触觉再现技术研究进展
|
摘要
针对触觉再现技术面临的数据获取难、设备真实感低、应用数量少等问题,在触觉感知机理和触觉再现范式基础上,分析了现有触觉信号采集、建模、渲染等关键环节的方法和特点,归纳了典型触觉再现设备的种类和实现原理,讨论了触觉再现技术的主要应用领域.根据触觉再现技术的研究现状,提出了构建触觉感知模型、提高触觉数据特征提取与模型处理精度、开发低功耗低成本的普适性触觉系统与多通道融合的交互应用的未来发展方向.
In order to meet such issues as being hard to sample data, providing less realistic feedbacks and being applied in limited fields in tactile representation technology, this paper first describes the basic theories of tactile perception and representation, analyzes different methods and characteristics of raw data sampling, signal modeling and tactile rendering. The categories and working principles of typical tactile representation systems are then summarized along with discussion of the main tactile applications. Based on the analysis of the current research status of tactile representation technology, a description on the future directions of the technology is provided, which includes proposing parametric models of tactile perception, improving the accuracy of the tactile data feature extraction and the signal modeling, designing more common and effective tactile representation systems, and developing multi-sensory tactile interactive applications.
In order to meet such issues as being hard to sample data, providing less realistic feedbacks and being applied in limited fields in tactile representation technology, this paper first describes the basic theories of tactile perception and representation, analyzes different methods and characteristics of raw data sampling, signal modeling and tactile rendering. The categories and working principles of typical tactile representation systems are then summarized along with discussion of the main tactile applications. Based on the analysis of the current research status of tactile representation technology, a description on the future directions of the technology is provided, which includes proposing parametric models of tactile perception, improving the accuracy of the tactile data feature extraction and the signal modeling, designing more common and effective tactile representation systems, and developing multi-sensory tactile interactive applications.
引文
[1]Schneider O,Maclean K,Swindells C,et al.Haptic experience design:what hapticians do and where they need help[J].International Journal of Human-Computer Studies,2017,107:5-21
[2]Sinapov J,Sukhoy V,Sahai R,et al.Vibrotactile recognition and categorization of surfaces by a humanoid robot[J].IEEETransactions on Robotics,2011,27(3):488-497
[3]Gault R H.Progress in experiments on tactual interpretation of oral speech[J].Journal of Abnormal Psychology and Social Psychology,1924,19(2):155-159
[4]Dahiya R S,Metta G,Valle M,et al.Tactile sensing:from humans to humanoids[J].IEEE Transactions on Robotics,2010,26(1):1-20
[5]Culbertson H,Delgado J J L,Kuchenbecker K J.One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2014:319-325
[6]Ucar E,Ustunel H,Civelek T,et al.Effects of using a force feedback haptic augmented simulation on the attitudes of the gifted students towards studying chemical bonds in virtual reality environment[J].Behaviour&Information Technology,2016,36(5):540-547
[7]Goodwin A W,John K T,Marceglia A H.Tactile discrimination of curvature by humans using only cutaneous information from the fingerpads[J].Experimental Brain Research,1991,86(3):663-672
[8]Kappers A M L.Human perception of shape from touch[J].Philosophical Transactions of the Royal Society of London,2011,366(1581):3106-3114
[9]Kappers A M L,Bergmann Tiest W M.Haptic size aftereffects revisited[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:335-339
[10]Kappers A M L,Bergmann Tiest W M.Influence of shape on the haptic size aftereffect[J].PLoS ONE,2014,9(2):e88729
[11]Hollins M,Bensmaia S,Karlof K,et al.Individual differences in perceptual space for tactile textures:evidence from multidimensional scaling[J].Perception&Psychophysics,2000,62(8):1534-1544
[12]Johansson R S,Landstr?m U,Lundstr?m R.Responses of mechanoreceptive afferent units in the glabrous skin of the human hand to sinusoidal skin displacements[J].Brain Research,1982,244(1):17-25
[13]Klatzky R L,Lederman S J.Tactile roughness perception with a rigid link interposed between skin and surface[J].Perception&Psychophysics,1999,61(4):591-607
[14]Lederman S J,Klatzky R L,Hamilton C L,et al.Perceiving roughness via a rigid probe:psychophysical effects of exploration speed and mode of touch[J].Haptics-e:The Electronic Journal of Haptic Research,1999,1:1-20
[15]Minsky M,Ming O-Y,Steele O,et al.Feeling and seeing:issues in force display[J].ACM SIGGRAPH Computer Graphics,1990,24(2):235-241
[16]Minsky M,Lederman S J.Simulated haptic textures:roughness[J].ASME Dynamics Systems and Control Division,1996,58:421-426
[17]Yoshioka T,Bensmaia S J,Craig J C,et al.Texture perception through direct and indirect touch:an analysis of perceptual space for tactile textures in two modes of exploration[J].Somatosensory&Motor Research,2007,24(1/2):53-70
[18]Messaoud W B,Bueno M A,Lemaire-Semail B.Relation between human perceived friction and finger friction characteristics[J].Tribology International,2016,98:261-269
[19]van Kuilenburg J,Masen M A,van der Heide E.A review of fingerpad contact mechanics and friction and how this affects tactile perception[J].Proceedings of the Institution of Mechanical Engineers,Part J:Journal of Engineering Tribology,2015,229(3):243-258
[20]Zhang Xiaolong,Lyu Fei,Cheng Shiwei.Interaction paradigm in intelligent systems[J].Scientia Sinica:Informationis,2018,48(4):406-418(in Chinese)(张小龙,吕菲,程时伟.智能时代的人机交互范式[J].中国科学:信息科学,2018,48(4):406-418)
[21]Okamura A M,Cutkosky M R,Dennerlein J T.Reality-based models for vibration feedback in virtual environments[J].IEEE/ASME Transactions on Mechatronics,2001,6(3):245-252
[22]Choi S,Kuchenbecker K J.Vibrotactile display:perception,technology,and applications[J].Proceedings of the IEEE,2013,101(9):2093-2104
[23]Jones L A,Lederman S J.Human hand function[M].Oxford:Oxford University Press,2006
[24]Ko S M,Lee K,Kim D,et al.Vibrotactile perception assessment for a haptic interface on an antigravity suit[J].Applied Ergonomics,2017,58:198-207
[25]Yannier N,Israr A,Lehman J F,et al.FeelSleeve:haptic feedback to enhance early reading[C]//Proceedings of the33rd Annual ACM Conference on Human Factors in Computing Systems.New York:ACM Press,2015:1015-1024
[26]Mullenbach J,Shultz C,Piper A M,et al.Surface haptic interactions with a TPad tablet[C]//Proceedings of the Adjunct Publication of the 26th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2013:7-8
[27]Winfield L,Glassmire J,Edward Colgate J,et al.T-PaD:tactile pattern display through variable friction reduction[C]//Proceedings of the 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2007:421-426
[28]Lim J M,Jeong H T.Force and displacement analysis of a haptic touchscreen[C]//Proceedings of the IEEE International Conference on Consumer Electronics.Los Alamitos:IEEEComputer Society Press,2015:589-591
[29]Bau O,Poupyrev I,Israr A,et al.TeslaTouch:electrovibration for touch surfaces[C]//Proceedings of the 23nd Annual ACMSymposium on User Interface Software and Technology.New York:ACM Press,2010:283-292
