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Below the list of accepted publications for World Haptics 2023. Click here to downoad the articles.

1. Perception of and Response to a Haptic Device as a Function of Signal Complexity
   Antonio Alvarez Valdivia and Laura H. Blumenschein
2. The tactile distance aftereffect transfers to roughness perception
   Michaela Jeschke, Knut Drewing and Elena Azañón
3. Eyes-free fingertip guidance based on tactile cues, an extension of the steering law
   Quentin Agobert, Corentin Bernard, Balthazar Potet, Nicolas Huloux
4. Human Recognition Performance of Simple Spatial Vibrotactile Patterns on the Torso
   Junwoo Kim, Heeyeon Kim, Chaeyong Park and Seungmoon Choi
5. The Effect of Actuation Speed on the Perception Threshold of a Squeezing Soft Actuator
   Judith Weda, Jan van Erp and Angelika Mader ToH Short paper
6. Modulating the Perceived Softness of Real Objects through Wearable Feel-Through Haptics
   Simone Fani, Simone Ciotti, Giulia Pagnanelli, Alessandro Moscatelli, Yuri De Pra and Matteo Bianchi ToH Short paper
7. Investigating the Haptic Perception of Directional Information Within a Handle
   Inès Lacote, Claudio Pacchierotti, Marie Babel, David Gueorguiev, and Maud Marchal ToH Short paper

1. Interpersonal Vibrotactile Phantom Sensation between Hands via Actuated Bracelets
   Kenta Ebina and Taku Hachisu
2. WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality
   Minjae Jo, DongKyu Kwak and Sang Ho Yoon
3. Information Transfer of Full-Body Vibrotactile Stimuli: An Initial Study with One to Three Sequential Vibrations
   Jaejun Park, Junwoo Kim, Chaeyong Park, Sangyoon Han, Junseok Park and Seungmoon Choi
4. A Magnetic Soft Device for Tactile Haptic Actuation of the Fingertip
   Sarah Costrell, Mahirah Alam, Roberta L. Klatzky, Michael E. McHenry, Lynn M. Walker and Melisa Orta Martinez
5. Design and Evaluation of a Multimodal Haptic Vest
   Bora Celebi, Müge Cavdan and Knut Drewing
6. The Impact of Haptic Feedback During Sudden, Rapid Virtual Interactions
   Nizamettin Taha Tanacar, Moaaz Hudhud Mughrabi, Anil Ufuk Batmaz, Daniele Leonardis and Mine Sarac
7. Wireless Dual Mode Haptic Thimble based on Magnetoactive Rubber
   Yong Hae Heo, Mohammad Shadman Hashem, Gyubin An, Hyun-Jeong Kim, Dong-Soo Choi, Seokhee Jeon and Sang-Youn Kim

1. Fostering social empathy in VR through physiologically based affective haptic feedback
   Jeanne Hecquard, Justine Saint-Aubert, Ferran Argelaguet Sanz, Claudio Pacchierotti, Anatole Lécuyer and  Marc J-M Macé
2. Human-Delivered Brushstroke Characterization using an Instrumented Brush Focused on Torque
   Zackary Todd Landsman, Anika Kao and Gregory John Gerling
3. Mediated social touching: haptic feedback affects social experience of touch initiators
   Martin Maunsbach, Kasper Hornbæk and Hasti Seifi
4. Can Facial Expressions Induce Haptic Perception?
   Nana Matsuyama, Soichiro Matsuda and Taku Hachisu ToH Short paper
5. Deep Pressure Therapy: A Promising Anxiety Treatment for Individuals with High Touch Comfort?
   Anisha Bontula, Rhian C. Preston, Emily Shannon, Cristina Wilson and Naomi T. Fitter ToH Short paper 

1. Concurrent haptic, audio, and visual data set during bare finger interaction with textured surfaces
   Alexis William Marcel Devillard, Aruna Ramasamy, Damien Faux, Vincent Hayward and Etienne Burdet
2. Dynamic Feedback in Wave-Mediated Surface Haptics: A Modular Platform
   Dustin Thomas Goetz, Gregory Reardon, Max Linnander and Yon Visell
3. Tactile Perception of Coated Smooth Surfaces
   Easa AliAbbasi, Volkan Aydingul, Alperen Sezgin, Utku Er, Seniz Turkuz and Cagatay Basdogan ToH Short paper
4. Rendering Dynamic Source Motion in Surface Haptics via Wave Focusing
   Gregory Reardon, Dustin Goetz, Max Linnander and Yon Visell ToH Short paper 
5. Ultraloop: Active lateral force feedback using resonant traveling waves
   Zhaochong Cai and Michaël Wiertlewski ToH Short paper

