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Proceedings

10TH SYMPOSIUM ON HAPTIC INTERFACES

FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS

HAPTICS 2002

24�25 March 2002 Orlando, Florida

Sponsored by the IEEE Computer Society

http://computer.org

Los Alamitos, California

Washington � Brussels � Tokyo

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Copyright © 2002 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved

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HAPTICS 2002 TABLE OF CONTENTS

FOREWORD...................................................................................................................................................x

SESSION I: PERFORMANCE AND EVALUATION OF HAPTIC DEVICES

Comparing Two Haptic Interfaces for Multimodal Graph Rendering ..........................................................3 W. Yu and S. Brewster

Comparison of Human Haptic Size Identification and Discrimination Performance in Real and Simulated Environments ..........................................................................................................10

M. Kilchenman O�Malley and M. Goldfarb

On Application of Virtual Fixtures as an Aid for Telemanipulation and Training .....................................18 S. Payandeh and Z. Stanisic

Haptic Feedback and Human Performance in a Dynamic Task..................................................................24 F. Huang, R. B. Gillespie, and A. Kuo

Application-Based Evaluation of Haptic Interfaces ....................................................................................32 A. E. Kirkpatrick and S. A. Douglas

Haptic Guidance: Experimental Evaluation of a Haptic Training Method for a Perceptual Motor Skill ........................................................................................................................40

D. Feygin, M. Keehner, and F. Tendick

SESSION II: MEDICAL APPLICATIONS

Computationally Efficient Techniques for Real Time Surgical Simulation with Force Feedback ...................................................................................................................................51

J. Kim, S. De, and M.A. Srinivasan

Dynamic Simulation of Deformable Objects Using the Long Elements Method .......................................58 R. Balaniuk and K. Salisbury

Haptic Volume Interaction with Anatomic Models at Sub-Voxel Resolution............................................66 A. Petersik, B. Pflesser, U. Tiede, K.H. Hoehne, and R. Leuwer

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The Role of Force Feedback in Surgery: Analysis of Blunt Dissection......................................................73 C. R. Wagner, N. Stylopoulos, and R. D. Howe

On the Display of Haptic Recordings for Cutting Biological Tissues ........................................................80 V. B. Chial, S. Greenish, and A. M. Okamura

A Haptic Command Station for Remote Ultrasound Examinations............................................................88 A. Guerraz, B. Hennion, P. Thorel, F. Pellissier, A. Vienne, and I. Belghit

SESSION III: PSYCHOPHYSICS AND HUMAN FACTORS

Integrating Multimodal Information about Surface Texture via a Probe: Relative Contributions of Haptic and Touch-Produced Sound Sources....................................................................97

S.J. Lederman, R.L. Klatzky, T. Morgan, and C. Hamilton

The Effects of Visual Information about Self-Movement on Grasp Forces When Receiving Objects in an Augmented Environment ...................................................................................105

A. H. Mason and C. L. MacKenzie

Understanding of Fingernail-Bone Interaction and Fingertip Hemodynamics for Fingernail Sensor Design.....................................................................................................................113

S. A. Mascaro and H. H. Asada

Tangential versus Normal Displacements of Skin: Relative Effectiveness for Producing Tactile Sensations......................................................................................................................................121

J. Biggs and M. A. Srinivasan

An Analysis of Perceptual Instability during Haptic Texture Rendering..................................................129 S. Choi and H. Z. Tan

The Psychophysics of Temperature Perception and Thermal-Interface Design .......................................137 L. A. Jones and M. Berris

SESSION IV: HAPTIC DEVICE DESIGN

The Rutgers Master II-ND Force Feedback Glove ...................................................................................145 M. Bouzit, G. Popescu, G. Burdea, and R, Boian

Wearable Haptic Display by the Use of a Particle Mechanical Constraint ...............................................153 T. Mitsuda, S. Kuge, M. Wakabayashi, and S. Kawamura

Development of a Wearable Haptic Display for Situation Awareness in Altered-Gravity Environment: Some Initial Findings .........................................................................................................159

R. Traylor and H. Z. Tan

Array Force Display for Hardness Distribution ........................................................................................165 H. Iwata, H. Yano, and R. Kawamura

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Dynamic Modeling and Parameter Identification of a Parallel Haptic Interface ......................................172 C. D. Lee, D. A. Lawrence, and L. Y. Pao

