Oral Sessions Program

Technical Papers and ToH Short Papers Program

The WHC Program will feature 70 Technical Papers and 17 ToH Short Papers showcasing the latest advances in haptic science, technology and applications. The Technical Papers and ToH Short papers will be presented as part of Oral Sessions with a live Q&A, as well as Interactive Sessions offering the opportunity to exchange directly with the authors. The ToH Short Papers are published by the IEEE Transactions on Haptics and presented at the WHC’21 conference.

Time
(EDT)		 Wednesday
July 7		 Thursday
July 8		 Friday
July 9
08:30-09:30 Oral Session 1A Oral Session 1B Oral Session 6A Oral Session 6B
09:45-10:45 Oral Session 2: Award Candidates 1 Oral Session 4A Oral Session 4B
11:15-12:15 Oral Session 5: Award Candidates 2
12:30-13:30 Oral Session 3A Oral Session 3B

You can also find the detailed program on X-CD, our virtual conference platform.

Oral Session 1A: Perception and Psychophysics 1 (Wednesday, July 7, 2021, 8:30-9:30)
  • Active Sampling for Efficient Subjective Evaluation of Tactons at Scale
    Marc Demers, Pascal Fortin, Antoine Weill–Duflos, Yongjae Yoo and Jeremy Cooperstock
  • Identification and Information Transfer of Multidimensional Tactons Presented by a Single Vibrotactile Actuator
    Yongjae Yoo, Juliette Regimbal and Jeremy Cooperstock
  • Perceived Magnitude Function of Friction Rendered by the Dahl Model
    Beomsu Lim, Junkyeong Choi, Yongjae Yoo and Seungmoon Choi
  • Influence of Presentation Order on Force Control in Softness Exploration
    Knut Drewing and Aaron C. Zoeller
  • Effect of Surface Textures on the Fingertip Forces Perception and Output
    Kenta Kishishita, Naoki Sakamoto, Hiroaki Muranami, Kazuhiro Hattori and Yuichi Kurita
  • Constraining Haptic Exploration with Sensors and Gloves Hardly Changes the Multidimensional Structure of Softness Perception
    Müge Cavdan, Robert Ennis, Knut Drewing and Katja Doerschner
  • Trial-Based Classification of Haptic Tasks Based on EEG Data
    Haneen Alsuradi and Mohamad Eid
  • Extrapolation of Thermal Sensation and a Neuron-Like Model Based on Distribution Difference and Interactions of Thermoreceptors
    Junjie Hua, Masahiro Furukawa and Taro Maeda
  • Thin Films on the Skin, but Not Frictional Agents, Attenuate the Percept of Pleasantness to Brushed Stimuli
    Merat Rezaei, Saad S. Nagi, Chang Xu, Sarah McIntyre, Hakan Olausson and Gregory J. Gerling
  • Modulation of Curvature of Soft Ball by Facing Motion
    Masahiro Takeuchi, Seitaro Kaneko and Hiroyuki Kajimoto


Oral Session 1B: System Design and Analysis (Wednesday, July 7, 2021, 8:30-9:30)
  • Development of an Innovative Magnetorheological Fluids-Based Haptic Device Excited by Permanent Magnets
    Claudia Simonelli, Antonino Musolino, Rocco Rizzo and Lynette Jones
  • Acoustic Finger Force Measurement with Lateral Ultrasonic Surface Haptic Devices for Friction Reduction Estimation
    Diana Angelica Torres Guzman, Betty Lemaire-Semail, Frederic Giraud, Christophe Giraud-Audine and Michel Amberg
  • Quality Enhancement of Compressed Vibrotactile Signals Using Recurrent Neural Networks and Residual Learning
    Andreas Noll, Ayten Gürbüz, Başak Güleçyüz, Kai Cui and Eckehard Steinbach
  • An Open-Source Robotic Tool for the Simulation of Quasi-Static Finger Pressing on Stationary and Vibrating Surfaces
    Yuri De Pra, Stefano Papetti, Federico Fontana and Emidio Tiberi
  • Workspace Evaluation of Long-Distance Midair Haptic Display Using Curved Reflector
    Kentaro Ariga, Masahiro Fujiwara, Yasutoshi Makino and Hiroyuki Shinoda
  • Design of a Portable Shape Display for Augmented Reality
    Tse Tsui and Tania K. Morimoto
  • Passively Actuated Clutch for Enhanced Backdrivability in Bidirectional Kinesthetic Feedback Applications
    Pablo Alvarez Romeo and Ercan Altinsoy
  • Performance Study of Low Inertia Magnetorheological Actuators for Kinesthetic Haptic Devices
    Louis-Philippe Lebel, Jean-Alexis Verreault, Jean-Philippe Lucking Bigué, Jean-Sebastien Plante and Alexandre Girard
  • Enhanced Haptic Passivity and Uncoupled Stability with Tustin-Like General Discretization Method
    Leonam Pecly and Keyvan Hashtrudi-Zaad


