IEEE Transactions on Haptics

Article	Citations
A Review of Surface Haptics: Enabling Tactile Effects on Touch Surfaces	109
A Survey of Mid-Air Ultrasound Haptics and Its Applications	90
A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping	43
Tactile Stimulation by Repetitive Lateral Movement of Midair Ultrasound Focus	37
Mid-Air Haptic Rendering of 2D Geometric Shapes With a Dynamic Tactile Pointer	35
Acquisition of 500 English Words through a TActile Phonemic Sleeve (TAPS)	35
Integrating Wearable Haptics and Obstacle Avoidance for the Visually Impaired in Indoor Navigation: A User-Centered Approach	34
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks	34
Haptic Training: Which Types Facilitate (re)Learning of Which Motor Task and for Whom? Answers by a Review	32
Survey of Pseudo-Haptics: Haptic Feedback Design and Application Proposals	31
Soft Exoskeleton Glove with Human Anatomical Architecture: Production of Dexterous Finger Movements and Skillful Piano Performance	31
AUTD3: Scalable Airborne Ultrasound Tactile Display	30
Haptic Material Analysis and Classification Inspired by Human Exploratory Procedures	28
Multi-Sensory Stimuli Improve Distinguishability of Cutaneous Haptic Cues	28
“Haptics On-Demand”: A Survey on Encountered-Type Haptic Displays	25
Magnetorheological Fluid Haptic Shoes for Walking in VR	24
Tactile Roughness Perception of Virtual Gratings by Electrovibration	23
How Do Novice Hapticians Design? A Case Study in Creating Haptic Learning Environments	23
Syntacts: Open-Source Software and Hardware for Audio-Controlled Haptics	23
Data-Driven Texture Modeling and Rendering on Electrovibration Display	23
A Multisensory Approach to Present Phonemes as Language Through a Wearable Haptic Device	21
Electrotactile Feedback Applications for Hand and Arm Interactions: A Systematic Review, Meta-Analysis, and Future Directions	18
Adaptive Human Force Scaling via Admittance Control for Physical Human-Robot Interaction	18
Task and Material Properties Interactively Affect Softness Explorations Along Different Dimensions	18
Multitouch Vibrotactile Feedback on a Tactile Screen by the Inverse Filter Technique: Vibration Amplitude and Spatial Resolution	16

Electrowetting: A Consideration in Electroadhesion	16
Spatiotemporal Pinpoint Cooling Sensation Produced by Ultrasound-Driven Mist Vaporization on Skin	16
Inherent Haptic Feedback From Supernumerary Robotic Limbs	15
Towards Haptic Images: A Survey on Touchscreen-Based Surface Haptics	15
A Survey on Tactile Displays For Visually Impaired People	15
Modeling Sliding Friction Between Human Finger and Touchscreen Under Electroadhesion	14
Closed-loop Control using Electrotactile Feedback Encoded in Frequency and Pulse Width	14
Perceptual Quality Assessment of Compressed Vibrotactile Signals Through Comparative Judgment	14
Human-Inspired Haptic Perception and Control in Robot-Assisted Milling Surgery	13
Haptigami: A Fingertip Haptic Interface With Vibrotactile and 3-DoF Cutaneous Force Feedback	13
Dual-Parameter Modulation Improves Stimulus Localization in Multichannel Electrotactile Stimulation	13
From Initial Encounter With Mid-Air Haptic Feedback to Repeated Use: The Role of the Novelty Effect in User Experience	12
Generation of Tactile Data From 3D Vision and Target Robotic Grasps	11
Confinement of Vibrotactile Stimuli in Narrow Plates: Principle and Effect of Finger Loading	11
Building a Navigable Fine Texture Design Space	11
Estimation of Torso Vibrotactile Thresholds Using Eccentric Rotating Mass Motors	11
A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment	11
The Interaction Between Feedback Type and Learning in Routine Grasping With Myoelectric Prostheses	11
Radiation Pressure Field Reconstruction for Ultrasound Midair Haptics by Greedy Algorithm With Brute-Force Search	10
Electrotactile Perception Properties and Its Applications: A Review	10
FingerSight: A Vibrotactile Wearable Ring for Assistance With Locating and Reaching Objects in Peripersonal Space	10
Visually Guided Acquisition of Contact Dynamics and Case Study in Data-Driven Haptic Texture Modeling	10
Data-Driven Sparse Skin Stimulation Can Convey Social Touch Information to Humans	10
Tactile Perception of Virtual Edges and Gratings Displayed by Friction Modulation via Ultrasonic Actuation	10
Tri-Modal Tactile Display and Its Application Into Tactile Perception of Visualized Surfaces	10
Evolution and Analysis of Hapkit: An Open-Source Haptic Device for Educational Applications	10
