Oral Sessions

Last updated: February 12, 2026.

Monday, March 30
Session 1: Haptic Sensing, Rendering, and Authoring Methods
Session 2A: Perceptual and Affective Responses to Tactile Stimulation
Session 2B: Haptics for Training, Guidance, and Teleoperation

Tuesday, March 31
Session 3: Human Perception and Multisensory Haptics
Session 4A: Soft and Mid-Air Haptic Actuation and Sensing
Session 4B: Haptic Sensing and Perception

Wednesday, April 1
Session 5A: Control, Dynamics, and Interaction in Haptic Systems
Session 5B: Haptic Rendering, Prototyping, and Evaluation

Session 1

[Award Session]
Haptic Sensing, Rendering, and Authoring Methods
Monday, March 30, 9:00 a.m. - 10:30 a.m.
- —
Session Chairs: TBD

9:00 a.m. - 9:14 a.m.

[Regular] Active Vibrotactile Frequency Discrimination Under Exploration Constraints and Spatial Separation

Mounia Ziat, Junjie Hua, Jose James, Thaer Burgan

Finalist for Best Conference Technical Paper Award (Regular Paper category)

9:14 a.m. - 9:28 a.m.

[Regular] Threshold Estimation for Multi-Channel Electrotactile Stimulation Using Discharge Voltage Waveforms

Vibol Yem, Aoi Yamada, Hiroaki Yano, Hiroyuki Kajimoto

Finalist for Best Conference Technical Paper Award (Regular Paper category)

9:28 a.m. - 9:42 a.m.

[Regular] Pneumatic Suction for Haptic Sensory Substitution Feedback at the Fingertip during Telemanipulation

Jiaji Su, Irene R Bhunia, Zonghe Chua

Finalist for Best Conference Technical Paper Award (Regular Paper category)

9:42 a.m. - 9:56 a.m.

[Regular] Strain2Force: Compact Nail-Based Sensor for 3DOF Contact Force Estimation

Yanjun Chen, Xiping Sun, Jung-Hwan Youn, Craig Shultz

Finalist for Best Conference Technical Paper Award (Regular Paper category)

9:56 a.m. - 10:13 a.m.

[Long] Effects of Spatiotemporal Parameters on Forearm Vibrotactile Stimulus Identification

Dong-Geun Kim, Geunho Lee, Suheon Nam, Chaeyong Park, Seungmoon Choi

Finalist for Best Conference Technical Paper Award (Long Paper category)

10:13 a.m. - 10:27 a.m.

[Regular] Sensorizing a Common Task to Characterize Grip Force Modulation and Finger Skin Deformation

Ahmed Zid, Rebecca Fenton Friesen

Finalist for Best Conference Technical Paper Award (Regular Paper category)

Session 2A

Perceptual and Affective Responses to Tactile Stimulation
Monday, March 30, 11:00 a.m. - 12:00 p.m.
- —
Session Chairs: TBD

11:00 a.m. - 11:14 a.m.

[Regular] Sensory and Emotional Responses under Cross-body-site Vibro-Thermal Stimulation

Su-Yeon Kang, Chungman Lim, Minwook Lee, Kevin John, Hasti Seifi, Gunhyuk Park

11:14 a.m. - 11:28 a.m.

[Regular] Vibration–Color–Emotion Correspondences for Affective Haptic Feedback

Anney Vo, Chanhyeok Lee, Jinah Park

11:28 a.m. - 11:42 a.m.

[Regular] EEG Evidence of Anxiety Reduction through Vibrotactile Stimulation

Wanjoo Park, Salma Mansour, Mohamad Eid

11:42 a.m. - 11:59 a.m.

[Long] Effects of Frequency and Magnitude on Steering Wheel Vibration Discomfort: A Hierarchical Modeling Approach to Individual Sensitivity

Dajin Lee, Soyeon Nam, Minsung Noh, Sunyoung Jang, Seungmoon Choi

Session 2B

Haptics for Training, Guidance, and Teleoperation
Monday, March 30, 11:00 a.m. - 12:00 p.m.
- —
Session Chairs: TBD

11:00 a.m. - 11:17 a.m.

[Long] Design of Bi-Manual Vibrotactile Guidance Wristbands Validated Through a Surgical Robotic Training Task

Drake Rowland, Ann Majewicz Fey

11:17 a.m. - 11:31 a.m.