System Identification of the Human Hand Grasping a Haptic Knob ........................................................180 C. J. Hasser and M. R. Cutkosky

SESSION V: RENDERING AND CONTROL

Haptic Rendering of Data on Unstructured Tetrahedral Grids..................................................................193 R. Y. Novoselov, D. A. Lawrence, and L. Y. Pao

Haptic Subdivision: An Approach to Defining Level-of-Detail in Haptic Rendering ..............................201 J. Zhang, S. Payandeh, and J. Dill

Six-Degree-of-Freedom Haptic Display Using Localized Contact Computations ...................................209 Y. J. Kim, M. A. Otaduy, M. C. Lin, and D. Manocha

Validating a Novel Approach to Rendering Fingertip Contact Sensations ...............................................217 M. A. Salada, J. E. Colgate, M. V. Lee, and P. M. Vishton

Building a Task Language for Segmentation and Recognition of User Input to Cooperative Manipulation Systems ......................................................................................................225

C. S. Hundtofte, G. D. Hager and A. M. Okamura

A Proportional Control Strategy for Realistic Turning on Linear Treadmills ..........................................231 A. Vijayakar and J. M. Hollerbach

A Gain-Switching Control Scheme for Position-Error-Based Force-Reflecting Teleoperation ...............239 L. Ni and D. W. L. Wang

SESSION VI: APPLICATIONS

A Haptic Hybrid Controller for Virtual Prototyping of Vehicle Mechanisms ..........................................249 P. Buttolo, P. Stewart, and A. Marsan

Teaching to Write Japanese Characters Using a Haptic Interface ............................................................255 J. Solis, C. A. Avizzano, and M. Bergamasco

Virtual Peg-in-Hole Performance Using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone ..............................................................263

B. J. Unger, A. Nicolaidis, P. J. Berkelman, A. Thompson, S. Lederman, R. L. Klatzky, and R. L. Hollis

Autostereoscopic and Haptic Visualization for Space Exploration and Mission Design..........................271 C. Basdogan, M. Lum, J. Salcedo, E. Chow, S. A. Kupiec, and A. Kostrewski

Network Intrusion Visualization with NIVA, an Intrusion Detection Visual Analyzer with Haptic Integration..............................................................................................................................277

K. Nyarko, T. Capers, C. Scott, and K. Ladeji-Osias

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Bilateral Control with Time-Varying Delay Including Communication Blackout ...................................285 Y. Yokokohji, T. Tsujioka, and T. Yoshikawa

SESSION VII: POSTER AND DEMONSTRATION PAPERS

NanoManipulator Applications in Education: The Impact of Haptic Experiences on Students� Attitudes and Concepts.........................................................................................................295

M. G. Jones, A. Bokinsky, T. Andre, D. Kubasko, A. Negishi, R. Taylor, and R. Superfine

Measuring Just Noticeable Differences for Haptic Force Feedback: Implications for Rehabilitation..................................................................................................................299

S. Allin, Y. Matsuoka, and R. Klatzky

Optimal Design Method for Selective Nerve Stimulation and Its Application to Electrocutaneous Display......................................................................................................................303

H. Kajimoto, N. Kawakami, and S. Tachi

Handheld Haptics: A USB Media Controller with Force Sensing ............................................................311 K. E. MacLean, M. J. Shaver, and D. K. Pai

Human Kinematic Factor for Haptic Manipulation: The Wrist to Thumb................................................319 K. Kim, Y. Youm, and W.K. Chung

TextureExplorer: A Tactile and Force Display for Virtual Textures ........................................................327 Y. Ikei and M. Shiratori

A Robotic Teacher of Chinese Handwriting .............................................................................................335 C. L. Teo, E. Burdet, and H. P. Lim

Rotary Haptic Knob for Vehicular Instrument Controls ...........................................................................342 M. Badescu, C. Wampler, and C. Mavroidis

Simulated Interactive Needle Insertion .....................................................................................................344 S. P. DiMaio and S. E. Salcudean

Haptic Interface for Center-of-Workspace Interaction..............................................................................352 R. Komerska, C. Ware, and M. Plumlee

A Tactile Shape Display Using RC Servomotors......................................................................................354 C. R. Wagner, S. J. Lederman, and R. D. Howe

Author Index............................................................................................................................................357