Upon publication almost 15 years ago, the first edition almost instantly became a trusted
reference, setting the stage for the coming decade, in which the explosion in research and …

Haptic augmented reality (AR) enables the user to feel a real environment augmented with
synthetic haptic stimuli. This article addresses two important topics in haptic AR. First, a new …

The emerging science of haptic rendering consists of delivering properties of physical
objects through the sense of touch. Owing to the recent development of sophisticated haptic …

We report position and force detection thresholds for sinusoidal waveforms in the frequency
range 10-500 Hz delivered through a stylus. The participants were required to hold the …

We discuss the properties of force-feedback haptic simulation systems that fundamentally
limit the re-creation of periodic gratings, and hence, of any texture. These include sampling …

Almost every physical interaction generates high frequency vibrations, especially if one of
the objects is a rigid tool. Previous haptics research has hinted that the inclusion or …

The detectability and discriminability of virtual haptic gratings were analyzed in the
frequency domain. Detection (Exp. 1) and discrimination (Exp. 2) thresholds for virtual haptic …

With the introduction of variable friction displays, either based on ultrasonic or
electrovibration technology, new possibilities have emerged in haptic texture rendering on …

We present a hybrid framework for the modeling and rendering of both homogeneous and
inhomogeneous textures with high realism by combining force and vibration feedback …

Haptic augmented reality (AR) mixes a real environment with computer-generated virtual
haptic stimuli, enabling the system to modulate the haptic attributes of a real object to …