[30]Yoshimoto S,Kuroda Y,Imura M,et al.Material roughness modulation via electrotactile augmentation[J].IEEE Transactions on Haptics,2015,8(2):199-208
[31]Vardar Y,??leyen A,Saleem M K,et al.Roughness perception of virtual textures displayed by electrovibration on touch screens[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2017:263-268
[32]Vardar Y,Guclu B,Basdogan C.Effect of waveform on tactile perception by electrovibration displayed on touch screens[J].IEEE Transactions on Haptics,2017,10(4):488-499
[33]Stanley A A,Gwilliam J C,Okamura A M.Haptic jamming:a deformable geometry,variable stiffness tactile display using pneumatics and particle jamming[C]//Proceedings of World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:25-30
[34]Sodhi R,Poupyrev I,Glisson M,et al.AIREAL:interactive tactile experiences in free air[J].ACM Transactions on Graphics,2013,32(4):Article No.134
[35]Kuchenbecker K J,Romano J,Mcmahan W.Haptography:capturing and recreating the rich feel of real surfaces[J].Robotics Research,2011,70:245-260
[36]Andrews S,Lang J.Interactive scanning of haptic textures and surface compliance[C]//Proceedings of the 6th International Conference on 3D Digital Imaging and Modeling.Los Alamitos:IEEE Computer Society Press,2007:99-106
[37]Pai D K,van den Doel K,James D L,et al.Scanning physical interaction behavior of 3D objects[C]//Proceedings of the28th Annual Conference on Computer Graphics and Interactive Techniques.New York:ACM Press,2001:87-96
[38]Kry P G,Pai D K.Interaction capture and synthesis[J].ACMTransactions on Graphics,2006,25(3):872-880
[39]Wall S S,Harwin W S.Modelling of surface identifying characteristics using Fourier series[C]//Proceedings of the Winter Annual Meeting of ASMEDSC-ASME Dynamic Systems and Control Division.New York:ASME Press,1999:65-71
[40]Maclean K E.The“haptic camera”:a technique for characterizing and playing back haptic properties of real environments[C]//Proceedings of the ASME Dynamic Systems and Control Division.New York:ASME Press,1996,58:459-467
[41]Vasudevan H,Manivannan M.Recordable Haptic textures[C]//Proceedings of the IEEE International Workshop on Haptic Audio Visual Environments and Their Applications.Los Alamitos:IEEE Computer Society Press,2006:130-133
[42]Kuchenbecker K J.Haptography:capturing the feel of real objects to enable authentic haptic rendering(invited paper)[C]//Proceedings of the Ambi-Sys Workshop on Haptic User Interfaces in Ambient Media Systems.Brussels:ICST Press,2008:Article No.3
[43]Pai D K,Rizun P.The WHaT:a wireless haptic texture sensor[C]//Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2003:3
[44]Romano J M,Yoshioka T,Kuchenbecker K J.Automatic filter design for synthesis of haptic textures from recorded acceleration data[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEEComputer Society Press,2010:1815-1821
[45]Bell J,Bolanowski S,Holmes M H.The structure and function of Pacinian corpuscles:a review[J].Progress in Neurobiology,1994,42(1):79-128
[46]Landin N,Romano J M,Mcmahan W,et al.Dimensional reduction of high-frequency accelerations for haptic rendering[C]//Proceedings of the International Conference on Haptics.Heidelberg:Springer,2010,Part II:79-86
[47]Romano J M,Kuchenbecker K J.Creating realistic virtual textures from contact acceleration data[J].IEEE Transactions on Haptics,2012,5(2):109-119
[48]Culbertson H,Romano J M,Castillo P,et al.Refined methods for creating realistic haptic virtual textures from tool-mediated contact acceleration data[C]//Proceedings of the IEEE Haptics Symposium.Los Alamitos:IEEE Computer Society Press,2012:385-391
[49]Song Tao,Wang Dangxiao,Wang Zhixiang.Haptic camera:device to acquire surface properties of real object[J].Journal of System Simulation,2012,24(1):26-29+43(in Chinese)(宋涛,王党校,王治翔.触觉照相机:表面力觉属性采集装置[J].系统仿真学报,2012,24(1):26-29+43)
[50]Chen Hui,Song Aiguo.Master and slave system design of a dexterous hand with force and tactile telepresence[J].Robot,1998,20(6):437-441(in Chinese)(陈辉,宋爱国.带有力觉和触觉临场感的灵巧手主从系统的设计[J].机器人,1998,20(6):437-441)
[51]Chitta S,Piccoli M,Sturm J.Tactile object class and internal state recognition for mobile manipulation[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2010:2342-2348
[52]Qin Lan,Li Qing,Sun Xiankui.Research on new tactile sensing costume of intelligent robots[J].Chinese Journal of Sensors and Actuators,2006,19(3):824-827(in Chinese)(秦岚,李青,孙先逵.一种新型智能机器人触觉传感服装的研究[J].传感技术学报,2006,19(3):824-827)
[53]Chu V,Mcmahon I,Riano L,et al.Using robotic exploratory procedures to learn the meaning of haptic adjectives[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2013:3048-3055
[54]Wang Dangxiao,Jiao Jian,Zhang Yuru,et al.Computer haptics:haptic modeling and rendering in virtual reality environments[J].Journal of Computer-Aided Design&Computer Graphics,2016,28(6):881-895(in Chinese)(王党校,焦健,张玉茹,等.计算机触觉:虚拟现实环境的力触觉建模和生成[J].计算机辅助设计与图形学学报,2016,28(6):881-895)
[55]Culbertson H,Unwin J,Goodman B E,et al.Generating haptic texture models from unconstrained tool-surface interactions[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:295-300
[56]Strese M,Lee J Y,Schuwerk C,et al.A haptic texture database for tool-mediated texture recognition and classification[C]//Proceedings of the IEEE International Symposium on Haptic,Audio and Visual Environments and Games.Los Alamitos:IEEE Computer Society Press,2014:118-123
[57]Strese M,Schuwerk C,Steinbach E.Surface classification using acceleration signals recorded during human free-hand movement[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:214-219
[58]Strese M,Schuwerk C,Iepure A,et al.Multimodal feature-based surface material classification[J].IEEE Transactions on Haptics,2017,10(2):226-239
[59]Steinbach E,Hirche S,Kammerl J,et al.Haptic data compression and communication[J].IEEE Signal Processing Magazine,2011,28(1):87-96
[60]Sakr N,Zhou J,Georganas N D,et al.Robust perception-based data reduction and transmission in telehaptic systems[C]//Proceedings of the World Haptics 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2009:214-219
[61]Sakr N,Zhou J L,Georganas N D,et al.Prediction-based haptic data reduction and transmission in telementoring systems[J].IEEE Transactions on Instrumentation and Measurement,2009,58(5):1727-1736
[62]Lee J Y,Payandeh S.Performance evaluation of haptic data compression methods in teleoperation systems[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2011:137-142
[63]Guo Fenghua,Zhang Caiming.Haptic data compression by curve fitting[J].Journal of Computer-Aided Design&Computer Graphics,2015,27(3):508-513(in Chinese)(郭凤华,张彩明.利用曲线拟合对触觉数据的压缩[J].计算机辅助设计与图形学学报,2015,27(3):508-513)
[64]Lang J,Andrews S.Measurement-based modeling of contact forces and textures for haptic rendering[J].IEEE Transactions on Visualization and Computer Graphics,2011,17(3):380-391
[65]Okamura A M,Dennerlein J T,Howe R D.Vibration feedback models for virtual environments[C]//Proceedings of the IEEEInternational Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,1998,1:674-679
