IEEE Transactions on Haptics

Article	Citations
The Effect of Actuation Speed on the Perception Threshold of a Squeezing Soft Actuator	76
Vibrotactile Display of Patterned Surface Textures With Kinesthetic Haptic Devices Using Balanced Impulses	61
Can Facial Expressions Induce Haptic Perception?	58
Target Search and Inspection Strategies in Haptic Search	52
Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords	46
Wearable Haptic Device Presenting Sensations of Fingertips to the Forearm	35
Surfaces With Finger-Sized Concave Feel Softer	33
Editorial	32
Identification and Analysis of Human-Exoskeleton Coupling Parameters in Lower Extremities	32
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation	30
Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity	29
Specifying Visual Parameters for Haptic-Visual Sequential Matching of Material Softness	28
Remote Friction Reduction on Polystyrene Foam Surface by Focused Airborne Ultrasound	25
A Novel Method for Surface Exploration by 6-DOF Encountered-Type Haptic Display Towards Virtual Palpation	21
Tactile Texture Rendering for Electrostatic Friction Displays: Incorporation of Low-Frequency Friction Model and High-Frequency Textural Model	21
The Effect of Kinesthetic and Artificial Tactile Noise and Variability on Stiffness Perception	21
Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display	19
Thermal Perception for Information Transmission: Theoretical Analysis, Device Design, and Experimental Verification	18
Enhancing Video Experiences for DHH Individuals through Sound-Inspired Motion Caption-based Spatiotemporal Tacton	18
An Online Survey on the Perception of Mediated Social Touch Interaction and Device Design	17
A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery	17
Configuration-Based Optimization for Virtual Hand Haptic Simulation	17
Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement	17
Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task	17
Adaptive Human Force Scaling via Admittance Control for Physical Human-Robot Interaction	17

Mental Rotation Skill Shapes Haptic Exploration Strategies	16
Influence of Back Length on Vibrotactile Acuity in Vertical Direction	16
Macro-Fiber Composite-Based Tactors for Haptic Applications	16
A Novel Kinematic Gait Parameter-Based Vibrotactile Cue for Freezing of Gait Mitigation Among Parkinson's Patients: A Pilot Study	16
Table of Contents	15
PCA Model of Fundamental Acoustic Finger Force for Out-of-Plane Ultrasonic Vibration and its Correlation with Friction Reduction	15
Table of Contents	14
Table of Contents	13
Mechanofluidic Instability-Driven Wearable Textile Vibrotactor	13
Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency	13
Table of Contents	13
On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion	13
Comparing Apparent Haptic Motion and Funneling for the Perception of Tactile Animation Illusions on a Circular Tactile Display	13
Spatiotemporal Pinpoint Cooling Sensation Produced by Ultrasound-Driven Mist Vaporization on Skin	12
Effect of Finger Orientation on Contact Stiffness and Area During Sliding	12
Can we Effectively Combine Tangibles and Ultrasound Mid-Air Haptics? A Study of Acoustically Transparent Tangible Surfaces	12
Electrotactile Feedback Applications for Hand and Arm Interactions: A Systematic Review, Meta-Analysis, and Future Directions	12
Pseudo-Haptic Heaviness Influenced by the Range of the C/D Ratio and the Position of the C/D Ratio Within a Given Range	12
Impact Vibration Source Localization in Two-Dimensional Space Around Hand	11
Table of Contents	11
The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey	11
Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces	10
Contactless Haptic Display Through Magnetic Field Control	10
A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis	10
Describing the Sensation of the ‘Velvet Hand Illusion’ in Terms of Common Materials	10
A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites	10
Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device	10
Altering Time Perception in Virtual Reality Through Multimodal Visual-Tactile Kappa Effect	9
Spatiotemporal Congruency Modulates Weighting of Visuotactile Information in Displacement Judgments	9
“I See Where This is Going”: A Psychophysical Study of Directional Mid-Air Haptics and Apparent Tactile Motion	9
Voluminous Fur Stroking Experience Through Interactive Visuo-Haptic Model in Virtual Reality	9
