# [robotics-worldwide] The latest issue of IEEE Transactions on Haptics (Vol. 2, No. 4) is online

MBartosik at computer.org MBartosik at computer.org
Fri Nov 20 10:46:54 PST 2009

Greetings,

This is to notify you that the October-December 2009 (Vol. 2, No. 4) issue
of IEEE Transactions on Haptics is now online. You can access any of the
the top of the page.

To access the articles in this issue, use your IEEE user name and password
at
http://opac.ieeecomputersociety.org/opac?year=2009&volume=2&issue=4&acronym=toh

For information on using your account, visit the IEEE at
http://www.ieee.org/web/accounts/. If you need information on your
subscription or have membership questions, please email help at computer.org.

Regards,

Mark Bartosik
Digital Production Specialist

IEEE Computer Society
www.computer.org
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Exploring the Worlds of Touch: A Forum for Science, Technology, and
Application.
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REGULAR PAPERS

A Tactile Seat for Direction Coding in Car Driving: Field Evaluation
Jeroen H. Hogema, Sjoerd C. De Vries, Jan B.F. Van Erp, Raymond J. Kiefer
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.35

Abstract:
This in-traffic, field study examined the merit of using a car seat
instrumented with tactile stimulation elements (tactors) to communicate
directional information to a driver. A car seat fitted with an 8 \times 8
matrix of tactors embedded in the seat pan was used to code eight
different directions (the four cardinal and four oblique directions). With
this seat mounted in a car, a field study was conducted under both smooth
were directional accuracy and reaction time, measured under both alerted
and simulated surprise conditions. Overall, the results show that the
tactile chair seat provides a promising and robust method of providing
directional information. The percentage of correct directional responses
was very high (92 percent of all trials), and incorrect responses were
typically just one location segment (45 degrees) off.

Cues for Haptic Perception of Compliance
Wouter M. Bergmann Tiest, Astrid M.L. Kappers
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.16

Abstract:
For the perception of the hardness of compliant materials, several cues
are available. In this paper, the relative roles of force/displacement and
surface deformation cues are investigated. We have measured discrimination
thresholds with silicone rubber stimuli of differing thickness and
compliance. Also, the influence of the finger span is assessed. When
compliance is expressed as the Young's modulus, the thresholds in the
different conditions follow Weber's law with a Weber fraction of 15
percent. When the surface deformation cue was removed, thresholds more
than trebled. Under the assumption of optimal cue combination, this
suggests that a large fraction of the information comes from the surface
deformation cue. Using a matching experiment, we found that differences in
object thickness are correctly taken into account. When cues appear to
contradict each other, the conflict is resolved by means of a compromise.

Designing for Feel: Contrasts between Human and Automated Parametric
Capture of Knob Physics
Colin Swindells, Karon E. MacLean, Kellogg S. Booth
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.23

Abstract:
We examine a crucial aspect of a tool intended to support designing for
feel: the ability of an objective physical-model identification method to
capture perceptually relevant parameters, relative to human identification
performance. The feel of manual controls, such as knobs, sliders, and
buttons, becomes critical when these controls are used in certain
settings. Appropriate feel enables designers to create consistent control
behaviors that lead to improved usability and safety. For example, a heavy
knob with stiff detents for a power plant boiler setting may afford better
feedback and safer operations, whereas subtle detents in an automobile
radio volume knob may afford improved ergonomics and driver attention to
the road. To assess the quality of our identification method, we compared
previously reported automated model captures for five real mechanical
reference knobs with captures by novice and expert human participants who
were asked to adjust four parameters of a rendered knob model to match the
feel of each reference knob. Participants indicated their satisfaction
with the matches their renderings produced. We observed similar relative
inertia, friction, detent strength, and detent spacing parameterizations
by human experts and our automatic estimation methods. Qualitative results
provided insight on users' strategies and confidence. While experts (but
not novices) were better able to ascertain an underlying model in the
presence of unmodeled dynamics, the objective algorithm outperformed all
humans when an appropriate physical model was used. Our studies
demonstrate that automated model identification can capture knob dynamics
as perceived by a human, and they also establish limits to that ability;
they comprise a step towards pragmatic design guidelines for embedded
physical interfaces in which methodological expedience is informed by
human perceptual requirements.

Fingerpad Skin Stretch Increases the Perception of Virtual Friction
William R. Provancher, Nicholas D. Sylvester
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.34

Abstract:
This research focuses on the relative importance of fingerpad skin stretch
on the perception of friction. It is hypothesized that the perceived
magnitude of friction rendered by traditional force feedback can be
increased through the addition of fingertip skin stretch. Perceptual data
are presented from two separate tests performed on nine male subjects. The
first experiment determines the perceptual thresholds for friction based
on a modified Karnopp friction model where friction is rendered as purely
a kinesthetic resistance via a PHANToM force feedback device. JNDs of
0.056-0.150 corresponding to static coefficients for friction of \mu_s =
0.2\hbox{-}0.8 were established. The second experiment evaluates possible
changes in the perceived friction magnitude due to imposing small amounts
of tangential skin stretch (0.25-0.75 mm) to the fingerpad in combination
with force feedback (kinesthetic resistance). Our results show that even
these small amounts of skin stretch lead to a statistically significant
increase in perceived friction ({\rm p} < 0.01). This significant finding
will enable the hapticians to more realistically and accurately render
friction via a combination of kinesthetic resistance and tactile feedback.

Using Kinesthetic and Tactile Cues to Maintain Exercise Intensity
Aaron R. Ferber, Michael Peshkin, J. Edward Colgate
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.22

Abstract:
Haptic cues may be able to assist an individual who is engaged in a manual
control task, freeing visual and auditory attention for other mental
tasks. We describe an experiment in which subjects attempted to step at a
consistent pace on a stair climber exercise machine which was modified for
haptic cuing through the legs. Subjects' visual attention was engaged by a
video game. Five different haptic cues for consistent pacing were
investigated, two of them more kinesthetic in nature and three that were
more tactile. Results showed that haptic cues could indeed improve the
manual control task performance without diminishing the visual attention
task performance. The tactile cues generally outperformed the kinesthetic
ones.

SHORT CONTRIBUTIONS

Cross-Modal Transfer in Visual and Haptic Face Recognition
Lisa Dopjans, Christian Wallraven, Heinrich H. Bulthoff
http://doi.ieeecomputersociety.org/10.1109/TOH.2009.18

Abstract:
We report four psychophysical experiments investigating cross-modal
transfer in visual and haptic face recognition. We found surprisingly good
haptic performance and cross-modal transfer for both modalities.
Interestingly, transfer was asymmetric depending on which modality was
learned first. These findings are discussed in relation to haptic object
processing and face processing.

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