Publications

Barbagli, F., Salisbury, K., Ho, C., Spence, C., & Tan, H. Z. (2006). Haptic discrimination of force direction and the influence of visual information. ACM Transactions on Applied Perception (TAP), 3(2), 125-135.Ch0
Beamish, T., MacLean, K., & Fels, S. (2003). Designing the haptic turntable for musical control. Proceedings of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,HAPTICS 2003, pp. 24-31.Ch0
Benko, H., Holz, C., Sinclair, M., & Ofek, E. (2016). Normaltouch and texturetouch: High-fidelity 3d haptic shape rendering on handheld virtual reality controllers. Proceedings of the 29th Annual Symposium on User Interface Software and Technology, pp. 717-728.Ch0, Ch1,
Ch2, Ch3
Berkelman, P., & Dzadovsky, M. (2009). Extending the motion ranges of magnetic levitation for haptic interaction. World Haptics 2009-Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 517-522.Ch2, Ch3
Brunet, L., Megard, C., Paneels, S., Changeon, G., Lozada, J., Daniel, M. P., & Darses, F. (2013). “Invitation to the voyage”: The design of tactile metaphors to fulfill occasional travelers’ needs in transportation networks. In 2013 World Haptics Conference, pp. 259-264.Ch1
Carignan, C., Tang, J., & Roderick, S. (2009). Development of an exoskeleton haptic interface for virtual task training. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3697-3702.Ch0, Ch5
Culbertson, H., & Kuchenbecker, K. J. (2016). Importance of matching physical friction, hardness, and texture in creating realistic haptic virtual surfaces. IEEE transactions on haptics, 10(1), 63-74.Ch0
Culbertson, H., Schorr, S. B., & Okamura, A. M. (2018). Haptics: The present and future of artificial touch sensation. Annual Review of Control, Robotics, and Autonomous Systems, 1, 385-409.Ch0
Culbertson, H., Unwin, J., & Kuchenbecker, K. J. (2014). Modeling and rendering realistic textures from unconstrained tool-surface interactions. IEEE transactions on haptics, 7(3), 381-393.Ch5
Dellon, B., & Matsuoka, Y. (2009). Modeling and system identification of a life-size brake-actuated manipulator. IEEE Transactions on Robotics, 25(3), 481-491.Ch2, Ch3
DiMaio, S. P., Salcudean, S. E., & Sirouspour, M. R. (2000). Haptic interaction within a planar environment. In Proceedings of the 2000 ASME International Mechanical Engineering Congress & Exposition, Dynamic Systems and Control Division, pp. 69-2.Ch2
Ding, Y., Sivak, M., Weinberg, B., Mavroidis, C., & Holden, M. K. (2010). Nuvabat: northeastern university virtual ankle and balance trainer. In 2010 IEEE Haptics Symposium, pp. 509-514.Ch2
Endo, T., Kawasaki, H., Mouri, T., Ishigure, Y., Shimomura, H., Matsumura, M., & Koketsu, K. (2010). Five-fingered haptic interface robot: HIRO III. IEEE Transactions on Haptics, 4(1), 14-27.Ch2
Ernst, M. O., & Banks, M. S. (2002). Humans integrate visual and haptic information in a statistically optimal fashion. Nature, 415(6870), 429-433.Ch4
Forsslund, J., Yip, M., & Sallnäs, E. L. (2015, January). Woodenhaptics: A starting kit for crafting force-reflecting spatial haptic devices. Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, pp. 133-140.Ch1,
Ch2
Gallacher, C., Mohtat, A., Ding, S., & Kövecses, J. (2016). Toward open-source portable haptic displays with visual-force-tactile feedback colocation. IEEE Haptics Symposium (HAPTICS), pp. 65-71.Ch1,
Ch2,
Ch3
Geldard, F. A., & Sherrick, C. E. (1972). The cutaneous” rabbit”: a perceptual illusion. Science, 178(4057), 178-179.Ch4
Gillespie, R. B., Hoffinan, M. B., & Freudenberg, J. (2003). Haptic interface for hands-on instruction in system dynamics and embedded control. Proceedingsof 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS),pp. 410-415).Ch2