[66]Guruswamy V L,Lang J,Lee W S.Modelling of haptic vibration textures with infinite-impulse-response filters[C]//Proceedings of the IEEE International Workshop on Haptic Audio Visual Environments and Games.Los Alamitos:IEEEComputer Society Press,2009:105-110
[67]Guruswamy V L,Lang J,Lee W S.IIR filter models of haptic vibration textures[J].IEEE Transactions on Instrumentation and Measurement,2010,60(1):93-103
[68]Yan Y Y,Ruthenbeck G S,Reynolds K J.Hapteo:sharing visual-haptic experiences from virtual environments[C]//Proceedings of the IEEE Haptics Symposium.Los Alamitos:IEEE Computer Society Press,2014:257-262
[69]Tawfique Z.Tool-mediated texture recognition using convolutional neural network[R].Uppsala:Uppsala University.Department of Information Technology,2016
[70]Ji M Q,Fang L,Zheng H T,et al.Preprocessing-free surface material classification using convolutional neural networks pretrained by sparse Autoencoder[C]//Proceedings of the 25th IEEE International Workshop on Machine Learning for Signal Processing.Los Alamitos:IEEE Computer Society Press,2015:1-6
[71]Abdulali A,Hassan W,Jeon S.Sample selection of multi-trial data for data-driven haptic texture modeling[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEEComputer Society Press,2017:66-71
[72]Basdogan C,Ho C H,Srinivasan M A.A ray-based haptic rendering technique for displaying shape and texture of 3Dobjects in virtual environments[C]//Proceedings of the ASMEDynamic Systems and Control Division.New York:ASMEPress,1997,61:77-84
[73]Costa M A,Cutkosky M R.Roughness perception of haptically displayed fractal surfaces[C]//Proceedings of ASMEInternational Mechanical Engineering Congress and Exposition-Dynamic Systems and Control Haptics Symposium.New York:ASME Press,2000:1-7
[74]Wu Juan,Song Zhenzhong,Wu Weixiong,et al.Design of image vibrotactile display system for the blind[J].Journal of Southeast University:Natural Science Edition,2011,41(5):973-977(in Chinese)(吴涓,宋振中,吴伟雄,等.用于盲人的图像振动触觉显示系统设计[J].东南大学学报:自然科学版,2011,41(5):973-977)
[75]Kim S C,Israr A,Poupyrev I.Tactile rendering of 3D features on touch surfaces[C]//Proceedings of the 26th Annual ACMSymposium on User Interface Software and Technology.New York:ACM Press,2013:531-538
[76]Tian Lei,Song Aiguo,Wang Wei.Research on the image haptic display method based on PDE[J].Chinese Journal of Scientific Instrument,2013,34(10):2316-2321(in Chinese)(田磊,宋爱国,王蔚.基于PDE方法的图像力触觉再现方法研究[J].仪器仪表学报,2013,34(10):2316-2321)
[77]Wang Tingting.Research on tactile feature modeling and extraction of 2D image[D].Changchun:Jilin University.College of Communication Engineering,2016(in Chinese)(王婷婷.二维图像的触觉特征建模与提取技术研究[D].长春:吉林大学通信工程学院,2016)
[78]Li Jialu,Song Aiguo,Wu Juan,et al.Research on the method of haptic texture display based on SFS[J].Chinese Journal of Scientific Instrument,2010,31(4):812-817(in Chinese)(李佳璐,宋爱国,吴涓,等.基于SFS技术的纹理力触觉再现方法研究[J].仪器仪表学报,2010,31(4):812-817)
[79]Kim J R,Shin S.Touch3D:touchscreen interaction on multiscopic 3D with electrovibration haptics[C]//Proceedings of ACM SIGGRAPH Posters.New York:ACM Press,2017:Article No.51
[80]Saga S,Raskar R.Simultaneous geometry and texture display based on lateral force for touchscreen[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:437-442
[81]Saga S,Deguchi K.Lateral-force-based 2.5-dimensional tactile display for touch screen[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2012:15-22
[82]Vasudevan H,Manivannan M.Tangible images:runtime generation of haptic textures from images[C]//Proceedings of International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEEComputer Society Press,2008:357-360
[83]Adi W,Sulaiman S.Texture classification using wavelet extraction:an approach to haptic texture searching[C]//Proceedings of the Innovative Technologies in Intelligent Systems and Industrial Applications.Los Alamitos:IEEEComputer Society Press,2009:434-439
[84]Li Jialu,Song Aiguo,Zhang Xiaorui.A method of haptic texture rendering color image[J].Journal of Computer-Aided Design&Computer Graphics.2011,23(4):719-724(in Chinese)(李佳璐,宋爱国,张小瑞.彩色图像的纹理力/触觉渲染方法[J].计算机辅助设计与图形学学报,2011,23(4):719-724)
[85]Leithinger D,Ishii H.Relief:a scalable actuated shape display[C]//Proceedings of the 4th International Conference on Tangible,Embodied and Embedded Interaction.New York:ACM Press,2010:221-222
[86]Heibeck F,Hope A,Legault J.Sensory fiction:a design fiction of emotional computation[C]//Proceedings of the 2nd ACM International Workshop on Immersive Media Experiences.New York:ACM Press,2014:35-40
[87]Zhao S Y,Lehman J,Israr A,et al.Using haptic inputs to enrich story listening for young children[C]//Proceedings of the14th International Conference on Interaction Design and Children.New York:ACM Press,2015:239-242
[88]Wang Q L,Ren X S,Sun X Y.Enhancing pen-based interaction using electrovibration and vibration haptic feedback[C]//Proceedings of International Conference on Human Factors in Computing Systems.New York:ACM Press,2017:3746-3750
[89]Yatani K,Truong K N.SemFeel:a user interface with semantic tactile feedback for mobile touch-screen devices[C]//Proceedings of the 22nd Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2009:111-120
[90]Kyung K U,Lee J Y.WUbi-Pen:windows graphical user interface interacting with haptic feedback stylus[C]//Proceedings of ACM SIGGRAPH 2008 New Tech Demos.New York:ACM Press,2008:Article No.42
[91]Kim Y,Cha J,Oakley I,et al.Exploring tactile movies:an initial tactile glove design and concept evaluation[J].IEEEMultimedia,2009,16(3):34-44
[92]Stanley A A,Okamura A M.Controllable surface haptics via particle jamming and pneumatics[J].IEEE Transactions on Haptics,2015,8(1):20-30
[93]Long B,Seah S A,Carter T,et al.Rendering volumetric haptic shapes in mid-air using ultrasound[J].ACM Transactions on Graphics,2014,33(6):Article No.181
[94]Marchuk N D,Colgate J E,Peshkin M A.Friction measurements on a large area TPaD[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2010:317-320
[95]Bau O,Poupyrev I.REVEL:tactile feedback technology for augmented reality[J].ACM Transactions on Graphics,2012,31(4):Article No.89
[96]Lee J C,Dietz P H,Leigh D,et al.Haptic pen:a tactile feedback stylus for touch screens[C]//Proceedings of the 17th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2004:291-294
[97]Wang Q L,Ren X S,Sarcar S,et al.EV-Pen:leveraging electrovibration haptic feedback in pen interaction[C]//Proceedings of the ACM International Conference on Interactive Surfaces and Spaces.New York:ACM Press,2016:57-66
[98]Sarakoglou I,Garcia-Hernandez N,Tsagarakis N,et al.Ahigh performance tactile feedback display and its integration in teleoperation[J].IEEE Transactions on Haptics,2012,5(3):252-263
[99]Bianchi M,Battaglia E,Poggiani M,et al.A wearable fabric-based display for haptic multi-cue delivery[C]//Proceedings of Haptics Symposium.Los Alamitos:IEEEComputer Society Press,2016:277-283
[100]Bloomfield A,Badler N I.Virtual training via vibrotactile arrays[J].Presence:Teleoperators and Virtual Environments,2008,17(2):103-120
[101]Chang W,Hwang W,Ji Y G.Haptic seat interfaces for driver information and warning systems[J].International Journal of Human Computer Interaction,2011,27(12):1119-1132
