9:00-9:15   Opening remark  

9:15-10:30   Session 1A1   Psychophysics I
                      chair: Lynette Jones and Bernard Adelstein

A Behavioral Adaptation Approach to Identifying Visual Dependence of Haptic Perception
James Sulzer, Arsalan Salamat, Vikram Chib, J. Edward Colgate

JND Analysis of Texture Roughness Perception Using a Magnetic Levitation Haptic Device
Bertram Unger, Ralph Hollis, Roberta Klatzky

Changing the Haptic Field of View: Tradeoffs of Kinesthetic and Mechanoreceptive Spatial Information
Janet Weisenberger

The Gestalt Principle of Continuation Applies to both the Haptic and Visual Grouping of Elements
Dempsey Chang, Keith Nesbitt, Kevin Wilkins

Haptic Feedback Enhances Force Skill Learning
Dan Morris, Hong Tan, Federico Barbagli, Timothy Chang, Kenneth Salisbury

10:30-11:00   break  

11:00-12:15   Session 1A2   Device Design I
                      chair: Antonio Bicchi and Hiroyuki Shinoda

Ubi-Pen: Development of a Compact Tactile Display Module and Its Application to a Haptic Stylus
Ki-Uk Kyung, Jun-Seok Park

Braille Display by Lateral Skin Deformation with the STReSS2 Tactile Transducer
Vincent Levesque, Jerome Pasquero, Vincent Hayward

Proposal for Tactile Sense Presentation that Combines Electrical and Mechanical Stimulus
Shinobu Kuroki, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

Tactile Perception of Rotational Sliding
William Provancher, Brandt Erickson, Federico Barbagli, Hong Tan

Wearable Haptic Display to Present Gravity Sensation
Kouta Minamizawa, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

12:15-13:30   lunch  

13:30-14:45   Session 1P1   Control and Dynamics I
                      chair: Blake Hannaford and John Hollerbach

Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware
Andrew Gosline, Vincent Hayward

Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics
Jonathan P. Fiene, Katherine J. Kuchenbecker

Impulse-based Control of an Impulsive Haptic Interface
Emmanuel Vander Poorten, Yasuyoshi Yokokohji

Design Guidelines for Wave Variable Controllers in Time Delayed Telerobotics
J. Scot Hart, Gunter Niemeyer

Motion Planning of Encountered-type Haptic Device for Multiple Fingertips Based on Minimum Distance Point Information
Ken Shigeta, Yuji Sato, Yasuyoshi Yokokohji

14:45-15:00   break  

15:00-16:30   Sketches  

Sketches will be presented as posters. All sketch posters must be displayed at their designated locations on the morning of the first day. Although the sketch poster session is only on the first day of the conference, these posters will be on display throughout the conference.

   Psychophysics

S1  The Effect of Weight on the Perception of Vibrotactile Intensity with Handheld Devices
Hsin-Yun Yao, Vincent Hayward, Manuel Cruz, Danny Grant

S2  Haptic and Visual Working Memory in Young Adults, Healthy Older Adults, and Mild Cognitive Impairment Adults
Susana Paz, Julia Mayas, Soledad Ballesteros

S3  Dynamic Perceptual Maps - A Psychophysical Approach to Spatiotemporal Interactions and Plasticity in Body Perception
Rupert Holzl, Jorg Trojan, Dieter Kleinbohl

S4  An Eyetracker Study of the Haptic Cuing of Visual Attention
Chanon M. Jones, J. Jay Young, Rob Gray, Charles Spence, Hong Z. Tan

S5  Can A Narrow Field of View Explain the Extremely Small Amount of Tactile Memory During Tactile Search for Change?
Takako Yoshida, Yuki Miyazaki, Kenji Yokoi, Hiromi Wake, Tenji Wake

S6  Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control
Katherine J. Kuchenbecker, Netta Gurari, Allison M. Okamura

S7  A Multidimensional Scaling Analysis of Texture Gradient Perception via Haptic Exploration
Barry Hughes, Kirstin Shields

S8  Sensory Property in the Fusion of Visual/Haptic Cues by Using Mixed Reality
Morio Nakahara, Yuichi Ohta, Itaru Kitahara