Hannaford B., Okamura A.M. (2016) Haptics. Springer Handbook of Robotics. Springer Handbooks, https://doi.org/10.1007/978-3-319-32552-1_42Ch1
Hayward, V. (2008). A brief taxonomy of tactile illusions and demonstrations that can be done in a hardware store. Brain research bulletin, 75(6), 742-752.Ch4
Hayward, V., & Astley, O. R. (1996). Performance measures for haptic interfaces. In Robotics research, pp. 195-206. Springer, London.Ch2
Hayward, V., & MacLean, K. E. (2007). Do it yourself haptics: part I. IEEE Robotics & Automation Magazine, 14(4), 88-104.Ch1,
Ch2
Hayward, V., Astley, O. R., Cruz‐Hernandez, M., Grant, D., & Robles‐De‐La‐Torre, G. (2004). Haptic interfaces and devices. Sensor review.Ch1
Hayward, V., Choksi, J., Lanvin, G., & Ramstein, C. (1994). Design and multi-objective optimization of a linkage for a haptic interface. Advances in robot kinematics and computational geometry, pp. 359-368. Ch1,
Ch2,
Ch3
Heo, S., Chung, C., Lee, G., & Wigdor, D. (2018). Thor’s hammer: An ungrounded force feedback device utilizing propeller-induced propulsive force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems, pp. 1-11.Ch1
Huang, P. Y., Kunkel, J. A., Brindza, J., & Kuchenbecker, K. J. (2011). Haptically assisted golf putting through a planar four-cable system. Proceedings of World Haptics Conference, pp. 191-196.Ch2
Johansson, R. S., & Flanagan, J. R. (2009). Coding and use of tactile signals from the fingertips in object manipulation tasks. Nature Reviews Neuroscience, 10(5), 345-359.Ch0
Jones, L. A. (2000). Kinesthetic sensing. In Human and Machine Haptics.Ch0
Jones, L. A., & Tan, H. Z. (2012). Application of psychophysical techniques to haptic research. IEEE transactions on haptics, 6(3), 268-284.Ch4
Kim, E., & Schneider, O. (2020). Defining Haptic Experience: Foundations for Understanding, Communicating, and Evaluating HX. Proceedings of the ACM CHI Conference on Human Factors in Computing Systems, pp. 1-13.Ch5
Kuchenbecker, K. J. (2018). Haptics and Haptic Interfaces. M. H. Ang, O. Khatib, & B. Siciliano (Eds.), Encyclopedia of Robotics. Berlin, Heidelberg: Springer. doi:10.1007/978-3-642-41610-1_19-1.Ch1
Kuchenbecker, K. J., Gewirtz, J., McMahan, W., Standish, D., Martin, P., Bohren, J., Mendoza P. J.,& Lee, D. I. (2010). VerroTouch: High-frequency acceleration feedback for telerobotic surgery. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (pp. 189-196). Springer, Berlin, Heidelberg.Ch0
Lederman, S. J., & Jones, L. A. (2011). Tactile and haptic illusions. IEEE Transactions on Haptics, 4(4), 273-294.Ch4
Lederman, S. J., & Klatzky, R. L. (1987). Hand movements: A window into haptic object recognition. Cognitive psychology, 19(3), 342-368.Ch0
Ledo, D., Nacenta, M. A., Marquardt, N., Boring, S., & Greenberg, S. (2012). The HapticTouch toolkit: enabling exploration of haptic interactions. In Proceedings of the Sixth International Conference on Tangible, Embedded and Embodied Interaction, pp. 115-122.Ch5
Levitt, H. C. C. H. (1971). Transformed up‐down methods in psychoacoustics. The Journal of the Acoustical society of America, 49(2B), 467-477.Ch4
Linden, D. J. (2016). Touch: The science of hand, heart, and mind. Penguin Books.Ch0
MacLean, K. E., & Hayward, V. (2008). Do it yourself haptics: Part ii [tutorial]. IEEE robotics & automation magazine, 15(1), 104-119.Ch5
MacLean, K. E., Schneider, O. S., & Seifi, H. (2017). Multisensory haptic interactions: Understanding the sense and designing for it. The Handbook of Multimodal-Multisensor Interfaces: Foundations, User Modeling, and Common Modality Combinations-Volume 1, pp. 97-142.Ch5
