Lecture Notes in Computer Science 12272

Founding Editors

Gerhard GoosKarlsruhe Institute of Technology, Karlsruhe, Germany

Juris HartmanisCornell University, Ithaca, NY, USA

Editorial Board Members

Elisa BertinoPurdue University, West Lafayette, IN, USA

Wen GaoPeking University, Beijing, China

Bernhard SteffenTU Dortmund University, Dortmund, Germany

Gerhard WoegingerRWTH Aachen, Aachen, Germany

Moti YungColumbia University, New York, NY, USA

More information about this series at http://www.springer.com/series/7409

Ilana Nisky • Jess Hartcher-O’Brien •

Michaël Wiertlewski • Jeroen Smeets (Eds.)

Haptics: Science,Technology,Applications12th International Conference, EuroHaptics 2020Leiden, The Netherlands, September 6–9, 2020Proceedings

123

EditorsIlana NiskyBen-Gurion University of the NegevBeer Sheva, Israel

Jess Hartcher-O’BrienDelft University of TechnologyDelft, The Netherlands

Michaël WiertlewskiDelft University of TechnologyDelft, The Netherlands

Jeroen SmeetsVrije Universiteit AmsterdamAmsterdam, The Netherlands

ISSN 0302-9743 ISSN 1611-3349 (electronic)Lecture Notes in Computer ScienceISBN 978-3-030-58146-6 ISBN 978-3-030-58147-3 (eBook)https://doi.org/10.1007/978-3-030-58147-3

LNCS Sublibrary: SL3 – Information Systems and Applications, incl. Internet/Web, and HCI

© The Editor(s) (if applicable) and The Author(s) 2020. This book is an open access publication.Open Access This book is licensed under the terms of the Creative Commons Attribution 4.0 InternationalLicense (http://creativecommons.org/licenses/by/4.0/), which permits use, sharing, adaptation, distributionand reproduction in any medium or format, as long as you give appropriate credit to the original author(s) andthe source, provide a link to the Creative Commons license and indicate if changes were made.The images or other third party material in this book are included in the book's Creative Commons license,unless indicated otherwise in a credit line to the material. If material is not included in the book's CreativeCommons license and your intended use is not permitted by statutory regulation or exceeds the permitted use,you will need to obtain permission directly from the copyright holder.The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoes not imply, even in the absence of a specific statement, that such names are exempt from the relevantprotective laws and regulations and therefore free for general use.The publisher, the authors and the editors are safe to assume that the advice and information in this book arebelieved to be true and accurate at the date of publication. Neither the publisher nor the authors or the editorsgive a warranty, expressed or implied, with respect to the material contained herein or for any errors oromissions that may have been made. The publisher remains neutral with regard to jurisdictional claims inpublished maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AGThe registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland

Preface

In this volume, you will find the proceedings of the EuroHaptics 2020 conference, heldduring September 6–9, 2020, in Leiden, The Netherlands. EuroHaptics is a majorinternational conference, organized biannually, that features the latest advances inhaptics science, technology, and applications. The 2020 edition of the meeting had aspecial focus on accessibility, and in the spirit of the focus, we have made the pro-ceedings open access.

The organization of the conference faced a unique challenge, as the start of thereview process coincided with the beginning of the COVID-19 pandemic. Like in allaspects of our lives, we also had to reinvent our scientific life, and find a new way towork. Conferences were canceled, moved to later dates, or re-organized as onlinevirtual conferences. Eurohaptics 2020 was rescheduled; instead of late spring (June) itwas held in September. Many of the authors, reviewers, and editors faced challenges:lab shutdowns, the transition to online teaching, and caring for our families to namejust a few. Considering the event, we are thankful for the effort and dedication toscientific rigor of the 220 external reviewers and 35 associate editors as they juggledadditional tasks and limited resources to finish the editorial process. We also want toacknowledge the diligence of authors to improve their papers in the midst of uncer-tainty and, for many of them, without access to their usual resources. Their commit-ment though the hardship of the situation made this conference possible.