S9  Active vs. Passive Touch: The State of Play and the Future
Mark Symmons, Barry Richardson, Dianne Wuillemin

S10  Towards Just Noticeable Differences for Natural Frequency of Manually Excited Virtual Dynamic Systems
Yanfang Li, Volkan Patoglu, Deborah Huang, Marcia O'Malley

S11  Combining Proprioception and Tactile Information in a Haptic Search Task
Krista E. Overvliet, Jeroen B.J. Smeets, Eli Brenner

S12  The Effect of a Distracter Task on the Recognition of Tactile Icons
Ian Oakley, Junseok Park

S13  Haptic Roughness Perception of Linear Gratings via Bare Finger or Rigid Probe
Ryo Kitada, Michael Lawrence, Roberta Klatzky, Susan Lederman

S14  Proprioceptive Dominance in Visuotactile Spatial Compatibility
Yuka Igarashi, Norimichi Kitagawa

   Device Design

S15  Hand-held Force Display with Spring-Cam Mechanism for Generating Asymmetric Acceleration
Tomohiro Amemiya, Hideyuki Ando, Taro Maeda

S16  Tactile Vocabulary for Tactile Displays
Lynette Jones, Jacquelyn Kunkel, Edgar Torres

S17  A Hand-held Display Presenting Visual and Force Information
Hidenori Kuribayashi, Shoko Nakamura, Yuichiro Kume

S18  Development of Quantitative Tactile Display Device to Provide Both Pin-Array-Type Tactile Feedback and Thermal Feedback
Gi-Hun Yang, Ki-Uk Kyung, Mandayam Srinivasan, Dong-Soo Kwon

S19  Implementing Compact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module
Tae-Heon Yang, Gi-Hun Yang, Dong-Soo Kwon, Sung-Chul Kang

S20  Development of Fingertip Type Non-grounding Force Feedback Display
Norio Nakamura, Yukio Fukui

S21  Producing Softness Sensation on an Electrostatic Texture Display for Rendering Diverse Tactile Feelings
Hideaki Yokota, Akio Yamamoto, Hiroaki Yamamoto, Toshiro Higuchi

S22  Piezoelectric Ultrasonic Actuator for a Haptic Display for Catheterisation
Stephanie Klages, Thorsten A. Kern, Thorsten Meiss, Roland Werthschuezky

   Rendering and Applications

S23  GPU-Based Distance Map Calculation for Vector Field Haptic Rendering
Alexander Barlit, Matthias Harders

S24  Accelerated Proximity Queries for Haptic Rendering of Deformable Models
Nico Galoppo, Miguel A. Otaduy, Paul Mecklenburg, Markus Gross, Ming C. Lin

S25  A Viscoelastic Soft Tissue Model for Haptic Surgical Simulation
Iman Brouwer, Vincent Mora, Denis Laroche

S26  Roughness Feeling Telepresence System with Communication Time-Delay
Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

S27  Closed Loop Stability Analysis of an Assistance System for Catheterization
Thorsten A. Kern, Stephanie Klages, Thorsten Meis , Roland Werthschutzky

S28  Transfer Method of Force Information Using Five-Fingered Haptic Interface Robot
Takahiro Endo, Haruhisa Kawasaki, Kazushige Kigaku, Tetsuya Mouri

S29  The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency
Christopher Sewell, Nikolas Blevins, Sumanth Peddamatham, Hong Tan, Dan Morris, Kenneth Salisbury

S30  Experiments in Planar Haptic Contour Exploration
Kee-Yip Chan, Kelly Kitagawa, Roberto Manduchi

16:30-17:30   Keynote speaker 1  

Tangible Bits: Beyond Pixels
Professor Hiroshi Ishii

17:30-17:40   TCH presentation  

17:40-19:30   Reception  

March 23 Friday (2nd day)

9:00-10:00   Session 2A1   Device Design II
                      chair: Vincent Hayward and Dong-Soo Kwon

Integrating Two Haptic Devices for Performance Enhancement
Enzo Pasquale Scilingo, Nicola Sgambelluri, Giovanni Tonietti, Antonio Bicchi

Finger Ring Tactile Interface Based on Propagating Elastic Waves on Human Fingers
Takayuki Iwamoto, Hiroyuki Shinoda

