Haptics: Generating and Perceiving Tangible Sensations: International Conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010. Proceedings, Part I

403 Pages·2010·12.95 MB·English

by  Gunter Hannig

Lecture Notes in Computer Science 6191
CommencedPublicationin1973
FoundingandFormerSeriesEditors:
GerhardGoos,JurisHartmanis,andJanvanLeeuwen
EditorialBoard
DavidHutchison
LancasterUniversity,UK
TakeoKanade
CarnegieMellonUniversity,Pittsburgh,PA,USA
JosefKittler
UniversityofSurrey,Guildford,UK
JonM.Kleinberg
CornellUniversity,Ithaca,NY,USA
AlfredKobsa
UniversityofCalifornia,Irvine,CA,USA
FriedemannMattern
ETHZurich,Switzerland
JohnC.Mitchell
StanfordUniversity,CA,USA
MoniNaor
WeizmannInstituteofScience,Rehovot,Israel
OscarNierstrasz
UniversityofBern,Switzerland
C.PanduRangan
IndianInstituteofTechnology,Madras,India
BernhardSteffen
TUDortmundUniversity,Germany
MadhuSudan
MicrosoftResearch,Cambridge,MA,USA
DemetriTerzopoulos
UniversityofCalifornia,LosAngeles,CA,USA
DougTygar
UniversityofCalifornia,Berkeley,CA,USA
GerhardWeikum
Max-PlanckInstituteofComputerScience,Saarbruecken,Germany
Astrid M.L. Kappers
Jan B.F. van Erp
Wouter M. Bergmann Tiest
Frans C.T. van der Helm (Eds.)
Haptics:
Generating and Perceiving
Tangible Sensations
International Conference, EuroHaptics 2010
Amsterdam, July 8-10, 2010
Proceedings, Part I
1 3
VolumeEditors
AstridM.L.Kappers
HelmholtzInstitute,UtrechtUniversity
Padualaan8,3584CHUtrecht,TheNetherlands
E-mail:[email protected]
JanB.F.vanErp
TNOHumanFactors
POBox23,3769ZGSoesterberg,TheNetherlands
E-mail:[email protected]
WouterM.BergmannTiest
HelmholtzInstitute,UtrechtUniversity
Padualaan8,3584CHUtrecht,TheNetherlands
E-mail:[email protected]
FransC.T.vanderHelm
DelftUniversityofTechnology
Mekelweg2,2628CDDelft,TheNetherlands
E-mail:[email protected]
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CRSubjectClassification(1998):H.1.2,I.6,C.3,H.5,I.2.6,I.2
LNCSSublibrary:SL3–InformationSystemsandApplication,incl.Internet/Web
andHCI
ISSN 0302-9743
ISBN-10 3-642-14063-7SpringerBerlinHeidelbergNewYork
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Preface
Welcome to the proceedingsof EuroHaptics 2010. EuroHaptics is the major interna-
tionalconferenceandtheprimaryEuropeanmeetingforresearchersinthefieldofhu-
manhapticsensing andtouch-enabledcomputerapplications.We were proudto have
receivedmoresubmissionsforpresentations,demonstrationsandspecialsessionsthan
everbefore.Thisshowsthatthetopicandtheconference’squalityandapproachappeal
toanincreasingnumberofresearchersandcompanies.
We received more than 200 submissions for oral and poster presentations, demos
andpre-conferencespecialworkshops.Ateamof25associateeditorsand241review-
ersreadthesubmissionsandadvisedthefourvolumeeditors.Weowetheassociateed-
itorsandreviewersmanythanks.Weaccepted43submissionsasoraland80asposter
presentations, 7 pre-conference workshops were approved and more than 20 demos
could be experienced ‘hands-on’ during the conference. The proceedings contain all
oralandposterpresentationpapers.Nodistinctionbetweenthetwopresentationtypes
wasmadebecauseselectionwasnotonthebasisofsubmissionqualitybutonrelevance
forabroadaudience.Wewereproudtoaddthreedistinguishedkeynotespeakerstothe
conferenceprogram:MarkErnst,RosalynDriscollandPatrickvanderSmagt.