Characterizing Detection Thresholds for Six Orthogonal Modes of Vibrotactile Display Via Stylus With Precision Grasp	9
Editorial: Special Issue: Towards a Transdisciplinary Approach to the Development and Control of Haptic Devices for Human-in-the-Loop Applications	9
Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display	9
Table of Contents	9
A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters	9
Validation of Snaptics: A Modular Approach to Low-Cost Wearable Multi-Sensory Haptics	9
A Survey on Tactile Displays For Visually Impaired People	8
MateJam: Multi-Material Teeth-Clutching Layer Jamming Actuation for Soft Haptic Glove	8
Where's My Button? Evaluating the User Experience of Surface Haptics in Featureless Automotive User Interfaces	8
HM-Array: A Novel Haptic Magnetism-Based Leader-Follower Platform for Minimally Invasive Robotic Surgery	8
Using Virtual Objects With Hand-Tracking: The Effects of Visual Congruence and Mid-Air Haptics on Sense of Agency	8
Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows	8
Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation	8
Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise	8
Can a Machine Feel Vibrations?: Predicting Roughness and Emotional Responses to Vibration Tactons via a Neural Network	8
Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch	8
Radiation Pressure Field Reconstruction for Ultrasound Midair Haptics by Greedy Algorithm With Brute-Force Search	8
Biomechanically-Consistent Skin Stretch as an Intuitive Mechanism for Sensory Feedback: A Preliminary Investigation in the Lower Limb	7
A Mechanical Hand-Tracking System With Tactile Feedback Designed for Telemanipulation	7

Feeling Illusory Textures Through a Hole: Rotating Frame At Skin-Object Interface Modifies Perceived Tactile Texture	7
Intensity-Adjustable Non-Contact Cold Sensation Presentation Based on the Vortex Effect	7
Table of Contents	7
Motion Effects: Perceptual Space and Synthesis for Specific Perceptual Properties	7
Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound	7
Deep Pressure Therapy: A Promising Anxiety Treatment for Individuals With High Touch Comfort?	7
Investigating Passive Presentation Paradigms to Approximate Active Haptic Palpation	7
A Lightweight Accessible Wearable Robotic Interface for Bimanual Haptic Manipulations	6
The High/Low Frequency Balance Drives Tactile Perception of Noisy Vibrations	6
Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow	6
Hands-Free Haptic Navigation Devices for Actual Walking	6
Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments	6
Using Digital Image Correlation to Quantify Skin Deformation With Von Frey Monofilaments	6
Survey of Pseudo-Haptics: Haptic Feedback Design and Application Proposals	6
Real-Time Musical Haptics With Ultra-Wideband: A Study on Latency, Reliability, and Perception	6
Novel Electrode Designs for Electrotactile Stimulation of the Finger: A Comparative Assessment	6
UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism	6
Editorial	6
Sound-to-Touch Crossmodal Pitch Matching for Short Sounds	6
The Influence of Mass and Friction in Teleoperated Tasks	6
On the Correlation Between Tactile Stimulation and Pleasantness	6
Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots	6
Navigation Method Enhancing Music Listening Experience by Stimulating Both Neck Sides With Modulated Musical Vibration	6
Perceived Intensity Model of Dual-Frequency Superimposed Vibration: Pythagorean Sum	6
A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment	6
Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues	6
2024 Index IEEE Transactions on Haptics Vol. 17	6
Origami-Inspired Vibrotactile Actuator (OriVib): Design and Characterization	6
Wrapping Haptic Displays Around Robot Arms to Communicate Learning	6
Closed-Loop Control of Electroadhesion Using Current Regulation	6
Human Stabilization of Delay-Induced Instability of Haptic Rendering in a Stiffness Discrimination Task	6
Reconfigurable Flexible Haptic Interface Using Localized Friction Modulation	6
Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects	6
Mathematical Model of Fingertip Skin Under Constant-Current Electrotactile Stimulation	6
Perceptual Constancy in the Speed Dependence of Friction During Active Tactile Exploration	5
Task and Material Properties Interactively Affect Softness Explorations Along Different Dimensions	5