[102]Leithinger D,Follmer S,Olwal A,et al.Physical telepresence:shape capture and display for embodied,computer-mediated remote collaboration[C]//Proceedings of the 27th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2014:461-470
[103]Follmer S,Leithinger D,Olwal A,et al.InFORM:dynamic physical affordances and constraints through shape and object actuation[C]//Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2013:417-426
[104]Leithinger D,Lakatos D,DeVincenzi A,et al.Direct and gestural interaction with relief:a 2.5D shape display[C]//Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2011:541-548
[105]Leithinger D,Follmer S,Olwal A,et al.Sublimate:statechanging virtual and physical rendering to augment interaction with shape displays[C]//Proceedings of the SIGCHIConference on Human Factors in Computing Systems.New York:ACM Press,2013:1441-1450
[106]Stanley A A,Hata K,Okamura A M.Closed-loop shape control of a haptic jamming deformable surface[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2016:2718-2724
[107]Makino Y,Furuyama Y,Inoue S,et al.HaptoClone(haptic-optical clone)for mutual tele-environment by real-time 3Dimage transfer with midair force feedback[C]//Proceedings of the CHI Conference on Human Factors in Computing Systems.New York:ACM Press,2016:1980-1990
[108]Monnai Y,Hasegawa K,Fujiwara M,et al.HaptoMime:mid-air haptic interaction with a floating virtual screen[C]//Proceedings of the 27th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2014:663-667
[109]Lee H,Kim J S,Choi S,et al.Mid-air tactile stimulation using laser-induced thermoelastic effects:the first study for indirect radiation[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:374-380
[110]Culbertson H,Unwin J,Kuchenbecker K J.Modeling and rendering realistic textures from unconstrained tool-surface interactions[J].IEEE Transactions on Haptics,2014,7(3):381-393
[111]Shin S,Osgouei R H,Kim K D,et al.Data-driven modeling of isotropic haptic textures using frequency-decomposed neural networks[C]//Proceedings of IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:131-138
[112]Webb M,Tracey M,Harwin W,et al.The potential for haptic-enabled interaction to support collaborative learning in school biology[C]//Proceedings of Society for Information Technology&Teacher Education International Conference.Chesapeake:AACE Press,2017:927-935
[113]Davis R L,Martinez M O,Schneider O,et al.The haptic bridge:towards a theory for haptic-supported learning[C]//Proceedings of the Conference on Interaction Design and Children.New York:ACM Press,2017:51-60
[114]?zgür A,Johal W,Mondada F,et al.Windfield:demonstrating wind meteorology with handheld haptic robots[C]//Proceedings of the Companion of the ACM/IEEE International Conference on Human-Robot Interaction.New York:ACM Press,2017:48-49
[115]Walsh Y,Magana A J,Yuksel T,et al.Identifying affordances of physical manipulative tools for the design of visuo-haptic simulations[C]//Proceedings of the ASEE Annual Conference&Exposition.Washington D C:ASEE Press,2017:Board No.39
[116]Magana A J,Balachandran S.Unpacking students’conceptualizations through haptic feedback[J].Journal of Computer Assisted Learning,2017,33(5):513-531
[117]Shaikh U A S,Magana A J,Neri L,et al.Undergraduate students’conceptual interpretation and perceptions of haptic-enabled learning experiences[J].International Journal of Educational Technology in Higher Education,2017,14:15
[118]van Erp J B F,van Veen H A H C,Jansen C,et al.Waypoint navigation with a vibrotactile waist belt[J].ACM Transactions on Applied Perception,2005,2(2):106-117
[119]Spelmezan D.An investigation into the use of tactile instructions in snowboarding[C]//Proceedings of the 14th International Conference on Human-Computer Interaction with Mobile Devices and Services.New York:ACM Press,2012:417-426
[120]King C H,Culjat M O,Franco M L,et al.Tactile feedback induces reduced grasping force in robot-assisted surgery[J].IEEE Transactions on Haptics,2009,2(2):103-110
[121]Culjat M,King C H,Franco M,et al.Pneumatic balloon actuators for tactile feedback in robotic surgery[J].Industrial Robot,2008,35(5):449-455
[122]Mcmahan W,Gewirtz J,Standish D,et al.Tool contact acceleration feedback for telerobotic surgery[J].IEEE Transactions on Haptics,2011,4(3):210-220
[123]Wottawa C R,Genovese B,Nowroozi B N,et al.Evaluating tactile feedback in robotic surgery for potential clinical application using an animal model[J].Surgical Endoscopy,2016,30(8):3198-3209
[124]van der Putten E W,Hajian M,Goossens R,et al.A laparoscopic grasper handle with integrated augmented tactile feedback,designed for training grasp control[C]//Proceedings of the 2010 International Conference on Haptics-Generating and Perceiving Tangible Sensations:Part II.Heidelberg:Springer,2010:243-250
[125]Mehrizi A A,Najarian S,Khodambashi R,et al.A novel method of tactile assessment of arteries using computational approach[J].International Journal of Academic Research,2011,3(2):1059
[126]Mehrizi A A,Najarian S,Moini M,et al.A novel method in exploration of arteries inside a tissue and assessment of the arteries by computational approach[C]//Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Los Alamitos:IEEE Computer Society Press,2010:932-936
[127]Afshari E,Najarian S,Simforoosh N,et al.Evaluation of a new method for detection of kidney stone during laparoscopy using 3D conceptual modeling[J].International Journal of Biomedical and Biological Engineering,2009,3(5):52-57
[128]Afshari E,Najarian S,Simforoosh N.Application of artificial tactile sensing approach in kidney-stone-removal laparoscopy[J].Biomedical Materials and Engineering,2010,20(5):261-267
[129]Afshari E,Najarian S.Modeling and analysis of the effects of nephrolithiasis in kidney using a computational tactile sensing approach[J].International Journal of Biomedical and Biological Engineering,2009,3(5):31-34
[130]Pacchierotti C,Prattichizzo D,Kuchenbecker K J,et al.Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery[J].IEEE Transactions on Biomedical Engineering,2016,63(2):278-287
[131]Mckinley S,Garg A,Sen S,et al.A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery[C]//Proceedings of the IEEE International Conference on Automation Science and Engineering.Los Alamitos:IEEE Computer Society Press,2015:1151-1158
[132]Liu H B,Li J C,Song X J,et al.Rolling indentation probe for tissue abnormality identification during minimally invasive surgery[J].IEEE Transactions on Robotics,2011,27(3):450-460
[133]Li M,Luo S,Nanayakkara T,et al.Multi-fingered haptic palpation using pneumatic feedback actuators[J].Sensors and Actuators A:Physical,2014,218:132-141
[134]Tiwana M I,Redmond S J,Lovell N H.A review of tactile sensing technologies with applications in biomedical engineering[J].Sensors and Actuators A:Physical,2012,179:17-31
[135]Peterson J.Introduction to sure touch for clinicians[OL].[2018-02-01].https://static1.squarespace.com/static/58dbb-56d6b8f5bc401f33ab9/t/58dd26453e00be49e40abc2d/1490888277585/SureTouch_Physician_Introduction.pdf.