All aspects of haptics, including neuroscience, psychophysics, perception, engi-neering, computing, interactions, virtual reality, and the arts were covered in the initialsubmissions for the full-paper category. The 111 submissions came from 24 countries:50% from Europe, 37% from Asia, and 10% from North America. The Application,Science and Technology track chairs invited experts to the Program Committee andprovided initial advice on three or four papers. The Program Committee membersinvited three independent reviewers and provided an assessment on the basis of aminimum of two reviews. To be accepted, we expected an innovative idea as well as adiligent experimental evidence, and 60 of the submissions (55%) were accepted forpublication. These papers were presented either as oral (36) or as poster presentations(24). In the proceedings, the two types of presentations are published with no dis-tinction between them.

The conference also featured work in progress abstracts which allowed for pre-sentation of late-breaking results as a poster, receiving feedback from the community.The abstracts of these posters are not featured in these proceedings.

Finally, we are delighted to be part of such a dynamic and innovative community,and we believe that the proceedings reflect its creativity and depth of thought. We hope

that the works presented in these proceedings will serve as inspiration and spark newideas for a better future where everyone is haptically connected.

September 2020 Ilana NiskyJess Hartcher-O’BrienMichaël Wiertlewski

Jeroen Smeets

vi Preface

Organization

General Chairs

Irene Kuling Eindhoven University of Technology, The NetherlandsJan van Erp TNO Soesterberg, The Netherlands

Program Chair

Jeroen Smeets Vrije Universiteit Amsterdam, The Netherlands

Local Chair

Dirk Heylen University of Twente, The Netherlands

Communication Chair

Krista Overvliet Utrecht University, The Netherlands

Proceedings Editors and Track Chairs

Jess Hartcher-O’Brien TU Delft, The NetherlandsIlana Nisky Ben-Gurion University of the Negev, IsraelMichaël Wiertlewski TU Delft, The Netherlands

Accessory Chairs

Sponsor

Frédéric Giraud University of Lille, France

Accessibility

Eric Velleman Accessibility Foundation, The Netherlands

Accessibility Sponsor

Vincent Hayward Sorbonne Université, France

Demos

William Frier Ultrahaptics, UK

Student Volunteers

Sabrina Paneels CEA Tech, FranceFemke van Beek Facebook Reality Labs, USA

Webmaster

Camille Sallaberry University of Twente, The Netherlands

Program Committee

Cagatay Basdogan Koç University, TurkeyMatteo Bianchi University of Pisa, ItalyLuca Brayda Acoesis, ItalyManuel Cruz Immersion, CanadaMassimiliano Di Luca University of Birmingham, UKIldar Farkhatdinov Queen Mary University London, UKFrancesco Ferrise Politecnico di Milano, ItalyDavid Gueorguiev Sorbonne Université, FranceMatthias Harders University of Innsbruck, AustriaJess Hartcher-O’Brien TU Delft, The NetherlandsHsin-Ni Ho NTT, JapanHiroyuki Kajimoto The University of Electro-Communications, JapanAyse Kucukyilmaz University of Nottingham, UKYoshihiro Kuroda University of Tsukuba, JapanScinob Kuroki NTT, JapanVincent Levesque École de Technologie Supérieure, CanadaMonica Malvezzi University of Siena, ItalySarah McIntyre Linköping University, SwedenAlejandro

Melendez-CalderonThe University of Queensland, Australia

Anna Metzger Justus Liebig University Giessen, GermanyAlessandro Moscatelli University of Rome, ItalyIlana Nisky Ben-Gurion University of the Negev, IsraelShogo Okamoto Nagoya University, JapanClaudio Pacchierotti IRISA, Inria Rennes, FranceSabrina Paneels CEA Tech, FranceGunhyuk Park Gwangju Institute of Science and Technology,

South KoreaHannes Saal The University of Sheffield, UKEvren Samur Boğaziçi University, TurkeyJeroen Smeets Vrije Universiteit Amsterdam, The NetherlandsMassimiliano Solazzi Scuola Superiore Sant’Anna, ItalyLuigi Tame University College London, UKFemke van Beek Facebook Reality Labs, USAMichaël Wiertlewski TU Delft, The NetherlandsTae-Heon Yang Korea National University of Transportation,