Oral Session 2: Award Candidates 1 (Wednesday, July 7, 2021, 9:45-10:45)
  • Data-Driven Haptic Modeling of Plastic Flow Via Inverse Reinforcement Learning
    Arsen Abdulali and Seokhee Jeon
  • Reflection Pattern Sensing for Valid Airborne Ultrasound Tactile Display
    Masahiro Fujiwara, Yu Someya, Yasutoshi Makino and Hiroyuki Shinoda
  • Phononic Crystals Applied to Localised Surface Haptics
    Thomas Pierre Daunizeau, Sinan Haliyo, David Gueorguiev and Vincent Hayward
  • Hedgehog: Handheld Spherical Pin Array Based on a Central Electromagnetic Actuator
    Aline Abler, Juan Jose Zarate, Thomas Langerak, Velko Vechev and Otmar Hilliges
  • Two-Dimensional Moving Phantom Sensation Created by Rotational Skin Stretch Distribution
    Arata Horie, Zendai Kashino, Hideki Shimobayashi and Masahiko Inami
  • Optimizing a Viscoelastic Finite Element Model to Represent the Dry, Natural, and Moist Human Finger Pressing on Glass
    Saekwang Nam and Katherine J. Kuchenbecker
  • How to Measure the Area of Real Contactof Skin on Glass
    Nicolas Huloux, Laurence Willemet and Michael Wiertlewski


Oral Session 3A: Haptic Rendering (Wednesday, July 7, 2021, 12:30-13:30)
  • Rendering Softness Using Airborne Ultrasound
    Atsushi Matsubayashi, Tomohisa Yamaguchi, Yasutoshi Makino and Hiroyuki Shinoda
  • Design and Modeling of an Ungrounded Haptic Gun That Simulates Recoil Using Asymmetric Force
    Yuning Su, Weizhi Nai, Xiaoying Sun and Zuowei Sun
  • Vibrotactile Metaphor of Physical Interaction Using Body-Penetrating Phantom Sensations: Stepping on a Virtual Object
    Dajin Lee, Seungjae Oh, Seungmoon Choi and Bum Jae You
  • Alfred: The Haptic Butler. On-Demand Tangibles for Object Manipulation in Virtual Reality Using an ETHD
    Víctor Rodrigo Mercado, Thomas Howard, Hakim Si-Mohammed, Ferran Argelaguet and Anatole Lecuyer
  • Passivity of Series Damped Elastic Actuation under Velocity-Sourced Impedance Control
    Ugur Mengilli, Zeynep Ozge Orhan, Umut Caliskan and Volkan Patoglu
  • Multi-Contact Stiffness and Friction Augmentation Using Contact Centroid-Based Normal-Tangential Force Decomposing
    Sunghoon Yim, Seungmoon Choi and Seokhee Jeon
  • Analog Position Using Sensor Fusion for Haptic Systems Control
    Leonam Pecly and Keyvan Hashtrudi-Zaad
  • Haptic Simulator for Trocar Insertion Training
    Aldo Galvan, Andrew Da Costa, Jessica Shields, Kimberly Kho and Ann Majewicz Fey
  • Natural Tactile Interaction with Virtual Clay
    Hector Barreiro, Joan López and Miguel A. Otaduy


Oral Session 3B: Human Performance and Perception (Wednesday, July 7, 2021, 12:30-13:30)
  • Transforming a Monolithic Sheet of Nitinol into a Passive Reconfigurable Tactile Pixel Array at Braille Resolution
    Tigmanshu Bhatnagar, Nicolai Marquardt, Mark Miodownik and Catherine Holloway
  • Spatial perception of textures depends on length-scale
    David Burns, Roberta Klatzky, Michael Peshkin and Edward Colgate
  • Learning Vibes: Communication Bandwidth of a Single Wrist-Worn Vibrotactile Actuator
    Elyse D. Z. Chase, Ali Israr, Pornthep Preechayasomboon, Sarah Sykes, Aakar Gupta and Jessica Hartcher-O’Brien
  • VC-PWQ: Vibrotactile Signal Compression Based on Perceptual Wavelet Quantization
    Andreas Noll, Lars Nockenberg, Başak Güleçyüz and Eckehard Steinbach
  • Modeling Haptic Communication in Cooperative Teams
    Akshay Bhardwaj, Steven Cutlip and Brent Gillespie
  • A Kalman Filter Model for Predicting Discrimination Performance in Free and Restricted Haptic Explorations
    Anna Metzger and Knut Drewing
  • Individual Performance in Compliance Discrimination Is Constrained by Skin Mechanics but Improved under Active Control
    Chang Xu, Yuxiang Wang and Gregory J. Gerling
  • Identification of Physical Factors Contributing to Hardness Perception of Objects During Indirect Tapping Using White Canes
    Takeshi Tanabe, Kiyohiko Nunokawa, Kouki Doi and Shuichi Ino
  • Affective Ratings of Vibrotactile Signals in Older Adults with and without History of Stroke
    Caitlyn Seim, Brandon Ritter, Kara E. Flavin, Maarten G. Lansberg and Allison M. Okamura