[136]Wu Xinli,Zhu Panfei,Yang Wenzhen,et al.Layered electro-magnetic refreshable braille display with haptic rendering[J].Journal of System Simulation,2016,28(9):2220-2226(in Chinese)(吴新丽,祝盼飞,杨文珍,等.触觉再现的分层电磁式盲文点显器[J].系统仿真学报,2016,28(9):2220-2226)
[137]Borenstein J,Ulrich I.The GuideCane-a computerized travel aid for the active guidance of blind pedestrians[C]//Proceedings of International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,1997,2:1283-1288
[138]Dewhurst D.Accessing audiotactile images with HFVE silooet[C]//Proceedings of International Conference on Haptic and Audio Interaction Design.Heidelberg:Springer,2009,5763:61-70
[139]Dewhurst D.Creating and accessing audiotactile images with“HFVE”vision substitution software[C]//Proceedings of the3rd Interactive Sonification Workshop.Stockholm:KTHPress,2010:101-104
[140]Hasanuzzaman F M,Yang X D,Tian Y L.Robust and effective component-based banknote recognition for the blind[J].IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications and Reviews),2012,42(6):1021-1030
[141]O’Modhrain S,Oakley I.Touch TV:adding feeling to broadcast media[C]//Proceedings of European Conference on Interactive Television:from Viewers to Actors.Brighton:University of Brighton Press,2003:41-47
[142]Ablart D,Velasco C,Obrist M.Integrating mid-air haptics into movie experiences[C]//Proceedings of the ACM International Conference on Interactive Experiences for TV and Online Video.New York:ACM Press,2017:77-84
[143]Israr A,Poupyrev I.Tactile brush:drawing on skin with a tactile grid display[C]//Proceedings of the SIGCHI Conference on Human Factors in Computing Systems.New York:ACMPress,2011:2019-2028
[144]Schneider O S,Israr A,Maclean K E.Tactile animation by direct manipulation of grid displays[C]//Proceedings of the28th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2015:21-30
[145]Mazzoni A,Bryan-Kinns N.Mood glove:a haptic wearable prototype system to enhance mood music in film[J].Entertainment Computing,2016,17:9-17
[2]Sinapov J,Sukhoy V,Sahai R,et al.Vibrotactile recognition and categorization of surfaces by a humanoid robot[J].IEEETransactions on Robotics,2011,27(3):488-497
[3]Gault R H.Progress in experiments on tactual interpretation of oral speech[J].Journal of Abnormal Psychology and Social Psychology,1924,19(2):155-159
[4]Dahiya R S,Metta G,Valle M,et al.Tactile sensing:from humans to humanoids[J].IEEE Transactions on Robotics,2010,26(1):1-20
[5]Culbertson H,Delgado J J L,Kuchenbecker K J.One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2014:319-325
[6]Ucar E,Ustunel H,Civelek T,et al.Effects of using a force feedback haptic augmented simulation on the attitudes of the gifted students towards studying chemical bonds in virtual reality environment[J].Behaviour&Information Technology,2016,36(5):540-547
[7]Goodwin A W,John K T,Marceglia A H.Tactile discrimination of curvature by humans using only cutaneous information from the fingerpads[J].Experimental Brain Research,1991,86(3):663-672
[8]Kappers A M L.Human perception of shape from touch[J].Philosophical Transactions of the Royal Society of London,2011,366(1581):3106-3114
[9]Kappers A M L,Bergmann Tiest W M.Haptic size aftereffects revisited[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:335-339
[10]Kappers A M L,Bergmann Tiest W M.Influence of shape on the haptic size aftereffect[J].PLoS ONE,2014,9(2):e88729
[11]Hollins M,Bensmaia S,Karlof K,et al.Individual differences in perceptual space for tactile textures:evidence from multidimensional scaling[J].Perception&Psychophysics,2000,62(8):1534-1544
[12]Johansson R S,Landstr?m U,Lundstr?m R.Responses of mechanoreceptive afferent units in the glabrous skin of the human hand to sinusoidal skin displacements[J].Brain Research,1982,244(1):17-25
[13]Klatzky R L,Lederman S J.Tactile roughness perception with a rigid link interposed between skin and surface[J].Perception&Psychophysics,1999,61(4):591-607
[14]Lederman S J,Klatzky R L,Hamilton C L,et al.Perceiving roughness via a rigid probe:psychophysical effects of exploration speed and mode of touch[J].Haptics-e:The Electronic Journal of Haptic Research,1999,1:1-20
[15]Minsky M,Ming O-Y,Steele O,et al.Feeling and seeing:issues in force display[J].ACM SIGGRAPH Computer Graphics,1990,24(2):235-241
[16]Minsky M,Lederman S J.Simulated haptic textures:roughness[J].ASME Dynamics Systems and Control Division,1996,58:421-426
[17]Yoshioka T,Bensmaia S J,Craig J C,et al.Texture perception through direct and indirect touch:an analysis of perceptual space for tactile textures in two modes of exploration[J].Somatosensory&Motor Research,2007,24(1/2):53-70
[18]Messaoud W B,Bueno M A,Lemaire-Semail B.Relation between human perceived friction and finger friction characteristics[J].Tribology International,2016,98:261-269
[19]van Kuilenburg J,Masen M A,van der Heide E.A review of fingerpad contact mechanics and friction and how this affects tactile perception[J].Proceedings of the Institution of Mechanical Engineers,Part J:Journal of Engineering Tribology,2015,229(3):243-258
[20]Zhang Xiaolong,Lyu Fei,Cheng Shiwei.Interaction paradigm in intelligent systems[J].Scientia Sinica:Informationis,2018,48(4):406-418(in Chinese)(张小龙,吕菲,程时伟.智能时代的人机交互范式[J].中国科学:信息科学,2018,48(4):406-418)
[21]Okamura A M,Cutkosky M R,Dennerlein J T.Reality-based models for vibration feedback in virtual environments[J].IEEE/ASME Transactions on Mechatronics,2001,6(3):245-252
[22]Choi S,Kuchenbecker K J.Vibrotactile display:perception,technology,and applications[J].Proceedings of the IEEE,2013,101(9):2093-2104
[23]Jones L A,Lederman S J.Human hand function[M].Oxford:Oxford University Press,2006
[24]Ko S M,Lee K,Kim D,et al.Vibrotactile perception assessment for a haptic interface on an antigravity suit[J].Applied Ergonomics,2017,58:198-207
[25]Yannier N,Israr A,Lehman J F,et al.FeelSleeve:haptic feedback to enhance early reading[C]//Proceedings of the33rd Annual ACM Conference on Human Factors in Computing Systems.New York:ACM Press,2015:1015-1024
[26]Mullenbach J,Shultz C,Piper A M,et al.Surface haptic interactions with a TPad tablet[C]//Proceedings of the Adjunct Publication of the 26th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2013:7-8
[27]Winfield L,Glassmire J,Edward Colgate J,et al.T-PaD:tactile pattern display through variable friction reduction[C]//Proceedings of the 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2007:421-426
[28]Lim J M,Jeong H T.Force and displacement analysis of a haptic touchscreen[C]//Proceedings of the IEEE International Conference on Consumer Electronics.Los Alamitos:IEEEComputer Society Press,2015:589-591
[29]Bau O,Poupyrev I,Israr A,et al.TeslaTouch:electrovibration for touch surfaces[C]//Proceedings of the 23nd Annual ACMSymposium on User Interface Software and Technology.New York:ACM Press,2010:283-292
[30]Yoshimoto S,Kuroda Y,Imura M,et al.Material roughness modulation via electrotactile augmentation[J].IEEE Transactions on Haptics,2015,8(2):199-208
[31]Vardar Y,??leyen A,Saleem M K,et al.Roughness perception of virtual textures displayed by electrovibration on touch screens[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2017:263-268
[32]Vardar Y,Guclu B,Basdogan C.Effect of waveform on tactile perception by electrovibration displayed on touch screens[J].IEEE Transactions on Haptics,2017,10(4):488-499
[33]Stanley A A,Gwilliam J C,Okamura A M.Haptic jamming:a deformable geometry,variable stiffness tactile display using pneumatics and particle jamming[C]//Proceedings of World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:25-30
