IEEE Transactions on Haptics

Article	Citations
The Effect of Actuation Speed on the Perception Threshold of a Squeezing Soft Actuator	87
Can Facial Expressions Induce Haptic Perception?	68
Identification and Analysis of Human-Exoskeleton Coupling Parameters in Lower Extremities	60
Inertia Compensation Using Flywheels in Parallel Robots for the Assisted Manipulation of Large Payloads	56
Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords	36
Editorial	29
Specifying Visual Parameters for Haptic-Visual Sequential Matching of Material Softness	27
Enhancing Video Experiences for DHH Individuals Through Sound-Inspired Motion Caption-Based Spatiotemporal Tacton	25
Configuration-Based Optimization for Virtual Hand Haptic Simulation	25
Thermal Perception for Information Transmission: Theoretical Analysis, Device Design, and Experimental Verification	25
Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display	23
Partial Arm Weight Support Does Not Hamper the Weight Perception of Haptically-Rendered Virtual Objects: A Psychophysics Study	22
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation	21
Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity	21
Translating Music to Touch: Exploring Tactile Perception of Pitch, Roughness, and Pleasantness	20
Intensity Discrimination of Electrocutaneous Haptic Feedback Is Enhanced at Low Frequencies and with Repeated Exposure	19
Towards Tactile Communication of English Language: A Visual Handbook Enhances Letter Learning	18
Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task	18
Macro-Fiber Composite-Based Tactors for Haptic Applications	17
Correction to “Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification”	17
Influence of Back Length on Vibrotactile Acuity in Vertical Direction	17
Haptic-Assisted Soldering Training Protocol in Virtual Reality: The Impact of Scaffolded Guidance	17
Unveiling Dynamic Finger–Key Interactions in Piano Performance Through 3D Force Measurements	16
A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery	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
Table of Contents	15
Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement	15
Table of Contents	15
Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency	14
Can we Effectively Combine Tangibles and Ultrasound Mid-Air Haptics? A Study of Acoustically Transparent Tangible Surfaces	14
Table of Contents	14
2025 Index IEEE Transactions on Haptics	13
On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion	13
Effect of Finger Orientation on Contact Stiffness and Area During Sliding	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
Comparing Apparent Haptic Motion and Funneling for the Perception of Tactile Animation Illusions On a Circular Tactile Display	12
Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device	11
“Persuasive Vibrations”: Studying the Influence of Vibration Parameters on Speech Persuasion	11
The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey	11
A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis	11
Altering Time Perception in Virtual Reality Through Multimodal Visual-Tactile Kappa Effect	11
Mechanofluidic Instability-Driven Wearable Textile Vibrotactor	11
A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites	11
Electrotactile Feedback Applications for Hand and Arm Interactions: A Systematic Review, Meta-Analysis, and Future Directions	11
FingerWrap: A High-Density Finger-Enveloping Tactile Display	10
Editorial: Special Issue: Towards a Transdisciplinary Approach to the Development and Control of Haptic Devices for Human-in-the-Loop Applications	10
Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch	10
Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces	10
Electromagnetic Haptic Feedback System for Teleoperated Robotic Puncture Tasks	10
Using Virtual Objects With Hand-Tracking: The Effects of Visual Congruence and Mid-Air Haptics on Sense of Agency	10
Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display	10
Voluminous Fur Stroking Experience Through Interactive Visuo-Haptic Model in Virtual Reality	10
HM-Array: A Novel Haptic Magnetism-Based Leader-Follower Platform for Minimally Invasive Robotic Surgery	10
A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters	10
MateJam: Multi-Material Teeth-Clutching Layer Jamming Actuation for Soft Haptic Glove	9
Spatiotemporal Congruency Modulates Weighting of Visuotactile Information in Displacement Judgments	9
Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise	9
Sensitivity at the Edges of the Finger Enables Mixed Reality Force Feedback	9
Kinesthetic Weight Modulation: The Effects of Whole-Arm Tendon Vibration on the Perceived Heaviness	9
“I See Where This is Going”: A Psychophysical Study of Directional Mid-Air Haptics and Apparent Tactile Motion	9
Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows	9
Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation	9
Can a Machine Feel Vibrations?: Predicting Roughness and Emotional Responses to Vibration Tactons via a Neural Network	9
Validation of Snaptics: A Modular Approach to Low-Cost Wearable Multi-Sensory Haptics	9
Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound	8
