IEEE Transactions on HapticsIEEE触觉学汇刊
IEEE Transactions on Haptics(英文缩写 IEEE T HAPTICS),ISSN 1939-1412,eISSN 2329-4051,中文译名:IEEE触觉学汇刊 是一本学术期刊。本页汇总该期刊的最新影响因子、分区信息以及最新收录于 PubMed 的文献,帮助您快速了解期刊全貌。
发文量统计区间：2025-10-01 至 2026-09-30，按本站收录文献的发表日期统计。
期刊介绍
历年影响因子趋势
| JCR 数据年份 | 影响因子 | JCR 分区 |
|---|---|---|
| 2021 | 3.105 | Q2 |
| 2022 | 2.900 | Q3 |
| 2023 | 2.400 | Q2 |
| 2024 | 2.800 | Q2 |
| 2025 | 3.100 | Q2 |
IEEE Transactions on Haptics 最新收录文献
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1. Thermal Perception and Energy Efficiency Using Heat Spatial Integration.
PMID:日期:2026-09-25Thermal displays hold promise for supporting thermal comfort in products involving steady contact such as smart office chairs, electric vehicle seats, and heated toilet seats. However, conventional thermal conduction methods have practical limitations due to their large device size and high energy consumption. This study leveraged a spatial integration effect similar to thermal referral or heat phantom sensation, hereafter referred to as the heat spatial integration illusion (h-SI), which induces the perception of warmth between discrete stimulus points, demonstrating its potential for achieving superior perceptual characteristics and energy efficiency. Psychophysical experiments conducted at near-human body temperature ($37^\circ \text{C}$) on the arm revealed that the warmth perceived by h-SI is controlled by the temperature of the central stimulus and no significant effect of stimulus distance was detected between 60 mm and 100 mm under the tested conditions. Furthermore, the h-SI design demonstrated a model-based estimate of power reduction of 6%- 13% under steady-state conditions across central stimuli of 27, 30, and $33^\circ \text{C}$, compared to presenting the same temperature with a single element. These findings provide crucial foundational guidelines for realizing energy-efficient thermal displays.
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2. Fingertip Pressure Feedback Increases the Perceived Length of a Handheld Object.
PMID:日期:2026-09-18In haptics, supporting dynamic touch, the perception of object properties such as length and shape through wielding, remains a significant challenge, often requiring complex and bulky devices. This paper investigates whether the perceived length of a wielded physical object can be augmented using only dynamic cutaneous (pressure) feedback to the fingertips, motivated by the recent advancement of haptic gloves. We designed pressure feedback profiles inspired by the biomechanical changes in finger pressure that naturally occur during wielding. These profiles deliver sequential pressure stimuli to the fingertips, synchronized with the object's rotational angle during wielding. A perceptual experiment demonstrated that the fingertip pressure feedback significantly increased the perceived length of an elongated object by 6.1% on average. This effect was equivalent to an increase of 13.8% in the physical moment of inertia of the object. This finding suggests that cutaneous feedback can effectively modulate the perceptual properties of handheld objects mediated through dynamic touch, expanding the application areas of hand-worn haptic devices.
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3. Deep Tactile Learning for Tumor Detection and Depth Classification in Robot-Assisted Surgery.
PMID:日期:2026-09-10This work presents a phantom-based proof-of-concept learning framework for robot-assisted palpation to detect tissue abnormalities and classify abnormality depth. A probe equipped with a rigidly mounted tactile sensor acquires spatially aligned pressure and indentation-depth maps during semi-autonomous, force-regulated exploration. A gated multi-task convolutional neural network (CNN) is developed to jointly perform tumor detection and tumor-positive depth classification using pressure-specific, indentation-specific, and fused pressure-indentation expert representations. Task-specific gates learn independent expert weightings for the two prediction tasks, while a masked loss restricts depth supervision to tumor-positive samples with valid depth labels. The framework learns spatial representations directly from paired pressure and indentation-depth maps without requiring an explicitly computed stiffness map as a primary model input. The method is evaluated using operator-independent and uneven-surface phantom test data. On the combined independent test set, the proposed model achieved a tumor-detection accuracy of 95.2%, an ROC-AUC of 0.934, an F1-score of 0.889, and a specificity of 98.0%. For tumor-positive depth classification, it achieved an accuracy of 85.7%, a mean absolute error of 0.143, and a quadratic weighted kappa of 0.811. Comparisons with pressure-only, indentation-only, stiffness-based, and multimodal baseline models indicate that models combining pressure and indentation-depth information produced the strongest depth-classification results. The proposed task-specific multi-head formulation also yielded the highest tumor-detection accuracy and F1-score point estimates while matching the strongest depth results.
