Work-in-Progress Program

Work-in-Progress Program

The WHC Program will feature 72 Work-in-Progress (WIP) Papers presenting late-breaking and preliminary results. The WIP Papers will be presented during Interactive Sessions during which attendees will be able to meet the authors and discuss their work by videoconference.

Time (EDT) Wednesday
July 7		 Thursday
July 8		 Friday
July 9
08:30-09:30 WIP Session 2
09:45-10:45 WIP Session 4
11:15-12:15 WIP Session 1
12:30-13:30 WIP Session 3

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

WIP Session 1 (Wednesday, July 7, 2021, 11:15-12:15)
  • Meta-Learning Haptic Exploration of Simple 3D Objects
    Alexandra Moringen, Sascha Fleer and Helge Joachim Ritter
  • Enhanced Virtual Reality Application with Tactile Feedback for Prototyping In-Car Dashboard Surfaces
    Emanuel Sousa, Nuno Sousa, Rosane Schonblum Sampaio, Marcelo Pires, Joana Vieira, Diogo E Aguiam, Alar Ainla, Joao Gaspar, Gabriel Ribeiro and Edoardo Sotgiu
  • Assessing Touch Sensibility with a Robotic System for Sensory Rehabilitation
    Eduardo Villar Ortega, Efe Anil Aksoz, Karin Andrea Buetler and Laura Marchal-Crespo
  • Shape-Changing Touch Pad Based on Particle Jamming and Vibration
    Joshua P. Brown and Ildar Farkhatdinov
  • Emulating Social Haptic Communication with Vibration Patterns
    Myrthe Plaisier and Astrid M.L. Kappers
  • Context-Aware Automatic Haptic Effect Generation Algorithm for Improved Content Viewing Experiences
    Yaxuan Li, Yongjae Yoo, Antoine Weill–Duflos and Jeremy Cooperstock
  • Writely: Force Feedback for Non-Dominant Hand Writing Training
    Shariff AM Faleel, Bibhushan Raj Joshi and Bradley Rey
  • How Do Expert Hapticians Evaluate Grounded Force-Feedback Devices?
    Farimah Fazlollahi, Hasti Seifi, Karon E MacLean and Katherine J. Kuchenbecker
  • A Bimanual Simulator for Optimizing Epidural Analgesia Skill Acquisition
    Nitsan Davidor, Tamar Hayuni, Yair Binyamin and Ilana Nisky
  • Evaluation of Tactile Friction, Vibrations and the Influence of Finger Skin Moisture on Grained Polypropylene Plates
    Thomas Ules, Michael Griesser, Katja Klimke, Georg Grestenberger and Dieter P. Gruber
  • Cutaneous Sensory Afferent Response to Sliding Stimuli in the Rat Forepaw
    Sophie du Bois de Dunilac, Thomas Campbell, James F. X. Jones and Stephen Redmond
  • Audio-Tactile Congruences in Vibro-Tactile Music Enhancement
    Scott C. Aker, Kathleen F. Faulkner, Hamish Innes-Brown, Marianna Vatti and Jeremy Marozeau
  • Vibratory Detection Thresholds for the Spine, Clavicle and Sternum
    Claire Richards, Nicolas Misdariis, Roland Cahen, Damien Faux and Vincent Hayward
  • A Causal Feeling: How Kinesthetic Haptics Affects Causal Perception
    Elyse D. Z. Chase, Phillip Wolff, Tobias Gerstenberg and Sean Follmer
  • CanHap 501: Learning Haptic UX Design in Remote Teams
    Karon E MacLean, Vincent Levesque, Oliver Schneider, Pourang Irani, Antoine Weill–Duflos and Jeremy Cooperstock
  • A Magnetorheological Elastomer Device for Programmable Actuation and Sensing of Soft Haptic Experiences
    Bingxu Li, Jaeyeon Lee and Gregory J. Gerling
  • Design and Preliminary Assessment of a Haptic Feedback System for a Smart Walker
    Ramon Sanchez and Rebecca Khurshid
  • Comparing Soft Robotic Affective Touch to Human and Brush Affective Touch
    Caroline Yan Zheng, Ker-Jiun Wang, Maitreyee Wairagkar, Mariana von Mohr, Erik Lintunen and Katerina Fotopoulou
  • 3D Printed Tactile Illusions and Demonstrations
    Emilie Waite, Thomas Fitz-Gerald, Abdel-Rahman Sadaqa, Huaijin Shi, Pascal Fortin, Antoine Weill–Duflos and Jeremy Cooperstock
  • CHand: Visualizing Hands in CHAI3D
    Edoardo Battaglia and Ann Majewicz Fey
  • HaptiColour: Haptic-Assisted Digital Colouring Platform for Managing Anxiety and Increasing Mindfulness
    Preeti Vyas, Linnea Kirby and Marco Moran-Ledesma


