IEEE Transactions on Haptics

Article	Citations
The Effect of Actuation Speed on the Perception Threshold of a Squeezing Soft Actuator	72
Can Facial Expressions Induce Haptic Perception?	69
Inertia Compensation Using Flywheels in Parallel Robots for the Assisted Manipulation of Large Payloads	31
Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords	30
Crip Haptic Jam: Vibrotactile Composition for Disability-Centered Dance	27
Identification and Analysis of Human-Exoskeleton Coupling Parameters in Lower Extremities	25
Editorial	23
Specifying Visual Parameters for Haptic-Visual Sequential Matching of Material Softness	23
Enhancing Video Experiences for DHH Individuals Through Sound-Inspired Motion Caption-Based Spatiotemporal Tacton	22
Thermal Perception for Information Transmission: Theoretical Analysis, Device Design, and Experimental Verification	22
Intensity Discrimination of Electrocutaneous Haptic Feedback Is Enhanced at Low Frequencies and with Repeated Exposure	21
Partial Arm Weight Support Does Not Hamper the Weight Perception of Haptically-Rendered Virtual Objects: A Psychophysics Study	19
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation	18
Study of the Influence of Visuo-Haptic Feedback on Prosthetic Embodiment	18
Translating Music to Touch: Exploring Tactile Perception of Pitch, Roughness, and Pleasantness	18
Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity	17
Evaluating perceptual performance with pixel-based tactile images	17
Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task	17
Macro-Fiber Composite-Based Tactors for Haptic Applications	17
Perceived Realism of Virtual Textures Rendered by a Vibrotactile Wearable Ring Display	17
A Novel Kinematic Gait Parameter-Based Vibrotactile Cue for Freezing of Gait Mitigation Among Parkinson's Patients: A Pilot Study	17
Haptic-Assisted Soldering Training Protocol in Virtual Reality: The Impact of Scaffolded Guidance	16
Correction to “Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification”	16
Influence of Back Length on Vibrotactile Acuity in Vertical Direction	16
Human Perception of Wrist Flexion and Extension Torque During Upper and Lower Extremity Movement	15

Unveiling Dynamic Finger–Key Interactions in Piano Performance Through 3D Force Measurements	15
Towards Tactile Communication of English Language: A Visual Handbook Enhances Letter Learning	15
A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery	14
Vis2Touch: Perceptually Grounded 3D Printing of Visual Art With AI-Driven Depth and Texture Estimation	14
Table of Contents	14
Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency	13
Table of Contents	13
Table of Contents	13
2025 Index IEEE Transactions on Haptics	12
Can we Effectively Combine Tangibles and Ultrasound Mid-Air Haptics? A Study of Acoustically Transparent Tangible Surfaces	12
On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion	12
Table of Contents	12
Mechanofluidic Instability-Driven Wearable Textile Vibrotactor	11
Representational Similarity Analysis for Tracking Neural Correlates of Haptic Learning on a Multimodal Device	11
A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis	11
Pseudo-Haptic Heaviness Influenced by the Range of the C/D Ratio and the Position of the C/D Ratio Within a Given Range	11
Effect of Finger Orientation on Contact Stiffness and Area During Sliding	11
“Persuasive Vibrations”: Studying the Influence of Vibration Parameters on Speech Persuasion	11
Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces	11
Comparing Apparent Haptic Motion and Funneling for the Perception of Tactile Animation Illusions On a Circular Tactile Display	11
The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey	11
A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites	11
Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise	10
Can a Machine Feel Vibrations?: Predicting Roughness and Emotional Responses to Vibration Tactons via a Neural Network	10
Electromagnetic Haptic Feedback System for Teleoperated Robotic Puncture Tasks	10
Altering Time Perception in Virtual Reality Through Multimodal Visual-Tactile Kappa Effect	10
A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters	10
Sensitivity at the Edges of the Finger Enables Mixed Reality Force Feedback	10
Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display	10
FingerWrap: A High-Density Finger-Enveloping Tactile Display	10
Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch	10
Spatiotemporal Congruency Modulates Weighting of Visuotactile Information in Displacement Judgments	10
Editorial: Special Issue: Towards a Transdisciplinary Approach to the Development and Control of Haptic Devices for Human-in-the-Loop Applications	10
Subjective Evaluation of the Predictive Performance and Operability of a Two-Layer Regression-Based Texture Mixing System	10
Voluminous Fur Stroking Experience Through Interactive Visuo-Haptic Model in Virtual Reality	10
MateJam: Multi-Material Teeth-Clutching Layer Jamming Actuation for Soft Haptic Glove	9
Multi-Dimensional Perception of Two-Channel Skin-Stretch: Effects of Cue Pattern and Spatial Configuration	9
Kinesthetic Weight Modulation: The Effects of Whole-Arm Tendon Vibration on the Perceived Heaviness	9
Front Cover	9
Validation of Snaptics: A Modular Approach to Low-Cost Wearable Multi-Sensory Haptics	9
Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows	9
“I See Where This is Going”: A Psychophysical Study of Directional Mid-Air Haptics and Apparent Tactile Motion	9
Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation	9
Using Virtual Objects With Hand-Tracking: The Effects of Visual Congruence and Mid-Air Haptics on Sense of Agency	9
HM-Array: A Novel Haptic Magnetism-Based Leader-Follower Platform for Minimally Invasive Robotic Surgery	9
Biomechanically-Consistent Skin Stretch as an Intuitive Mechanism for Sensory Feedback: A Preliminary Investigation in the Lower Limb	9
Investigating Passive Presentation Paradigms to Approximate Active Haptic Palpation	8
Table of Contents	8
Haptic Virtual Fixtures for Telemanipulation Using Control Barrier Functions	8
Wrapping Haptic Displays Around Robot Arms to Communicate Learning	8

Deep Pressure Therapy: A Promising Anxiety Treatment for Individuals With High Touch Comfort?	8
Effect of Virtual Mass and Time Delay on the Stability of Haptic Rendering	8
Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues	8
Electroencephalography Validation of Object Stiffness Discrimination via Transcutaneous Electrical Nerve Stimulation for Prosthetic Sensory Feedback	8
Origami-Inspired Vibrotactile Actuator (OriVib): Design and Characterization	8
Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound	8
A Mechanical Hand-Tracking System With Tactile Feedback Designed for Telemanipulation	8
Table of Contents	8
ThermalTexture: Temperature-Integrated Surface Rendering Using Thermal Referral Induced by Texture Slip-Feedback	8
Haptic Tracing: A New Paradigm for Spatialized Vibrotactile Haptic Rendering	8
Electrophysiological Correlates for the Detection of Haptic Illusions	8
2024 Index IEEE Transactions on Haptics Vol. 17	7
Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow	7
The Influence of Mass and Friction in Teleoperated Tasks	7
Navigation Method Enhancing Music Listening Experience by Stimulating Both Neck Sides With Modulated Musical Vibration	7
The High/Low Frequency Balance Drives Tactile Perception of Noisy Vibrations	7
Human Stabilization of Delay-Induced Instability of Haptic Rendering in a Stiffness Discrimination Task	7
UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism	7
Evaluating the Physics and Repeatability of Human Brushers in Delivering Affective Touch	7
A Wearable Shoulder Skin-Deformation Device Generating Illusory Forces for Posture Correction	7
Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments	7
Influence of Cooling Rates and Contact Material on Illusory Wetness	7
Reconfigurable Flexible Haptic Interface Using Localized Friction Modulation	7
Editorial	7
Hands-Free Haptic Navigation Devices for Actual Walking	7
Sound-to-Touch Crossmodal Pitch Matching for Short Sounds	7
Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects	7
Real-Time Musical Haptics With Ultra-Wideband: A Study on Latency, Reliability, and Perception	7
On the Correlation Between Tactile Stimulation and Pleasantness	6
Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots	6
Novel Electrode Designs for Electrotactile Stimulation of the Finger: A Comparative Assessment	6
Active Lubrication Brakes in Tabletop and Hand-Held Haptic Surgical Drilling Simulators	6
Modulating the Fidelity and Spatial Extent of Electrotactile Stimulation to Elicit the Embodiment of a Virtual Hand	6
Mathematical Model of Fingertip Skin Under Constant-Current Electrotactile Stimulation	6