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4. How Haptics Affects Emotions in Robotic Dancing Performance.
PMID:日期:2026-09-08Dance and movement-based artistic practices are a powerful nonverbal channel for emotional communication. The integration of robotic systems into these expressive contexts enables novel forms of performative art, while simultaneously raising concerns regarding the fidelity and perceptual accuracy of conveyed emotional information, particularly when affective content is mediated through non-humanoid embodiments. This study addresses a key limitation of robotic dance previously identified: although emotional valence and stylistic coherence were largely preserved, the resulting robotic performances exhibited diminished clarity in the perception of emotional arousal. To overcome this limitation, we investigate the role of haptic feedback as an additional expressive modality to support emotional communication in robotic dance. Visual performances by both human and robotic dancers are augmented with thermal and vibrotactile cues designed in accordance with established associations between haptic stimuli and emotional dimensions. A user study was conducted to assess how this multimodal augmentation influences the perception of emotional arousal. Results demonstrate that the inclusion of thermal or vibro-thermal haptic stimuli significantly enhances the interpretability of emotional content conveyed by a dancing robot. In particular, haptic augmentation of the audience experience improves the distinguishability of emotion intensity without altering the transmission of hedonic tone.
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5. Using Vibrotactile Patterns for Conveying Orchestral Conducting Gestures to Blind and Visually Impaired Musicians.
PMID:日期:2026-09-07Orchestral conducting relies predominantly on visual gestures to convey timing, dynamics, articulation, cueing, and expressive intent, creating a significant accessibility barrier for Blind and Visually Impaired (BVI) musicians. This work investigates whether structured vibrotactile patterns, commonly referred to as tactons, can provide a non-visual channel for representing selected orchestral conducting cues, focusing on the design and perceptual evaluation of tactile encodings for conducting-related information. To this aim, a wearable sleeve equipped with vibrating motors in a simple layout was leveraged to implement established vibrotactile display principles such as spatially distributed stimulation, temporal patterning, and coarse intensity modulation. Preliminary experiments involving both sighted and BVI participants were conducted to assess stimulus localization, intensity discrimination, and the perception of combined vibrotactile features. The outcomes of these experiments informed the design of a set of tactons representing conducting intentions such as beat, entrance, cut-off, pointing, crescendo, and diminuendo. The resulting tacton set was subsequently evaluated with BVI participants through recognition tasks designed to assess its interpretability and effectiveness. Results demonstrate that the BVI cohort was able to reliably identify six tactons after limited training, achieving an average recognition accuracy of 77%, with individual accuracies ranging from approximately 60% to nearly 100%.
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6. Design and Characterization of a Gel-Based Thermal Contact Sensor for Approximating Human Finger Heat Transfer.
PMID:日期:2026-09-02Thermal responses at the skin-material interface play an important role in human touch perception and material recognition. This study presents the design and characterization of a gel-based thermal contact sensor developed to approximate the transient heat-transfer responses of the human finger during material contact. The sensor incorporates a compliant, finger sized gel interface and an integrated heating system that reproduces an initial skin-like temperature condition at contact onset. The design is motivated by limitations of conventional rigid contact thermal sensors, including unstable contact conditions and discrepancies from human finger responses. Compared with a previous glass-based design, the proposed sensor improves measurement stability and achieves closer correspondence to human finger thermal responses, particularly for materials with mid-range thermal effusivity. However, the sensor exhibits faster and larger temperature changes than the human finger for high effusivity materials, highlighting the challenges of reproducing human-like interfacial heat transfer. We discuss possible con tributing factors, including thermal contact resistance, surface conformity, and the absence of fingerprint-like microstructure in the gel interface. The proposed system is positioned as a biomimetic thermal sensing platform for capturing human-like thermal contact responses under controlled conditions, with potential future applications in haptic interface evaluation, robotic material sensing, and data-driven material recognition systems.
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7. Modulating Multimodal Emotional and Social Perception of Huggable Robot Expressions Through Chest Haptics.
