IEEE Transactions on Haptics

Article	Citations
The Effect of Actuation Speed on the Perception Threshold of a Squeezing Soft Actuator	84
Can Facial Expressions Induce Haptic Perception?	66
Inertia Compensation Using Flywheels in Parallel Robots for the Assisted Manipulation of Large Payloads	56
Identification and Analysis of Human-Exoskeleton Coupling Parameters in Lower Extremities	55
Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords	35
Editorial	28
Specifying Visual Parameters for Haptic-Visual Sequential Matching of Material Softness	26
Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity	25
Configuration-Based Optimization for Virtual Hand Haptic Simulation	25
Partial Arm Weight Support Does Not Hamper the Weight Perception of Haptically-Rendered Virtual Objects: A Psychophysics Study	25
Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task	23
Thermal Perception for Information Transmission: Theoretical Analysis, Device Design, and Experimental Verification	21
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation	21
Translating Music to Touch: Exploring Tactile Perception of Pitch, Roughness, and Pleasantness	20
Enhancing Video Experiences for DHH Individuals Through Sound-Inspired Motion Caption-Based Spatiotemporal Tacton	18
Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display	18
Influence of Back Length on Vibrotactile Acuity in Vertical Direction	17
Macro-Fiber Composite-Based Tactors for Haptic Applications	17
A Novel Kinematic Gait Parameter-Based Vibrotactile Cue for Freezing of Gait Mitigation Among Parkinson's Patients: A Pilot Study	17
Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement	17
Correction to “Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification”	16
Towards Tactile Communication of English Language: A Visual Handbook Enhances Letter Learning	16
Haptic-Assisted Soldering Training Protocol in Virtual Reality: The Impact of Scaffolded Guidance	16
Table of Contents	15
Unveiling Dynamic Finger–Key Interactions in Piano Performance Through 3D Force Measurements	15

Table of Contents	15
A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery	15
Table of Contents	14
On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion	13
Can we Effectively Combine Tangibles and Ultrasound Mid-Air Haptics? A Study of Acoustically Transparent Tangible Surfaces	13
Mechanofluidic Instability-Driven Wearable Textile Vibrotactor	13
Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency	13
Table of Contents	13
2025 Index IEEE Transactions on Haptics	13
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
Electrotactile Feedback Applications for Hand and Arm Interactions: A Systematic Review, Meta-Analysis, and Future Directions	11
Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display	11
Comparing Apparent Haptic Motion and Funneling for the Perception of Tactile Animation Illusions On a Circular Tactile Display	11
The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey	11
Effect of Finger Orientation on Contact Stiffness and Area During Sliding	11
Altering Time Perception in Virtual Reality Through Multimodal Visual-Tactile Kappa Effect	11
Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device	10
FingerWrap: A High-Density Finger-Enveloping Tactile Display	10
Electromagnetic Haptic Feedback System for Teleoperated Robotic Puncture Tasks	10
A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites	10
“Persuasive Vibrations”: Studying the Influence of Vibration Parameters on Speech Persuasion	10
Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces	10
A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis	10
Voluminous Fur Stroking Experience Through Interactive Visuo-Haptic Model in Virtual Reality	10
Editorial: Special Issue: Towards a Transdisciplinary Approach to the Development and Control of Haptic Devices for Human-in-the-Loop Applications	10
“I See Where This is Going”: A Psychophysical Study of Directional Mid-Air Haptics and Apparent Tactile Motion	9
A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters	9
Spatiotemporal Congruency Modulates Weighting of Visuotactile Information in Displacement Judgments	9
MateJam: Multi-Material Teeth-Clutching Layer Jamming Actuation for Soft Haptic Glove	9
Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch	9
HM-Array: A Novel Haptic Magnetism-Based Leader-Follower Platform for Minimally Invasive Robotic Surgery	9
Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise	9
Using Virtual Objects With Hand-Tracking: The Effects of Visual Congruence and Mid-Air Haptics on Sense of Agency	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	8
Intensity-Adjustable Non-Contact Cold Sensation Presentation Based on the Vortex Effect	8
Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound	8
Deep Pressure Therapy: A Promising Anxiety Treatment for Individuals With High Touch Comfort?	8
Table of Contents	8
Table of Contents	8
Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows	8
Sensitivity at the Edges of the Finger Enables Mixed Reality Force Feedback	8
Motion Effects: Perceptual Space and Synthesis for Specific Perceptual Properties	8
Electrophysiological Correlates for the Detection of Haptic Illusions	8
Investigating Passive Presentation Paradigms to Approximate Active Haptic Palpation	8
Sound-to-Touch Crossmodal Pitch Matching for Short Sounds	8
Effect of Virtual Mass and Time Delay on the Stability of Haptic Rendering	8
Kinesthetic Weight Modulation: The Effects of Whole-Arm Tendon Vibration on the Perceived Heaviness	8
Biomechanically-Consistent Skin Stretch as an Intuitive Mechanism for Sensory Feedback: A Preliminary Investigation in the Lower Limb	8