Closed-Loop Control of Electroadhesion Using Current Regulation	6
Reconciling Reduced the Sense of Ownership and Agency toward a Virtual Keypad with Enhanced Haptic Experience Using Visually Adjusted Self-Haptics for Key-Input Interaction	6
Vibrations Feel Longer than their Visual Analogues in Virtual Reality	6
Effect of Low-Pass Filtering on Passivity and Rendering Performance of Series Elastic Actuation	6
Centroparietal Alpha/Beta Asymmetry in Response to Urgency Elicited by Upper Body Vibration	6
Adding Touch to Immersive Media: An Overview of the MPEG Haptics Coding Standard	6
Affective Touch With Mid-Air Ultrasound: A Psychophysical Comparison With Real Materials	6
Human-in-the-Loop Pareto Optimization: Trade-Off Characterization for Assist-as-Needed Training and Performance Evaluation	6
From Sight to Touch: Haptic Sensory Integration Can Facilitate Multi-Limb Coordination	6
ForceKeyboard: Eyes-Free Text Entry With a Force Sensitive Soft Keyboard for Wearable Devices	6
Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display	6
Motor Learning in Robot-Based Haptic Dyads: A Review	6
Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue	6
A Perceptual Model-Based Approach to Plausible Authoring of Vibration for the Haptic Metaverse	5
Front Cover	5
Table of Contents	5
Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body	5
The Snail: A Wearable Actuated Prop to Simulate Grasp of Rigid and Soft Objects in Virtual Reality	5
How to Train Your Posture: Haptic Feedback Can be Used for Postural Adaptation of the Trunk During Upper-Limb Motor Training	5
Three-Dimensional Position Presentation via Head and Waist Vibrotactile Arrays	5
Write Together: Using Haptic Coupling to Enhance Children’s Handwriting	5
Perceptual Constancy in the Speed Dependence of Friction During Active Tactile Exploration	5
Fuzzy Evaluation Method for Haptic Perceptual Similarity	5
Evaluating Affective Touch Generated via a Shape-Memory-Alloy Arm-Sleeve by Subjective Report and Facial Muscle Activity	5
EEG-Based Machine Learning Models to Evaluate Haptic Delay: Should We Label Data Based on Self-Reporting or Physical Stimulation?	5
Toward Neuroergonomic Attention Assistance: Neural Signatures of Haptic-Driven Modulations in Multimodal Cueing	5
Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area	5
Table of Contents	5
Optimizing Vibrotactile Feedback for Sensory Substitution in the Thigh: Spatial Acuity and Frequency Characteristics	5
Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms	5
Power from Potential: A Survey of Electrostatic Actuators for Haptics	5
Natural Grasping in Virtual Worlds: Validation of a Haptic Setup for Human Object Manipulation	5
Perception of Soft Objects in Virtual Environments Under Conflicting Visual and Haptic Cues	5
Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper	5
How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment	5
Compelling People to Move: Recent Progress in Haptic Technologies for Human Motion Induction in IEEE Transactions on Haptics	5
A Comparative Study on Reaction Times Using Visual, Audio, and Haptic Stimuli With Direct, Encoded or Dynamic Deliveries	5
Bimanual Motor Strategies and Handedness Role in Human-Robot Haptic Interaction	4
Tactile Enhancement of Mid-Air Ultrasonic Stimulation by Wrist Vibration: Perceived Intensity and Pattern Recognition	4
Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds	4
Competition Increases the Effort Put Into a Physical Interaction Task	4
Investigating the Effect of Mechanical Adaptation on Mid-Air Ultrasound Vibrotactile Stimuli	4
Table of Contents	4
Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task	4
SpinTexture: Exploring Scanning Realism From Concentric to Uni-Directional Slip Feedback Using a Spinning Textured Disk	4
Object Recognition Using Mechanical Impact, Viscoelasticity, and Surface Friction During Interaction	4

Perceptual Substitution Based Haptic Texture Rendering for Narrow-Band Reproduction	4
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction	4
Origami-Based Haptic Syringe for Local Anesthesia Simulator	4
Haptic Relocation Away From the Fingertip: Where, Why, and How	4
Exploring Tactile Perception: Development and Evaluation of the PinArray, a Novel Haptic Device	4
Table of Contents	3