Chattering-Free Time Domain Passivity Approach	5
Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue	5
Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display	5
Motor Learning in Robot-Based Haptic Dyads: A Review	5
Comparison of Wide-Band Vibrotactile and Friction Modulation Surface Gratings	5
Building a Navigable Fine Texture Design Space	5
Evaluating Affective Touch Generated via a Shape-Memory-Alloy Arm-Sleeve by Subjective Report and Facial Muscle Activity	5
A Perceptual Model-Based Approach to Plausible Authoring of Vibration for the Haptic Metaverse	5
Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper	5
Evaluation of Vibrotactile Output From a Rotating Motor Actuator	5
Modulating the Fidelity and Spatial Extent of Electrotactile Stimulation to Elicit the Embodiment of a Virtual Hand	5
Perception of Soft Objects in Virtual Environments Under Conflicting Visual and Haptic Cues	5
Adding Touch to Immersive Media: An Overview of the MPEG Haptics Coding Standard	5
Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area	5
Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body	5
Centroparietal Alpha/Beta Asymmetry in Response to Urgency Elicited by Upper Body Vibration	5
Effect of Low-Pass Filtering on Passivity and Rendering Performance of Series Elastic Actuation	5
Mechanisms of Friction Reduction in Longitudinal Ultrasonic Surface Haptic Devices With Non-Collinear Vibrations and Finger Displacement	5
The Effect of Variability in Stiffness on Perception and Grip Force Adjustment	5
Fuzzy Evaluation Method for Haptic Perceptual Similarity	5
Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms	5
Table of Contents	4
The Snail: A Wearable Actuated Prop to Simulate Grasp of Rigid and Soft Objects in Virtual Reality	4
A Low-Parameter Rendering Algorithm for Fine Textures	4
A Visualisation Driven Training for Vibrotactile Skin Reading	4
Multichannel Vibrotactile Glove: Validation of a New Device Designed to Sense Vibrations	4
Bimanual Motor Strategies and Handedness Role in Human-Robot Haptic Interaction	4
Table of Contents	4
EEG-Based Machine Learning Models to Evaluate Haptic Delay: Should We Label Data Based on Self-Reporting or Physical Stimulation?	4
How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment	4
Origami-Based Haptic Syringe for Local Anesthesia Simulator	4
Perceptual Substitution Based Haptic Texture Rendering for Narrow-Band Reproduction	4
Multi-Cue Haptic Guidance Through Wearables for Enhancing Human Ergonomics	4
From Initial Encounter With Mid-Air Haptic Feedback to Repeated Use: The Role of the Novelty Effect in User Experience	4
Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds	4
Competition Increases the Effort Put Into a Physical Interaction Task	4
Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering	4
How to Train Your Posture: Haptic Feedback Can be Used for Postural Adaptation of the Trunk During Upper-Limb Motor Training	4
Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction	4
Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task	4
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction	4
Table of Contents	4
HapWheel: In-Car Infotainment System Feedback Using Haptic and Hovering Techniques	4
Refreshable Braille Display With Adjustable Cell Size for Learners With Different Tactile Sensitivity	4

Three-Dimensional Position Presentation via Head and Waist Vibrotactile Arrays	4
Cognitive and Physical Activities Impair Perception of Smartphone Vibrations	3
Learning to Feel Textures: Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions	3
EEG Correlates of Sustained Attention Variability during Discrete Multi-finger Force Control Tasks	3
Modeling Haptic Interactions in Endoscopic Submucosal Dissection (ESD)	3
Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance	3
The Effects of Vibratory Frequency and Temporal Interval on Tactile Apparent Motion	3
Effects of Peripheral Haptic Feedback on Intracortical Brain-Computer Interface Control and Associated Sensory Responses in Motor Cortex	3
Correlation between reaction time, multi-modal feedback and take-over requests for level 3 automated vehicles	3
Soft Pneumatic Haptic Wearable to Create the Illusion of Human Touch	3
A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks	3
Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception	3
