Musings on telepresence and virtual presence
Presence: Teleoperators and Virtual Environments - Premier issue
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
Making surgical simulation real
ACM SIGGRAPH Computer Graphics - Special issue: focus: “real” virtual reality
The Role of Force Feedback in Surgery: Analysis of Blunt Dissection
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
On the ability of humans to haptically identify and discriminate real and simulated objects
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
A Virtual Environment Testbed for Training Laparoscopic Surgical Skills
Presence: Teleoperators and Virtual Environments
Toward event-based haptics: rendering contact using open-loop force pulses
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Haptic rendering of rigid contacts using impulsive and penalty forces
IEEE Transactions on Robotics
Shoogle: excitatory multimodal interaction on mobile devices
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Devices as interactive physical containers: the shoogle system
CHI '07 Extended Abstracts on Human Factors in Computing Systems
The Low-Stiffness Teleoperator Slave -- a Trade-off between Stability and Performance
International Journal of Robotics Research
Using an event-based approach to improve the multimodal rendering of 6DOF virtual contact
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
In Vivo Model Estimation and Haptic Characterization of Needle Insertions
International Journal of Robotics Research
Haptography: capturing the feel of real objects to enable authentic haptic rendering (invited paper)
Proceedings of the 2008 Ambi-Sys workshop on Haptic user interfaces in ambient media systems
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Modulating Real Object Stiffness for Haptic Augmented Reality
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Un espace de classification pour l'interaction sur dispositifs mobiles
IHM '07 Proceedings of the 19th International Conference of the Association Francophone d'Interaction Homme-Machine
Improving perceived hardness of haptic rendering via stiffness shifting: an initial study
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Haptic augmented reality: Taxonomy and an example of stiffness modulation
Presence: Teleoperators and Virtual Environments
Stable six degrees of freedom haptic feedback for flexible ligand-protein docking
Computer-Aided Design
Human factors in haptic contact of pliable surfaces
Presence: Teleoperators and Virtual Environments
Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
User-based evaluation of data-driven haptic rendering
ACM Transactions on Applied Perception (TAP)
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Extended rate-hardness: a measure for perceived hardness
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Dimensional reduction of high-frequency accelerations for haptic rendering
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
A middleware for implicit interaction
Computing with instinct
Development of a high definition haptic rendering for stability and fidelity
HCII'11 Proceedings of the 14th international conference on Human-computer interaction: interaction techniques and environments - Volume Part II
Texture recognition: evaluating force, vibrotactile and real feedback
INTERACT'11 Proceedings of the 13th IFIP TC 13 international conference on Human-computer interaction - Volume Part IV
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
Haptic-auditory rendering and perception of contact stiffness
HAID'06 Proceedings of the First international conference on Haptic and Audio Interaction Design
Acquisition of elastically deformable object model based on measurement
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Perceptually robust traffic control in distributed haptic virtual environments
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
JVRC'09 Proceedings of the 15th Joint virtual reality Eurographics conference on Virtual Environments
Proceedings of the 20th ACM international conference on Multimedia
Layered rhombus-chain-connected model for real-time haptic rendering
Artificial Intelligence Review
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Tapping on surfaces in a typical virtual environment feels like contact with soft foam rather than a hard object. The realism of such interactions can be dramatically improved by superimposing event-based, high-frequency transient forces over traditional position-based feedback. When scaled by impact velocity, hand-tuned pulses and decaying sinusoids produce haptic cues that resemble those experienced during real impacts. Our new method for generating appropriate transients inverts a dynamic model of the haptic device to determine the motor forces required to create prerecorded acceleration profiles at the user's fingertips. After development, the event-based haptic paradigm and the method of acceleration matching were evaluated in a carefully controlled user study. Sixteen individuals blindly tapped on nine virtual and three real samples, rating the degree to which each felt like real wood. Event-based feedback achieved significantly higher realism ratings than the traditional rendering method. The display of transient signals made virtual objects feel similar to a real sample of wood on a foam substrate, while position feedback alone received ratings similar to those of foam. This work provides an important new avenue for increasing the realism of contact in haptic interactions.