Besidestheauthors,presentersandreviewers,wewouldliketoexpressourgratitude
to our supporting organizations,The NetherlandsOrganisation for Applied Scientific
ResearchTNO,VUUniversityAmsterdam,UtrechtUniversityandDelftUniversityof
Technology,andtooursponsors,especiallyourfourgold-levelsponsors:ForceDimen-
sion,EngineeringSystemsTechnologies,TNOandMoog.
Traditionally, EuroHaptics aims at a multidisciplinary audience from (scientific)
fieldssuchasneuroscience,perceptionandpsychophysics,renderingandsoftwareal-
gorithms, hardware developmentand applications. To further increase the multidisci-
plinary approach, we adapted a new setup for the conference program by organizing
the sessions across and not along scientific disciplines. We hope that this will further
increasethecrosstalkbetweenthedisciplinesinvolvedinhaptics,whichweconsidera
prerequisiteforthefurtherdevelopmentofthefield.Readingthroughtheproceedings
willshowyouthatthefieldisalreadymaturingrapidlyandhasabrightfutureahead.
Finally,itismyhonorandpleasuretoacknowledgetheOrganizingCommitteeand
acknowledgetheirrolesinmakingEuroHaptics2010amemorableevent:AstridKap-
pers(ProgramCommittee Chair,editor),Wouter BergmannTiest (editor,proceedings
coordinator),JeroenSmeets(localhost,treasurer),PeterWerkhoven(sponsors),Frans
vanderHelm (editor),TomPhilippi(webmaster,treasurer)andAnne-MarieBrouwer
(demosandsocialprogram).
JanvanErp
Organization
OrganizingCommittee
JanvanErp(Chair) TNOHumanFactors,Soesterberg,TheNetherlands
JeroenSmeets VUUniversity,Amsterdam,TheNetherlands
AstridKappers UtrechtUniversity,Utrecht,TheNetherlands
FransvanderHelm DelftUniversityofTechnology,Delft,
TheNetherlands
PeterWerkhoven UtrechtUniversity,Utrecht,TheNetherlands
WouterBergmannTiest UtrechtUniversity,Utrecht,TheNetherlands
Anne-MarieBrouwer TNOHumanFactors,Soesterberg,TheNetherlands
TomPhilippi UtrechtUniversity,Utrecht,TheNetherlands
Editors
AstridKappers(Editor-in-chief) UtrechtUniversity,Utrecht,TheNetherlands
JanvanErp TNOHumanFactors,Soesterberg,TheNetherlands
WouterBergmannTiest UtrechtUniversity,Utrecht,TheNetherlands
FransvanderHelm DelftUniversityofTechnology,Delft,
TheNetherlands
AssociateEditors
DavidAbbink DelftUniversityofTechnology,TheNetherlands
CagatayBasdogan Koc¸University,Turkey
SeungmoonChoi PohangUniversityofScienceandTechnology,
SouthKorea
Go¨ranChristiansson SKFEngineering&ResearchCenter,
TheNetherlands
HermanDamveld DelftUniversityofTechnology,TheNetherlands
KnutDrewing Justus-Liebig-Universita¨tGießen,Germany
AbdulmotalebElSaddik UniversityofOttawa,Canada
BertholdFa¨rber UniversityoftheBundeswehr,Munich,Germany
ManuelFerre UniversidadPolite´cnicadeMadrid,Spain
AntonioFrisoli PERCRO,ScuolaSuperioreS.Anna,Pisa,Italy
MartinGrunwald Universita¨tLeipzig,Germany
MatthiasHarders ETHZu¨rich,Switzerland
VincentHayward Universite´PierreetMarieCurie,Paris,France