Large Area Sensor Skin based on Two-Dimensional Signal Transmission Technology
Hiromasa Chigusa, Yasutoshi Makino, Hiroyuki Shinoda

Infrared Thermal Measurement System for Evaluating Model-Based Thermal Displays
Hsin-Ni Ho, Lynette Jones

10:00-10:15   break  

10:15-11:15   Session 2A2   Modeling and Rendering I
                      chair: Gunter Niemeyer and Matthias Harders

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
Matei Ciocarlie, Claire Lackner, Peter Allen

Transparent Rendering of Tool Contact with Compliant Environments
Miguel A. Otaduy, Markus Gross

An Algorithm of State-Space Precomputation Allowing Non-linear Haptic Deformation Modelling Using Finite Element Method
Igor Peterlik, Ludek Matyska

Surface Interrogation Methods for Haptic Rendering of Virtual Objects
Anusha Sridaran, Dianne Hansford, Kanav Kahol, Sethuraman Panchanathan

11:15-11:30   break  

11:30-12:30   Session 2A3   Control and Dynamics II
                      chair: Manuel Ferre and Yasuyoshi Yokokohji

Capturing the Dynamics of Mechanical Knobs
Colin Swindells, Karon E. MacLean

A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator
Dominique Chapuis, Xavier Michel, Roger Gassert, Chee-Meng Chew, Etienne Burdet, Hannes Bleuler

Task Instruction: The Largest Influence on Human Operator Motion Control Dynamics
David Abbink

Optimal Control of a Robotic System for Human Power Enhancement
Alberto Montagner, Antonio Frisoli, Simone Marcheschi, Emilio Sanchez, Massimo Bergamasco

12:30-13:30   lunch  

13:30-14:45   Session 2P1   Psychophysics II
                      chair: Edouard Gentaz and Seungmoon Choi

Frequency Analysis of the Detectability of Virtual Haptic Gratings
Steven Cholewiak, Hong Z. Tan

On the Influence of Arm Inertia and Configuration on Motion Planning of Reaching Movements in Haptic Environments
Igor Goncharenko, Mikhail Svinin, Sven Forstmann, Yutaka Kanou, Shigeyuki Hosoe

Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport
Sara A. Winges, Bornali Kundu, John F. Soechting, Martha Flanders

Vibration Enhances Geometry Perception with Tactile Shape Displays
Maria Oyarzabal, Masashi Nakatani, Robert Howe

Frequency Dependence of Perceived Intensity of Steering Wheel Vibration: Effect of Grip Force
Miyuki Morioka, Michael Griffin

14:45-15:00   break  

15:00-16:30   Poster Papers/Hands-on Demos/Art Gallery I  

Poster papers will be presented as posters. All of the posters for poster papers must be displayed at their designated locations on the morning of the first day of the conference. These posters will be on display throughout the conference.

Note that the presenters of Group A posters are asked to be at their posters during the second half of the poster session (15:45-16:30) on the second day of the conference and that the presenters of Group B posters are asked to be present at their posters during the first half (13:30-14:15) of the poster session on the third day of the conference.

   Psychophysics

A1  Toward Visualization of Skill in VR: Adaptive Real-Time Guidance for Learning Force Exertion through the "Shaping" Strategy
Mikko Rissanen, Yoshihiro Kuroda, Megumi Nakao, Naoto Kume, Tomohiro Kuroda, Hiroyuki Yoshihara

B1  Group Work about Geometrical Concepts among Blind and Sighted Pupils Using Haptic Interfaces
Eva-Lotta Sallnas, Jonas Moll, Kerstin Severinson-Eklundh

A2  Role of Vision on Haptic Length Perception
Akinori Kumazaki, Kazunori Terada, Akira Ito

B2  Tilt Perception by Constant Tactile and Constant Proprioceptive Feedback through a Human System Interface
Franziska Freyberger, Martin Kuschel, Berthold Farber, Martin Buss, Roberta Klatzky

A3  Discriminability of Real and Virtual Surfaces with Triangular Gratings
Matthew Kocsis, Hong Z. Tan, Bernard D. Adelstein

B3  The Effect of Sound on Haptic Perception
Seung-Chan Kim, Ki-Uk Kyung, Dong-Soo Kwon