WIP Session 2 (Thursday, July 8, 2021, 8:30-9:30)
  • Motion Direction Discrimination Using Tactile Random-Dot Kinematograms with Distributed Lateral Skin Stretch
    Scinob Kuroki
  • Measurement of Horizontal Local Skin Strain on Grooved Texture
    Seitaro Kaneko and Hiroyuki Kajimoto
  • Pseudo-Heaviness During Mid-Air Gestures Is Tuned to Visual Speed
    Takahiro Kawabe, Yusuke Ujitoko and Takumi Yokosaka
  • Effects of Continuous and Intermittent Vibration Stimulations on Perception of Lower Limbs in Reaching Movements
    Daiki Hagimori, Naoya Isoyama, Shunsuke Yoshimoto, Nobuchika Sakata and Kiyoshi Kiyokawa
  • Preliminary Study on the Asymmetry of Skin Deformation between Radial and Ulnar Side of Finger Pad
    Jianyao Zhang and Hiroyuki Kajimoto
  • Presenting Non-Audible Vibrations of Music by Oscillative Air Jet
    Akinari Shibao and Satoshi Saga
  • Effect on Haptic Sensitivity of the Middle Finger of Vibrations Applied to the Little Fingernails
    Tetta Yokoyama and yuki hashimoto
  • A 3D-Printed Haptic Material Library for Quantifying the Force-Displacement Relationship
    Masashi Nakatani, Masataka Imura, Yoichi Yamazaki, Taisuke Okazaki, Yoshihiro Asano, Ryota Nakamura, Noriko Nagata and Hiroya Tanaka
  • Illusory Tactile Texture Modulation on a Finger through a Frame
    Takumi Yokosaka, Yosuke Suzuishi and Scinob Kuroki
  • Electro-Tactile Display Kit for Fingertip
    Hiroyuki Kajimoto
  • Comado: Communication System for Create Ambient Connection between Distance Locations
    Fuko Yamamura, Taku Tanichi, Yun Suen Pai and Kouta Minamizawa
  • Design of a Highly-Compatible Wearable Kinesthetic Device for Surgical Teleoperation
    Farhad Shabani, Sajid Nisar and Fumitoshi Matsuno
  • Towards More Effective Data Visualization Methods Using Haptics
    Rayan Isran, Sepehri Katayoun, Karthikan Theivendran and Ahmed Anwar
  • Frisson Waves: Sharing Frisson to Create Collective Empathetic Experiences for Music Performances
    Yan He, Dingding Zheng, George Chernyshov, Ragnar Thomsen, Jiawen Han, Danny Hynds, Yun Suen Pai, Kai Kunze and Kouta Minamizawa
  • A Cable-Driven Walking Interface with Haptic Feedback for Seated VR
    Ata Otaran and Ildar Farkhatdinov
  • Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control
    Mor Farajian, Raz Leib, Hanna Kossowsky and Ilana Nisky


WIP Session 3 (Thursday, July 8, 2021, 12:30-13:30)
  • Embedded Laser-Cut Constraints for Elastomeric Soft Actuators
    Crystal Winston, Kyle Yoshida, Sophia R. Williams and Allison M. Okamura
  • Uncoupled Stability Region for Analog and Discrete Implementation of Mass-Damper-Spring Virtual Environments
    Leonam Pecly and Keyvan Hashtrudi-Zaad
  • Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices
    Kaitlyn Gabardi, Patrick Dills, Bolun Zhang and Michael Zinn
  • Crescendo: Haptic Exploration of Scores for Novice Musicians with Dyslexia
    Hannah Elbaggari, Rubia Guerra, Sabrina Knappe and Juliette Regimbal
  • Towards the Haptiverse: An Online System for Sharing Haptic Content
    Pelisha Samithamby, Bibhushan Raj Joshi, Hasti Seifi and Oliver Schneider
  • Characterizing the Effects of Haptic Rendering Parameter Variations on Perceived Kinesthetic Rendering Accuracy
    Bolun Zhang, Michael Hagenow, Bilge Mutlu, Michael Gleicher and Michael Zinn
  • Tactile Motion Coordinate Transforms in the Somatosensory System
    Himanshu Ahuja, Ralf M Haefner, Gregory DeAngelis and manuel gomez-ramirez
  • Human Perception of Wrist Torque Magnitude During Upper and Lower Extremity Movement
    Cara Gonzalez Welker, Allison M. Okamura and Steven H. Collins
  • Extending the Depth Perception of People Who Are Blind
    Ryan Racel Quick, Karina Puente, Anisha Bontula and Naomi T. Fitter
  • Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device
    Mine Sarac, Duke Loke, Max Evans, Olivia Chong, James Saunders, Basiel Makled, Allison M. Okamura and Kim Hallett
  • Augmented Needle Decompression Task with a Wrist-Worn Haptic Device
    Mine Sarac, Kim Hallett, James Saunders, Basiel Makled and Allison M. Okamura
  • On the Utility of Affective Feedback in Prosthesis Embodiment
    Alexandra Jade Miller, Gemma Carolina Bettelani, Simone Fani, Matteo Bianchi and Jeremy DeLaine Brown
  • Integrating Haptic Feedback into a Virtual Reality Mobility Training Game for People with Parkinson’s Disease
    Naghmeh Zamani, Adim Abass, Manjunath Shetkar, Saumya Dureja, Menghan Li, Heather Culbertson and James Finley
  • Future Affair: An Artistic Exploration of Socially Distanced Affective Touch Via Forearm Stimulation
    Amy den Dekker, Laura A Dima, Daniel Shor and Gijs Huisman