South KoreaMounia Ziat Bentley University, USA

viii Organization

External Reviewers

Jake AbbottDiar AbdlkarimArsen AbdulaliRochelle AckerleyYasuhiro AkiyamaNoor AlakhawandFelipe AlmeidaVisar ArapiFernando ArgelaguetChris AwaiYusuf AydinMehmet AyyildizStephanie BaddeAlfonso BalandraGiulia BallardiniSandra BardotAngelo BasterisEdoardo BattagliaPhilipp BeckerleNiek BeckersAyoub Ben DhiabCorentin BernardGemma BettelaniTapomayukh BhattacharjeeJeffrey BlumChristian BolzmacherLuca BraydaJonathan BrowderJoshua BrownGavin BuckinghamOzan CaldiranAntonio CataldoLuigi CattaneoMüge CavdanSonny ChanJacob CheesemanKatie ChinFrancesco ChinelloManolis ChiouYoungjun ChoInrak Choi

Roger CholewiakJean-Baptiste ChossatSimone CiottiEd ColgatePatricia Cornelio MartinezCeline CoutrixManuel CruzHeather CulbertsonThomas DaunizeauBrayden De BoonAnouk de BrouwerVictor Adriel de Jesus OliveiraXavier de TinguyDavide DeflorioJohn de GrosboisBenoit DelhayeArthur DewolfCharles DhongMassimiliano Di LucaMariama DioneKouki DoiLionel DominjonKnut DrewingLucile DupinLaura R. EdmondsonMohamad EidSallnas Eva-LottaGrigori EvreinovSimone FaniCarlo FantoniIldar FarkhatdinovAhmed FarooqRebecca Fenton FriesenManuel FerreFrancesco FerriseJoshua FleckEuan FreemanIlja FrissenDaniel GabanaChiara GaudeniFrédéric Giraud

Organization ix

James GoodmanRoman GrigoriiDavid GueorguievTaku HachisuReza Haghighi OsgoueiMatthias HardersJess Hartcher-O’BrienYuki HashimotoZhenyi HeSeongkook HeoSouta HidakaHsin-Ni HoThomas HowardHsien-Yung HuangBarry HughesThomas HulinAli IsrarDaisuke IwaiBernard JavotSeokhee JeonCarey JewittWafa JohalLynette JonesFabian JustHiroyuki KajimotoChristoph KanzlerZhanat KappassovAstrid KappersKazuo KiguchiHeba KhamisVahid KhoshkavaSunjun KimYeongmi KimRyo KitadaChristian KochAyse KucukyilmazShivesh KumarYoshihiro KurodaScinob KurokiJulien LambertHojin LeeDaisy LeiBetty Lemaire-SemailFabrizio Leo

Daniele LeonardisVincent LevesqueWeihua LiJuhani LinnaTommaso Lisini BaldiDaniel LoboCéphise LouisonJani LylykangasYasutoshi MakinoMonica MalvezziAhmad ManasrahMaud MarchalJuan MartinezSarah McIntyreAlejandro Melendez-CalderonMariacarla MemeoLuke MillerRoberto MontanoTaha MoriyamaCecily MorrisonSelma MusicAbdeldjallil NaceriHikaru NaganoSaad NagiTakuto NakamuraFrank NieuwenhuizenIlana NiskyAndreas NollCara NunezSeungjae OhShogo OkamotoVictor OliveiraBukeikhan OmaraliAta OtaranLucie PanteraStefano PapettiGunhyuk ParkRoshan PeirisNuria PerezLuka PeternelEvan PezentThomas PietrzakMyrthe PlaisierMithun Poozhiyil

x Organization

Maria PozziRoope RaisamoRoberta RobertsCarine RognonDaniele RomanoRobert RosenkranzJee-Hwan RyuHannes SaalJamal SabouneSatoshi SagaJustine Saint-AubertMike SalvatoHarpreet SareenKatsunari SatoImmo SchuetzHasti SeifiLucia SeminaraIrene SennaYitian ShaoMajid SheikholeslamiAnatolii SianovStephen SinclairNish SinghJeroen Smeets