A4  Pursuit Tracking Signals in Haptic Tracking: The Role of Shear Forces and Stimulus Predictability
Amanda Dawson, Paul Nagelkerke, Romeo Chua, Ian Franks, David Rosenbaum

   Device Design

B4  A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
Goran Christiansson, Erik Fritz

A5  A Hybrid Actuation Approach for Haptic Devices
Francois Conti, Oussama Khatib

B5  Effects of Longitudinal Skin Stretch on the Perception of Friction
Nicholas Sylvester, William Provancher

A6  A Wearable 3-DOF Wire-driven Force Feedback Device
Yo-An Lim, Yong Won Seo, Jeha Ryu

B6  Using an Ultrasonic Transducer: Evidence for an Anisotropic Deprivation of Frictional Cues in Microtexture Perception
Melisande Biet, Loic Boulon, Francois Martinot, Frederic Giraud, Betty Lemaire-Semail

A7  Improvement of Shape Distinction by Kinesthetic-Tactile Integration
Katsunari Sato, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

B7  Multi-Fingered Haptic Interface Robot Handling Plural Tool Devices
Haruhisa Kawasaki, Tetsuya Mouri, Sho Ikenohata, Yoshio Ohtsuka, Takahiro Endo

A8  Free-Form Tactile Sensor Using 3-Dimensional Shape Capture Sheet
Takayuki Hoshi, Hiroyuki Shinoda

B8  A Fingertip Haptic Display for Improving Local Perception of Shape Cues
Massimiliano Solazzi, Antonio Frisoli, Fabio Salsedo, Massimo Bergamasco

A9  A 2D-Motion Platform: The Cybercarpet
Martin Schwaiger, Heinz Ulbrich, Thomas Thummel

B9  T-PaD: Tactile Pattern Display through Variable Friction Reduction.
Laura Winfield, John Glassmire, J. Edward Colgate, Michael Peshkin

A10  Assessing the Efficacy of Variable Compliance Tactile Displays
Michael Taylor, Aaron Ferber, J. Edward Colgate

B10  Comfortable Wristband Interface Measuring Myoelectric Pattern
Yasutoshi Makino, Hiroyuki Shinoda

A11  Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device
Gina Donlin, Rainer Leuschke, Blake Hannaford

   Control and Dynamics

B11  General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control
Vincent Duchaine, Clement M. Gosselin

A12  Widening 6-DOF Haptic Devices Workspace with an Additional Degree of Freedom
Florian Gosselin, Claude Andriot, Florian Bergez, Xavier Merlhiot

B12  Accurate Haptic Teleoperation on Soft Tissues through Slave Friction Compensation by Impedance Reflection
Pauwel Goethals, Gudrun De Gersem, Mauro Sette, Dominiek Reynaerts, Hendrik Van Brussel

A13  High Performance Explicit Force Control for Finger Interaction Haptic Interface
Marco Fontana, Fabio Salsedo, Simone Marcheschi, Federico Tarri, Otniel Rodriguez-Portillo, Massimo Bergamasco

B13  Enhancing Transparency of a Position-Exchange Teleoperator
Mohsen Mahvash, Allison Okamura

A14  Development of a Whole-Sensitive Teleoperated Robot Arm Using Torque Sensing Technique
Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

B14  A Novel Haptic Interface for Navigation in Large Volume Environments
Thomas Smith, Alistair Barrow, Russel Barrow, William Harwin

A15  Development of a String-Based Haptic Interface by Using a Hybrid Control Approach
Rasul Fesharakifard, Laure Leroy, Philippe Fuchs

B15  HapStick: A High Fidelty Haptic Simulation for Billiards
Venkatraghavan Gourishankar, Govindarajan Srimathveeravalli, Kesavadas Thenkurussi

   Modeling, Rendering and Applications

A16  Fast and High Precision Volume Haptics
Karljohan Lundin Palmerius

B16  Fast Rendering for a Multifinger Haptic Display
Blake Hannaford, Rainer Leuschke

A17  Haptic Rendering on Point Set Surfaces
Jae-Kyu Lee, Young J. Kim

B17  Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models
Sarthak Misra, Allison M. Okamura, K. T. Ramesh

