EuroHaptics2008 notes

2008 June 15

June 10


Haptic loop runs @ 1 KHz, graphic loop @ 30 Hz

Current situation in haptic simulation involves 1 point of contact (Phantom arm or such). In the future, it should be a multiplicity of contact (many/surface contact), just like in real life.

For complex system, use a fast/high freq. tool simulation and a low frequency environment simulation (VR part). Current ~2000 nodes computation possible.

Tactile feedback in surgery. Feedback: kinaesthetic + tactile (Mechanoreceptors in skin, Mott, 1895). Differentiation vs Realism. Vibration is felt across fingers.

June 10: design experiment workshop with Karon McLean and Hong Tan

Refer to Handout (have to find it…)

Visual Selective Attention: gorilla movie example.

Haptic cue: making everything worse if not done properly.

When we say work best, better or more intuitive we have absolutely to details otherwise is worthless.

Haptic cues can be use for faster response, backup when other senses are overloaded.

June 11


Internet protocol for (remote) haptics

haptics works at ~5ms, buffer 1-2ms


TCP: connection necessary, ACK for each packet, sender controls the protocol.

UDP: no ACK, no connection, packet can be lost, no congestion control. High traffic degrade the delay/bandwidth.

ETP: adjust bandwidth/protocol to maintain/optimize response time (delay)


Discrimination of concurrent vibrotactile targets, Utrecht  ****

Tactile same/similar to vision (parallel vs serial searches)

Attentional engagement, 4 -8 tactors on abdomen.

Photos: IMG_7369.JPG


Wristalyzer, Italy

A testing device mixing haptic feedback and accelerometers. Used for tremor treatment.


Understanding nanoscale phenomena using haptics  ***

Use real world analogy to teach/education about nanoscale physics. Haptic metaphor. Use a magnet on a spring to simulate the cantilever system in SEM.


HAMLAT, Ottawa  ***

The development of haptic application requires programming and considerable technical details. Propose an authoring tool for building hapto-visual applications.

Related works: Unison, CHAI 3D, ProSense, Claytools, FreeForm.

Solution based on Blender, augmented with a Haptic renderer.


Flytact: Tactile display for helicopter landing  ******

Check slides


Desiging large sets of haptics icons with rhythm, McLean  *****

Check slides

Haptic icons, short  distinctive pulses.

Difficulties: 1- tell the signal apart              2- associate the meaning

Motivation: How many stimuli can people tell apart?

Design of haptic stimuli: design parameters like frequency, amplitude, waveform, body location, amplitude modulation, simple rhythms


Tactor localization at the wrist, Hong Tan  ****

7 8 9

4 5 6

1 2 3

3×3 array. LVM8 Matsushita tactor. Rows confusion, 2 bits of information. Proposes a 3 + 3 triangular pattern instead.

Brown, Brewster & Purchase (2006). 3 tactors on the volar forearm.

(2007). Tactors on PDA.

Conclusion: identify only 2 tactor location on each side.


Shape discrimination in active touch

Exploratory movement, optimal exploration => Percept


Tactile Illusion, Vincent Hayward  ******

Check slides

Tactile perception mechanisms remain mysterious (geometry, roughness, temperature, etc.)

Related illlusions studies:

Comb Illusion (Hayward, 2000, 2005)

Fishbone Tactile illusion (Nakatani, Howe, Tachi 2006)

Boundary conditions give rise to similar neural response. Ambiguous stimulus.

Stimulus ambiguity in vision (wireframe in/out, face


After effect in touch *****

Motion and color after effect in the visual sense. Present in the touch sense also.

Adaptation – Test – Perception


Haptic perception of shape, space and material properties Astrid M.L. Kappers

Check slides

Curvature discrimination: bimanual performance worse! Cutaneous stimulation is important. Curvature along hand feels more curved than curvature perpendiculare to hand.

Parallelity experiment. Haptic space is consistent.


June 12:


Vibrotactile tile for virtual ground materials in walking. Yon Visell, McGill ***

Check slides.


Simulating Stickiness

Current Tactile displays:

Roughness (Nara 2000, Yamamoto 2006)

Temperature (Ino 1993, Yamamoto 2004)

Softness (Bicci 2000, Fujita 2001)

Propose a vacuum based tactile display.


Tactile display using Microhydraulic actuators  ****

Check slides.

Using 5 servos + hydraulic connectors in metal casing


Palm-worn Haptic displays for VR manipulation ****

Wearable = ungrounded: midair interaction is interesting but difficult.

Division of role between “fingers” (high-res, low range) and “palm” (low-res, high-range) => Haptics on “palm” may play an important role


[Keynote] Telerobotics Günter Niemeyer ****

Check slides.

Robots ≠ humans. Humans are slower (RT 100ms, position ~1mm, movement <10Hz, 1000Hz), but we use non-linear HF a lot to make sense of the world.

Open-source Haptics (SenseGraphics AB)

Rapid prototyping with Python and basic API.


June 13:


Alternative Display of Friction, Masashi Konyo, Tohoku Uni. Japan *****

Stick-sip transition, friction model

Non-grounded haptics

Only using regular piezo at ~700 Hz.


Cue for compressibility, Utrecht  ****

Surface deformation + change contact area

Results: 76% cutaneous, 24% kinaesthetic

Recommandation: haptic interfaces should focus more on cutaneous cues.


Tacton, tactile melodies ***

Check slides.

Tactons are structured, abstract messages compiled from parameters such as frequency, amplitude, rhythm and location.(Brown + Brewster)

on-off rhythm.

Time-shrinking ? (also found in vision)

Does the skin ~ ear ? Yes, similar


Straw-like User Interface, Kajimoto laboratory ***

Nice demo!

Drinking is a multimodal experience. Drinking sensations: pressure change + sound + vibration = simulation.

Prototype built by record and play method.


[Keynote] Touch and the body, Patrick Haggard *****

Check slides.

1.    Visual enhancement of touch: multisensory modulation of tactile sensing.

2.    Body representations calibrate sensory perception.


1.    Viewing the body tunes early spatial processing of touch.

2.    Calibration by supramodal body representations.

3 implications for haptic engineering

-smart tactile processing is top-down, as well as bottom-up

-smart tactile processing implies embodied knowledge

-smart haptic systems need representations of the body.




Pulse generator for Kinesthetic Illusion: NTT Japan + Osaka University


Haptic Interface for Automobile Gearshift Design, Uni. Of Navarra, Spain *****

Very nice mechanical illusion. Faking a 3rd DOF with only 2 DOF + pulse.


Telling time by vibration, Tampere University

Demo application:

Difficult to tell, really have to concentrate and track the pulses. Not good for real life scenarios.


ISO standard definitions and terminology-tree for haptics and tactile interactions.

Presentation of Force-Motion, Inertial force display

Tactile Perception via tactile nail chip

Audio and tactile stimulation for “being cut by a sword”

Alternative Display of friction, ungrounded interaction. *****

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