[Regular] Improving Chest Tube Insertion Depth and Timing Error in an Immersive VR Training Task with a Wearable Haptic Sleeve

Nicholas Verzic, Eli McDaniel, Richard Xiang, Phillip Ochoa, Ann Majewicz Fey

11:31 a.m. - 11:45 a.m.

[Regular] Sensory Substitution and Augmentation in Teleoperated Angiography

Bolun Zhang, Michael Zinn

11:45 a.m. - 11:59 a.m.

[Regular] Flying Blind: In-Ground Effect Enabled Haptic Teleoperation of Uncrewed Aerial Vehicles

Nicholas C. Schneider, Jacob McMillan Anderson, Mathias Antonin Schoen, Kam K Leang, Edoardo Battaglia

Session 3

[Award Session]
Human Perception and Multisensory Haptics
Tuesday, March 31, 9:00 a.m. - 10:40 a.m.
- —
Session Chairs: TBD

9:00 a.m. - 9:14 a.m.

[Regular] Temporal Integration Underlying Extrapolation of Thermal Sensation

Junjie Hua, Masahiro Furukawa, Taro Maeda

Finalist for Best Conference Technical Paper Award (Regular Paper category)

9:14 a.m. - 9:31 a.m.

[Long] Thermal and Tactile Integration in Human Liquid Perception Using Viscous Solutions and Visible Light

Junjie Hua, Sosuke Ichihashi, Hsin-Ni Ho

Finalist for Best Conference Technical Paper Award (Long Paper category)

9:31 a.m. - 9:48 a.m.

[Long] Language-Guided Multimodal Texture Authoring via Generative Models

Wanli Qian, Aiden Chang, Shihan Lu, Michael Gu, Heather Culbertson

Finalist for Best Conference Technical Paper Award (Long Paper category)

9:48 a.m. - 10:05 a.m.

[Long] Flex-Knee: A Low-Cost Passive Haptic Model for Injury Assessment Training

Marco Moran-Ledesma, R Burns, Oliver Schneider, Mark Hancock

Finalist for Best Conference Technical Paper Award (Long Paper category)

10:05 a.m. - 10:22 a.m.

[Long] Lack of disembodiment influences perceptual sensitivity of virtual brush illusion paradigm

Lyndah Lovell, Ethan Brown, Sarah Derrick, Mohit Singhala, Jeremy Brown

Finalist for Best Conference Technical Paper Award (Long Paper category)

10:22 a.m. - 10:36 a.m.

[Regular] Effects of Palpation Motion on Human Perceptual Acuity in Lump Detection and Size Discrimination

Anzu Kawazoe, Noah Kim, Thomas K Ferris, Rebecca Fenton Friesen, M Cynthia Hipwell

Finalist for Best Conference Technical Paper Award (Regular Paper category)

Session 4A

Soft and Mid-Air Haptic Actuation and Sensing
Tuesday, March 31, 11:00 a.m. - 12:30 p.m.
- —
Session Chairs: TBD

11:00 a.m. - 11:14 a.m.

[Regular] ShapeShifter: A Dual-Channel Pneumatic Interface for Independent Control of Shape and Softness

Kyler L. Ingles, Pai Wang, Bruce Gale, Edoardo Battaglia

11:14 a.m. - 11:28 a.m.

[Regular] Crocheted Capacitive Touch Sensors for Rapid Prototyping of Soft Interfaces

Amy O'Connell, Stephania Castro, Bailey Cislowski, Nathaniel Steele Dennler, Heather Culbertson, Maja Mataric

11:28 a.m. - 11:42 a.m.

[Regular] Compact Soft Tactile Actuator Based on Stacked Electroosmotic Pumps for Wearable Haptics

Trung Ngo Sy, Craig Shultz, Jung-Hwan Youn

11:42 a.m. - 11:56 a.m.

[Regular] A Hybrid Soft Haptic Display for Rendering Lump Stiffness in Remote Palpation

Pijuan Yu, Anzu Kawazoe, Alexis Urquhart, Thomas K Ferris, M Cynthia Hipwell, Rebecca Fenton Friesen

11:56 a.m. - 12:13 p.m.