A18  Construction of Training Environment for Surgical Exclusion with a Basic Study of Multi-finger Haptic Interaction
Yoshihiro Kuroda, Makoto Hirai, Megumi Nakao, Toshihiko Sato, Tomohiro Kuroda, Yasushi Masuda, Osamu Oshiro

B18  conTACT  A Vibrotactile Display for Computer Aided Surgery
Andreas Hein, Melina Brell

A19  Time-Based Haptic Analysis of Protein Dynamics
Katrin Bidmon, Guido Reina, Fabian Boes, Juergen Pleiss, Thomas Ertl

B19  A Modular Software Haptic Interface for Teleoperated Nanomanipulation and AFM Probe Based Characterization of Carbon Nanotubes
Atanas Dobrinov, Volkmar Eichhorn

A20  Discrepancy Method for Operation Feel Display Using Body Image Illusion
Hiromi Mochiyama, Akihito Sano, Naoyuki Takesue, Hideo Fujimoto

   Hands-on Demos

HOD1  Haptic Devices for Endoscopic Surgery Training Simulator
Takafumi Terada, Masato Ogata, Takaaki Kikukawa, Shin Hongo , Manabu Nagasaka , Kentaro Takanami , Kagenori Kajihara, Masaru Fujino

16:30-17:45   Session 2P2   Haptic Systems
                      chair: Martin Buss and Makoto Sato

User Perception and Preference in Model Mediated Telemanipulation
Probal Mitra, Diana Gentry, Gunter Niemeyer

Haptic Broadcasting: Passive Haptic Interactions Using MPEG-4 BIFS
Jongeun Cha, Yongwon Seo, Yeongmi Kim, Jeha Ryu

Dynamic Video Resolution Control Based on Haptic Media in Haptic and Visual Communications
Seiji Kameyama, Yutaka Ishibashi

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator
Lawton Verner, Allison Okamura

Visio-Haptic Systems: Half-Mirrors considered Harmful
Christian Sandor, Shinji Uchiyama, Hiroyuki Yamamoto

17:45-19:00   break  

19:00-21:00   banquet (inc. award ceremony)  

March 24 Saturday (3rd day)

9:00-10:00   Keynote speaker 2  

Tactile Interface Design: A Cognitive Neuroscience Perspective
Professor Charles Spence

10:00-11:00   Session 3A1   Applications
                      chair: William Harwin and Anatole Lecuyer

Development of a Motion Teaching System Using an Immersive Projection Display and a Haptics Interface
Mutsuki Matsumoto, Hiroaki Yano, Hiroo Iwata

Comparative Study Between Virtual Fixtures and Shared Control for Rehabilitation
Govindarajan Srimathveeravalli, Venkatraghavan Gourishankar, Kesavadas Thenkurussi

A Haptic/Acoustic Application to Allow Blind the Access to Spatial Information
Fabio De Felice, Floriana Renna, Giovanni Attolico, Arcangelo Distante

Where Are We with Haptic Visualization?
Jonathan C. Roberts, Sabrina Paneels

11:00-11:30   break  

11:30-12:30   Session 3A2   Psychophysics III
                      chair: Jan Weisenberger and Soledad Ballesteros

Mechanical Impedance of the Hand Holding a Spherical Tool at Threshold and Suprathreshold Stimulation Levels
Ali Israr, Seungmoon Choi, Hong Tan

An Experimentally Verified Model of the Perceived `Coldness' of Objects
Wouter Bergmann Tiest

Texture Gradients and Perceptual Constancy under Haptic Exploration
Barry Hughes, Jin Wang, Daryan Rosic, Katie Palmer

A Visuo-Haptic Device - Telemaque - Increases Kindergarten Children's Handwriting Acquisition
Richard Palluel-Germain, Florence Bara, Anne Hillairet de Boisferon, Bernard B. Hennion , Philippe Gouagout, Edouard Gentaz

12:30-13:30   lunch  

13:30-15:00   Poster Papers/Hands-on Demos/Art Gallery II  

Poster papers will be presented as posters. All of the posters for poster papers must be displayed at their designated locations on the morning of the first day of the conference. These posters will be on display throughout the conference.