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

Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction	4
Comparative Evaluation of Production Techniques for Tactile Map Rendering	4
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction	4
Modeling Haptic Interactions in Endoscopic Submucosal Dissection (ESD)	3
Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations	3
Elastic or Stiff? Light or Heavy? Pseudo-Haptic Photograph Interaction for Fabric Perception	3
Robotic Kinesthesia: Estimating Object Geometry and Material With Robot's Haptic Senses	3
It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour	3
VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion	3
Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR	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
Bi-Manual Sensory Discrimination: A Kinesthetic Study	3
Table of Contents	3
From Restoration to Augmentation: New Approaches to Haptic Feedback for Artificial Limbs	3
Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception	3
Vibrotactile Spatiotemporal Pattern Recognition in Two-Dimensional Space Around Hand	3
Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing	3
Soft Pneumatic Haptic Wearable to Create the Illusion of Human Touch	3
Vibrohaptic Design for Simulating High-Five Interactions at Virtual Talent Fan Meetings	3
Impact of Arm Dominance and Location on Detecting Electrotactile Stimuli During Voluntary Motor Activation in Older Adults	3
Editorial	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
Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)	3
Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm	3
Cognitive and Physical Activities Impair Perception of Smartphone Vibrations	3
A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks	3
Front Cover	3
Does It Par-?: Investigating the Relationship Between Mid-Air Haptics and Visual Representations of Surface Textures	3
Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance	3
Preference-Driven Texture Modeling Through Interactive Generation and Search	3
Implementation of Tension-Based Compact Necklace-Type Haptic Device Achieving Widespread Transmission of Low-Frequency Vibrations	3
Front Cover	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
Evaluating Factors Affecting the Perception of Multi-Sensory Vibration and Skin-Squeeze Cues During Voluntary Movement	2
Ultraloop: Active Lateral Force Feedback Using Resonant Traveling Waves	2
Encoding Manual Rotations on a Motionless Knob	2
Development of an Intuitive Interface With Haptic Enhancement for Robot-Assisted Endovascular Intervention	2
Telemetry-Based Haptic Rendering for Racing Game Experience Improvement	2
Table of Contents	2
Modulating the Perceived Softness of Real Objects Through Wearable Haptics	2
Temporal Detection Threshold of Audio-Tactile Delays With Virtual Button	2
A Survey on Tactile Change Blindness	2
Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device	2
Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing	2
Integrating Point Spread Function Into Taxel-Based Tactile Pattern Super Resolution	2
Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings	2
Mirror-Brush Illusion: Creating Phantom Tactile Percepts on Intact Limbs	2
EEG-Based Validation of Neural Response Similarity Between Vibration and Electrical Stimulation for Virtual Tactile Feedback	2
Tactile Perception of Coated Smooth Surfaces	2
Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold	2
A Comparative Study of Physical and Haptic Exhibits in an Informal Learning Environment	2
The CHAT System: A Wearable Haptic System for Facilitating Tactile Communication	2
Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design	2
Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact	2