[ToH] Tactile Enhancement of Mid-Air Ultrasonic Stimulation by Wrist Vibration: Perceived Intensity and Pattern Recognition

Dong-Geun Kim, Seungmoon Choi

Session 4B

Haptic Sensing and Perception
Tuesday, March 31, 11:00 a.m. - 12:30 p.m.
- —
Session Chairs: TBD

11:00 a.m. - 11:14 a.m.

[Regular] Tactile Feature Changes are Detected Faster than Tactile Location Changes

Lauren Horde, J. Michael Bertsch, Sara Riggs

11:14 a.m. - 11:28 a.m.

[Regular] Effects of Matched Freespace and Wall Damping on Stiffness Perception

Madeleine K Toland, M Bourgeois, Emma Treadway

11:28 a.m. - 11:42 a.m.

[Regular] Curvature-Aware Calibration of Tactile Sensors for Accurate Force Estimation on Non-Planar Surfaces

Luoyan Zhong, Heather Jin Hee Kim, Dylan Losey, Cara M. Nunez

11:42 a.m. - 11:56 a.m.

[Regular] Examining the Significance of Fingertip Tactile Acuity Distribution through Contact Position Measurement during Pickup Movements

Michiru Sobue, Izumi Mizoguchi, Hiroyuki Kajimoto

11:56 a.m. - 12:13 p.m.

[ToH] Centroparietal Alpha/Beta Asymmetry in Response to Urgency Elicited by Upper Body Vibration

Wanjoo Park, Haneen Alsuradi, Mohamad Eid

12:13 p.m. - 12:30 p.m.

[ToH] Electrophysiological Correlates for the Detection of Haptic Illusions

Yannick Weiss, Albrecht Schmidt, Steeven Villa

Session 5A

Control, Dynamics, and Interaction in Haptic Systems
Wednesday, April 1, 9:00 a.m. - 10:30 a.m.
- —
Session Chairs: TBD

9:00 a.m. - 9:14 a.m.

[Regular] Admittance Control of a 3 Omni-Wheel Robot Interacting with a Sensorimotor Model of the Arm

Jose Ben, Reza Sharif Razavian

9:14 a.m. - 9:28 a.m.

[Regular] Passive and Safety-Critical Haptics-Enabled Framework for Time-Delayed Robot Teleoperation

Peter Paik, Xingyuan Zhou, Haoran Zhou

9:28 a.m. - 9:42 a.m.

[Regular] A Series Actuation Approach for Workspace Expansion of Impedance Based Haptic Devices

Megh Doshi, Changyang Jiang, Michael Zinn

9:42 a.m. - 9:59 a.m.

[ToH] Haptic Acuity during Shared Grasp Experiences in Virtual Reality

Pijuan Yu, Gwilym Couch, Thomas K Ferris, M Cynthia Hipwell, Rebecca F Friesen

9:59 a.m. - 10:16 a.m.

[ToH] Kinesthetic Weight Modulation: The Effects of Whole-Arm Tendon Vibration on the Perceived Heaviness

Keigo Ushiyama, Hiroyuki Kajimoto

Session 5B

Haptic Rendering, Prototyping, and Evaluation
Wednesday, April 1, 9:00 a.m. - 10:30 a.m.
- —
Session Chairs: TBD

9:00 a.m. - 9:17 a.m.

[Long] Design and Evaluation of a Cost-Effective Toolkit for Modular Haptic Harnesses in Wearable Devices

Sandeep Zechariah George Kollannur, Katherine Robertson, Heather Culbertson

9:17 a.m. - 9:31 a.m.

[Regular] Evaluating Usability in Low-Cost vs. High-End Open-Source Haptic Devices for Education

Pengshun Tang, Mason Mathias, Quinton Christensen, Davis Poole, Chad Rose, Edoardo Battaglia

9:31 a.m. - 9:48 a.m.

[Long] Evaluation of Rendering Strategies for Supporting Recognition of Raised Pin Shape Geometries

MacKenzie C Harnett, Kaitlyn Hawkins, Rebecca Fenton Friesen

9:48 a.m. - 10:05 a.m.

[Long] SWIMVR: Simulating Water Interaction using Multimodal Vibro-Thermal Rendering

Premankur Banerjee, Jiaxuan Wang, Olivia Means, Heather Culbertson

10:05 a.m. - 10:22 a.m.

[Long] The Role of User Preferences in Fidgeting Devices for Supporting Attention

Masoume Mahta Pourebadi Khotbehsara, Heather Culbertson