Oral Sessions

The 2016 IEEE Haptics Symposium will include presentation of 52 full-length technical papers.  Selected from 106 submissions, these five-to-eight-page archival papers were rigorously reviewed our Program Committee and several external reviewers.  The 18 most highly rated papers were assigned to single-track oral sessions, and the others were assigned to dual-track oral sessions.

Each technical paper will be presented via a twelve-minute talk followed by two minutes of questions from the audience.  We have exactly fifteen minutes allocated for each talk, including one minute to change speakers, and we will keep strictly to this schedule.


Oral Session 1: Directional Cues - Ormandy Ballroom
Saturday, April 9, 9:00 a.m. - 10:30 a.m.
Session Chairs: Vincent Levesque and Lynette Jones

  • Spatial Discrimination of Vibrotactile Stimuli Around the Head
    Victor Adriel Oliveira, Luciana Nedel, Anderson Maciel, Luca Brayda
  • A Dual-Flywheel Ungrounded Haptic Feedback System Provides Single-Axis Moment Pulses for Clear Direction Signals
    Julie M. Walker, Michael Raitor, Heather Culbertson, Philipp Stolka, Allison Okamura
  • Design of a Wearable Skin Stretch Cutaneous Device for the Upper Limb
    Francesco Chinello, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo
  • Properties of Proprioceptive Sensation with a Vibration Speaker-Type Non-Grounded Haptic Interface
    Takeshi Tanabe, Hiroaki Yano, Hiroo Iwata
  • Modeling and Design of Asymmetric Vibrations to Induce Ungrounded Pulling Sensation Through Asymmetric Skin Displacement
    Heather Culbertson, Julie M. Walker, Allison M. Okamura
  • Outdoor Pedestrian Navigation Assistance with a Shape-Changing Haptic Interface and Comparison with a Vibrotactile Device
    Adam J. Spiers, Aaron M. Dollar

Oral Session 2A: Vibrotactile Cues - Ormandy West
Saturday, April 9, 11:00 a.m. - 12:00 p.m.
Session Chairs: Ali Israr and Masashi Konyo

  • The Effects of Duration and Frequency on the Perception of Vibrotactile Stimulation on the Neck
    Kelly Morrow, Daniel Wilbern, Reza Taghavi, Mounia Ziat
  • Vibrotactile and Pseudo Force Presentation using Motor Rotational Acceleration
    Vibol Yem, Ryuta Okazaki, Hiroyuki Kajimoto
  • Studying Design Process and Example Use with Macaron, a Web-based Vibrotactile Effect Editor
    Oliver S. Schneider, Karon E. MacLean
  • Kinesthetic and Vibrotactile Haptic Feedback Improves the Performance of Laser Microsurgery
    Loris Fichera, Claudio Pacchierotti, Emidio Olivieri, Domenico Prattichizzo, Leonardo S. Mattos

Oral Session 2B: Kinesthetic InteractionOrmandy East
Saturday, April 9, 11:00 a.m. - 12:00 p.m.
Session Chairs: Ed Colgate and Peter Berkelman

  • Toward Open-Source Portable Haptic Displays with Visual-Force-Tactile Feedback Colocation
    Colin Gallacher, Arash Mohtat, Steve Ding, Jozsef Kovecses
  • A Robotic Touchscreen Totem for Two-Dimensional Haptic Force Display
    Mark A. Price, Frank C. Sup IV
  • Extension of an Electrostatic Visuo-Haptic Display to Provide Softness Sensation
    Taku Nakamura, Akio Yamamoto
  • Object Stability during Human Precision Fingertip Manipulation
    Yuri Gloumakov, Thomas Feix, Ian M. Bullock, Aaron M. Dollar

Oral Session 3: Emerging TopicsOrmandy Ballroom
Sunday, April 10, 9:00 a.m. - 10:30 a.m.
Session Chairs: Sandra Hirche and Greg Gerling