Giovanni SpagnolettiAdam SpiersAngelica TorresMatteo ToscaniUgur TumerdemFemke van BeekVonne van PolanenYasemin VardarMickeal VerschoorYem VibolFernando Vidal VerdúJulie WalkerBen Ward-CherrierAntoine Weill-DuflosMichaël WiertlewskiMichele XiloyannisHeng XuHiroaki YanoYongjae YooJuan ZarateJacopo ZenzeriClaudio ZitoTalee ZivAaron Zoeller

Sponsors

Organization xi

xii Organization

Contents

Haptic Science

The EmojiGrid as a Rating Tool for the Affective Appraisal of Touch. . . . . . 3Alexander Toet and Jan B. F. van Erp

A 2-DoF Skin Stretch Display on Palm: Effect of Stimulation Shape,Speed and Intensity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Ahmad Manasrah and Shahnaz Alkhalil

User-Defined Mid-Air Haptic Sensations for Interactingwith an AR Menu Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Lawrence Van den Bogaert and David Geerts

Surface Roughness Judgment During Finger Exploration Is Changeableby Visual Oscillations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Yusuke Ota, Yusuke Ujitoko, Yuki Ban, Sho Sakurai, and Koichi Hirota

Identifying Tactors Locations on the Proximal Phalanx of the Fingerfor Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Justine Saint-Aubert

Tactile Perception of Objects by the User’s Palm for the Developmentof Multi-contact Wearable Tactile Displays . . . . . . . . . . . . . . . . . . . . . . . . 51

Miguel Altamirano Cabrera, Juan Heredia, and Dzmitry Tsetserukou

From Hate to Love: How Learning Can Change Affective Responsesto Touched Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Müge Cavdan, Alexander Freund, Anna-Klara Trieschmann,Katja Doerschner, and Knut Drewing

Switching Between Objects Improves Precision in Haptic Perceptionof Softness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Anna Metzger and Knut Drewing

Discriminating Between Intensities and Velocities of Mid-AirHaptic Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Isa Rutten, William Frier, and David Geerts

Density Estimation is Influenced More by Mass When Objects are Denser. . . 87Lara Merken and Vonne van Polanen

Haptic Feedback in a Teleoperated Box & Blocks Task . . . . . . . . . . . . . . . . 96Irene A. Kuling, Kaj Gijsbertse, Bouke N. Krom, Kees J. van Teeffelen,and Jan B. F. van Erp

Systematic Adaptation of Exploration Force to Exploration Durationin Softness Discrimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Aaron C. Zoeller and Knut Drewing

Perception of Vibratory Direction on the Back . . . . . . . . . . . . . . . . . . . . . . 113Astrid M. L. Kappers, Jill Bay, and Myrthe A. Plaisier

Comparing Lateral Modulation and Amplitude Modulationin Phantom Sensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Tao Morisaki, Masahiro Fujiwara, Yasutoshi Makino,and Hiroyuki Shinoda

Context Matters: The Effect of Textual Tone on the Evaluation of MediatedSocial Touch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Sima Ipakchian Askari, Antal Haans, Pieter Bos, Maureen Eggink,Emily Mengfei Lu, Fenella Kwong, and Wijnand IJsselsteijn

Influence of Roughness on Contact Force Estimation DuringActive Touch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Kaho Shirakawa and Yoshihiro Tanaka

Green Fingers: Plant Thigmo Responses as an Unexplored Areafor Haptics Research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Gijs Huisman

The Impact of Control-Display Gain in Kinesthetic Search . . . . . . . . . . . . . . 158Zhenxing Li, Deepak Akkil, and Roope Raisamo

The Arm’s Blind Line: Anisotropic Distortion in Perceived Orientationof Stimuli on the Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Scinob Kuroki

Evaluation of Changes in Perceived Intensity and Threshold of MoistureSensation of Clothes Associated with Skin Moisture . . . . . . . . . . . . . . . . . . 176

Shanyi You, Mai Shibahara, and Katsunari Sato

The Effects of Simultaneous Multi-point Vibratory Stimulationon Kinesthetic Illusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Keigo Ushiyama, Satoshi Tanaka, Akifumi Takahashi,and Hiroyuki Kajimoto