Estimating Friction Modulation From the Ultrasonic Mechanical Impedance	10
Virtual Haptic Perception as an Educational Assistive Technology: A Case Study in Inclusive Education	9
“I Can Feel It Coming in the Hairs Tonight”: Characterising Mid-Air Haptics on the Hairy Parts of the Skin	9
Material Recognition via Heat Transfer Given Ambiguous Initial Conditions	9
Short Time Delay Does Not Hinder Haptic Communication Benefits	9
Using a Variable-Friction Robot Hand to Determine Proprioceptive Features for Object Classification During Within-Hand-Manipulation	8
Haptic Guidance to Support Handwriting for Children With Cognitive and Fine Motor Delays	8
How to Measure the Area of Real Contact of Skin on Glass	8
Visual Feedback Weakens the Augmentation of Perceived Stiffness by Artificial Skin Stretch	8
Non-Vibratory Pressure Sensation Produced by Ultrasound Focus Moving Laterally and Repetitively With Fine Spatial Step Width	8
Effect of Temperature on the Absolute and Discrimination Thresholds of Voltage on Electrovibration Tactile Display	8
Study on Intention Recognition and Sensory Feedback: Control of Robotic Prosthetic Hand Through EMG Classification and Proprioceptive Feedback Using Rule-based Haptic Device	8
Wearable Haptics for Remote Social Walking	8
Mid-Air Tactile Feedback Co-Located With Virtual Touchscreen Improves Dual-Task Performance	8
Dynamic Reconfiguration of Redundant Haptic Interfaces for Rendering Soft and Hard Contacts	7
Design of Personalized Wearable Haptic Interfaces to Account for Fingertip Size and shape	7
A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer	7
Co-Actuation: A Method for Achieving High Stiffness and Low Inertia for Haptic Devices	7
Wearable Haptic Device Presenting Sensations of Fingertips to the Forearm	7
In-Device Feedback in Immersive Head-Mounted Displays for Distance Perception During Teleoperation of Unmanned Ground Vehicles	7
Data-Driven Haptic Texture Modeling and Rendering Based on Deep Spatio-Temporal Networks	7
Interactive Vibrotactile Feedback Enhances the Perceived Quality of a Surface for Musical Expression and the Playing Experience	6
Vibrotactile Feedback Rendering of Patterned Textures Using a Waveform Segment Table Method	6
Tactile Echoes: Multisensory Augmented Reality for the Hand	6

Refreshable Braille Display With Adjustable Cell Size for Learners With Different Tactile Sensitivity	6
The Effect of Kinesthetic and Artificial Tactile Noise and Variability on Stiffness Perception	6
Preference-Driven Texture Modeling Through Interactive Generation and Search	6
Effect of Tactile Masking on Multi-Sensory Haptic Perception	6
Data-Driven Playback of Natural Tactile Texture Via Broadband Friction Modulation	6
Design and Control of a 3 Degree-of-Freedom Parallel Passive Haptic Device	6
Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm	6
Electrotactile and Vibrotactile Feedback Enable Similar Performance in Psychometric Tests and Closed-Loop Control	6
Speaking Haptically: From Phonemes to Phrases With a Mobile Haptic Communication System	6
Grip Force is Adjusted at a Level That Maintains an Upper Bound on Partial Slip Across Friction Conditions During Object Manipulation	6
Flexible Assimilation of Human's Target for Versatile Human-Robot Physical Interaction	6
Effects of Peripheral Haptic Feedback on Intracortical Brain-Computer Interface Control and Associated Sensory Responses in Motor Cortex	5
Numerosity Identification Used to Assess Tactile Stimulation Methods for Communication	5
Rendering Spatiotemporal Haptic Effects Via the Physics of Waves in the Skin	5
Learning to Feel Textures: Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions	5
Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands	5
Design and Characterization of an Actuated Drill Mockup for Orthopedic Surgical Training	5
Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability With a Tactile Sleeve	5
Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering	5
Mapping the Sensory-Perceptual Space of Vibration for User-Centered Intuitive Tactile Design	5
Synthesizing the Roughness of Textured Surfaces for an Encountered-Type Haptic Display Using Spatiotemporal Encoding	5
A Novel Refreshable Braille Display Based on the Layered Electromagnetic Driving Mechanism of Braille Dots	5
Effects of Vibration Direction and Pressing Force on Finger Vibrotactile Perception and Force Control	5
The Impact of Size and Position of Reference Electrode on the Localization of Biphasic Electrotactile Stimulation on the Fingertips	5
