.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"543-553"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11489488","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147769719","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

Embodied Care and Consent in Mediated Social Touch Interactions: A Study of the Interactive Artwork The Alien Between Us. 媒介性社会触摸互动中的具身关怀与同意——互动艺术作品《我们之间的外星人》研究。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 DOI: 10.1109/TOH.2026.3708988

Laura A Dima, Nathan Marcus, Daniel Shor, Gijs Huisman

{"title":"Embodied Care and Consent in Mediated Social Touch Interactions: A Study of the Interactive Artwork The Alien Between Us.","authors":"Laura A Dima, Nathan Marcus, Daniel Shor, Gijs Huisman","doi":"10.1109/TOH.2026.3708988","DOIUrl":"10.1109/TOH.2026.3708988","url":null,"abstract":"<p><p>The Alien Between Us is an interactive art installation created by multidisciplinary artist Laura A Dima. It explores how technology can facilitate intimate co-located interactions beyond traditional (audio-visual) communication systems. This art project uses haptic technologies and biofeedback to simultaneously connect two audience members. Two identical sculptures serve as interfaces that simulate biometric data, such as heart and breathing rates, to create emotional feedback loops between participants. The project investigates how mediated social touch (MST) and physiological mirroring can attune participants to each other's affective states. The installation offers a somatic language of mutual care to be incorporated alongside consent protocols. It challenges the disembodied nature of digital culture by emphasising bodily awareness and interconnectedness. The sculptures are not merely passive haptic devices; rather, they play an active role in the interaction. Their agency is expressed through a self-defence mechanism that deploys transcutaneous electrical nerve stimulation (TENS) when boundaries are breached, signalling discomfort. In this way, the technological bodies actively participate and assist human participants in navigating the ethics of touch. This paper documents the conceptual framework, technical design, and public reception of the work using a research-through-design approach. It contributes to discussions on digital intimacy, embodied interaction, and the role of artworks as haptic interfaces in cultivating empathy towards the human and non-human agents alike.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148368177","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

Physics-Driven Learning Framework for Tomographic Tactile Sensing 物理驱动的层析触觉感知学习框架。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-07-15 DOI: 10.1109/TOH.2026.3714215

Xuanxuan Yang;Xiuyang Zhang;Haofeng Chen;Gang Ma;Xiaojie Wang

{"title":"Physics-Driven Learning Framework for Tomographic Tactile Sensing","authors":"Xuanxuan Yang;Xiuyang Zhang;Haofeng Chen;Gang Ma;Xiaojie Wang","doi":"10.1109/TOH.2026.3714215","DOIUrl":"10.1109/TOH.2026.3714215","url":null,"abstract":"Electrical impedance tomography (EIT) provides an attractive solution for large-area tactile sensing due to its minimal wiring and geometric flexibility, but its nonlinear inverse problem often leads to severe artifacts and inaccurate reconstruction. This work presents PhyDNN, a physics-driven deep reconstruction framework that embeds the EIT forward model directly into the learning objective. By jointly minimizing the discrepancy between predicted and ground-truth conductivity maps and enforcing consistency with the forward PDE, PhyDNN reduces the opaque nature of deep networks and improves both physical plausibility and generalization. To enable efficient backpropagation, we design a differentiable forward-operator network that accurately approximates the nonlinear EIT response, allowing fast physics-guided training. Extensive simulations and real tactile experiments on a 16-electrode soft sensor demonstrate that PhyDNN consistently outperforms NOSER, TV, and standard DNNs in reconstructing contact shape and location. The proposed method yields fewer artifacts, sharper boundaries, and higher quantitative scores, demonstrating its effectiveness for high-quality tomographic tactile sensing.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"762-769"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148455645","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

VibGrasp: Spatiotemporal Vibration Based Multimodal Haptic Rendering With a Lightweight Exo-Glove for 3D Shape Perception VibGrasp：基于时空振动的多模态触觉渲染与轻量级外型手套3D形状感知。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-04-20 DOI: 10.1109/TOH.2026.3685691