  • Space-Time Interactions and the Perceived Location of Cold Stimuli
    Anshul Singhal, Lynette Jones
  • SkinHaptics: Ultrasound Focused in the Hand Creates Tactile Sensations
    Daniel Spelmezan, Rafael Morales Gonzalez, Sriram Subramanian
  • Evaluating Tactile Guidance Cues for Percutaneous Needle Insertion Tasks
    Jeremy L. Tsai, Sukanya Basu, Ann Majewicz
  • Exploring Haptic Working Memory as a Capacity-Limited Information Channel
    Rachel A. Lerch, Hengjun Cui, Soham Patwardhan, Yon Visell, Chris R Sims
  • Learning Haptic Affordances from Demonstration and Human-Guided Exploration
    Vivian Chu, Baris Akgun, Andrea L. Thomaz
  • 3-D Printed Haptic Devices for Educational Applications
    Melisa Orta Martinez, Tania K. Morimoto, Annalisa T. Taylor, Aaron C. Barron, Joseph Donald-Akzl Pultorak, Jeanny Wang, Agnes Calasanz- Kaiser, Richard Lee Davis, Paulo Blikstein, Allison Okamura

Oral Session 4A: Wearable Cutaneous DisplayOrmandy West
Sunday, April 10, 11:00 a.m. - 12:00 p.m.
Session Chairs: Ann Majewicz and Will Provancher

  • The hRing: a Wearable Haptic Device to Avoid Occlusions in Hand Tracking
    Claudio Pacchierotti, Gionata Salvietti, Irfan Hussain, Leonardo Meli, Domenico Prattichizzo
  • A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes and Surface Features
    Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, Antonio Frisoli
  • Data-Driven Comparison of Four Cutaneous Displays for Pinching Palpation in Robotic Surgery
    Jeremy D. Brown, Mary Ibrahim, Elyse Chase, Claudio Pacchierotti, Katherine Kuchenbecker
  • Efficient Nonlinear Skin Simulation for Multi-Finger Tactile Rendering
    Alvaro G. Perez, Gabriel Cirio, Daniel Lobo, Francesco Chinello, Domenico Prattichizzo, Miguel A. Otaduy

Oral Session 4B: Dynamic ModelingOrmandy East
Sunday, April 10, 11:00 a.m. - 12:00 p.m.
Session Chairs: Jee-Hwan Ryu and Yon Visell

  • Frictional Dynamics of Finger Pads are Governed by Four Length-Scales and Two Time-Scales
    Brygida Dzidek, Serena Bochereau, Simon Johnson, Michael Adams, Vincent Hayward
  • The Role of Damping in Ultrasonic Friction Reduction
    Rebecca Fenton Friesen, Michael Wiertlewski, Ed Colgate
  • Polynomial Linearization for Real-Time Identification of Environment Hunt-Crossley Models
    Ryan Schindeler, Keyvan Hashtrudi Zaad
  • Modeling Latching Fluidic Circuits to Determine Clocking Limits for a Refreshable Braille Display
    Alexander Russomanno, Sile O'Modhrain, Mark Burns, Brent Gillespie

Oral Session 5A: Surface Interaction and DisplayOrmandy West
Sunday, April 10, 4:15 p.m. - 5:30 p.m.
Session Chairs: Hong Tan and Evren Samur

  • Evaluating Differences Between Bare-Handed and Tool-Based Interaction in Perceptual Space
    Waseem Hassan, Seokhee Jeon
  • Search Procedures during Haptic Search in an Unstructured 3D Display
    Alexandra Moringen, Robert Haschke, Helge Ritter
  • Identification of Primitive Geometrical Shapes Rendered Using Electrostatic Friction Display
    Reza Haghighi Osgouei, Jin Ryong Kim, Seungmoon Choi
  • A Novel Method Using EEG to Characterize the Cortical Processes Involved in Active and Passive Touch
    Athanasia Moungou, Eric Vezzoli, Cecile Lombart, Betty Lemaire-Semail, Jean-Louis Thonnard, Andre Mouraux
  • Using Modal Superposition for Generating Localized Tactile Effects on Variable Friction Touchscreens
    Karl Katumu, Jenna Gorlewicz

Oral Session 5B: Teleoperation and ControlOrmandy East
Sunday, April 10, 4:15 p.m. - 5:30 p.m.
Session Chairs: Jeha Ryu and Greg Luecke