Isometric Force Matching Asymmetries Depend on the Position of the LeftHand Regardless of Handedness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Giulia Ballardini and Maura Casadio

xiv Contents

Computational Model of a Pacinian Corpuscle for an Electrical Stimulus:Spike-Rate and Threshold Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 203

Madhan Kumar Vasudevan, Rahul Kumar Ray,and Manivannan Muniyandi

Haptic Technology

SwitchPaD: Active Lateral Force Feedback over a Large Area Basedon Switching Resonant Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

Heng Xu, Michael A. Peshkin, and J. Edward Colgate

Visuo-Haptic Display by Embedding Imperceptible Spatial HapticInformation into Projected Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Yamato Miyatake, Takefumi Hiraki, Tomosuke Maeda, Daisuke Iwai,and Kosuke Sato

Manipulating the Perceived Directions of Wind by Visuo-Audio-HapticCross-Modal Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Kenichi Ito, Yuki Ban, and Shin’ichi Warisawa

A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactionsof Deformable and Dynamic Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

Haiyang Ding and Shoichi Hasegawa

Evaluating Ultrasonic Tactile Feedback Stimuli. . . . . . . . . . . . . . . . . . . . . . 253Antti Sand, Ismo Rakkolainen, Veikko Surakka, Roope Raisamo,and Stephen Brewster

WeATaViX: WEarable Actuated TAngibles for VIrtual RealityeXperiences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Xavier de Tinguy, Thomas Howard, Claudio Pacchierotti,Maud Marchal, and Anatole Lécuyer

Noncontact Thermal and Vibrotactile Display Using Focused AirborneUltrasound . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Takaaki Kamigaki, Shun Suzuki, and Hiroyuki Shinoda

KATIB: Haptic-Visual Guidance for Handwriting . . . . . . . . . . . . . . . . . . . . 279Georgios Korres and Mohamad Eid

ThermalTex: A Two-Modal Tactile Display for Delivering Surface Textureand Thermal Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

X. Guo, Y. Zhang, W. Wei, W. Xu, and D. Wang

Can Stiffness Sensations Be Rendered in Virtual Reality Using Mid-airUltrasound Haptic Technologies? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

M. Marchal, G. Gallagher, A. Lécuyer, and C. Pacchierotti

Contents xv

Midair Haptic Presentation Using Concave Reflector . . . . . . . . . . . . . . . . . . 307Kentaro Ariga, Masahiro Fujiwara, Yasutoshi Makino,and Hiroyuki Shinoda

Movement-Free Virtual Reality Interface Using Kinesthetic IllusionInduced by Tendon Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Satoshi Tanaka, Keigo Ushiyama, Akifumi Takahashi,and Hiroyuki Kajimoto

Haptic Display Using Fishing Rod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325Daiki Naito and Hiroyuki Kajimoto

Confinement of Vibrotactile Stimuli in Periodically Supported Plates. . . . . . . 334Ayoub Ben Dhiab and Charles Hudin

2MoTac: Simulation of Button Click by Superposition of Two UltrasonicPlate Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Pierre Garcia, Frédéric Giraud, Betty Lemaire-Semail, Matthieu Rupin,and Michel Amberg

A Proposal and Investigation of Displaying Method by Passive Touchwith Electrostatic Tactile Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

Hirobumi Tomita, Satoshi Saga, Shin Takahashi, and Hiroyuki Kajimoto

Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip . . . . 362Noor Alakhawand, William Frier, Kipp McAdam Freud,Orestis Georgiou, and Nathan F. Lepora

Soft-Wearable Device for the Estimation of Shoulder Orientationand Gesture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

Aldo F. Contreras-González, José Luis Samper-Escudero,David Pont-Esteban, Francisco Javier Sáez-Sáez,Miguel Ángel Sánchez-Urán, and Manuel Ferre

Wearable Vibrotactile Interface Using Phantom Tactile Sensationfor Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

Julian Seiler, Niklas Schäfer, Bastian Latsch, Romol Chadda,Markus Hessinger, Philipp Beckerle, and Mario Kupnik