Front Cover	8
Electrophysiological Correlates for the Detection of Haptic Illusions	8
Table of Contents	8
Hands-Free Haptic Navigation Devices for Actual Walking	8
ThermalTexture: Temperature-Integrated Surface Rendering Using Thermal Referral Induced by Texture Slip-Feedback	8
A Mechanical Hand-Tracking System With Tactile Feedback Designed for Telemanipulation	8
Deep Pressure Therapy: A Promising Anxiety Treatment for Individuals With High Touch Comfort?	8
Intensity-Adjustable Non-Contact Cold Sensation Presentation Based on the Vortex Effect	8
Table of Contents	8

Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow	8
Electroencephalography Validation of Object Stiffness Discrimination via Transcutaneous Electrical Nerve Stimulation for Prosthetic Sensory Feedback	8
Wrapping Haptic Displays Around Robot Arms to Communicate Learning	8
Effect of Virtual Mass and Time Delay on the Stability of Haptic Rendering	8
Motion Effects: Perceptual Space and Synthesis for Specific Perceptual Properties	8
Biomechanically-Consistent Skin Stretch as an Intuitive Mechanism for Sensory Feedback: A Preliminary Investigation in the Lower Limb	8
Investigating Passive Presentation Paradigms to Approximate Active Haptic Palpation	8
Sound-to-Touch Crossmodal Pitch Matching for Short Sounds	8
Evaluating the Physics and Repeatability of Human Brushers in Delivering Affective Touch	8
Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues	8
The High/Low Frequency Balance Drives Tactile Perception of Noisy Vibrations	7
The Influence of Mass and Friction in Teleoperated Tasks	7
Influence of Cooling Rates and Contact Material on Illusory Wetness	7
2024 Index IEEE Transactions on Haptics Vol. 17	7
Haptic Virtual Fixtures for Telemanipulation Using Control Barrier Functions	7
From Sight to Touch: Haptic Sensory Integration Can Facilitate Multi-Limb Coordination	7
Reconfigurable Flexible Haptic Interface Using Localized Friction Modulation	7
Human Stabilization of Delay-Induced Instability of Haptic Rendering in a Stiffness Discrimination Task	7
Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects	7
Editorial	7
A Wearable Shoulder Skin-Deformation Device Generating Illusory Forces for Posture Correction	7
Human-in-the-Loop Pareto Optimization: Trade-off Characterization for Assist-as-Needed Training and Performance Evaluation	7
Real-Time Musical Haptics With Ultra-Wideband: A Study on Latency, Reliability, and Perception	7
Origami-Inspired Vibrotactile Actuator (OriVib): Design and Characterization	7
UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism	7
Mathematical Model of Fingertip Skin Under Constant-Current Electrotactile Stimulation	6
Navigation Method Enhancing Music Listening Experience by Stimulating Both Neck Sides With Modulated Musical Vibration	6
Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue	6
Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms	6
Perceptual Constancy in the Speed Dependence of Friction During Active Tactile Exploration	6
Adding Touch to Immersive Media: An Overview of the MPEG Haptics Coding Standard	6
Novel Electrode Designs for Electrotactile Stimulation of the Finger: A Comparative Assessment	6
Affective Touch With Mid-Air Ultrasound: A Psychophysical Comparison With Real Materials	6
Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments	6
Effect of Low-Pass Filtering on Passivity and Rendering Performance of Series Elastic Actuation	6
Centroparietal Alpha/Beta Asymmetry in Response to Urgency Elicited by Upper Body Vibration	6
Modulating the Fidelity and Spatial Extent of Electrotactile Stimulation to Elicit the Embodiment of a Virtual Hand	6
A Perceptual Model-Based Approach to Plausible Authoring of Vibration for the Haptic Metaverse	6
Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots	6
On the Correlation Between Tactile Stimulation and Pleasantness	6
Closed-Loop Control of Electroadhesion Using Current Regulation	6
ForceKeyboard: Eyes-Free Text Entry With a Force Sensitive Soft Keyboard for Wearable Devices	6
Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display	6
Perception of Soft Objects in Virtual Environments Under Conflicting Visual and Haptic Cues	6
Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper	6
Write together: using haptic coupling to enhance children's handwriting	5
How to Train Your Posture: Haptic Feedback Can be Used for Postural Adaptation of the Trunk During Upper-Limb Motor Training	5
EEG-Based Machine Learning Models to Evaluate Haptic Delay: Should We Label Data Based on Self-Reporting or Physical Stimulation?	5
Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area	5
Chattering-Free Time Domain Passivity Approach	5
Motor Learning in Robot-Based Haptic Dyads: A Review	5
Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds	5
Bimanual Motor Strategies and Handedness Role in Human-Robot Haptic Interaction	5
Refreshable Braille Display With Adjustable Cell Size for Learners With Different Tactile Sensitivity	5
SpinTexture: Exploring Scanning Realism From Concentric to Uni-Directional Slip Feedback Using a Spinning Textured Disk	5
Investigating the Effect of Mechanical Adaptation on Mid-Air Ultrasound Vibrotactile Stimuli	5