Contribution of Vibration, Tapping Sound, and Reaction Force to Hardness Perception During Indirect Tapping Using a White Cane	3
Data-Driven Playback of Natural Tactile Texture Via Broadband Friction Modulation	3
Sufficient Time-Frequency Resolution for Reproducing Vibrotactile Sensation	3
Enhance Kinesthetic Experience in Perceptual Learning for Welding Motor Skill Acquisition With Virtual Reality and Robot-Based Haptic Guidance	3
Evaluation on Human Perception of Various Vibrotactile Encoding Methods Through a High Density Haptic Feedback Interface	3
2021 Index IEEE Transactions on Haptics Vol. 14	3
VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion	3
Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)	3
Does It Par-?: Investigating the Relationship Between Mid-Air Haptics and Visual Representations of Surface Textures	3
Robotic Kinesthesia: Estimating Object Geometry and Material With Robot's Haptic Senses	3
Effects of Vibration Direction and Pressing Force on Finger Vibrotactile Perception and Force Control	3
Table of Contents	3
Vibrotactile Spatiotemporal Pattern Recognition in Two-Dimensional Space Around Hand	3
Study on Intention Recognition and Sensory Feedback: Control of Robotic Prosthetic Hand Through EMG Classification and Proprioceptive Feedback Using Rule-based Haptic Device	3
Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm	3
Effect of Tactile Masking on Multi-Sensory Haptic Perception	3
Distributed Tactile Display with Dual Array Design	3
Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations	3
Editorial	2
Implementation of Tension-Based Compact Necklace-Type Haptic Device Achieving Widespread Transmission of Low-Frequency Vibrations	2
Design and Evaluation of a Novel Haptic Interface for Horse-Drawn Carriage Simulation	2
Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation	2
“Haptics On-Demand”: A Survey on Encountered-Type Haptic Displays	2
Table of Contents	2
Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings	2
Integrating Point Spread Function Into Taxel-Based Tactile Pattern Super Resolution	2
Development of an Intuitive Interface With Haptic Enhancement for Robot-Assisted Endovascular Intervention	2
A Comparative Study of Physical and Haptic Exhibits in an Informal Learning Environment	2
Mirror-Brush Illusion: Creating Phantom Tactile Percepts on Intact Limbs	2
Ultraloop: Active Lateral Force Feedback Using Resonant Traveling Waves	2
Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold	2
Preference-Driven Texture Modeling Through Interactive Generation and Search	2
Bi-Manual Sensory Discrimination: A Kinesthetic Study	2
Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact	2
Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing	2
Modulating the Perceived Softness of Real Objects Through Wearable Haptics	2
Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality	2
Evaluating factors affecting the perception of multi-sensory vibration and skin-squeeze cues during voluntary movement	2
Grip Force Control During Virtual Interaction With Deformable and Rigid Objects Via a Haptic Gripper	2
Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device	2
Telemetry-Based Haptic Rendering for Racing Game Experience Improvement	2
Biomechanical Fidelity of Simulated Pick-and-Place Tasks: Impact of Visual and Haptic Renderings	2
Contactless Kinesthetic Feedback to Support Handwriting Using Magnetic Force	2
Impact of Arm Dominance and Location on Detecting Electrotactile Stimuli During Voluntary Motor Activation in Older Adults	2
Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR	2
It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour	2
A Comparison of Vibrotactile Feedback and Electrical Muscle Stimulation (EMS) for Motor Response During Active Hand Movement	2
The Relationship Between Tactile Intensity Perception and Afferent Spike Count is Moderated by a Function of Frequency	2
Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands	2
Haptic Exploration of Unknown Objects for Robust In-Hand Manipulation	2
The CHAT System: A Wearable Haptic System For Facilitating Tactile Communication	2
Tactile Perception of Coated Smooth Surfaces	2
Temporal Detection Threshold of Audio-Tactile Delays With Virtual Button	2
Salient Properties in Bimanual Haptic Volume Perception: Influence of Object Shape, Finger Pair, and Schizotypal Personality Traits	2