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Biomimetics and Dextrous Manipulation Lab


WearableHaptics, Haptics

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  1.   1.  Vision for Wearable Haptics
  2.   2.  Projects
  3.   3.  What's New?
  4.   4.  Publications

It is time to put this and related work in a new category for haptics

1.  Vision for Wearable Haptics

Humans are primarily dependent on visual sensory system for retrieving information from the environment. But as the amount of information flow to the user increases, visual display alone can be overwhelming, distracting, and obtrusive. By adding a haptic display, we can enhance and increase the information flow by delivering information to the users in a discreet, rapid, and reliable manner.

As seen in recent mobile devices, the demand for haptic interfaces is rising and haptics are on the way to becoming a ubiquitous method in delivering an enhanced user experience. We seek to find a wearable haptic solution that provides new channels for information, delivered in an intuitive an reliable way during everyday actitivies.

2.  Projects

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Our Project?: Put a sentence or two about your project here.

Gait Retraining

Gait Retraining: Gait retraining through real-time haptic feedback for medical applications such as knee osteoarthritis.

Virtual Pebble

Virtual Pebble: An alternative wearable haptic display that increases perception accuracy rate in a dynamic environment.

3.  What's New?

  • June 4 2012: Gait retraining featured on NSF's Science Nation
  • August 2, 2011: Presenting "Virtual Pebble: a Haptic State Display for Pedestrians" at RO-MAN 2011 Conference in Atlanta, Georgia

4.  Publications

(from HapticsPublications)

Publications before 2011 are listed on:


Han, A.K., Ji, S., Wang, D. and Cutkosky, M.R., "Haptic Surface Display based on Miniature Dielectric Fluid Transducers," IEEE Robotics and Automation Letters (2020)

Frishman, S., Kight, A., Pirozzi, I., Coffey, M.C., Daniel, B.L. and Cutkosky, M.R., "Enabling In-Bore MRI Guided Biopsies with Force Feedback," IEEE Transactions on Haptics (2020) 10.1109/TOH.2020.2967375

Han, A.K.*, Bae, J.H.*, Gregoriou, K.C., Ploch, C.J., Goldman, R.E., Glover, G.H., Daniel, B.L. and Cutkosky, M.R., "MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures," IEEE Transactions on Haptics (2018).

P. Shull, X. Zhu and Cutkosky, M.R., "RE: TH-2016-08-0093.R2, "Continuous Movement Tracking Performance for Predictable and Unpredictable Tasks with Vibrotactile Feedback," IEEE Transactions on Haptics, published online 29 March 2017. DOI: 10.1109/TOH.2017.2689023

Y. Huang, W. Jirattigalachote, M.R. Cutkosky, X. Zhu, P. Shull, "Novel Foot Progression Angle Algorithm Estimation via Foot-Worn, Magneto-Inertial Sensing," IEEE Transactions on Biomedical Engineering, vol.PP, no.99, pp.1-1 doi: 10.1109/TBME.2016.2523512

P.B. Shull, W. Jirattigalachote, M.A. Hunt, M.R. Cutkosky, S.L. Delp, “Quantified self and human movement: A review on the clinical impact of wearable sensing and feedback for gait analysis and intervention,” Gait and Posture (Elsevier), Vol 40, No. 1, 2014, pp 11-19. doi:10.1016/j.gaitpost.2014.03.189

P. Shull, A. Silder, R. Shultz, J. Dragoo, T. Besier, S. Delp and M.R. Cutkosky, “Six-week gait retraining program reduces knee adduction moment, reduces pain, and improves function for individuals with medial compartment knee osteoarthritis,” Journal of Orthopedic Research, Vol. 31, No. 7, July 2013. doi: 10.1002/jor.22340

Pete B. Shull, Rebecca Shultz, Amy Silder, Jason Dragoo, Thor Besier, Mark R. Cutkosky, and Scott Delp, "Toe-in gait reduces the first peak knee adduction moment in patients with medial compartment knee osteoarthritis.", Journal of Biomechanics, Vol. 46, No. 1, pp. 122-128, 2012.

Pete B. Shull, Kristen L. Lurie, Mark R. Cutkosky, and Thor Besier, "Training Multi-parameter Gaits to Reduce the Knee Adduction Moment with Data-driven Models and Haptic Feedback.", Journal of Biomechanics, 44(8):1605-1609, 2011.

Conference Proceedings

Ploch, C.J., Bae, J.H., Ploch, C.C., Ju, W., Cutkosky, M.R., "Comparing Haptic and Audio Navigation Cues on the Road for Distracted Drivers with a Skin Stretch Steering Wheel," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Poster Paper Finalist, Best Poster Presentation Finalist.(preprint).

Bae, J.H.*, Han, A.K.*, Ploch, C.J., Daniel, B.L., Cutkosky, M.R., "Haptic feedback of membrane puncture with an MR-compatible instrumented needle and electroactive polymer display," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Paper and Best Student Presentation Finalist

Ploch, C.J., Bae, J.H., Ju, W., Cutkosky, M.R., "Haptic Skin Stretch on a Steering Wheel for Displaying Preview Information in Autonomous Cars,", In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Oct 9-14, 2016. Highlight Presentation.

Han, A.K., Wang, S., Bae, J.H., Christensen, D.L., and Cutkosky, M.R., "Toward MR-Compatible Needle Tip Force Display using EAP Actuation," Haptics Symposium 2016.

Bae, J.H., Ploch, C., Yang, M. A., Daniel, B.L., and Cutkosky, M.R., "Display of Needle Tip Contact Forces for Steering Guidance," Haptics Symposium 2016 Haptics Symposium (HAPTICS), 2016 IEEE, 332-337

Elayaperumal, S., Bae, J.H., Daniel, B.L. and Cutkosky, M.R.,"Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle," IROS,2014,vol.,no.,pp.3975 - 3981,14-18 Sept. 2014 doi:10.1109/IROS.2014.6943121

Elayaperumal, S.; Bae, J.H.; Christensen, D.; Cutkosky, M.R.; Daniel, B.L.; Black, R.J.; Costa, J.M.; Faridian, F.; Moslehi, B., "Mr-compatible biopsy needle with enhanced tip force sensing," World Haptics Conference (WHC), 2013 , vol., no., pp.109,114, 14-17 April 2013 doi: 10.1109/WHC.2013.6548393

Wisit Jirattigalachote, Pete B. Shull, and Mark R. Cutkosky, "Virtual Pebble: a Haptic State Display for Pedestrians," proceedings: IEEE RO-MAN 2011, Atlanta, GA, Aug. 2011.


Pete B. Shull, Rebecca R. Shultz, Amy Silder, Thor Besier, Mark R. Cutkosky, and Scott Delp, Toe-in Gait Reduces the First Peak in the Knee Adduction Moment during Walking in Knee Osteoarthritis Patients. American Society of Biomechanics, Gainsville, GA, 2012.

Pete B. Shull, Amy Silder, Thor Besier, Scott Delp, and Mark R. Cutkosky, Six-week Gait Retraining Program for Knee Osteoarthritis Patients: Learning Retention and Symptom Changes. American Society of Biomechanics, Gainsville, GA, 2012.

Instead of writing them here, we include directly from the PerchingPublications page, which we can also include onto the master Publications page from the front page. This way, we only have to edit things in 1 place.

Page last modified on March 18, 2021, at 10:43 AM