Enhance Kinesthetic Experience in Perceptual Learning for Welding Motor Skill Acquisition With Virtual Reality and Robot-Based Haptic Guidance	3
Robotic Kinesthesia: Estimating Object Geometry and Material With Robot's Haptic Senses	3
Sufficient Time-Frequency Resolution for Reproducing Vibrotactile Sensation	3
Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)	3
Evaluation on Human Perception of Various Vibrotactile Encoding Methods Through a High Density Haptic Feedback Interface	3
Learning to Feel Textures: Predicting Perceptual Similarities From Unconstrained Finger-Surface Interactions	3
From Restoration to Augmentation: New Approaches to Haptic Feedback for Artificial Limbs	3
Cognitive and Physical Activities Impair Perception of Smartphone Vibrations	3
VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion	3
Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm	3
Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing	3
Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance	3
Multichannel Vibrotactile Glove: Validation of a New Device Designed to Sense Vibrations	3
Distributed Tactile Display with Dual Array Design	3
Comparative Evaluation of Production Techniques for Tactile Map Rendering	3
Correlation Between Reaction Time, Multi-Modal Feedback and Take-Over Requests for Level 3 Automated Vehicles	3
Effects of Vibration Direction and Pressing Force on Finger Vibrotactile Perception and Force Control	3
Elastic or Stiff? Light or Heavy? Pseudo-Haptic Photograph Interaction for Fabric Perception	3
Does It Par-?: Investigating the Relationship Between Mid-Air Haptics and Visual Representations of Surface Textures	3
Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception	3
A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks	3
Soft Pneumatic Haptic Wearable to Create the Illusion of Human Touch	3
Extension of and Performance Study With a Haptic Mouse for Fingertip Tactile Display of 2.5D Data	3
Aerial Push-Button With Two-Stage Tactile Feedback Using Reflected Airborne Ultrasound Focus	3
Front Cover	3
Haptic Exploration of Unknown Objects for Robust In-Hand Manipulation	2
The CHAT System: A Wearable Haptic System for Facilitating Tactile Communication	2
A Survey on Tactile Change Blindness	2
Spatio-temporal control of vibrotactile stimulation on OLED displays with inverse filtering	2
Telemetry-Based Haptic Rendering for Racing Game Experience Improvement	2
EEG-Based Validation of Neural Response Similarity Between Vibration and Electrical Stimulation for Virtual Tactile Feedback	2
Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold	2
Bi-Manual Sensory Discrimination: A Kinesthetic Study	2
Impact of Arm Dominance and Location on Detecting Electrotactile Stimuli During Voluntary Motor Activation in Older Adults	2
It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour	2
Tactile Perception of Coated Smooth Surfaces	2
Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality	2
Integrating Point Spread Function Into Taxel-Based Tactile Pattern Super Resolution	2
Table of Contents	2
A Comparative Study of Physical and Haptic Exhibits in an Informal Learning Environment	2
From Keystrokes to Auditory Textures: Structural Acoustic Analysis of an Emergent Haptic Soundscape	2
Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands	2
Evaluating Factors Affecting the Perception of Multi-Sensory Vibration and Skin-Squeeze Cues During Voluntary Movement	2
Vibrohaptic Design for Simulating High-Five Interactions at Virtual Talent Fan Meetings	2
Front Cover	2
Vibrotactile Spatiotemporal Pattern Recognition in Two-Dimensional Space Around Hand	2
Ultraloop: Active Lateral Force Feedback Using Resonant Traveling Waves	2
Modulating the Perceived Softness of Real Objects Through Wearable Haptics	2
Mirror-Brush Illusion: Creating Phantom Tactile Percepts on Intact Limbs	2
Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design	2
Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device	2
Temporal Detection Threshold of Audio-Tactile Delays With Virtual Button	2
Development of an Intuitive Interface With Haptic Enhancement for Robot-Assisted Endovascular Intervention	2
Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing	2
Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR	2
Editorial	2
Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact	2
Encoding Manual Rotations on a Motionless Knob	2
Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings	2