ThorstenKern ContinentalCorporation,Germany
AbderrahmaneKheddar CNRSUM2LIRMM,Montpellier,France
VIII Organization
Dong-SooKwon KAIST,Daejeon,SouthKorea
Ki-UkKyung ETRI,Daejeon,SouthKorea
KaronMacLean UniversityofBritishColumbia,Vancouver,
Canada
MarkMulder DelftUniversityofTechnology,TheNetherlands
HaruoNoma ATRMediaInformationScienceLabs,Kyoto,
Japan
MiguelOtaduy URJCMadrid,Spain
WilliamProvancher UniversityofUtah,SaltLakeCity,USA
ChrisRaymaekers HasseltUniversity,Belgium
JehaRyu GwangjuInstituteofScienceandTechnology,
SouthKorea
JeroenSmeets VUUniversity,Amsterdam,TheNetherlands
Reviewers
JakeAbbott OliverBraddick MarcErnst
MarcoAgus Jean-PierreBresciani ThomasErtl
Hyo-sungAhn StephenBrewster PaulEvrard
FawazAlsulaiman AndreaBrogni IldarFarkhatdinov
MehdiAmmi EtienneBurdet IreneFasiello
HideyukiAndo GianniCampion MarkFehlberg
MicheleAntolini OzkanCelik PeterFeys
HichemArioui PabloCerrada AlessandroFormaglio
AngeloArleo JongeunCha AntonioFrisoli
CarloAvizzano ElaineChapman IljaFrissen
MehmetAyyildiz Hee-ByoungChoi YukioFukui
Jose´ Azor´ın SeungmoonChoi IgnacioGaliana
SarahBaillie Go¨ranChristiansson FabioGanovelli
SoledadBallesteros Q.Chu MarcosGarc´ıa
KarlinBark SalvadorCobos PabloGarc´ıa-Robledo
KennethBarner EdwardColgate CarlosGarre
JorgeBarrio ChrisConstantinou RogerGassert
CagatayBasdogan KoenCrommentuijn ChristosGiachritsis
GabrielBaud-Bovy AndrewCrossan FredericGiraud
MassimoBergamasco HermanDamveld BrianGleeson
WouterBergmannTiest JoanDeBoeck PauwelGoethals
AntonioBicchi NienkeDebats DanielGooch
MartaBielza BarbaraDeml FlorianGosselin
HannesBleuler MassimilianoDiLuca BurakGuclu
JuanBogado AndrewDoxon HakanGurocak
RaoulBongers KnutDrewing GabjongHan
MonicaBordegoni ChristianDuriez SungH.Han
GianniBorghesan MohamadEid GunterHannig
DiegoBorro AbdulmotalebElSaddik RienderHappee
MartynBracewell SatoshiEndo MatthiasHarders
Organization IX
MitraHartmann HoiKwok DanePowell
WilliamHarwin Dong-SooKwon CarstenPreusche
WataruHashimoto Ki-UkKyung RoopeRaisamo
ChristianHatzfeld MungLam MarkusRank
VincentHayward PatriceLambert JyriRantala
ThomasHazelton PietLammertse JacquelineRausch
AndreasHein AnatoleLe´cuyer ChrisRaymaekers
MortonHeller SusanLederman Ste´phaneRe´gnier
DeniseHenriques VincentLevesque MiriamReiner
ConstanzeHesse MingLin GerhardRinkenauer
JimHewit RobertLindeman GabrielRoblesDeLa
SandraHirche ClaudioLoConsole Torre
Hsin-NiHo JavierLo´pez AndreasRo¨se
EmanueleRuffaldi
RobertHowe KaronMacLean
Jee-HwanRyu
BarryHughes CharlotteMagnusson
JehaRyu
InwookHwang FlorenceMarchi
Jose´ Sabater
Jung-HoonHwang DavideMazza
Eva-LottaSallna¨s
RosaIglesias ThorstenMeiß
RoopkanwalSamra
AliIsrar ChristopherMoore
KrishSathian
MiriamIttyerah KonstantinosMoustakas
JoanSavall
HirooIwata WinfredMugge
ThomasSchauß
CarolineJay MasashiNakatani
StefaniaSerafin
SeokheeJeon MarkoNardini
SaschaSerwe
LiJiang FionaNewell
ShahinSirouspour