[34]Sodhi R,Poupyrev I,Glisson M,et al.AIREAL:interactive tactile experiences in free air[J].ACM Transactions on Graphics,2013,32(4):Article No.134
[35]Kuchenbecker K J,Romano J,Mcmahan W.Haptography:capturing and recreating the rich feel of real surfaces[J].Robotics Research,2011,70:245-260
[36]Andrews S,Lang J.Interactive scanning of haptic textures and surface compliance[C]//Proceedings of the 6th International Conference on 3D Digital Imaging and Modeling.Los Alamitos:IEEE Computer Society Press,2007:99-106
[37]Pai D K,van den Doel K,James D L,et al.Scanning physical interaction behavior of 3D objects[C]//Proceedings of the28th Annual Conference on Computer Graphics and Interactive Techniques.New York:ACM Press,2001:87-96
[38]Kry P G,Pai D K.Interaction capture and synthesis[J].ACMTransactions on Graphics,2006,25(3):872-880
[39]Wall S S,Harwin W S.Modelling of surface identifying characteristics using Fourier series[C]//Proceedings of the Winter Annual Meeting of ASMEDSC-ASME Dynamic Systems and Control Division.New York:ASME Press,1999:65-71
[40]Maclean K E.The“haptic camera”:a technique for characterizing and playing back haptic properties of real environments[C]//Proceedings of the ASME Dynamic Systems and Control Division.New York:ASME Press,1996,58:459-467
[41]Vasudevan H,Manivannan M.Recordable Haptic textures[C]//Proceedings of the IEEE International Workshop on Haptic Audio Visual Environments and Their Applications.Los Alamitos:IEEE Computer Society Press,2006:130-133
[42]Kuchenbecker K J.Haptography:capturing the feel of real objects to enable authentic haptic rendering(invited paper)[C]//Proceedings of the Ambi-Sys Workshop on Haptic User Interfaces in Ambient Media Systems.Brussels:ICST Press,2008:Article No.3
[43]Pai D K,Rizun P.The WHaT:a wireless haptic texture sensor[C]//Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2003:3
[44]Romano J M,Yoshioka T,Kuchenbecker K J.Automatic filter design for synthesis of haptic textures from recorded acceleration data[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEEComputer Society Press,2010:1815-1821
[45]Bell J,Bolanowski S,Holmes M H.The structure and function of Pacinian corpuscles:a review[J].Progress in Neurobiology,1994,42(1):79-128
[46]Landin N,Romano J M,Mcmahan W,et al.Dimensional reduction of high-frequency accelerations for haptic rendering[C]//Proceedings of the International Conference on Haptics.Heidelberg:Springer,2010,Part II:79-86
[47]Romano J M,Kuchenbecker K J.Creating realistic virtual textures from contact acceleration data[J].IEEE Transactions on Haptics,2012,5(2):109-119
[48]Culbertson H,Romano J M,Castillo P,et al.Refined methods for creating realistic haptic virtual textures from tool-mediated contact acceleration data[C]//Proceedings of the IEEE Haptics Symposium.Los Alamitos:IEEE Computer Society Press,2012:385-391
[49]Song Tao,Wang Dangxiao,Wang Zhixiang.Haptic camera:device to acquire surface properties of real object[J].Journal of System Simulation,2012,24(1):26-29+43(in Chinese)(宋涛,王党校,王治翔.触觉照相机:表面力觉属性采集装置[J].系统仿真学报,2012,24(1):26-29+43)
[50]Chen Hui,Song Aiguo.Master and slave system design of a dexterous hand with force and tactile telepresence[J].Robot,1998,20(6):437-441(in Chinese)(陈辉,宋爱国.带有力觉和触觉临场感的灵巧手主从系统的设计[J].机器人,1998,20(6):437-441)
[51]Chitta S,Piccoli M,Sturm J.Tactile object class and internal state recognition for mobile manipulation[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2010:2342-2348
[52]Qin Lan,Li Qing,Sun Xiankui.Research on new tactile sensing costume of intelligent robots[J].Chinese Journal of Sensors and Actuators,2006,19(3):824-827(in Chinese)(秦岚,李青,孙先逵.一种新型智能机器人触觉传感服装的研究[J].传感技术学报,2006,19(3):824-827)
[53]Chu V,Mcmahon I,Riano L,et al.Using robotic exploratory procedures to learn the meaning of haptic adjectives[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2013:3048-3055
[54]Wang Dangxiao,Jiao Jian,Zhang Yuru,et al.Computer haptics:haptic modeling and rendering in virtual reality environments[J].Journal of Computer-Aided Design&Computer Graphics,2016,28(6):881-895(in Chinese)(王党校,焦健,张玉茹,等.计算机触觉:虚拟现实环境的力触觉建模和生成[J].计算机辅助设计与图形学学报,2016,28(6):881-895)
[55]Culbertson H,Unwin J,Goodman B E,et al.Generating haptic texture models from unconstrained tool-surface interactions[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:295-300
[56]Strese M,Lee J Y,Schuwerk C,et al.A haptic texture database for tool-mediated texture recognition and classification[C]//Proceedings of the IEEE International Symposium on Haptic,Audio and Visual Environments and Games.Los Alamitos:IEEE Computer Society Press,2014:118-123
[57]Strese M,Schuwerk C,Steinbach E.Surface classification using acceleration signals recorded during human free-hand movement[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:214-219
[58]Strese M,Schuwerk C,Iepure A,et al.Multimodal feature-based surface material classification[J].IEEE Transactions on Haptics,2017,10(2):226-239
[59]Steinbach E,Hirche S,Kammerl J,et al.Haptic data compression and communication[J].IEEE Signal Processing Magazine,2011,28(1):87-96
[60]Sakr N,Zhou J,Georganas N D,et al.Robust perception-based data reduction and transmission in telehaptic systems[C]//Proceedings of the World Haptics 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEE Computer Society Press,2009:214-219
[61]Sakr N,Zhou J L,Georganas N D,et al.Prediction-based haptic data reduction and transmission in telementoring systems[J].IEEE Transactions on Instrumentation and Measurement,2009,58(5):1727-1736
[62]Lee J Y,Payandeh S.Performance evaluation of haptic data compression methods in teleoperation systems[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2011:137-142
[63]Guo Fenghua,Zhang Caiming.Haptic data compression by curve fitting[J].Journal of Computer-Aided Design&Computer Graphics,2015,27(3):508-513(in Chinese)(郭凤华,张彩明.利用曲线拟合对触觉数据的压缩[J].计算机辅助设计与图形学学报,2015,27(3):508-513)
[64]Lang J,Andrews S.Measurement-based modeling of contact forces and textures for haptic rendering[J].IEEE Transactions on Visualization and Computer Graphics,2011,17(3):380-391
[65]Okamura A M,Dennerlein J T,Howe R D.Vibration feedback models for virtual environments[C]//Proceedings of the IEEEInternational Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,1998,1:674-679
[66]Guruswamy V L,Lang J,Lee W S.Modelling of haptic vibration textures with infinite-impulse-response filters[C]//Proceedings of the IEEE International Workshop on Haptic Audio Visual Environments and Games.Los Alamitos:IEEEComputer Society Press,2009:105-110
[67]Guruswamy V L,Lang J,Lee W S.IIR filter models of haptic vibration textures[J].IEEE Transactions on Instrumentation and Measurement,2010,60(1):93-103
[68]Yan Y Y,Ruthenbeck G S,Reynolds K J.Hapteo:sharing visual-haptic experiences from virtual environments[C]//Proceedings of the IEEE Haptics Symposium.Los Alamitos:IEEE Computer Society Press,2014:257-262
[69]Tawfique Z.Tool-mediated texture recognition using convolutional neural network[R].Uppsala:Uppsala University.Department of Information Technology,2016
[70]Ji M Q,Fang L,Zheng H T,et al.Preprocessing-free surface material classification using convolutional neural networks pretrained by sparse Autoencoder[C]//Proceedings of the 25th IEEE International Workshop on Machine Learning for Signal Processing.Los Alamitos:IEEE Computer Society Press,2015:1-6
[71]Abdulali A,Hassan W,Jeon S.Sample selection of multi-trial data for data-driven haptic texture modeling[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEEComputer Society Press,2017:66-71