Marino, D., Bucci, P., Schneider, O. S., & MacLean, K. E. (2017). Voodle: Vocal doodling to sketch affective robot motion. Proceedings of the 2017 Conference on Designing Interactive Systems, pp. 753-765.Ch5
Martinez, M. O., Campion, J., Gholami, T., Rittikaidachar, M. K., Barron, A. C., & Okamura, A. M. (2017). Open source, modular, customizable, 3-D printed kinesthetic haptic devices. IEEE World Haptics Conference, pp. 142-147.Ch5
Martinez, M. O., Morimoto, T. K., Taylor, A. T., Barron, A. C., Pultorak, J. A., Wang, J., Calasanz-Kaiser A., Davis R.L., Blikstein P.,& Okamura, A. M. (2016). 3-D printed haptic devices for educational applications. IEEE Haptics Symposium (HAPTICS), pp. 126-133.Ch1,
Ch2,
Ch3
Marx, V., & Nagy, E. (2017). Fetal behavioral responses to the touch of the mother’s abdomen: A Frame-by-frame analysis. Infant Behavior and Development, 47, 83-91.Ch0
Massie, T. H., & Salisbury, J. K. (1994). The phantom haptic interface: A device for probing virtual objects. In Proceedings of the ASME winter annual meeting, symposium on haptic interfaces for virtual environment and teleoperator systems, Vol. 55, No. 1, pp. 295-300.Ch1,
Ch3
Moussette, C. (2012). Simple haptics: Sketching perspectives for the design of haptic interactions, Doctoral dissertation, Umeå Universitet.Ch5
Murray, D. J., Ellis, R. R., Bandomir, C. A., & Ross, H. E. (1999). Charpentier (1891) on the size-weight illusion. Perception & Psychophysics, 61(8), 1681-1685.Ch5
Obrist, M., Seah, S. A., & Subramanian, S. (2013). Talking about tactile experiences. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp. 1659-1668.Ch5
Pacchierotti, C., Prattichizzo, D., & Kuchenbecker, K. J. (2015). Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery. IEEE Transactions on Biomedical Engineering, 63(2), 278-287.Ch5
Pang, X. D., Tan, H. Z., & Durlach, N. I. (1991). Manual discrimination of force using active finger motion. Perception & psychophysics, 49(6), 531-540.Ch4
Price, M., & Sup, F. C. (2016). A robotic touchscreen totem for two-dimensional haptic force display. Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 72-77.Ch2
Prins, N. (2016). Psychophysics: a practical introduction. Academic Press.Ch4
Provancher, W. R., & Sylvester, N. D. (2009). Fingerpad skin stretch increases the perception of virtual friction. IEEE Transactions on Haptics, 2(4), 212-223.Ch4
Ramstein, C., & Hayward, V. (1994). The pantograph: a large workspace haptic device for multimodal human computer interaction. Conference companion on Human factors in computing systems, pp. 57-58.Ch1
Robles-De-La-Torre, G., & Hayward, V. (2001). Force can overcome object geometry in the perception of shape through active touch. Nature, 412(6845), 445-448.Ch4
Rose, C. G., French, J. A., & O’Malley, M. K. (2014). Design and characterization of a haptic paddle for dynamics education. Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 265-270.Ch2
Rosenberg, L. B., & Adelstein, B. D. (1993). Perceptual decomposition of virtual haptic surfaces. In Proceedings of 1993 IEEE Research Properties in Virtual Reality Symposium, pp. 46-53.Ch4
Salisbury, K., Conti, F., & Barbagli, F. (2004). Haptic rendering: introductory concepts. IEEE computer graphics and applications, 24(2), 24-32.Ch5
Samur, E. (2012). Performance metrics for haptic interfaces. Springer Science & Business Media.Ch2,
Ch4
Samur, E., Flaction, L., Spaelter, U., Bleuler, H., Hellier, D., & Ourselin, S. (2008). A haptic interface with motor/brake system for colonoscopy simulation. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 477-478.Ch2,
