{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T05:02:57Z","timestamp":1780376577060,"version":"3.54.1"},"reference-count":128,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2013,9,1]],"date-time":"2013-09-01T00:00:00Z","timestamp":1377993600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2013,9,1]],"date-time":"2013-09-01T00:00:00Z","timestamp":1377993600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2013,9,1]],"date-time":"2013-09-01T00:00:00Z","timestamp":1377993600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-0712936"],"award-info":[{"award-number":["IIS-0712936"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CBET-0754629"],"award-info":[{"award-number":["CBET-0754629"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Proc. IEEE"],"published-print":{"date-parts":[[2013,9]]},"DOI":"10.1109\/jproc.2013.2248691","type":"journal-article","created":{"date-parts":[[2013,5,1]],"date-time":"2013-05-01T11:57:09Z","timestamp":1367409429000},"page":"2081-2092","source":"Crossref","is-referenced-by-count":51,"title":["Haptic Perception of Material Properties and Implications for Applications"],"prefix":"10.1109","volume":"101","author":[{"given":"Roberta L.","family":"Klatzky","sequence":"first","affiliation":[{"name":"Department of Psychology and the Human-Computer Interaction Institute , Carnegie Melon University, Pittsburgh, PA , USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dianne","family":"Pawluk","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Virginia Commonwealth University, Richmond, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Angelika","family":"Peer","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control Engineering, Technische Universitäat München, Munich, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2004.1403711"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1080\/08990229870826"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.16"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/S0161-4754(03)00070-8"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/BF00230304"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2621.1987.tb06635.x"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/BF00228884"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.3758\/BF03213075"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.17"},{"key":"ref34","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1007\/978-3-540-69057-3_30","volume":"5024","author":"bergmann tiest","year":"2008","journal-title":"Lecture Notes in Computer Science"},{"key":"ref28","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1152\/jn.1995.73.1.88","article-title":"Tactual discrimination of softness","volume":"73","author":"srinivasan","year":"1995","journal-title":"J Neurophysiol"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s11249-011-9854-y"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"1777","DOI":"10.1152\/jn.2000.83.4.1777","article-title":"Softness discrimination with a tool","volume":"83","author":"lamotte","year":"2000","journal-title":"J Neurophysiol"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.3758\/BF03193907"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2011.5945489"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2010.61"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s11249-007-9206-0"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"1957","DOI":"10.1152\/jn.1996.75.5.1957","article-title":"Subjective scaling of smooth surface friction","volume":"75","author":"smith","year":"1996","journal-title":"J Neurophysiol"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1145\/1240866.1241017"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.triboint.2009.05.016"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.6"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.triboint.2011.06.003"},{"key":"ref50","first-page":"1033","article-title":"Effect of physical bandwidth on perception of virtual gratings","author":"wall","year":"2000","journal-title":"ASME Dyn Syst Control Div"},{"key":"ref51","first-page":"1073","article-title":"Roughness perception of haptically displayed fractal surfaces","volume":"69","author":"costa","year":"2000","journal-title":"ASME Dyn Syst Control Div"},{"key":"ref59","first-page":"245","article-title":"Haptography: Capturing and recreating the rich feel of real surfaces","author":"kuchenbecker","year":"2009","journal-title":"Proc Int Symp Robot Res"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2010.2065751"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2009.5356133"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677050"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1145\/1012551.1012574"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.3758\/BF03194587"},{"key":"ref53","first-page":"1065","article-title":"Perceiving surface roughness through a probe: Effects of applied force and probe diameter","volume":"69 2","author":"lederman","year":"2000","journal-title":"Proc ASME-IMECE"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/VISUAL.2004.37"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.3758\/BF03193662"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1080\/08990229970456"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"1177","DOI":"10.1152\/jn.1981.46.6.1177","article-title":"Tactile spatial resolution. I. Two-point discrimination, gap detection, grating resolution, letter recognition","volume":"46","author":"johnson","year":"1981","journal-title":"J Neurophysiol"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/978-1-349-11597-6_4","author":"lamotte","year":"1991","journal-title":"Information Processing in the Somatosensory Sysytem"},{"key":"ref5","first-page":"195","author":"weinstein","year":"1968","journal-title":"The Skin Senses"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.3758\/APP.71.2.421"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.503834"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1037\/0096-1523.23.6.1680","article-title":"Relative availability of surface and object properties during early haptic processing","volume":"23","author":"lederman","year":"1997","journal-title":"Journal of Experimental Psychology Human Perception & Performance"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/0010-0285(87)90008-9"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1145\/199404.199426"},{"key":"ref45","first-page":"421","article-title":"Simulated haptic textures: Roughness","author":"minsky","year":"1996","journal-title":"Proc ASME Dyn Syst Control Div"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1162\/105474699566413"},{"key":"ref47","first-page":"77","article-title":"A ray-based haptic rendering technique for displaying shape and texture of 3d objects in virtual environments","author":"basdogan","year":"1997","journal-title":"Proc ASME Dyn Syst Control Div"},{"key":"ref42","author":"katz","year":"1989","journal-title":"The world of touch"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.3758\/APP.71.3.481"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1145\/91394.91451"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2008.2"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.2147\/OAS.S25008"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2009.04.018"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-011-2011-8"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2010.19"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545579"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1115\/1.1760564"},{"key":"ref128","author":"cotin","year":"1998","journal-title":"Real-time elastic deformations of soft tissues for surgery simulation"},{"key":"ref70","first-page":"303","article-title":"On the emulation of stiff walls and static friction with a magnetically levitated input\/output device","author":"salcudean","year":"1994","journal-title":"Proc ASME Dyn Syst Control Div"},{"key":"ref76","first-page":"385","article-title":"Force interactions in laparoscopic simulations: Haptic rendering of soft tissues","author":"basdogan","year":"1998","journal-title":"Proc Medicine Meets Virtual Reality Conference"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1145\/15886.15903"},{"key":"ref74","doi-asserted-by":"crossref","DOI":"10.21236\/ADA041920","author":"dahl","year":"1968","journal-title":"A solid friction model"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.1000274"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1145\/133994.134036"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.526233"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2011.38"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2132830"},{"key":"ref61","first-page":"180","author":"klatzky","year":"2002","journal-title":"Touch in Virtual Environments"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(94)90209-7"},{"key":"ref64","first-page":"161","article-title":"Theorie des machines simples, en ayant egard au frottement de leurs parties, et a la rideur dews cordages","author":"coulomb","year":"1785","journal-title":"M\ufffdmoire de Math\ufffdmatique et de Physique"},{"key":"ref65","first-page":"1","article-title":"New friction experiments carried out at Metz in 1831?1833","author":"morin","year":"1833","journal-title":"Proc French Roy Acad Sci"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1098\/rstl.1886.0005"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1995.538530"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1145\/258734.258878"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.visres.2010.10.005"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140698"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.3758\/APP.71.7.1439"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/ICCE.2011.5722773"},{"key":"ref95","first-page":"113","article-title":"A meshless numerical technique for physically based real time medical simulations","volume":"81","author":"de","year":"2001","journal-title":"Stud Health Technol Inform"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2006.1627091"},{"key":"ref94","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1145\/588272.588278","article-title":"Multiresolution Green's function methods for interactive simulation of large-scale elastostatic objects","volume":"22","author":"james","year":"2002","journal-title":"ACM Trans Graph"},{"key":"ref107","year":"0"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1145\/311535.311542"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2011.5945500"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846391"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2008.4479989"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846397"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.6"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1162\/105474600566817"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1145\/1180995.1181053"},{"key":"ref102","first-page":"199","article-title":"Designing large sets of haptic icons with rhythm","author":"terns","year":"2008","journal-title":"Proc Eurohaptics"},{"key":"ref111","article-title":"Simulating push-buttons with a haptic display: Requirements of force resolution and force-displacement curve","author":"doerrer","year":"2002","journal-title":"Proc Eurohaptics"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/MMCS.1999.779274"},{"key":"ref110","year":"0"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1038\/221963a0"},{"key":"ref99","first-page":"351","article-title":"Perceptual design of haptic icons","author":"maclean","year":"2003","journal-title":"Proc Eurohaptics"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/70.880800"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2010.2"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.3758\/BF03206904"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1037\/0096-3445.116.4.356"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1037\/0096-1523.15.1.45","article-title":"Haptic integration of object properties: Texture, hardness, planar contour","volume":"15","author":"klatzky","year":"1989","journal-title":"J Exp Psychol Human Percept Perform"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.3758\/BF03203958"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.3907-11.2011"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.3758\/BF03193537"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998965"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.3758\/BF03193536"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1016\/S1361-8415(02)00086-5"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2001.981897"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/107385840200800207"},{"key":"ref81","first-page":"173","article-title":"Animation and simulation techniques for vr-training systems in endoscpic surgery","author":"cakmak","year":"2000","journal-title":"Proc Comput Animat Simul Eurograph Workshop"},{"key":"ref18","doi-asserted-by":"crossref","first-page":"7480","DOI":"10.1523\/JNEUROSCI.17-19-07480.1997","article-title":"Neural coding mechanisms in tactile pattern recognition: The relative contributions of slowly and rapidly adapting mechanoreceptors to perceived roughness","volume":"17","author":"blake","year":"1997","journal-title":"J Neurosci"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8659.1530057"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2087292"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1201\/b10636-3"},{"key":"ref83","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1007\/BFb0046994","author":"bro-nielsen","year":"1996","journal-title":"Lecture Notes in Computer Science"},{"key":"ref114","first-page":"342","article-title":"Rotary knob for vehicular instrument control","author":"badescu","year":"2002","journal-title":"Proc 10th Symp Haptic Interfaces Virtual Environ Teleoper"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1145\/985921.986050"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2007.66"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/38.252559"},{"key":"ref115","first-page":"293","article-title":"Mechatronic tools in haptic research for automotive applications","author":"reisinger","year":"2005","journal-title":"Proc 5th Int Workshop Res Educ Mechatron"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2004.1287195"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8659.00527"},{"key":"ref121","first-page":"49","article-title":"Haptical feeling of rotary switches","author":"reisinger","year":"2006","journal-title":"Proc Eurohaptics"},{"key":"ref122","first-page":"343","article-title":"Thresholds for dynamic changes in a rotatory switch","author":"yang","year":"2003","journal-title":"Proc Eurohaptics"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1007\/s00268-012-1489-0"},{"key":"ref85","doi-asserted-by":"crossref","first-page":"671","DOI":"10.1016\/S0097-8493(00)00070-4","article-title":"Endoscopic surgery training using virtual reality and deformable tissue simulation","volume":"24","author":"k\ufffdhnapfel","year":"2000","journal-title":"Comput Graph"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677216"},{"key":"ref87","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1007\/BFb0056214","author":"hansen","year":"1998","journal-title":"Lecture Notes in Computer Science"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/3516.951365"}],"container-title":["Proceedings of the IEEE"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/5\/6582526\/06510431.pdf?arnumber=6510431","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,9]],"date-time":"2024-05-09T17:33:51Z","timestamp":1715276031000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/6510431\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,9]]},"references-count":128,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/jproc.2013.2248691","relation":{},"ISSN":["0018-9219","1558-2256"],"issn-type":[{"value":"0018-9219","type":"print"},{"value":"1558-2256","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,9]]}}}