Oral Session 4A: Perception and Psychophysics 2 (Thursday, July 8, 2021, 9:45-10:45)
  • Presentation of Tactile Pleasantness Using Airborne Ultrasound
    Kai Tsumoto, Tao Morisaki, Masahiro Fujiwara, Yasutoshi Makino and Hiroyuki Shinoda
  • Tactile Perception Characteristics of Lips Stimulated by Airborne Ultrasound
    Arata Jingu, Masahiro Fujiwara, Yasutoshi Makino and Hiroyuki Shinoda
  • Perceived Hardness of Virtual Surface: A Function of Stiffness, Damping, and Contact Transient
    Hyejin Choi, Amit Bhardwaj, Gyeore Yoon and Seungmoon Choi
  • Generating Kinesthetic Feedback Using Self Contact and Velocity Scaling
    Tommaso Lisini Baldi, Nicole D’Aurizio, Alberto Villani and Domenico Prattichizzo
  • Impact of Abducting at the Shoulder on Perceiving Torques about the Elbow
    Ninghe Cai, Polina Cherepanova and Netta Gurari
  • Effects of Interfering Cue Separation Distance and Amplitude on the Haptic Detection of Skin Stretch
    Andrew K. Low, Zane A. Zook, Joshua J Fleck and Marcia OMalley
  • Perceptual Quality Assessment of Compressed Vibrotactile Signals through Comparative Judgment
    Evelyn Muschter, Andreas Noll, Jinting Zhao, Rania Hassen, Matti Strese, Başak Güleçyüz, Shu-Chen Li and Eckehard Steinbach
  • Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability with a Tactile Sleeve
    Alix Macklin, Jeffrey Yau and Marcia O’Malley
  • Selective and Divided Attention for Vibrotactile Stimuli on Both Arms
    Gina Clepper, Juan Sebastian Martinez and Hong Tan


Oral Session 4B: Tactile Devices and Displays (Thursday, July 8, 2021, 9:45-10:45)
  • Remote Friction Reduction on Resonant Film Surface by Airborne Ultrasound
    Yuki Abe, Masahiro Fujiwara, Yasutoshi Makino and Hiroyuki Shinoda
  • A Novel Device Decoupling Tactile Slip and Hand Motion in Reaching Tasks: The HaptiTrack Device
    Simone Ciotti, Colleen Ryan, Matteo Bianchi, Francesco Lacquaniti and Alessandro Moscatelli
  • Pneumatic Concave Deformable Device and Finger Deformation-Based Evaluation for Hardness Perception
    Kentaro Yoshida, Hiroshi Suzuki, Hironobu Abe, Akira Ono, hiroto kawaguchi, Masahiro Sato, Yota Komoriya and Kazunobu Ohkuri
  • Sensory Equivalence Conversion of High-Frequency Vibrotactile Signals Using Intensity Segment Modulation Method for Enhancing Audiovisual Experience
    Kosuke Yamaguchi, Masashi Konyo and Satoshi Tadokoro
  • Effect of Surface Temperature on Finger Friction and Perception in Electroadhesion
    Changhyun Choi, Yuan Ma, Sneha Sequeira, Sitangshu Chatterjee, Xinyi Li, Jonathan Felts and M Cynthia Hipwell
  • A Sensory Feedback System with Pneumatic Dual-Structure Tactile Display for Softness Assessment during Laparoscopic Surgery
    Tomohiro Udo, Taku Ukai, Yoshihiro Tanaka, Hiroshi Miura and Yukihiro Terada
  • Vibrotactile Feedback System from the Fingertip to the Temples for Perceptual Enhancement of Contracture Palpation
    Kazuhiro Niwa, Yoshihiro Tanaka, Kota Kitamichi, Takumi Kuhara, Kimihiro Uemura and Takafumi Saito
  • A Soft Wearable Tactile Device Using Lateral Skin Stretch
    Sylvia Tan, Richard Daelan Roosa, Roberta Klatzky, Michael Peshkin and Edward Colgate
  • Modular Haptic Feedback for Rapid Prototyping of Tactile Displays
    Ramon Sanchez, Rebecca Khurshid, Mela Camille Coffey and Ambert Sawaya