PMID:日期:2026-08-13Emotional and social expression are important dimensions of socially empathic human-robot interaction. In hug gable robot contexts, the chest is not only a stable bodily contact interface with strong affective relevance, but also a natural site for presenting haptic and auditory cues together. However, existing chest-haptic designs still focus mainly on physical tactile parameters or heartbeat-like patterns. Conversely, chest haptic patterns formed by different stimulation-location combinations over time may offer richer possibilities for multimodal expression and modulation. To explore this, we implemented a parameterizable 3×3 chest-mounted vibrotactile array on a huggable robot and constructed chest haptic patterns using path type and activation area as design parameters. We conducted two experiments. Experiment 1 examined how chest haptic patterns influenced the affective perception of emotional music. Experiment 2, under a fixed activation area setting, examined how the presence of chest haptics and different path conditions influenced the social emotional evaluation of verbal expressions with empathic intentions. The results showed that, in the emotional music context, chest haptic patterns influenced the direction of emotional rating shifts and showed more pronounced modulation effects under some music conditions. In the empathic speech context, the addition of chest haptics generally improved social-emotional evaluations. These findings provide empirical support for the use of chest haptic patterns in multimodal social-emotional expression, and offer guidance for the future development of huggable robots with richer emotional and empathic expression.
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8. Toward Eyes-Free Interaction: Whole-Arm Guidance via Fingertip Deflection with the NURing.
8. 迈向免眼交互：通过NURing指尖偏转实现全臂引导PMID:日期:2026-08-12Haptic feedback can convey spatial information without engaging vision or hearing, making it well suited for eyes-free and assistive applications. However, many haptic guidance systems rely on cues that require explicit cognitive interpretation, which can slow user responses and introduce ambiguity in the conveyed spatial information. To address this, we introduce fingertip deflection as a kinesthetic guidance cue via the NURing, a wearable tendon-driven device that delivers controlled fingertip deflections to guide whole-arm motion, designed to leave the fingerpad unobstructed for tactile exploration. Inspired by the instinctive response of toddlers guiding parents by the finger [1], deflection cues provide a mechanically direct and readily interpreted form of haptic guidance. Two user studies evaluated closed-loop guidance in horizontal (single-axis, Study 1) and horizontal-vertical (dual-axis, Study 2) task spaces. In singleaxis tasks, blindfolded participants reached a median endpoint error of 11.3mm in under 3 s on average, and tracked moving targets with 53.5mm mean error. In dual-axis tasks, participants accurately identified deflection cue directions, and successfully reached two-dimensional target poses with a median endpoint error of 12.6mm in under 7 s on average. Kinematic analysis revealed that participants responded rapidly (median 330 ms), with early trajectories biased within 25° toward the target heading, indicating that deflection cues provided early, actionable direction information. These results demonstrate that fingertip deflection via the NURing enables fast, readily interpreted kinesthetic guidance that produces a coordinated whole-arm response without obstructing tactile contact, supporting its potential for eyes-free interaction and assistive applications.
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9. A Haptic Robot Finger Designed for Guqin Instrument Playing.
PMID:日期:2026-08-05With the rapid advancement of humanoid robotics and embodied intelligence technologies, numerous musical instrument-playing robots have emerged in recent years, such as pianos, chime bells, and taiko drums. These robots primarily employ open-loop positional control, rendering them incapable of operating instruments requiring dexterous hands and precise tactile perception, such as a violin, guitar, and guqin. This paper describes the design and validation of a high-precision tactile-sensing finger. By mimicking the shape of the fingertip and fingernail found on a human finger, we develop a biomimetic multimodal haptic fingertip and validate it on selected guqin string-contact tasks, including open-string and stopped-note comparisons, harmonic-tuning, and tactile-triggered bimanual coordination, using the guqin, a traditional Chinese musical instrument, as a challenging validation scenario rather than as a fully demonstrated robotic performance system. This research integrates tactile sensing with robotics technology, thereby contributing to applications in world heritage conservation and cultural dissemination.
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10. Modeling Subjective User Experience in Haptics Through Individualized Bayesian Models.
PMID:日期:2026-08-04In many areas of haptics, evaluation has prioritized objective task performance, with subjective aspects of user experience (UX), such as emotional response and user preference, often being treated as complementary measures. In this work we present a unified modeling framework for UX in haptic and physical human-robot interaction that simultaneously evaluates metrics of performance, emotional response, and preference as a function of system design parameters. Our framework uses Bayesian hierarchical modeling to capture both individual variability and population-level trends. We apply this approach to a line-following task conducted with a custom-built haptic knob platform in a study with 30 participants, in which we measure task performance together with subjective ratings of emotion and preference while manipulating damping, task difficulty, and feedback given to participants on their performance. Results show that while population-level models capture consistent effects on performance, emotion and preference did not show similarly consistent population-level trends. Instead, subjective responses varied substantially across users, and examining individual models helped reveal participant-specific patterns that were not apparent from population-level summaries alone. Together, these findings highlight the importance of individualized modeling in the design and evaluation of haptic systems that aim to quantitatively account for the full spectrum of user experience.