1. Manipulation of Body Sway Interpretation through Kinesthetic Illusion Induced by Ankles Vibration
   Eifu Narita, Shota Nakayama, Mitsuki Manabe, Keigo Ushiyama, Satoshi Tanaka, Izumi Mizoguchi and Hiroyuki Kajimoto
2. Exploring Human Response Times to Combinations of Audio, Haptic, and Visual Stimuli from a Mobile Device
   Kyle T. Yoshida, Joel X. Kiernan, Allison M. Okamura and Cara M. Nunez
3. Humans Struggle to Perceive Congruency in Visuo-Haptic Textures
   Jenna Fradin, Sinan D. Haliyo and David Gueorguiev
4. Communication is a Two-Way Street: Negotiating Driving Intent through a Shape-Changing Steering Wheel
   Hannah Baez, Akshay Bhardwaj, Jean Costa, John Gideon, Sile O'Modhrain and Brent Gillespie
5. Training to understand complex haptic phrases: a longitudinal investigation
   Mauricio Fontana de Vargas, David Marino, Antoine Weill-Duflos and Jeremy Cooperstock
6. Temporal detection threshold of audio-tactile delays with a virtual button
   Detjon Brahimaj, Mondher Ouari, Anis Kaci, Frédéric Giraud, Christophe Giraud-Audine and Betty Semail ToH Short paper
7. Altering time perception in Virtual Reality through multimodal visual-tactile Kappa Effect
   Yuri De Pra, Vincenzo Catrambone, Virginie van Wassenhove, Alessandro Moscatelli, Gaetano Valenza and Matteo Bianchi ToH Short paper

1. Perceptual Simultaneity Between Vibrotactile and Impact Stimuli
   Chaeyong Park and Seungmoon Choi
2. Vibrotactile Display of Distance Information in a Virtual Object Exploration Task
   Johannes Rueschen and Hong Z. Tan
3. Spatiotemporal Perception of Single Overlapped Vibrotactile Stimulation to Multiple Body Locations
   Takumi Kuhara, Kakagu Komazaki, Junji Watanabe and Yoshihiro Tanaka
4. MVibCode: Multi-Channel Vibrotactile Codec using Hierarchical Perceptual Clustering
   Lars Nockenberg, Andreas Noll, Sabrina Panëels, Ayoub Ben Dhiab, Charles Hudin and Eckehard Steinbach ToH Short paper
5. Mirror-Brush Illusion: Creating phantom tactile percepts on intact limbs
   Mohit Singhala and Jeremy Brown ToH Short paper 
6. Impact of Arm Dominance and Location on Detecting Electrotactile Stimuli during Voluntary Motor Activation in Older Adults
   Ninghe M. Cai, Eileen G. Medina, Stefani Gonzalez, Alan Duong and Netta Gurari ToH Short paper 
7. Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites
   Yijie Gong, Bernard Javot, Anja Patricia Regina Lauer, Oliver Sawodny and Katherine J. Kuchenbecker

1. Neural Correlates of Cooperation during Interactive Visuomotor Task: an fNIRS Hyperscanning Study
   Yilei Zheng, Shiyi Liu, Bohao Tian, Yuru Zhang and Dangxiao Wang
2. Spatiotemporal Organization of Touch Information in Tactile Neuron Population Responses
   Neeli Tummala, Yitian Shao and Yon Visell
3. A Wearable System Integrating Force Myography and Skin Stretch Feedback toward Force Skill Learning
   Arata Horie, Yunao Zheng and Masahiko Inami
4. Measurement of Rhythmical Movements in Street Dance for Quantifying movement timing skills through somatic sensation
   Ritsuko Kiso, Yuko Hashimoto and Masashi Nakatani
5. Tactile Feedback Involving Actual Operation for Skill Learning
   Hikari Yukawa, Moena Tsuruoka, Takayuki Kodama, Masahi Odagiri, Masayuki Sato, Michiya Takeda, Masahiko Kurachi and Yoshihiro Tanaka
6. EEG-based Machine Learning Models to Evaluate Haptic Delay: Should We Label Data Based on Self-Reporting or Physical Stimulation?
   Haneen Alsuradi and  Mohamad Eid ToH Short paper 
7. The impact of stiffness in bimanual versus dyadic interactions requiring force exchange
   Nuria Peña-Perez, Sharah Abdul Mutalib, Jonathan Eden, Ildar Farkhatdinov and Etienne Burdet ToH Short paper