  • Opportunistic Adaptive Haptic Sampling on Forward Channel in Telehaptic Communication
    Vineet Gokhale, Jayakrishnan Nair, Subhasis Chaudhuri
  • A Perceptually-Motivated Deadband Compression Approach for Cutaneous Haptic Feedback
    Asad Tirmizi, Claudio Pacchierotti, Irfan Hussain, Gianluca Alberico, Domenico Prattichizzo
  • Low-delay Compression of Polygon Mesh Deformation Data for Remote Haptic Interaction with Simulated Deformable Objects
    Clemens Schuwerk, Wolfgang Freund, Eckehard Steinbach
  • Stable and Transparent Teleoperation Over Communication Time-Delay: Observer-Based Input-to-State Stable Approach
    Aghil Jafari, Muhammad Nabeel, Jee-Hwan Ryu
  • Experimental Evaluation of Absolute Stability in Teleoperation Systems
    Kamran Razi, Chiedu N Mokogwu, Keyvan Hashtrudi Zaad

Oral Session 6: Fingertip InteractionsOrmandy Ballroom
Monday, April 11, 9:00 a.m. - 10:30 a.m.
Session Chairs: Veronica Santos and Massmiliano Di Luca

  • Measuring Tactile Cues at the Fingerpad for Object Compliances Harder and Softer than the Skin
    Steven C. Hauser, Gregory J. Gerling
  • Learning Constituent Parts of Touch Stimuli from Whole Hand Vibrations
    Yitian Shao, Yon Visell
  • Tactile Paintbrush: A Procedural Method for Generating Spatial Haptic Texture
    David J Meyer, Michael Peshkin, Ed Colgate
  • Viscous Textures: Velocity Dependence in Fingertip-Surface Scanning Interaction
    Daniel J. Brewer, David J. Meyer, Michael A. Peshkin, Ed Colgate
  • eShiver: Force Feedback on Fingertips through Oscillatory Motion of an Electroadhesive Surface
    Joe Mullenbach, Michael Peshkin, Ed Colgate
  • A Wearable Fabric-based Display for Haptic Multi-Cue Delivery
    Matteo Bianchi, Edoardo Battaglia, Mattia Poggiani, Simone Ciotti, Antonio Bicchi

Oral Session 7A: Tactile Sensing and PerceptionOrmandy West
Monday, April 11, 1:30 p.m. - 2:30 p.m.
Session Chairs: Mounia Ziat and Matteo Bianchi

  • Fingertip Force Estimation via Inertial and Magnetic Sensors in Deformable Object Manipulation
    Mostafa Mohammadi, Tommaso Lisini Baldi, Stefano Scheggi, Domenico Prattichizzo
  • A Versatile and Modular Capacitive Tactile Proximity Sensor
    Hosam Alagi, Stefan Escaida Navarro, Michael Mende, Bjorn Hein
  • Data-Driven Thermal Recognition of Contact with People and Objects
    Tapomayukh Bhattacharjee, Joshua Wade, Yash Chitalia, Charles C. Kemp
  • Robust Tactile Perception of Artificial Tumors Using Pairwise Comparisons of Sensor Array Readings
    Jennifer C. T. Hui, Alexis E. Block, Camillo J. Taylor, Katherine J. Kuchenbecker

Oral Session 7B: Haptic ApplicationsOrmandy East
Monday, April 11, 1:30 p.m. - 2:30 p.m.
Session Chairs: Brent Gillespie and Ozkan Celik

  • Effect of Hanger Reflex on Walking
    Yuki Kon, Takuto Nakamura, Michi Sato, Hiroyuki Kajimoto
  • Improved Typing on a Flat Keyboard via Tactile Key-Identity feedback
    Sung Hun Sim, Bing Wu, Roberta L. Klatzky
  • Kinaptic - Techniques and Insights for Creating Competitive Accessible 3D Games for Sighted and Visually Impaired Users
    Andreas Grabski, Toni Toni, Tom Zigrand, Rene Weller, Gabriel Zachmann
  • Display of Needle Tip Contact Forces for Steering Guidance
    Jung Hwa Bae, Christopher J. Ploch, Michael A. Lin, Bruce L. Daniel, Mark R. Cutkosky