Oral Session 5: Award Candidates 2 (Thursday, July 8, 2021, 11:15-12:15)
  • Psychophysical Validation of Interleaving Narrowband Tactile Stimuli to Achieve Broadband Effects
    Juan Sebastian Martinez, Hong Tan and Roger Cholewiak
  • The Effect of Freespace Properties on Unilateral Stiffness Classification
    Emma Treadway and Kristian Journet
  • Individual Differences Impacting Skin Deformation and Tactile Discrimination with Compliant Elastic Surfaces
    Bingxu Li and Gregory J. Gerling
  • I feel it in my fingers! Sense of agency with mid-air haptics
    George Evangelou, Hannah Limerick and James Moore
  • Hasti: Haptic and Audio Synthesis for Texture Interactions
    Sonny Chan, Chase Tymms and Nicholas Colonnese
  • An Intent-Preserving Approach to Telerobotic Rehabilitation
    Shane Forbrigger and Keyvan Hashtrudi-Zaad
  • Design and Preliminary Evaluation of the AID Vest: An Automatic Inflatable Wearable Device for Anxiety Reduction
    Hannah Brown, Emily Shannon and Naomi T. Fitter


Oral Session 6A: Wearable Devices (Friday, July 9, 2021, 8:30-9:30)
  • Thermal Sensation Presentation to the Forehead Using Electrical Stimulation: Comparison with Other Tactile Modalities
    Taiga Saito, Jianyao Zhang, Takayuki Kameoka and Hiroyuki Kajimoto
  • Wearable Haptics for Object Compliance Discrimination through Passive Touch
    Nicole D’Aurizio, Tommaso Lisini Baldi, Alberto Villani, Kouta Minamizawa, Yoshihiro Tanaka and Domenico Prattichizzo
  • Enhancing Multi-Sensory Cue Salience and Perceptual Identification in a Wearable Haptic Device
    Stephen Alexander, Roderico Garcia and Marcia O’Malley
  • Vibrotactile Presentation Using a Motor within a Housing and Rotor Fixed to the Skin
    Mitsuki Manabe, Keigo Ushiyama, Akifumi Takahashi and Hiroyuki Kajimoto
  • Design of Personalized Wearable Haptic Interfaces to Account for Fingertip Size and Shape
    Monica Malvezzi, Francesco Chinello, Domenico Prattichizzo and Claudio Pacchierotti
  • Wearable Artificial Fingers with Skin Vibration and Multi-Axis Force Sensors
    Kaho Shirakawa, Yoshihiro Tanaka, Masatoshi Hashimoto, Etsuko Watarai and Takanori Igarashi
  • Snaptics: Low-Cost Open-Source Hardware for Wearable Multi-Sensory Haptics
    Zane A. Zook, Ozioma Ozor-Ilo, Gabriel Zook and Marcia O’Malley
  • Haptic vs. Visual Neurofeedback for Brain Training: A Proof-Of-Concept Study
    Farhad Shabani, Sajid Nisar, Hemma Philamore and Fumitoshi Matsuno
  • A Protactile-Inspired Wearable Haptic Device for Capturing the Core Function of Communication
    Bryan MacGavin, Edwards Terra and Jenna Gorlewicz


Oral Session 6B: Human-Computer Interaction (Friday, July 9, 2021, 8:30-9:30)
  • Conversing Using WhatsHap: A Phoneme Based Vibrotactile Messaging Platform
    David Marino, Mauricio Fontana de Vargas, Antoine Weill–Duflos and Jeremy Cooperstock
  • Tactile Transfer of Finger Information through Suction Tactile Sensation in HMDs
    Takayuki Kameoka and Hiroyuki Kajimoto
  • Investigating Multi-Touch Vibrations on Mobile Touchscreens
    John Pasquesi and Jenna Gorlewicz
  • Length Perception Model for Handheld Controllers: The Effects of Diameter and Inertia
    Chaeyong Park, Jinsoo Kim and Seungmoon Choi
  • Short Time Delay Does Not Hinder Haptic Communication Benefits
    Ivanova Ekaterina, Jonathan Eden, Silei Zhu, Gerolamo Carboni, Aaron Yurkewich and etienne burdet
  • LotusBraille: Localised Multifinger Feedback on a Surface for Reading Braille Letters
    Lucie Pantera, Charles Hudin and Sabrina Panëels
  • Measuring Haptic Experience: Elaborating the HX Model with Scale Development
    Suji Sathiyamurthy, Melody Lui, Erin Kim and Oliver Schneider
  • Controlling Hand Movements Relying on Tactile Illusions: A Model Predictive Control Framework
    Gemma Carolina Bettelani, Simone Fani, Alessandro Moscatelli, Paolo Salaris and Matteo Bianchi
  • Hit-Stop in VR: Combination of Pseudo-Haptics and Vibration Enhances Impact Sensation
    Yuki Ban and Yusuke Ujitoko