1. Performance Evaluation of Airborne Ultrasound Focus Measurement Using Thermal Imaging on the Surface of a Finger
   Sota Iwabuchi, Ryoya Onishi, Shun Suzuki, Takaaki Kamigaki, Yasutoshi Makino and Hiroyuki Shinoda
2. Does it par-tickle?: Investigating the relationship between mid-air haptics and visual representations of surface textures.
   Katarzyna Wojna, Orestis Georgiou, David Beattie, Michael Wright and Christof Lutteroth ToH Short paper
3. Using virtual objects with hand-tracking: the effects of visual congruence and mid-air haptics on sense of agency
   George Evangelou, Orestis Georgiou and James Moore ToH Short paper
4. Can we effectively combine tangibles and ultrasound mid-air haptics? A study of acoustically transparent surfaces
   Thomas Howard, Guillaume Gicquel, Claudio Pacchierotti and Maud Marchal ToH Short paper
5. Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality
   Lendy Mulot, Thomas Howard, Claudio Pacchierotti and Maud Marchal ToH Short paper
6. Focusing Reflected Ultrasound Using Boundary Element Model for Mid-Air Tactile Presentation
   Atsushi Matsubayashi, Kanta Shiku, Yasutoshi Makino and Hiroyuki Shinoda ToH Short paper 

1. Modeling and Simulation of Thermal Grill Illusion Using Neurophysiological Theory
   Subhankar Karmakar, Madhan Kumar Vasudevan and Manivannan M.
2. Spatially Continuous Non-Contact Cold Sensation Presentation Based on Low-Temperature Airflows
   Koyo Makino, Jiayi Xu, Akiko Kaneko, Naoto Ienaga and Yoshihiro Kuroda
3. Determination of the Thermal-tactile Simultaneity Window for Multisensory Cutaneous Displays
   Takuya Jodai, Masahiko Terao, Lynette Jones and Hsin-Ni Ho
4. Perception of friction-related cues on a surface display with thermal feedback
   Matej Mayet, Jean-Loïc Le Carrou and David Gueorguiev
5. Skin Cold Stimulation Can Modulate the Perceptual Rating of Musical Chords
   Yuri Ishikawa, Rei Konno, Shinya Fujii and Masashi Nakatani ToH Short paper 

1. Optical Measurements of the Skin Surface to Infer Bilateral Distinctions in Myofascial Tissue Stiffness
   Anika Kao, Zackary Todd Landsman, M. Terry Loghmani and Gregory John Gerling
2. Flexos: a Portable, SEA-based Shoulder Exoskeleton with hyper-redundant kinematics for weight lifting assistance
   Gianluca Rinaldi, Luca Tiseni, Lorenzo Masia, Antonio Frisoli and Domenico Chiaradia
3. Neural Network-based Tactile Perception System Using Ultra-high Resolution Tactile Sensor
   Yusaku Maeda, Kei Tanimoto, Kenichi Sasayama and Hidekuni Takao ToH Short paper
4. Mechanofluidic Instability-Driven Wearable Textile Vibrotactor
   Nathaniel Fino, Barclay Jumet, Zane A. Zook, Daniel J. Preston and Marcia K. O'Malley ToH Short paper 
5. Effect of Low-Pass Filtering on Passivity and Rendering Performance of Series Elastic Actuation
   Ozgur Taylan Kenanoglu, Celal Umut Kenanoglu and Volkan Patoglu ToH Short paper

1. Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove
   Qianqian Tong, Weipeng Shen, Dangxiao Wang and Miguel A. Otaduy
2. Shaping Human Movement via Bimanually-Dependent Haptic Force Feedback
   Jacob R. Boehm, Ann Majewicz Fey and Nicholas P. Fey
3. CatBoost for Haptic Modeling of Homogeneous Viscoelastic Deformable Objects
   Gautam Kumar, Shashi Prakash and Amit Bhardwaj
4. Physics Engine-Based Whole-Hand Haptic Rendering for Sensorimotor Neurorehabilitation
   Raphael Rätz and Laura Marchal-Crespo
5. Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues
   Marco Ferro, Claudio Pacchierotti, Sara Rossi and Marilena Vendittelli ToH Short paper
6. A Fundamental Limitation of Passive Spring Rendering with Series Elastic Actuation
   Celal Umut Kenanoglu and Volkan Patoglu ToH Short paper
7. Preference-Based Human-in-the-Loop Optimization for Perceived Realism of Haptic Rendering
   Bilal Catkin and Volkan Patoglu ToH Short paper 

1. Wearable Sensory Substitution for Proprioception via Deep Pressure
   Sreela Kodali, Brian Vuong, Thomas Bulea, Alexander Chesler, Carsten Bönnemann and Allison M. Okamura
2. A Miniature Direct-Drive Pneumatic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation
   Daniele Leonardis, Domenico Chiaradia and Antonio Frisoli.
3. Fingertip Wearable High Resolution ElectroHydraulic Interface for Multi-modal Haptics
   Purnendu, Jess Hartcher-O'Brien, Vatsal Mehta Nick Colonnese, Aakar Gupta, Carson Bruns and Priyanshu Agarwal
4. Focused vibrotactile stimuli from a wearable sparse array of actuators
   Valerie de Vlam, Michaël Wiertlewski and Yasemin Vardar ToH Short paper
5. Vibrotactile thresholds on the wrist for vibrations normal to the skin
   Quentin Consigny, Nathan Ouvrai, Arthur Paté, Claudia Fritz and Jean-Loïc Le Carrou ToH Short paper
6. Wearable High-resolution Haptic Display Using Suction Stimuli to Represent Cutaneous Contact Information on Finger Pad
   Natsumi Morita,  Akio Ichijo, Masashi Konyo, Haruki Kato, Kazuya Sase, Hikaru Nagano and Satoshi Tadokoro ToH Short paper
7. PixeLite: A thin and wearable high bandwidth electroadhesive haptic array
   Sylvia Tan, Roberta L. Klatzky, Michael A. Peshkin and J. Edward Colgate ToH Short paper

1. Realism of Visual, Auditory, and Haptic Cues in Phenomenal Causality
   Elyse D. Z. Chase, Tobias Gerstenberg and Sean Follmer
2. The Effects of Movement Direction and Glove on Spatial Frequency Discrimination In Oriented Textures
   Didem Katircilar and Knut Drewing
3. Influence of Electrical Stimulation Intensity on the Perception of Piquancy
   Masaki Ohno, Kazuma Aoyama, Tomohiro Amemiya, Hideaki Kuzuoka, Keigo Matsumoto and Takuji Narumi
4. Controlling Human Perception of Haptic Profiles Using Contextual Cues
   Derek Van Delden, Alison Jenkins, William Singhose, Franziska Schlagenhauf and Kelly Dobson
5. Rendering Perceived Terrain Stiffness in VR via Preload Variation Against Body-weight
   Wooje Chang, Seungwoo Je, Michel Pahud, Mike Sinclair and Andrea Bianchi ToH Short paper 
6. Cognitive and Physical Activities Impair Perception of Smartphone Vibrations
   Kyle T. Yoshida, Joel X. Kiernan, Rachel A. G. Adenekan, Steven H. Trinh, Alexis J. Lowber, Allison M. Okamura and Cara M. Nunez ToH Short paper 
7. Simultaneous emotional stimuli prolong the timing of vibrotactile events
   Müge Cavdan, Bora Celebi and Knut Drewing ToH Short paper

