Haptuator – Related Publication


  • Culbertson, H., Romano, J.M., Castillo, P., Mintz, M., Kuchenbecker, K.J. 2012 Refined methods for creating realistic haptic virtual textures from tool-mediated contact acceleration data. Haptics Symposium (HAPTICS), 2012 IEEE
  • Giordano, M., Sinclair, S., Wanderley, MM, 2012 Bowing a vibration-enhanced force feedback device. Proceedings of International Conference on New Interfaces for Musical Expression 2012 (accepted)
  • Hwang, I. and Choi, S. 2012 Effect of Mechanical Ground on the Vibrotactile Perceived Intensity of a Handheld Object. Haptics: Perception, Devices, Mobility, and Communication LNSC 7283, Springer-Verlag, pp. 61-66.


  • Ellis, R. E., Hayward, V., and Yao, H.-Y. 2011 (Sept 13). Tactile Amplification Instrument and Method of Use. US Patent 8,016,818.


  • Nordahl, R., Berrezag, A., Dimitrov, S., Turchet, L., Hayward, V. Serafin, S. 2010. Preliminary Experiment Combining Virtual Reality Haptic Shoes And Audio Synthesis. Proceedings of Europhaptics 2010, Part II, Kappers, A.M.L. et al. (Eds.), LNSC 6192, Springer-Verlag, pp. 123-129.
  • Yao, H.-Y. and Hayward, V. 2010. Design and Analysis of A Recoil-Type Vibrotactile Transducer. Journal of the Acoustical Society of America. 128(2):619-627


  • H. Yao, D. Grant, and M. Cruz. Perceived Vibration Strength in Mobile Devices: the Effect of Weight and Frequency. IEEE Transactions on Haptics, 2009.
  • B. Giordano, S. Mcadams, Y. Visell, J. Cooperstock, H. Yao, and V. Hayward. Non-visual identification of walking grounds. Journal of the Acoustical Society of America, 123(5):3412, 2008.
  • H. Yao, V. Hayward, M. Cruz, and D. Grant. The Effect of Weight on the Perception of Vibrotactile Intensity with Handheld Devices. In Proceedings of Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 551–552, 2007.
  • H. Yao and V. Hayward. An experiment on length perception with a virtual rolling stone. In Proceedings of EuroHaptics 2006, pages 325–330, 2006. (Best Hands-on Demo Award)
  • H. Yao and V. Hayward. A Network-ready Multi-lateral High Fidelity Haptic Probe. In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on, pages 81–82, 2006.
  • H. Yao, V. Hayward, and R. Ellis. A tactile enhancement instrument for minimally invasive surgery. Computer Aided Surgery, 10(4):233–239, 2005.