Note that the presenters of Group A posters are asked to be at their posters during the second half of the poster session (15:45-16:30) on the second day of the conference and that the presenters of Group B posters are asked to be present at their posters during the first half (13:30-14:15) of the poster session on the third day of the conference.

   Psychophysics

A1  Toward Visualization of Skill in VR: Adaptive Real-Time Guidance for Learning Force Exertion through the "Shaping" Strategy
Mikko Rissanen, Yoshihiro Kuroda, Megumi Nakao, Naoto Kume, Tomohiro Kuroda, Hiroyuki Yoshihara

B1  Group Work about Geometrical Concepts among Blind and Sighted Pupils Using Haptic Interfaces
Eva-Lotta Sallnas, Jonas Moll, Kerstin Severinson-Eklundh

A2  Role of Vision on Haptic Length Perception
Akinori Kumazaki, Kazunori Terada, Akira Ito

B2  Tilt Perception by Constant Tactile and Constant Proprioceptive Feedback through a Human System Interface
Franziska Freyberger, Martin Kuschel, Berthold Farber, Martin Buss, Roberta Klatzky

A3  Discriminability of Real and Virtual Surfaces with Triangular Gratings
Matthew Kocsis, Hong Z. Tan, Bernard D. Adelstein

B3  The Effect of Sound on Haptic Perception
Seung-Chan Kim, Ki-Uk Kyung, Dong-Soo Kwon

A4  Pursuit Tracking Signals in Haptic Tracking: The Role of Shear Forces and Stimulus Predictability
Amanda Dawson, Paul Nagelkerke, Romeo Chua, Ian Franks, David Rosenbaum

   Device Design

B4  A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
Goran Christiansson, Erik Fritz

A5  A Hybrid Actuation Approach for Haptic Devices
Francois Conti, Oussama Khatib

B5  Effects of Longitudinal Skin Stretch on the Perception of Friction
Nicholas Sylvester, William Provancher

A6  A Wearable 3-DOF Wire-driven Force Feedback Device
Yo-An Lim, Yong Won Seo, Jeha Ryu

B6  Using an Ultrasonic Transducer: Evidence for an Anisotropic Deprivation of Frictional Cues in Microtexture Perception
Melisande Biet, Loic Boulon, Francois Martinot, Frederic Giraud, Betty Lemaire-Semail

A7  Improvement of Shape Distinction by Kinesthetic-Tactile Integration
Katsunari Sato, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

B7  Multi-Fingered Haptic Interface Robot Handling Plural Tool Devices
Haruhisa Kawasaki, Tetsuya Mouri, Sho Ikenohata, Yoshio Ohtsuka, Takahiro Endo

A8  Free-Form Tactile Sensor Using 3-Dimensional Shape Capture Sheet
Takayuki Hoshi, Hiroyuki Shinoda

B8  A Fingertip Haptic Display for Improving Local Perception of Shape Cues
Massimiliano Solazzi, Antonio Frisoli, Fabio Salsedo, Massimo Bergamasco

A9  A 2D-Motion Platform: The Cybercarpet
Martin Schwaiger, Heinz Ulbrich, Thomas Thummel

B9  T-PaD: Tactile Pattern Display through Variable Friction Reduction.
Laura Winfield, John Glassmire, J. Edward Colgate, Michael Peshkin

A10  Assessing the Efficacy of Variable Compliance Tactile Displays
Michael Taylor, Aaron Ferber, J. Edward Colgate

B10  Comfortable Wristband Interface Measuring Myoelectric Pattern
Yasutoshi Makino, Hiroyuki Shinoda

A11  Experimental Evaluation of Attachment Methods for a Multifinger Haptic Device
Gina Donlin, Rainer Leuschke, Blake Hannaford

   Control and Dynamics

B11  General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control
Vincent Duchaine, Clement M. Gosselin

A12  Widening 6-DOF Haptic Devices Workspace with an Additional Degree of Freedom
Florian Gosselin, Claude Andriot, Florian Bergez, Xavier Merlhiot

B12  Accurate Haptic Teleoperation on Soft Tissues through Slave Friction Compensation by Impedance Reflection
Pauwel Goethals, Gudrun De Gersem, Mauro Sette, Dominiek Reynaerts, Hendrik Van Brussel