A Parallel Elastic Haptic Thimble for Wide Bandwidth CutaneousFeedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Daniele Leonardis, Massimiliano Gabardi, Massimiliano Solazzi,and Antonio Frisoli

Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Coverfor Haptic Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

Chiara Gaudeni, Tommaso Lisini Baldi, Gabriele M. Achilli,Marco Mandalà, and Domenico Prattichizzo

xvi Contents

Rendering Ultrasound Pressure Distribution on Hand Surfacein Real-Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

Atsushi Matsubayashi, Yasutoshi Makino, and Hiroyuki Shinoda

Energy Analysis of Lateral vs. Normal Vibration Modes for UltrasonicSurface Haptic Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

Diana Angelica Torres Guzman, Betty Lemaire-Semail,Frederic Giraud, Christophe Giraud-Audine, and Michel Amberg

Midair Tactile Reproduction of Real Objects . . . . . . . . . . . . . . . . . . . . . . . 425Emiri Sakiyama, Atsushi Matsubayashi, Daichi Matsumoto,Masahiro Fujiwara, Yasutoshi Makino, and Hiroyuki Shinoda

LinkRing: A Wearable Haptic Display for Delivering Multi-contactand Multi-modal Stimuli at the Finger Pads . . . . . . . . . . . . . . . . . . . . . . . . 434

Aysien Ivanov, Daria Trinitatova, and Dzmitry Tsetserukou

ElectroAR: Distributed Electro-Tactile Stimulation for Tactile Transfer . . . . . 442Jonathan Tirado, Vladislav Panov, Vibol Yem, Dzmitry Tsetserukou,and Hiroyuki Kajimoto

Haptic Applications

Identification Rate of Simple and Complex Tactile Alertsin MUM-T Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

Dana Rosenblum, Nuphar Katzman, and Tal Oron-Gilad

Attention-Based Robot Learning of Haptic Interaction . . . . . . . . . . . . . . . . . 462Alexandra Moringen, Sascha Fleer, Guillaume Walck, and Helge Ritter

Motion Guidance Using Translational Force and Torque Feedbackby Induced Pulling Illusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

Takeshi Tanabe, Hiroaki Yano, Hiroshi Endo, Shuichi Ino,and Hiroo Iwata

Perceptually Compressive Communication of Interactive Telehaptic Signal. . . 480Suhas Kakade and Subhasis Chaudhuri

Sound-Image Icon with Aerial Haptic Feedback . . . . . . . . . . . . . . . . . . . . . 489Seunggoo Rim, Shun Suzuki, Yutaro Toide, Masahiro Fujiwara,Yasutoshi Makino, and Hiroyuki Shinoda

Stiffness Discrimination by Two Fingers with Stochastic Resonance . . . . . . . 497Komi Chamnongthai, Takahiro Endo, Shohei Ikemura,and Fumitoshi Matsuno

Contents xvii

Adaptive Fuzzy Sliding Mode Controller Design for a New HandRehabilitation Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

Alireza Abbasimoshaei, Majid Mohammadimoghaddam,and Thorsten A. Kern

Interest Arousal by Haptic Feedback During a Storytellingfor Kindergarten Children . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

Mina Shibasaki, Youichi Kamiyama, Elaine Czech, Koichi Obata,Yusuke Wakamoto, Keisuke Kishi, Takayuki Hasegawa,Shinkuro Tsuchiya, Soichiro Matsuda, and Kouta Minamizawa

Investigating the Influence of Haptic Feedback in Rover Navigationwith Communication Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

Marek Sierotowicz, Bernhard Weber, Rico Belder, Kristin Bussmann,Harsimran Singh, and Michael Panzirsch

Shared Haptic Perception for Human-Robot Collaboration . . . . . . . . . . . . . . 536Kazuki Katayama, Maria Pozzi, Yoshihiro Tanaka, Kouta Minamizawa,and Domenico Prattichizzo

Two-Point Haptic Pattern Recognition with the Inverse Filter Method . . . . . . 545Lucie Pantera, Charles Hudin, and Sabrina Panëels

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

xviii Contents