An Online Survey on the Perception of Mediated Social Touch Interaction and Device Design	5
The Effect of Variability in Stiffness on Perception and Grip Force Adjustment	5
Improving Tactile Codes for Increased Speech Communication Rates in a Phonemic-Based Tactile Display	5
Static Weight Perception Through Skin Stretch and Kinesthetic Information: Detection Thresholds, JNDs, and PSEs	5
The Effect of Temperature on Tactile Softness Perception	5
Augmenting Virtual Reality Terrain Display with Smart Shoe Physical Rendering: A Pilot Study	5
Hands-Free Devices for Displaying Speech and Language in the Tactile Modality — Methods and Approaches	5
A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication	5
Detection of Friction-Modulated Textures is Limited by Vibrotactile Sensitivity	5
Intensity-Adjustable Non-Contact Cold Sensation Presentation Based on the Vortex Effect	4
Perception of Tactile Directionality via Artificial Fingerpad Deformation and Convolutional Neural Networks	4
Vibrotactile Feedback System From the Fingertip to the Temples for Perceptual Enhancement of Contracture Palpation	4
Survey on Hand-Based Haptic Interaction for Virtual Reality	4
Effect of Remote Masking on Tactile Perception of Electrovibration	4
Impact Vibration Source Localization in Two-Dimensional Space Around Hand	4
Quality Enhancement of Compressed Vibrotactile Signals Using Recurrent Neural Networks and Residual Learning	4
A Position-Control Based Approach to Haptic Rendering of Stiff Objects	4
Configuration-Based Optimization for Virtual Hand Haptic Simulation	4
VnStylus: A Haptic Stylus With Variable Tip Compliance	4
Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation	4
A Macro Model for Electroadhesive Contact of a Soft Finger With a Touchscreen	4
Frequency-Dependent Behavior of Electrostatic Forces Between Human Finger and Touch Screen Under Electroadhesion	4
Subtle Contact Nuances in the Delivery of Human-to-Human Touch Distinguish Emotional Sentiment	4
Vibrotactile Alphabets: Time and Frequency Patterns to Encode Information	4
Modulation of Bodily Self-Consciousness by Self and External Touch	4
Using Digital Image Correlation to Quantify Skin Deformation With Von Frey Monofilaments	4
Effect of Auditory Feedback on Tactile Intensity Perception in a Touchscreen Application	4
The Effect of Object Compliance on the Velvet Hand Illusion	4
Grip Force Control During Virtual Interaction With Deformable and Rigid Objects Via a Haptic Gripper	4
A Comparison of Vibrotactile Feedback and Electrical Muscle Stimulation (EMS) for Motor Response During Active Hand Movement	4
Haptic vs. Visual Neurofeedback for Brain Training: A Proof-of-Concept Study	4
Where's My Button? Evaluating the User Experience of Surface Haptics in Featureless Automotive User Interfaces	4
Describing the Sensation of the ‘Velvet Hand Illusion’ in Terms of Common Materials	4
Enhancing the Localization of Uterine Leiomyomas Through Cutaneous Softness Rendering for Robot-Assisted Surgical Palpation Applications	4
A Novel Device Decoupling Tactile Slip and Hand Motion in Reaching Tasks: The HaptiTrack Device	4
Wearable Artificial Fingers With Skin Vibration and Multi-Axis Force Sensors	4
Phononic Crystals Applied to Localised Surface Haptics	4
EEG Correlates of Sustained Attention Variability during Discrete Multi-finger Force Control Tasks	4
Thermal Perception for Information Transmission: Theoretical Analysis, Device Design, and Experimental Verification	4
Pre-Calibrated Visuo-Haptic Co-Location Improves Execution in Virtual Environments	3
A Low-Parameter Rendering Algorithm for Fine Textures	3
Haptic Feedback Based on Movement Smoothness Improves Performance in a Perceptual-Motor Task	3
UltraButton: A Minimalist Touchless Multimodal Haptic Button	3
Visible Patches for Haptic Rendering of Point Clouds	3
Rendering of Constraints With Underactuated Haptic Devices	3
Snake Effect: A Novel Haptic Illusion	3
The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey	3
Length Perception Model for Handheld Controllers: The Effects of Diameter and Inertia	3
Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects	3
A Lightweight Accessible Wearable Robotic Interface for Bimanual Haptic Manipulations	3
PCA Model of Fundamental Acoustic Finger Force for Out-of-Plane Ultrasonic Vibration and its Correlation with Friction Reduction	3
Surfaces With Finger-Sized Concave Feel Softer	3