1. Towards Differential Magnetic Force Sensing for Ultrasound Teleoperation
   David Black, Nicholas Rangga Pradnyawira, Maxime Pol, Mika Nogami and Tim Salcudean
2. Optimized time-domain control of passive haptic teleoperation systems for multi-DoF interaction
   Gianni Bianchini, Davide Barcelli, Domenico Prattichizzo and Claudio Pacchierotti
3. Active haptic exploration based on hybrid information for object recognition
   Pakorn Uttayopas, Xiaoxiao Cheng and Etienne Burdet (presenter: Anirvan Dutta)
4. A Mechanical Hand-Tracking System with Tactile Feedback Designed for Telemanipulation
   Marcello Palagi, Giancarlo Santamato, Domenico Chiaradia, Massimiliano Gabardi, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli and Daniele Leonardis ToH Short paper 
5. Interday Reliability of Upper-limb Geometric MyoPassivity Map for Physical Human-Robot Interaction
   Xingyuan Zhou, Peter Paik, Rory O'Keeffe and S. Farokh Atashzar ToH Short paper 

1. Portable Self-propelled Force Feedback Device
   Ayaka Fukasawa, Riho Taniguchi, Takumi Sato and Shoichi Hasegawa
2. Wearable 3D Shape Display for Dynamic Interfaces Rendering
   Bilige Yang, Benjamin Stephens-Fripp, Priyanshu Agarwal, Sonny Chan, Nathan Usevitch, Andrew Stanley and Yatian Qu
3. 1-D Manual Tracing Based on a High Density Haptic Stimulation Grid - a Pilot Effort
   Brendan Driscoll, Ming Liu and Helen Huang
4. Implementation and Evaluation of a Vibrotactile Assisted Monitoring and Correction System for Partial Weight-Bearing in Lower Extremities
   Øystein Bjelland, William Gulliksen, Arkadiusz Damian Kwiatkowski, Martin Skavø, Håkon Isern, Mohammadamin Shayestehpour, Martin Steinert, Alf-Inge Hellevik and Robin T. Bye
5. 3D Shape Presentation by Combination of Force Feedback and Electro-tactile Stimulation
   Yui Suga, Masahiro Miyakami, Izumi Mizoguchi and Hiroyuki Kajimoto
6. Temporal detection threshold of audio-tactile delays under conditions of active touch with and without a visual cue
   Detjon Brahimaj, Giulia Esposito, Arthur Courtin, Andre Mouraux, Frederic Giraud, Betty Semail and Olivier Collignon

1. Easy-to-recognize bump shapes using only lateral force cues for real and virtual surfaces
   Mirai Azechi and Shogo Okamoto
2. Enhancing Perceived Resistance and Propulsion by Combining Pseudo-haptics and Pulling Illusion
   Tomohiro Kawagishi, Yuki Ban, Yusuke Ujitoko and Shinichi Warisawa
3. An Exploration of Just Noticeable Differences in Mid-Air Haptics
   Katarzyna Wojna, Orestis Georgiou, David Beattie, William Frier, Michael Wright and Christof Lutteroth
4. The Influence of Surface Roughness and Surface Size on Perceived Pleasantness
   Lisa Pui Yee Lin, Müge Cavdan, Katja Doerschner and Knut Drewing
5. Effects on Perception when Removing One Frequency Component from Two Harmonic Vibrations
   Keisuke Tozuka and Hiroshi Igarashi
6. Identifying Human Grasp Properties During Robot-to-Human Handovers
   Paul Pacaud, Etienne Chassaing, Yilin Cai, Connor Yako and Kenneth Salisbury

1. Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash
   Patrick Dills and Michael Zinn
2. An Extended Virtual Proxy Haptic Algorithm for Dexterous Manipulation in Virtual Environments
   Aldo Fabrizio Galvan, Job Donaldo Ramirez, Ashish Deshpande and Ann Majewicz Fey
3. Handheld Haptic Device with Coupled Bidirectional Input
   Megh Doshi, Michael Hagenow, Robert Radwin, Michael Gleicher, Bilge Mutlu and Michael Zinn
4. A User Study of a Cable Haptic Interface with a Reconfigurable Structure
   Bastien Jacques Étienne Poitrimol and Hiroshi Igarashi

6. Dynamic pattern recognition with localised surface haptics and apparent motion
   Mathilde Jeannin, Ayoub Ben Dhiab, Charles Hudin and Sabrina Panëels