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We review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential applications (human-machine interaction), and finally the challenges ahead of us in making them available through commercial systems. This review primarily covers the tactile interactions of human fingers or hands with surface-haptics displays by focusing on the three most popular actuation methods: vibrotactile, electrostatic, and ultrasonic., 21 pages, 177 references, review paper

Purpose To assess the impact of periprocedural factors, including adverse events, on overall patient survival following image-guided liver tumor cryoablation procedures. Methods In this retrospective single-institution study, 143 patients (73 male, 70 female, ages 29–88) underwent 169 image-guided liver tumor cryoablation procedures between October 1998 and August 2014. Patient, tumor and procedural variables were recorded. The primary outcome was overall survival post-procedure (Kaplan–Meier analysis). Secondary outcomes were the impact of 15 variables on patient survival, which were assessed with multivariate cox regression and log-rank tests. Results Mean tumor diameter was 2.5 ± 1.2 cm. 26 of 143 (18.2%) patients had primary hepatic malignancies; 117 of 143 (81.8%) had liver metastases. Survival analysis revealed survivor functions at 3, 5, 7, 10 and 12 years post-ablation of 0.54, 0.37, 0.30, 0.17 and 0.06, with mean survival time of 40.8 ± 4.9 months. Tumor size ≥4 cm (p = .018), pre-procedural platelet count

Electrovibration has been used extensively with touchscreens and other rigid objects. We propose extending electrovibration to wearables such as wristbands, jewelry and clothing, and present an exploration of the resulting design space and preliminary experimentation with haptic prototypes made of flexible materials and conductive textiles.

We describe the graduate-level CanHap 501 (wiki.canhaptics.ca) course, an introduction to the inception, creation and evaluation of haptic and multimodal human-computer interfaces. The course covers perceptual and attentional foundations, and emphasizes control and/or display of computed sensations and environments through haptic devices to users’ sense of touch for the purpose of haptic communication—e.g., signalling, social and affective touch, and sharing of control between humans and smart systems.

ReFlex is a flexible smartphone with bend input and active haptic feedback. ReFlex's features allow the introduction of sensations such as friction or resistance. We report results from an experiment using ReFlex in a targeting task, as well as initial users' reactions to the prototype. We explore both absolute and relative tactile haptic feedback, paired with two types of bend input mappings: position-control and rate-control. We observed that position-controlled cursors paired well with relative bend feedback, while rate-controlled cursors paired well with absolute bend feedback to indicate targets. We also explored an eyes-free condition. Results suggest that while eyes-free, haptic feedback conditions were more error-prone than visual-only conditions, the size of the error was relatively small, and users were able to complete the task in all cases. We present two application scenarios that take advantage of the unique input and output modalities of ReFlex and discuss its potential for within document navigation.

This paper describes the design, construction, and initial evaluation of a handheld information device that supports combined tactile and graphical interaction. The design comprises a liquid crystal graphic display co-located with a miniature, low-power, distributed tactile transducer. This transducer can create electronically-controlled lateral skin deformation patterns which give the sensation of sliding over small shapes. It is integrated within a slider mechanism to control scrolling. It also functions as a detent when pushing on it. Tactile feedback and the combination of visual and tactile feedback in a mobile context enable the development of new functions, such as multimodal navigation within large graphic spaces

When a progressive wave of localized deformations occurs tangentially on the fingerpad skin, one typically experiences the illusion of a small object sliding on it. This effect was investigated because of its potential application to the display of Braille. A device was constructed that could produce such deformation patterns along a line. Blind subjects' ability to read truncated Braille characters (‘○○’, ‘○•’, ‘•○’, and ‘••’) using the device was experimentally tested and compared to their performance with a conventional Braille medium. While subjects could identify two-character strings with a high rate of success, several factors need to be addressed before a display based on this principle can become practical.