Designing Tactile Cues: Factors Affecting Perceived Salience and Recognition	3
A Novel Grip Force Measurement Concept for Tactile Stimulation Mechanisms – Design, Validation, and User Study	3
Hand-Held Haptic Navigation Devices for Actual Walking	3
The Evaluation of Tactile Parameters and Display Prototype to Support Physiological Monitoring and Multitasking for Anesthesia Providers in the Operating Room	3

Effect of Number of Digits on Human Precision Manipulation Workspaces	3
Influence of Sparse Contact Point and Finger Penetration in Object on Shape Recognition	3
Mental Rotation Skill Shapes Haptic Exploration Strategies	3
Experimental Assessment of Absolute Stability in Bilateral Teleoperation	3
Remote Friction Reduction on Resonant Film Surface by Airborne Ultrasound	3
Vibrotactile Display of Patterned Surface Textures With Kinesthetic Haptic Devices Using Balanced Impulses	3
Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch	3
Implementation of Tension-Based Compact Necklace-Type Haptic Device Achieving Widespread Transmission of Low-Frequency Vibrations	3
Perceived Intensity Model of Dual-Frequency Superimposed Vibration: Pythagorean Sum	3
Getting Insights From Twitter: What People Want to Touch in Daily Life	3
Pressure Stimulus to the Palm Substitutes and Augments Force Sensation	3
Submillimeter Lateral Displacement Enables Friction Sensing and Awareness of Surface Slipperiness	3
Multi-Cue Haptic Guidance Through Wearables for Enhancing Human Ergonomics	3
Optimization-Driven Design of a Kinesthetic Haptic Interface With Human-Like Capabilities	3
Chattering-Free Time Domain Passivity Approach	2
Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords	2
Mathematical Model of Fingertip Skin Under Constant-Current Electrotactile Stimulation	2
Motion Effects: Perceptual Space and Synthesis for Specific Perceptual Properties	2
The Haptic Fidelity Framework: A Qualitative Overview and Categorization of Cutaneous-Based Haptic Technologies Through Fidelity	2
Cognitive and Physical Activities Impair Perception of Smartphone Vibrations	2
Proprioceptive Localization of the Fingers: Coarse, Biased, and Context-Sensitive	2
A Soft Hand Exoskeleton With a Novel Tendon Layout to Improve Stable Wearing in Grasping Assistance	2
Evaluating the Efficiency of Six-DoF Haptic Rendering-Based Virtual Assembly Training	2
HapWheel: In-Car Infotainment System Feedback Using Haptic and Hovering Techniques	2
Tactile Texture Rendering for Electrostatic Friction Displays: Incorporation of Low-Frequency Friction Model and High-Frequency Textural Model	2
Hap-pulse: A Wearable Vibrotactile Glove for Medical Pulse Wave Rendering	2
Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction	2
Haptic Exploration During Fast Video Playback: Vibrotactile Support for Event Search in Robot Operation Videos	2
Biomechanical Fidelity of Simulated Pick-and-Place Tasks: Impact of Visual and Haptic Renderings	2
Contactless Electrostatic Piloerection for Haptic Sensations	2
The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation	2
Optimizing a Viscoelastic Finite Element Model to Represent the Dry, Natural, and Moist Human Finger Pressing on Glass	2
Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations	2
Beyond the Pandemic: The Role of Haptics in Defining the New Normal	2
Representing Numerosity Through Vibration Patterns	2
Perceived Depth and Roughness of Virtual Buttons With Touchscreens	2
Bimanual Motor Strategies and Handedness Role in Human-Robot Haptic Interaction	2
Wrapping Haptic Displays Around Robot Arms to Communicate Learning	2
Evaluation of Vibrotactile Output From a Rotating Motor Actuator	2
Can Facial Expressions Induce Haptic Perception?	2
Time Delay Affects Thermal Discrimination	2
Data-Driven Rendering of Motion Effects for Walking Sensations in Different Gaits	2
The Effects of Vibratory Frequency and Temporal Interval on Tactile Apparent Motion	2
Contactless Haptic Display Through Magnetic Field Control	2
A Protactile-Inspired Wearable Haptic Device for Capturing the Core Functions of Communication	2
A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery	2
Affect Recognition in Hand-Object Interaction Using Object-Sensed Tactile and Kinematic Data	2
Addendum to “Dimensional Reduction for 6D Vibrotactile Display”	2
Comparative Experimental Research on Haptic Display Methods of Virtual Surface Shape Based on Touch Screen	2
The Relationship Between Tactile Intensity Perception and Afferent Spike Count is Moderated by a Function of Frequency	2