[72]Basdogan C,Ho C H,Srinivasan M A.A ray-based haptic rendering technique for displaying shape and texture of 3Dobjects in virtual environments[C]//Proceedings of the ASMEDynamic Systems and Control Division.New York:ASMEPress,1997,61:77-84
[73]Costa M A,Cutkosky M R.Roughness perception of haptically displayed fractal surfaces[C]//Proceedings of ASMEInternational Mechanical Engineering Congress and Exposition-Dynamic Systems and Control Haptics Symposium.New York:ASME Press,2000:1-7
[74]Wu Juan,Song Zhenzhong,Wu Weixiong,et al.Design of image vibrotactile display system for the blind[J].Journal of Southeast University:Natural Science Edition,2011,41(5):973-977(in Chinese)(吴涓,宋振中,吴伟雄,等.用于盲人的图像振动触觉显示系统设计[J].东南大学学报:自然科学版,2011,41(5):973-977)
[75]Kim S C,Israr A,Poupyrev I.Tactile rendering of 3D features on touch surfaces[C]//Proceedings of the 26th Annual ACMSymposium on User Interface Software and Technology.New York:ACM Press,2013:531-538
[76]Tian Lei,Song Aiguo,Wang Wei.Research on the image haptic display method based on PDE[J].Chinese Journal of Scientific Instrument,2013,34(10):2316-2321(in Chinese)(田磊,宋爱国,王蔚.基于PDE方法的图像力触觉再现方法研究[J].仪器仪表学报,2013,34(10):2316-2321)
[77]Wang Tingting.Research on tactile feature modeling and extraction of 2D image[D].Changchun:Jilin University.College of Communication Engineering,2016(in Chinese)(王婷婷.二维图像的触觉特征建模与提取技术研究[D].长春:吉林大学通信工程学院,2016)
[78]Li Jialu,Song Aiguo,Wu Juan,et al.Research on the method of haptic texture display based on SFS[J].Chinese Journal of Scientific Instrument,2010,31(4):812-817(in Chinese)(李佳璐,宋爱国,吴涓,等.基于SFS技术的纹理力触觉再现方法研究[J].仪器仪表学报,2010,31(4):812-817)
[79]Kim J R,Shin S.Touch3D:touchscreen interaction on multiscopic 3D with electrovibration haptics[C]//Proceedings of ACM SIGGRAPH Posters.New York:ACM Press,2017:Article No.51
[80]Saga S,Raskar R.Simultaneous geometry and texture display based on lateral force for touchscreen[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2013:437-442
[81]Saga S,Deguchi K.Lateral-force-based 2.5-dimensional tactile display for touch screen[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2012:15-22
[82]Vasudevan H,Manivannan M.Tangible images:runtime generation of haptic textures from images[C]//Proceedings of International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos:IEEEComputer Society Press,2008:357-360
[83]Adi W,Sulaiman S.Texture classification using wavelet extraction:an approach to haptic texture searching[C]//Proceedings of the Innovative Technologies in Intelligent Systems and Industrial Applications.Los Alamitos:IEEEComputer Society Press,2009:434-439
[84]Li Jialu,Song Aiguo,Zhang Xiaorui.A method of haptic texture rendering color image[J].Journal of Computer-Aided Design&Computer Graphics.2011,23(4):719-724(in Chinese)(李佳璐,宋爱国,张小瑞.彩色图像的纹理力/触觉渲染方法[J].计算机辅助设计与图形学学报,2011,23(4):719-724)
[85]Leithinger D,Ishii H.Relief:a scalable actuated shape display[C]//Proceedings of the 4th International Conference on Tangible,Embodied and Embedded Interaction.New York:ACM Press,2010:221-222
[86]Heibeck F,Hope A,Legault J.Sensory fiction:a design fiction of emotional computation[C]//Proceedings of the 2nd ACM International Workshop on Immersive Media Experiences.New York:ACM Press,2014:35-40
[87]Zhao S Y,Lehman J,Israr A,et al.Using haptic inputs to enrich story listening for young children[C]//Proceedings of the14th International Conference on Interaction Design and Children.New York:ACM Press,2015:239-242
[88]Wang Q L,Ren X S,Sun X Y.Enhancing pen-based interaction using electrovibration and vibration haptic feedback[C]//Proceedings of International Conference on Human Factors in Computing Systems.New York:ACM Press,2017:3746-3750
[89]Yatani K,Truong K N.SemFeel:a user interface with semantic tactile feedback for mobile touch-screen devices[C]//Proceedings of the 22nd Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2009:111-120
[90]Kyung K U,Lee J Y.WUbi-Pen:windows graphical user interface interacting with haptic feedback stylus[C]//Proceedings of ACM SIGGRAPH 2008 New Tech Demos.New York:ACM Press,2008:Article No.42
[91]Kim Y,Cha J,Oakley I,et al.Exploring tactile movies:an initial tactile glove design and concept evaluation[J].IEEEMultimedia,2009,16(3):34-44
[92]Stanley A A,Okamura A M.Controllable surface haptics via particle jamming and pneumatics[J].IEEE Transactions on Haptics,2015,8(1):20-30
[93]Long B,Seah S A,Carter T,et al.Rendering volumetric haptic shapes in mid-air using ultrasound[J].ACM Transactions on Graphics,2014,33(6):Article No.181
[94]Marchuk N D,Colgate J E,Peshkin M A.Friction measurements on a large area TPaD[C]//Proceedings of the IEEEHaptics Symposium.Los Alamitos:IEEE Computer Society Press,2010:317-320
[95]Bau O,Poupyrev I.REVEL:tactile feedback technology for augmented reality[J].ACM Transactions on Graphics,2012,31(4):Article No.89
[96]Lee J C,Dietz P H,Leigh D,et al.Haptic pen:a tactile feedback stylus for touch screens[C]//Proceedings of the 17th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2004:291-294
[97]Wang Q L,Ren X S,Sarcar S,et al.EV-Pen:leveraging electrovibration haptic feedback in pen interaction[C]//Proceedings of the ACM International Conference on Interactive Surfaces and Spaces.New York:ACM Press,2016:57-66
[98]Sarakoglou I,Garcia-Hernandez N,Tsagarakis N,et al.Ahigh performance tactile feedback display and its integration in teleoperation[J].IEEE Transactions on Haptics,2012,5(3):252-263
[99]Bianchi M,Battaglia E,Poggiani M,et al.A wearable fabric-based display for haptic multi-cue delivery[C]//Proceedings of Haptics Symposium.Los Alamitos:IEEEComputer Society Press,2016:277-283
[100]Bloomfield A,Badler N I.Virtual training via vibrotactile arrays[J].Presence:Teleoperators and Virtual Environments,2008,17(2):103-120
[101]Chang W,Hwang W,Ji Y G.Haptic seat interfaces for driver information and warning systems[J].International Journal of Human Computer Interaction,2011,27(12):1119-1132
[102]Leithinger D,Follmer S,Olwal A,et al.Physical telepresence:shape capture and display for embodied,computer-mediated remote collaboration[C]//Proceedings of the 27th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2014:461-470
[103]Follmer S,Leithinger D,Olwal A,et al.InFORM:dynamic physical affordances and constraints through shape and object actuation[C]//Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2013:417-426
[104]Leithinger D,Lakatos D,DeVincenzi A,et al.Direct and gestural interaction with relief:a 2.5D shape display[C]//Proceedings of the 24th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2011:541-548
[105]Leithinger D,Follmer S,Olwal A,et al.Sublimate:statechanging virtual and physical rendering to augment interaction with shape displays[C]//Proceedings of the SIGCHIConference on Human Factors in Computing Systems.New York:ACM Press,2013:1441-1450
[106]Stanley A A,Hata K,Okamura A M.Closed-loop shape control of a haptic jamming deformable surface[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,2016:2718-2724
[107]Makino Y,Furuyama Y,Inoue S,et al.HaptoClone(haptic-optical clone)for mutual tele-environment by real-time 3Dimage transfer with midair force feedback[C]//Proceedings of the CHI Conference on Human Factors in Computing Systems.New York:ACM Press,2016:1980-1990
[108]Monnai Y,Hasegawa K,Fujiwara M,et al.HaptoMime:mid-air haptic interaction with a floating virtual screen[C]//Proceedings of the 27th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2014:663-667