How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment	5
Natural Grasping in Virtual Worlds: Validation of a Haptic Setup for Human Object Manipulation	5
Fuzzy Evaluation Method for Haptic Perceptual Similarity	5
Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body	5
Toward Neuroergonomic Attention Assistance: Neural Signatures of Haptic-Driven Modulations in Multimodal Cueing	5
Haptic Relocation Away From the Fingertip: Where, Why, and How	5
Competition Increases the Effort Put Into a Physical Interaction Task	5
Table of Contents	5
Optimizing Vibrotactile Feedback for Sensory Substitution in the Thigh: Spatial Acuity and Frequency Characteristics	5
Table of Contents	5
Evaluating Affective Touch Generated via a Shape-Memory-Alloy Arm-Sleeve by Subjective Report and Facial Muscle Activity	5
Compelling People to Move: Recent Progress in Haptic Technologies for Human Motion Induction in IEEE Transactions on Haptics	5
Three-Dimensional Position Presentation via Head and Waist Vibrotactile Arrays	5
The Snail: A Wearable Actuated Prop to Simulate Grasp of Rigid and Soft Objects in Virtual Reality	5
A Comparative Study on Reaction Times using Visual, Audio, and Haptic Stimuli with Direct, Encoded or Dynamic Deliveries	5
Learning to Feel Textures: Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions	4
Extension of and Performance Study With a Haptic Mouse for Fingertip Tactile Display of 2.5D Data	4
Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations	4
Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing	4
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction	4
Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task	4
Multichannel Vibrotactile Glove: Validation of a New Device Designed to Sense Vibrations	4
Effects of Vibration Direction and Pressing Force on Finger Vibrotactile Perception and Force Control	4
Robotic Kinesthesia: Estimating Object Geometry and Material With Robot's Haptic Senses	4

Front Cover	4
A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks	4
Aerial Push-Button With Two-Stage Tactile Feedback Using Reflected Airborne Ultrasound Focus	4
Table of Contents	4
Exploring Tactile Perception: Development and Evaluation of the PinArray, a Novel Haptic Device	4
Origami-Based Haptic Syringe for Local Anesthesia Simulator	4
Comparative Evaluation of Production Techniques for Tactile Map Rendering	4
Does It Par-?: Investigating the Relationship Between Mid-Air Haptics and Visual Representations of Surface Textures	4
Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception	4
Tactile Enhancement of Mid-Air Ultrasonic Stimulation by Wrist Vibration: Perceived Intensity and Pattern Recognition	4
Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction	4
Perceptual Substitution Based Haptic Texture Rendering for Narrow-Band Reproduction	4
Study on Intention Recognition and Sensory Feedback: Control of Robotic Prosthetic Hand Through EMG Classification and Proprioceptive Feedback Using Rule-based Haptic Device	3
VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion	3
Ultraloop: Active Lateral Force Feedback Using Resonant Traveling Waves	3
Cognitive and Physical Activities Impair Perception of Smartphone Vibrations	3
Bi-Manual Sensory Discrimination: A Kinesthetic Study	3
Front Cover	3
Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)	3
Vibrotactile Spatiotemporal Pattern Recognition in Two-Dimensional Space Around Hand	3
Evaluation on Human Perception of Various Vibrotactile Encoding Methods Through a High Density Haptic Feedback Interface	3
Impact of Arm Dominance and Location on Detecting Electrotactile Stimuli During Voluntary Motor Activation in Older Adults	3
Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm	3
Sufficient Time-Frequency Resolution for Reproducing Vibrotactile Sensation	3
It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour	3
Soft Pneumatic Haptic Wearable to Create the Illusion of Human Touch	3
Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR	3
Preference-Driven Texture Modeling Through Interactive Generation and Search	3
Modeling Haptic Interactions in Endoscopic Submucosal Dissection (ESD)	3
Enhance Kinesthetic Experience in Perceptual Learning for Welding Motor Skill Acquisition With Virtual Reality and Robot-Based Haptic Guidance	3
Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing	3
Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device	3
Distributed Tactile Display with Dual Array Design	3
Correlation Between Reaction Time, Multi-Modal Feedback and Take-Over Requests for Level 3 Automated Vehicles	3
Implementation of Tension-Based Compact Necklace-Type Haptic Device Achieving Widespread Transmission of Low-Frequency Vibrations	3
Elastic or Stiff? Light or Heavy? Pseudo-Haptic Photograph Interaction for Fabric Perception	3
Editorial	3
Vibrohaptic Design for Simulating High-Five Interactions at Virtual Talent Fan Meetings	3
From Restoration to Augmentation: New Approaches to Haptic Feedback for Artificial Limbs	3
Table of Contents	3
Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance	3
Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold	3