Hojeong Lee;Eunho Kim;Rachel Kim;Sang Ho Yoon

{"title":"VibGrasp: Spatiotemporal Vibration Based Multimodal Haptic Rendering With a Lightweight Exo-Glove for 3D Shape Perception","authors":"Hojeong Lee;Eunho Kim;Rachel Kim;Sang Ho Yoon","doi":"10.1109/TOH.2026.3685691","DOIUrl":"10.1109/TOH.2026.3685691","url":null,"abstract":"Haptic feedback has been employed to enhance shape perception during grasp interactions, improving immersion and task performance in extended reality (XR). Although wearable devices offer precise multi-phalangeal haptic feedback, their bulkiness and complexity often hinder practicality. In addition, fingertip-based tactile feedback often limits users’ ability to perceive a continuous and sequential sensation across the finger surfaces during power grasp. We present VibGrasp, a haptic shape-rendering method and a supporting haptic glove that synchronizes spatiotemporal vibrotactile feedback across multiple phalanges with 1-DOF kinesthetic feedback. Using the funneling illusion and duration-modulated vibration patterns, our approach delivers sequential, continuous sensations along the finger to render various shapes. We also develop a lightweight exoskeleton glove with two dorsal-mounted vibration actuators designed to transmit feedback to the ventral surfaces without obstructing motion. Two perception studies demonstrated consistent shape associations and clear preferences for specific patterns. A VR user-experience study further showed that VibGrasp achieved higher ratings for realism, satisfaction, and harmony than prior approaches. These findings offer insights into improving immersive and efficient haptic shape rendering in XR.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"566-577"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147728578","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

Power From Potential: A Survey of Electrostatic Actuators for Haptics 电势驱动：触觉静电致动器研究综述。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-06-29 DOI: 10.1109/TOH.2026.3708136

Ahad M. Rauf;Ran Zhou;Eric Acome;Madeline Balaam;Sean Follmer;Teng Han;Craig Shultz;Daniel Leithinger

{"title":"Power From Potential: A Survey of Electrostatic Actuators for Haptics","authors":"Ahad M. Rauf;Ran Zhou;Eric Acome;Madeline Balaam;Sean Follmer;Teng Han;Craig Shultz;Daniel Leithinger","doi":"10.1109/TOH.2026.3708136","DOIUrl":"10.1109/TOH.2026.3708136","url":null,"abstract":"As haptic interfaces integrate more seamlessly into wearables and everyday environments, they increasingly require actuators that are soft, thin, silent, and energy efficient. However, conventional motors and temperature-responsive polymers often struggle to deliver these properties due to their bulky form factors and high power consumption. High-Voltage Electrostatic Actuators (HVEAs), which generate force by applying an electric field to localized charge concentrations using high voltages and ultra-low currents, have recently emerged as a compelling alternative due to their fast, silent, and low-power operation within highly customizable and compliant form factors. This paper presents a focused review of HVEAs for haptics, examining four major classes: electrostatic switchable adhesives, dielectric elastomer actuators, soft electrohydraulic actuators, and electrokinetic pumps. For each class, we describe their mechanisms that enable haptic output; characterize their bandwidths, force densities, and spatial scalability; and evaluate their versatility for rendering cutaneous and kinesthetic feedback across wearable and world-grounded interfaces. Through this cross-technology analysis, we identify common design constraints and emerging strategies for improving ergonomics, streamlining fabrication, and integrating self-sensing. We conclude by outlining where HVEAs are uniquely positioned to advance haptic interaction and highlighting key research directions needed to translate these technologies into practical systems.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"616-634"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148351584","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

Active Lubrication Brakes in Tabletop and Hand-Held Haptic Surgical Drilling Simulators 台式和手持式触觉外科钻孔模拟器的主动润滑制动器。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 Epub Date: 2026-06-29 DOI: 10.1109/TOH.2026.3708079