Scrolling interactions are an important aspect of the design of usable touchscreen interfaces, particularly for handheld devices that can only display a limited amount of information at once. Using a touchscreen capable of dynamically altering its surface friction, we explore the design space of haptically-augmented scrolling interactions and investigate programmable friction's ability to provide appropriate feedback in envisioned usage scenarios. We performed five user experiments to evaluate respectively the identifiability of a set of iconic detents, the countability of detents, the perception of detent density, the synchronization of tactile feedback to on-screen events, and the optimal friction pattern for a spring-like resistance. The results of these experiments provide valuable information that will inform the design of scrolling interactions that leverage programmable friction for an improved user experience.

We investigate gains in user appreciation and performance when the level of detail of tactile graphics is dynamically altered either at the press of a button or automatically, as a function of exploration speed. This concept was evaluated by asking 9 visually impaired participants to perform hierarchical spatial search tasks in a concert hall illustration. The tasks could be simplified by first searching for a section in a sparse illustration, and then a seat in a detailed illustration. The results show no improvement in task performance but indicate a user preference for explicitly controlling the level of details with the manual toggle.

Touch interactions occur through flat surfaces that lack the tactile richness of physical interfaces. We explore the design possibilities offered by augmenting touchscreens with programmable surface friction. Four exemplar applications -- an alarm clock, a file manager, a game, and a text editor -- demonstrate tactile effects that improve touch interactions by enhancing physicality, performance, and subjective satisfaction.

Touch interactions have refreshed some of the 'glowing enthusiasm' of thirty years ago for direct manipulation interfaces. However, today's touch technologies, whose interactions are supported by graphics, sounds or crude clicks, have a tactile sameness and gaps in usability. We use a Large Area Tactile Pattern Display (LATPaD) to examine design possibilities and outcomes when touch interactions are enhanced with variable surface friction. In a series of four studies, we first confirm that variable friction gives significant performance advantages in low-level targeting activities. We then explore the design space of variable friction interface controls and assess user reactions. Most importantly, we demonstrate that variable friction can have a positive impact on the enjoyment, engagement and sense of realism experienced by users of touch interfaces.

Rich tactile interaction with control surfaces has been compromised in the transition to touch interfaces. This paper discusses new haptic effects that restore physicality to touch interaction by dynamically altering a touchscreen's frictional properties.

Raised line patterns are used extensively in the design of tactile graphics for persons with visual impairments. A tactile stroke pattern was therefore developed to enable the rendering of vector graphics by lateral skin deformation. The stroke pattern defines a transversal profile and a longitudinal texture which provide tactile feedback while respectively crossing over the stroke and tracing its length. The stroke pattern is demonstrated with the rendering of lines, circles and polygons, and is extensible to other vector graphics primitives such as curves. The parametric nature of the stroke allows the representation of distinctive line types and the online adjustment of line thickness and other parameters according to user preferences and capabilities. The stroke pattern was informally evaluated with four visually impaired volunteers.

This article presents research on making schoolbook illustrations accessible for students with visual impairment. The MaskGen system was developed to interactively transpose illustrations of schoolbooks into tactile graphics. A methodology was designed to transpose the graphics and prepare them to be displayed on the STReSS2, a refreshable tactile device. We experimented different associations of tactile rendering and audio feedbacks to find a model that children with visual impairment could use. We experimented with three scientific graphics (diagram, bar-chart and map) with forty participants: twenty sighted adults, ten adults with visual impairment, and ten children with visual impairment. Results show that the participants with visual impairment liked the tactile graphics and could use them to explore illustrations and answer questions about their content.

This article presents research on making schoolbook illustrations accessible for students with visual impairment. The MaskGen system was developed to interactively transpose illustrations of schoolbooks into tactile graphics. A methodology was designed to transpose the graphics and prepare them to be displayed on the STReSS, a refreshable tactile device. We experimented different associations of tactile rendering and audio feedbacks to find a model that children with visual impairment could use. We experimented with three scientific graphics (diagram, bar chart and map) with forty participants: twenty sighted adults, ten adults with visual impairment, and ten children with visual impairment. Results show that the participants with visual impairment liked the tactile graphics and could use them to explore illustrations and to answer questions about their content.