[109]Lee H,Kim J S,Choi S,et al.Mid-air tactile stimulation using laser-induced thermoelastic effects:the first study for indirect radiation[C]//Proceedings of the IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:374-380
[110]Culbertson H,Unwin J,Kuchenbecker K J.Modeling and rendering realistic textures from unconstrained tool-surface interactions[J].IEEE Transactions on Haptics,2014,7(3):381-393
[111]Shin S,Osgouei R H,Kim K D,et al.Data-driven modeling of isotropic haptic textures using frequency-decomposed neural networks[C]//Proceedings of IEEE World Haptics Conference.Los Alamitos:IEEE Computer Society Press,2015:131-138
[112]Webb M,Tracey M,Harwin W,et al.The potential for haptic-enabled interaction to support collaborative learning in school biology[C]//Proceedings of Society for Information Technology&Teacher Education International Conference.Chesapeake:AACE Press,2017:927-935
[113]Davis R L,Martinez M O,Schneider O,et al.The haptic bridge:towards a theory for haptic-supported learning[C]//Proceedings of the Conference on Interaction Design and Children.New York:ACM Press,2017:51-60
[114]?zgür A,Johal W,Mondada F,et al.Windfield:demonstrating wind meteorology with handheld haptic robots[C]//Proceedings of the Companion of the ACM/IEEE International Conference on Human-Robot Interaction.New York:ACM Press,2017:48-49
[115]Walsh Y,Magana A J,Yuksel T,et al.Identifying affordances of physical manipulative tools for the design of visuo-haptic simulations[C]//Proceedings of the ASEE Annual Conference&Exposition.Washington D C:ASEE Press,2017:Board No.39
[116]Magana A J,Balachandran S.Unpacking students’conceptualizations through haptic feedback[J].Journal of Computer Assisted Learning,2017,33(5):513-531
[117]Shaikh U A S,Magana A J,Neri L,et al.Undergraduate students’conceptual interpretation and perceptions of haptic-enabled learning experiences[J].International Journal of Educational Technology in Higher Education,2017,14:15
[118]van Erp J B F,van Veen H A H C,Jansen C,et al.Waypoint navigation with a vibrotactile waist belt[J].ACM Transactions on Applied Perception,2005,2(2):106-117
[119]Spelmezan D.An investigation into the use of tactile instructions in snowboarding[C]//Proceedings of the 14th International Conference on Human-Computer Interaction with Mobile Devices and Services.New York:ACM Press,2012:417-426
[120]King C H,Culjat M O,Franco M L,et al.Tactile feedback induces reduced grasping force in robot-assisted surgery[J].IEEE Transactions on Haptics,2009,2(2):103-110
[121]Culjat M,King C H,Franco M,et al.Pneumatic balloon actuators for tactile feedback in robotic surgery[J].Industrial Robot,2008,35(5):449-455
[122]Mcmahan W,Gewirtz J,Standish D,et al.Tool contact acceleration feedback for telerobotic surgery[J].IEEE Transactions on Haptics,2011,4(3):210-220
[123]Wottawa C R,Genovese B,Nowroozi B N,et al.Evaluating tactile feedback in robotic surgery for potential clinical application using an animal model[J].Surgical Endoscopy,2016,30(8):3198-3209
[124]van der Putten E W,Hajian M,Goossens R,et al.A laparoscopic grasper handle with integrated augmented tactile feedback,designed for training grasp control[C]//Proceedings of the 2010 International Conference on Haptics-Generating and Perceiving Tangible Sensations:Part II.Heidelberg:Springer,2010:243-250
[125]Mehrizi A A,Najarian S,Khodambashi R,et al.A novel method of tactile assessment of arteries using computational approach[J].International Journal of Academic Research,2011,3(2):1059
[126]Mehrizi A A,Najarian S,Moini M,et al.A novel method in exploration of arteries inside a tissue and assessment of the arteries by computational approach[C]//Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Los Alamitos:IEEE Computer Society Press,2010:932-936
[127]Afshari E,Najarian S,Simforoosh N,et al.Evaluation of a new method for detection of kidney stone during laparoscopy using 3D conceptual modeling[J].International Journal of Biomedical and Biological Engineering,2009,3(5):52-57
[128]Afshari E,Najarian S,Simforoosh N.Application of artificial tactile sensing approach in kidney-stone-removal laparoscopy[J].Biomedical Materials and Engineering,2010,20(5):261-267
[129]Afshari E,Najarian S.Modeling and analysis of the effects of nephrolithiasis in kidney using a computational tactile sensing approach[J].International Journal of Biomedical and Biological Engineering,2009,3(5):31-34
[130]Pacchierotti C,Prattichizzo D,Kuchenbecker K J,et al.Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery[J].IEEE Transactions on Biomedical Engineering,2016,63(2):278-287
[131]Mckinley S,Garg A,Sen S,et al.A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery[C]//Proceedings of the IEEE International Conference on Automation Science and Engineering.Los Alamitos:IEEE Computer Society Press,2015:1151-1158
[132]Liu H B,Li J C,Song X J,et al.Rolling indentation probe for tissue abnormality identification during minimally invasive surgery[J].IEEE Transactions on Robotics,2011,27(3):450-460
[133]Li M,Luo S,Nanayakkara T,et al.Multi-fingered haptic palpation using pneumatic feedback actuators[J].Sensors and Actuators A:Physical,2014,218:132-141
[134]Tiwana M I,Redmond S J,Lovell N H.A review of tactile sensing technologies with applications in biomedical engineering[J].Sensors and Actuators A:Physical,2012,179:17-31
[135]Peterson J.Introduction to sure touch for clinicians[OL].[2018-02-01].https://static1.squarespace.com/static/58dbb-56d6b8f5bc401f33ab9/t/58dd26453e00be49e40abc2d/1490888277585/SureTouch_Physician_Introduction.pdf.
[136]Wu Xinli,Zhu Panfei,Yang Wenzhen,et al.Layered electro-magnetic refreshable braille display with haptic rendering[J].Journal of System Simulation,2016,28(9):2220-2226(in Chinese)(吴新丽,祝盼飞,杨文珍,等.触觉再现的分层电磁式盲文点显器[J].系统仿真学报,2016,28(9):2220-2226)
[137]Borenstein J,Ulrich I.The GuideCane-a computerized travel aid for the active guidance of blind pedestrians[C]//Proceedings of International Conference on Robotics and Automation.Los Alamitos:IEEE Computer Society Press,1997,2:1283-1288
[138]Dewhurst D.Accessing audiotactile images with HFVE silooet[C]//Proceedings of International Conference on Haptic and Audio Interaction Design.Heidelberg:Springer,2009,5763:61-70
[139]Dewhurst D.Creating and accessing audiotactile images with“HFVE”vision substitution software[C]//Proceedings of the3rd Interactive Sonification Workshop.Stockholm:KTHPress,2010:101-104
[140]Hasanuzzaman F M,Yang X D,Tian Y L.Robust and effective component-based banknote recognition for the blind[J].IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications and Reviews),2012,42(6):1021-1030
[141]O’Modhrain S,Oakley I.Touch TV:adding feeling to broadcast media[C]//Proceedings of European Conference on Interactive Television:from Viewers to Actors.Brighton:University of Brighton Press,2003:41-47
[142]Ablart D,Velasco C,Obrist M.Integrating mid-air haptics into movie experiences[C]//Proceedings of the ACM International Conference on Interactive Experiences for TV and Online Video.New York:ACM Press,2017:77-84
[143]Israr A,Poupyrev I.Tactile brush:drawing on skin with a tactile grid display[C]//Proceedings of the SIGCHI Conference on Human Factors in Computing Systems.New York:ACMPress,2011:2019-2028
[144]Schneider O S,Israr A,Maclean K E.Tactile animation by direct manipulation of grid displays[C]//Proceedings of the28th Annual ACM Symposium on User Interface Software and Technology.New York:ACM Press,2015:21-30
[145]Mazzoni A,Bryan-Kinns N.Mood glove:a haptic wearable prototype system to enhance mood music in film[J].Entertainment Computing,2016,17:9-17