LynetteJones Gu¨nterNiemeyer
LynneSlivovsky
ChristopheJouffrais VerenaNitsch
MassimilianoSolazzi
GeorgianaJuravle FarleyNorman
EdoardoSotgiu
KanavKahol IanOakley
JonasSpillmann
LukasKaim ShogoOkamoto
MarkSpingler
MarjoleinKammers MarciaO’Malley
ChristophStaub
IdinKaruei SileO’Modhrain
ArnoStienen
SebastianKassner KeitaOno
HongTan
ThorstenKern JunOohara
JeanThonnard
DirkKerzel MiguelOtaduy
NikolaosTsagarakis
ShahzadKhan MartinOtis BrianTse
AbderrahmaneKheddar KristaOvervliet DzmitryTsetserukou
Sang-YounKim MiguelPadilla-Castaneda CostasTzafestas
YeongmiKim KarljohanPalmerius SehatUllah
RobertaKlatzky JaeheungPark AnaRitaValentePais
AloisKnoll JinahPark GeorgeVanDoorn
UmutKocak JeromePasquero Rene´ vanPaassen
IlhanKonukseven VolkanPatogˇlu DennisvanRaaij
GaborKosa RicardoPedrosa LodeVanacken
KatherineKuchenbecker AngelikaPeer EmmanuelVanderPoorten
TomohiroKuroda MyrthePlaisier IasonVittorias
YoshihiroKuroda DaanPool FrankWallhoff
X Organization
DavidWang MaartenWijntjes Gi-HunYang
CarolinaWeber AlanWing
HiroakiYano
JoelCarlosWest RaulWirz
YasuyoshiYokokohji
EleonoraWestebring-Van MarkWright
derPutten JuliYamashita MouniaZiat
Table of Contents – Part I
Mass,Force, andElasticity
EfficientBimodalHapticWeightActuation............................. 3
GunterHannigandBarbaraDeml
TheContributionofProprioceptiveandCutaneousCuesinWeightPerception:
EarlyEvidenceforMaximum-LikelihoodIntegration..................... 11
ChristosGiachritsis,RachelWright,andAlanWing
TheShape-WeightIllusion .......................................... 17
Mirela Kahrimanovic, Wouter M. Bergmann Tiest, and
AstridM.L.Kappers
Force-BasedCalibrationofa ParticleSystemforRealistic Simulationof
NonlinearandViscoelasticSoftTissueBehavior......................... 23
BektasBayboraBaranandCagatayBasdogan
HapticPerceptionofViscosity ....................................... 29
Wouter M. Bergmann Tiest, Anne C.L. Vrijling, and
AstridM.L.Kappers
Multi-sensorial Interface for 3D Teleoperations at Micro and
Nanoscale ....................................................... 35
Nicolas Venant,AntoineNigue`s, Florence Marchi, MichalHrouzek,
FabioComin,Joe¨lChevrier,andJean-LoupFlorens
ClassifyingTorque,NormalForceandDirectionUsingMonkeyAfferent
NerveSpikeRates................................................. 43
Stephen James Redmond, Ingvars Birznieks, Nigel H. Lovell, and
AntonyW.Goodwin
ANewCouplingSchemeforHapticRenderingofRigidBodiesInteractions
BasedonaHapticSub-worldUsingaContactGraph ..................... 51
LoeizGlondu,MaudMarchal,andGeorgesDumont
A New Multi-DOF Haptic Device Using a Redundant Parallel
Mechanism ...................................................... 57
JumpeiArata,NorioIkedo,andHideoFujimoto
EstimationofNormalandTangentialManipulationForcesbyUsingContact
ForceSensors .................................................... 65
IgnacioGaliana,MartaBielza,andManuelFerre