Marion Pontreau;Sabrina Panëels;Sylvain Bouchigny;Sinan Haliyo

{"title":"Active Lubrication Brakes in Tabletop and Hand-Held Haptic Surgical Drilling Simulators","authors":"Marion Pontreau;Sabrina Panëels;Sylvain Bouchigny;Sinan Haliyo","doi":"10.1109/TOH.2026.3708079","DOIUrl":"10.1109/TOH.2026.3708079","url":null,"abstract":"Haptic user interfaces that provide both kinesthetic and vibrotactile feedback have strong potential to enhance a wide range of medical training simulations. Yet, designing such devices remains challenging due to constraints related to integration, workspace, cost, and the need for diverse feedback types. To address these issues, we investigated the applicability of a novel type of brake based on the active lubrication principle. This actuator is compact, low-cost, and able to deliver both kinesthetic and vibrotactile feedback. To demonstrate its advantages, we focused on maxillofacial drilling in surgical training. We designed, implemented and evaluated a one-degree-of-freedom drill mock-up embedded into a tabletop prototype able to render axial forces up to 4.5 N. To assess both the relevance of combined feedback and the suitability of this actuator for surgical simulation, we conducted two studies: one with fourteen non-surgeon participants and another with six maxillofacial surgeons. Results confirm the potential of this actuation approach for surgery simulators and highlighted the importance of combined kinesthetic and vibrotactile feedback to improve realism, user preference, and task performance. Based on the surgeons’ feedback, we then proposed a redesigned brake, with an improved control method, implemented in a new hand-held version of a drill replica. Preliminary characterisation shows that the new prototype can render forces up to 5.5 N and produce higher vibration amplitudes than the initial design.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"591-602"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148351973","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

Investigating the Perception of Shape-Changing Haptic Interfaces 研究变形触觉界面的感知。

IF 3.1 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2026-07-01 DOI: 10.1109/TOH.2026.3708381

Qihan Yang;Xin Zhou;Adam J. Spiers

{"title":"Investigating the Perception of Shape-Changing Haptic Interfaces","authors":"Qihan Yang;Xin Zhou;Adam J. Spiers","doi":"10.1109/TOH.2026.3708381","DOIUrl":"10.1109/TOH.2026.3708381","url":null,"abstract":"This work addresses the lack of standardized, comparable psychophysical evaluations for shape-changing haptic interfaces (SCHIs). Given the complexity and diversity of dynamic shape-change stimuli, we developed three high-resolution, stimulus-targeting test devices that predominantly evoke one of the following three: translational or rotational surface misalignment (both cutaneous perception), or expansive motions (kinesthetic perception). Psychophysical experiments measured their Point of Subjective Equality (PSE), Just-Noticeable Difference (JND), and Weber Fraction (WF) across various transformation magnitudes, directions, and grasp types. These quantitative results were supported by nonparametric bootstrapping, providing robust statistical estimates, and enriched with qualitative user feedback collected through questionnaires. The results show that larger transformations consistently yielded significantly lower WFs for all three devices, indicating improved relative perceptual sensitivity at larger magnitudes. This suggests non-constant WF behavior over the tested range, rather than the approximately constant WF across stimulus levels expected under Weber’s law. Several device- and interaction-level factors may plausibly contribute to this, including changes in contact geometry and greater joint involvement at larger shape transformations. Furthermore, no directional bias was observed for either surface-misalignment device; however, a non-significant preference for expanding motion emerged in the expansion device. Together, these findings provide an applied psychophysical characterization of the present device implementations, offer study-grounded design parameters for devices leveraging the three investigated stimulus types, and motivate extending similar investigations to additional shape-change-evoked stimuli.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"19 3","pages":"603-615"},"PeriodicalIF":3.1,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148368159","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