WIP Session 4 (Friday, July 9, 2021, 9:45-10:45)
  • Velocity Estimation for Affordable Force Feedback Devices by Time Stamping and Adaptive Windowing
    Benjamin Delbos, Arash Mohtat, Colin Gallacher and Vincent Levesque
  • Feature Quantification of Material Softness Perception Using the Force-Displacement Relationship
    Masataka Imura, Yoichi Yamazaki, Masashi Nakatani, Taisuke Okazaki, Rino Uesaki, Noriko Nagata and Hiroya Tanaka
  • Deep Multi-Modal Network Based Data-Driven Haptic Textures Modeling
    Joolekha Bibi Joolee and Seokhee Jeon
  • TACTimat: Exploring the Design Factors of an Effective Touch Based Tool for Stimulation Therapy
    Marjolein Schoorl, Laura A Dima, Kikki de Laat, Erik Tempelman, Daniel Shor and Gijs Huisman
  • Towards Functional Robotic Rehabilitation: Clinical-Driven Development of a Novel Device for Sensorimotor Hand Training
    Raphael Rätz, René Müri and Laura Marchal-Crespo
  • The Resonance Pod: Applying Haptics in a Multi-Sensory Experience to Promote Relaxation through Breathing Entrainment
    Daniel Shor, Yvon Ruitenburg, Willemijn Boere, James Derek Lomas and Gijs Huisman
  • Multimodal Haptic Armrest for Immersive 4D Experiences
    Nathan Joseph Adam Pollet, Emanuel Uzan, Patricia Batista Ruivo, Tal Abravanel, Aishwari Talhan, Yongjae Yoo and Jeremy Cooperstock
  • Curvature Discrimination for Dynamic Ultrasound Mid-Air Haptic Stimuli
    Lendy Mulot, Guillaume Gicquel, William Frier, Maud Marchal, Claudio Pacchierotti and Thomas Howard
  • Generating Apparent Haptic Motion for Assistive Devices
    Inès Lacôte, Claudio Pacchierotti, Marie Babel, Maud Marchal and David Gueorguiev
  • The Funneling Illusion Using the Confinement of Vibrotactile Stimuli in Narrow Plates
    Mathilde Jeannin, Ayoub Ben Dhiab, Lucie Pantera, Charles Hudin and Sabrina Panëels
  • Investigating the Influence of Surface Hardness and Energy on the Perceived Stickiness of Polymer Coatings
    Michael Griesser, Thomas Ules, Sandra Schlögl and Dieter P. Gruber
  • Species-Specific Whisker Morphology Affects Tactile Interactions
    Robyn Grant, Gary Dougill and Nathan Lepora
  • Monofilament whisker-based mobile robot navigation
    Rishabh Shukla, Prasanna Routray, Kshitij Tiwari, Steven M LaValle and M. Manivannan
  • Towards a Portable, Affordable Tactile Display
    Joshua P. Brown, Xin Zhou, James Mardell and Mark Witkowski
  • A Conceptual and Practical Exploration of Electrovibrating Wearables
    Balkiss Friaa and Vincent Levesque
  • Exploration of Velocity-Dependent Scaling Methods for a Wearable Vibrotactile Texture Display
    Rebecca Fenton Friesen and Yasemin Vardar
  • An Open-Source Ungrounded Hapkit for Educational Applications
    Alexandra Jade Miller, Naveed Dennis Riaziat and Jeremy DeLaine Brown
  • Tactile Music Toolkit: Supporting Communication for Autistic Children with Audio Feedback
    Di Qi, Yun Suen Pai, Kouta Minamizawa, Mina Shibasaki and Danny Hynds
  • Feature Quantification of Material Texture Perception Using a Force-Displacement Relationship
    Yoichi Yamazaki, Masataka Imura, Masashi Nakatani, Shin Osanai, Noriko Nagata and Hiroya Tanaka
  • A Soft, Vibrotactile, Shape-Changing Joystick for Telerobotics
    Joshua P. Brown and Ildar Farkhatdinov
  • Model Proposition for Friction Attenuation Analysis in Lateral Ultrasonic Surface Haptic Devices
    Diana Angelica Torres Guzman, Eric Vezzoli, Betty Lemaire-Semail, Christophe Giraud-Audine, Frederic Giraud and Michel Amberg