Ch3
Schneider, O. S., & MacLean, K. E. (2016). Studying design process and example use with Macaron, a web-based vibrotactile effect editor. Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 52-58.Ch5
Seifi, H. (2019). Personalizing Haptics. Springer International Publishing.Ch5
Seifi, H., Fazlollahi, F., Oppermann, M., Sastrillo, J. A., Ip, J., Agrawal, A., Park, G., Kuchenbecker, K.J.,& MacLean, K. E. (2019, May). Haptipedia: Accelerating Haptic Device Discovery to Support Interaction & Engineering Design. Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, pp. 1-12.Ch1
Seifi, H., Oppermann, M., Bullard, J., MacLean, K. E., & Kuchenbecker, K. J. (2020). Capturing Experts’ Mental Models to Organize a Collection of Haptic Devices: Affordances Outweigh Attributes. Proceedings of the ACM CHI Conference on Human Factors in Computing Systems, pp. 1-12.Ch2
Seifi, H., Zhang, K., & MacLean, K. E. (2015). VibViz: Organizing, visualizing and navigating vibration libraries. proceedings of IEEE World Haptics Conference, pp. 254-259.Ch5
Shao, Y., Hayward, V., & Visell, Y. (2016). Spatial patterns of cutaneous vibration during whole-hand haptic interactions. Proceedings of the National Academy of Sciences, 113(15), 4188-4193.Ch0,
Ch5
Sivak, M., Unluhisarcikli, O., Weinberg, B., Mirelman-Harari, A., Bonato, P., & Mavroidis, C. (2010). Haptic system for hand rehabilitation integrating an interactive game with an advanced robotic device. Proceedings of IEEE Haptics Symposium, pp. 475-481.Ch2
Sketch, S. M., Bastian, A. J., & Okamura, A. M. (2018). Comparing proprioceptive acuity in the arm between joint space and task space. Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 125-132. Ch2
Smith, A. M., Chapman, C. E., Donati, F., Fortier-Poisson, P., & Hayward, V. (2009). Perception of simulated local shapes using active and passive touch. Journal of neurophysiology, 102(6), 3519-3529.Ch4
Spiers, A. J., & Dollar, A. M. (2016). Outdoor pedestrian navigation assistance with a shape-changing haptic interface and comparison with a vibrotactile device. Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 34-40.Ch2
Tan, H. Z., Srinivasan, M. A., Eberman, B., & Cheng, B. (1994). Human factors for the design of force-reflecting haptic interfaces. Dynamic Systems and Control, 55(1), 353-359.Ch2
Van der Linde, R. Q., Lammertse, P., Frederiksen, E., & Ruiter, B. (2002). The HapticMaster, a new high-performance haptic interface. Proceedings of Eurohaptics, pp. 1-5.Ch1,
Ch2,
Ch3
Vigaru, B., Sulzer, J., & Gassert, R. (2015). Design and evaluation of a cable-driven fMRI-compatible haptic interface to investigate precision grip control. IEEE transactions on haptics, 9(1), 20-32.Ch2
Yin, M., Gerena, E., Pacoret, C., Haliyo, S., & Régnier, S. (2017). High-bandwidth 3D force feedback optical tweezers for interactive bio-manipulation. proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1889-1894.Ch0
Yohanan, S., & MacLean, K. E. (2012). The role of affective touch in human-robot interaction: Human intent and expectations in touching the haptic creature. International Journal of Social Robotics, 4(2), 163-180.Ch5
Young, E. M., & Kuchenbecker, K. J. (2019). Implementation of a 6-DOF parallel continuum manipulator for delivering fingertip tactile cues. IEEE transactions on haptics, 12(3), 295-306.Ch1
Zinn, M., Khatib, O., Roth, B., & Salisbury, J. K. (2008). Large workspace haptic devices-a new actuation approach. Proceedings of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 185-192.Ch3