This paper presents preliminary work towards the development and evaluation of a practical refreshable tactile graphics system for the display of tactile maps, diagrams and graphs for people with visual impairments. Refreshable tactile graphics were dynamically produced by laterally deforming the skin of a finger using the STReSS2 tactile display. Tactile features were displayed over an 11x6 cm virtual surface by controlling the tactile sensations produced by the fingerpad-sized tactile display as it was moved on a planar carrier. Three tactile rendering methods were used to respectively produce virtual gratings, dots and vibrating patterns. These tactile features were used alone or in combination to display shapes and textures. The ability of the system to produce tactile graphics elements was evaluated in five experiments, each conducted with 10 sighted subjects. The first four evaluated the perception of simple shapes, grating orientations, and grating spatial frequencies. The fifth experiment combined these elements and showed that tactile icons composed of both vibrating contours and grated textures can be identified. The fifth experiment was repeated with 6 visually impaired subjects with results suggesting that similar performance should be expected from that user group.

Earlier work with a 1D tactile transducer demonstrated that lateral skin deformation is sufficient to produce sensations similar to those felt when brushing a finger against a line of Braille dots. Here, we extend this work to the display of complete 6-dot Braille characters using a general purpose 2D tactile transducer called STReSS2. The legibility of the produced Braille was evaluated by asking seven expert Braille readers to identify meaningless 5-letter strings as well as familiar words. Results indicate that reading was difficult but possible for most individuals. The superposition of texture to the sensation of a dot improved performance. The results contain much information to guide the design of a specialized Braille display operating by lateral skin deformation. They also suggest that rendering for contrast rather than realism may facilitate Braille reading when using a weak tactile transducer

A computer implementation of a classic memory card game was adapted to rely on touch rather than vision. Instead of memorizing pictures on cards, players explore tactile graphics on a computer-generated virtual surface. Tactile sensations are created by controlling dynamic, distributed lateral strain patterns on a fingerpad in contact with a tactile display called STRESS2. The tactile graphics are explored by moving the device within the workspace of a 2D planar carrier. Three tactile rendering methods were developed and used to create distinct tactile memory cards. The haptic memory game showcases the capabilities of this novel tactile display technology.

Mobile interaction can potentially be enhanced with well-designed haptic control and display. However, advances have been limited by a vicious cycle whereby inadequate haptic technology obstructs inception of vitalizing applications. We present the first stages of a systematic design effort to break that cycle, beginning with specific usage scenarios and a new handheld display platform based on lateral skin stretch. Results of a perceptual device characterization inform mappings between device capabilities and specific roles in mobile interaction, and the next step of hardware re-engineering.

Many aspects of both grip function and tactile perception depend on complex frictional interactions occurring in the contact zone of the finger pad, which is the subject of the current review. While it is well established that friction plays a crucial role in grip function, its exact contribution for discriminatory touch involving the sliding of a finger pad is more elusive. For texture discrimination, it is clear that vibrotaction plays an important role in the discriminatory mechanisms. Among other factors, friction impacts the nature of the vibrations generated by the relative movement of the fingertip skin against a probed object. Friction also has a major influence on the perceived tactile pleasantness of a surface. The contact mechanics of a finger pad is governed by the fingerprint ridges and the sweat that is exuded from pores located on these ridges. Counterintuitively, the coefficient of friction can increase by an order of magnitude in a period of tens of seconds when in contact with an impermeably smooth surface, such as glass. In contrast, the value will decrease for a porous surface, such as paper. The increase in friction is attributed to an occlusion mechanism and can be described by first-order kinetics. Surprisingly, the sensitivity of the coefficient of friction to the normal load and sliding velocity is comparatively of second order, yet these dependencies provide the main basis of theoretical models which, to-date, largely ignore the time evolution of the frictional dynamics. One well-known effect on taction is the possibility of inducing stick–slip if the friction decreases with increasing sliding velocity. Moreover, the initial slip of a finger pad occurs by the propagation of an annulus of failure from the perimeter of the contact zone and this phenomenon could be important in tactile perception and grip function.