{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T05:25:31Z","timestamp":1776403531294,"version":"3.51.2"},"reference-count":47,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T00:00:00Z","timestamp":1448928000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T00:00:00Z","timestamp":1448928000000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T00:00:00Z","timestamp":1448928000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2015,12,1]],"date-time":"2015-12-01T00:00:00Z","timestamp":1448928000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Science Foundation Graduate Fellowship Program"},{"DOI":"10.13039\/501100001348","name":"Agency for Science, Technology and Research - Singapore","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001348","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Marie Curie International Outgoing Fellowship"},{"name":"Weizmann Institute of Science National Postdoctoral Award Program for Advancing Women in Science"},{"DOI":"10.13039\/100007028","name":"Helmsley Charitable Trust","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100007028","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Agricultural, Biological and Cognitive Robotics Initiative of Ben-Gurion University of the Negev"},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["0746914"],"award-info":[{"award-number":["0746914"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1227406"],"award-info":[{"award-number":["1227406"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Human-Mach. Syst."],"published-print":{"date-parts":[[2015,12]]},"DOI":"10.1109\/thms.2015.2463090","type":"journal-article","created":{"date-parts":[[2015,8,24]],"date-time":"2015-08-24T18:31:33Z","timestamp":1440441093000},"page":"714-726","source":"Crossref","is-referenced-by-count":43,"title":["Tactor-Induced Skin Stretch as a Sensory Substitution Method in Teleoperated Palpation"],"prefix":"10.1109","volume":"45","author":[{"given":"Samuel B.","family":"Schorr","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhan Fan","family":"Quek","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ilana","family":"Nisky","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"William R.","family":"Provancher","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Allison M.","family":"Okamura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/0301-0082(94)90022-1"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2011.2170856"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2013.6548377"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2010.20"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.34"},{"key":"ref30","first-page":"467","article-title":"Sensory augmentation of stiffness using fingerpad skin stretch","author":"quek","year":"0","journal-title":"Proc IEEE World Haptics Conf"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1097\/00000658-200204000-00005"},{"key":"ref36","first-page":"34","article-title":"Quantifying surgeon grasping mechanics in laparoscopy using the blue dragon system","volume":"98","author":"brown","year":"2004","journal-title":"Stud Health Technol Informat"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2004.828625"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2014.6775429"},{"key":"ref10","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1152\/jn.1995.73.1.88","article-title":"Tactual discrimination of softness","volume":"73","author":"lamotte","year":"1995","journal-title":"J Neurophysiol"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-14075-4_12"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.16"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630894"},{"key":"ref13","first-page":"863","article-title":"Evaluation of a laparoscopic grasper with force feedback","volume":"18","author":"tholey","year":"2004","journal-title":"Surgical Endoscopy"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2008.917481"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1167\/iovs.12-11136"},{"key":"ref17","first-page":"41","article-title":"Vibrotactile feedback for haptics and telemanipulation: Survey, concept and experiment","volume":"9","author":"galambos","year":"2012","journal-title":"Acta Polytechnica Hungarica"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CogInfoCom.2012.6422054"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2006.385233"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2010.21"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.3.252"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998949"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1097\/01.sla.0000149301.60553.1e","article-title":"Force feedback plays a significant role in minimally invasive surgery","volume":"241","author":"tholey","year":"2005","journal-title":"Ann Surg"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtcvs.2004.05.029"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2009.2039602"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152705"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/0967-0661(94)00079-V"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtcvs.2007.08.043"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998943"},{"key":"ref9","first-page":"390","article-title":"Multi-channel vibrotactile display for teleoperated assembly","volume":"2","author":"debus","year":"2004","journal-title":"Int J Control Autom Syst"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1162\/105474699566062"},{"key":"ref46","first-page":"851","article-title":"Finger ridge patterns and tactile sensitivity","volume":"40","author":"loesch","year":"2007","journal-title":"Ann Human Biol"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2011.31"},{"key":"ref45","first-page":"27","article-title":"In vivo biomechanics of the fingerpad skin under local tangential traction","volume":"6","author":"wang","year":"1983","journal-title":"J Biomechanics"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2012.2206080"},{"key":"ref47","first-page":"113","article-title":"Tactile sensory coding in the glabrous skin of the human hand","volume":"11","author":"johansson","year":"1984","journal-title":"Trends Neurosci"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1518\/001872008X250638"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2014.6775429"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.15"},{"key":"ref41","first-page":"934","article-title":"Effect of vibration on tactile sensitivity","volume":"63","author":"hochreiter","year":"1983","journal-title":"J Amer Phys Ther Assoc"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2010.5444646"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1097\/MOU.0b013e32831a478c"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2014.6775469"},{"key":"ref43","first-page":"189","article-title":"Vibrotactile feedback for industrial telemanipulators","volume":"61","author":"dennerlein","year":"0","journal-title":"Proc ASME Dynam Syst Control Division"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2014.2303052"}],"container-title":["IEEE Transactions on Human-Machine Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6221037\/7317675\/07219449.pdf?arnumber=7219449","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,8]],"date-time":"2022-04-08T18:53:20Z","timestamp":1649444000000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7219449\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,12]]},"references-count":47,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/thms.2015.2463090","relation":{},"ISSN":["2168-2291","2168-2305"],"issn-type":[{"value":"2168-2291","type":"print"},{"value":"2168-2305","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,12]]}}}