A13  High Performance Explicit Force Control for Finger Interaction Haptic Interface
Marco Fontana, Fabio Salsedo, Simone Marcheschi, Federico Tarri, Otniel Rodriguez-Portillo, Massimo Bergamasco

B13  Enhancing Transparency of a Position-Exchange Teleoperator
Mohsen Mahvash, Allison Okamura

A14  Development of a Whole-Sensitive Teleoperated Robot Arm Using Torque Sensing Technique
Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

B14  A Novel Haptic Interface for Navigation in Large Volume Environments
Thomas Smith, Alistair Barrow, Russel Barrow, William Harwin

A15  Development of a String-Based Haptic Interface by Using a Hybrid Control Approach
Rasul Fesharakifard, Laure Leroy, Philippe Fuchs

B15  HapStick: A High Fidelty Haptic Simulation for Billiards
Venkatraghavan Gourishankar, Govindarajan Srimathveeravalli, Kesavadas Thenkurussi

   Modeling, Rendering and Applications

A16  Fast and High Precision Volume Haptics
Karljohan Lundin Palmerius

B16  Fast Rendering for a Multifinger Haptic Display
Blake Hannaford, Rainer Leuschke

A17  Haptic Rendering on Point Set Surfaces
Jae-Kyu Lee, Young J. Kim

B17  Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models
Sarthak Misra, Allison M. Okamura, K. T. Ramesh

A18  Construction of Training Environment for Surgical Exclusion with a Basic Study of Multi-finger Haptic Interaction
Yoshihiro Kuroda, Makoto Hirai, Megumi Nakao, Toshihiko Sato, Tomohiro Kuroda, Yasushi Masuda, Osamu Oshiro

B18  conTACT  A Vibrotactile Display for Computer Aided Surgery
Andreas Hein, Melina Brell

A19  Time-Based Haptic Analysis of Protein Dynamics
Katrin Bidmon, Guido Reina, Fabian Boes, Juergen Pleiss, Thomas Ertl

B19  A Modular Software Haptic Interface for Teleoperated Nanomanipulation and AFM Probe Based Characterization of Carbon Nanotubes
Atanas Dobrinov, Volkmar Eichhorn

A20  Discrepancy Method for Operation Feel Display Using Body Image Illusion
Hiromi Mochiyama, Akihito Sano, Naoyuki Takesue, Hideo Fujimoto

   Hands-on Demos

HOD1  Haptic Devices for Endoscopic Surgery Training Simulator
Takafumi Terada, Masato Ogata, Takaaki Kikukawa, Shin Hongo , Manabu Nagasaka , Kentaro Takanami , Kagenori Kajihara, Masaru Fujino

15:00-16:00   Session 3P1   Modeling and Rendering II
                      chair: Miguel Otaduy and Allison Okamura

Haptic Models of an Automotive Turn-Signal Switch: Identification and Playback Results
Mark Colton, John Hollerbach

Incorporating Geometric Algorithms in Impedance- and Admittance-Type Haptic Rendering
Ryo Kikuuwe, Hideo Fujimoto

High Resolution Analysis of Impact Sounds and Forces
L-M Reissell, Dinesh Pai

Design and Psychophysical Study of Volume Compression for Haptic Rendering
Nils Jensen, Gabriel Gaus, Gabriele von Voigt, Stephan Olbrich

16:00-16:30   break  

16:30-17:45   Session 3P2   Psychophysics IV
                      chair: Hong Tan and Charles Spence

Evaluation of Human Performance with Kinematic and Haptic Errors
Tomonori Yamamoto, Allison Okamura

Perceptualizing a "Haptic Edge" with Varing Stiffness Based on Force Constancy: Effect of Surface Normals
Jaeyoung Cheon, Seungmoon Choi

Finger Force Direction Recognition by Principal Component Analysis of Fingernail Coloration Pattern
Yu Sun, John Hollerbach, Stephen Mascaro

Human Performance in a Knob-Turning Task
Netta Gurari, Allison Okamura

Design of a Haptic Zoom: Levels and Steps
Mounia Ziat, Olivier Gapenne, John Stewart, Charles Lenay, Jerome Bausse

17:45-18:15   Closing