{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T07:31:16Z","timestamp":1772695876835,"version":"3.50.1"},"reference-count":24,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2005,9,1]],"date-time":"2005-09-01T00:00:00Z","timestamp":1125532800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,9]]},"abstract":"<jats:p> We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user\u2019s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These experiments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks. <\/jats:p>","DOI":"10.1177\/0278364905057121","type":"journal-article","created":{"date-parts":[[2005,9,6]],"date-time":"2005-09-06T08:38:03Z","timestamp":1125995883000},"page":"691-702","source":"Crossref","is-referenced-by-count":94,"title":["Contact Location Display for Haptic Perception of Curvature and Object Motion"],"prefix":"10.1177","volume":"24","author":[{"given":"William R.","family":"Provancher","sequence":"first","affiliation":[{"name":"Dexterous Manipulation Lab, Stanford University, Stanford, CA, USA,"}]},{"given":"Mark R.","family":"Cutkosky","sequence":"additional","affiliation":[{"name":"Dexterous Manipulation Lab, Stanford University, Stanford, CA, USA"}]},{"given":"Katherine J.","family":"Kuchenbecker","sequence":"additional","affiliation":[{"name":"Telerobotics Lab, Stanford University, Stanford, CA, USA"}]},{"given":"G\u00fcnter","family":"Niemeyer","sequence":"additional","affiliation":[{"name":"Telerobotics Lab, Stanford University, Stanford, CA, USA"}]}],"member":"179","published-online":{"date-parts":[[2005,9,1]]},"reference":[{"key":"atypb1","unstructured":"Biggs, J. and Srinivasan, M.A. 2002. 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On Tactile Sensing and Display. Ph.D. Thesis, Department of Mechanical Engineering, Stanford University."},{"key":"atypb19","unstructured":"Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., and Cutkosky, M. R. 2003. Perception of curvature and object motion via contact location feedback . Proceedings of the International Symposium on Robotics Research, October, Siena, Italy, pp. 40-47 ."},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1115\/1.1470493"},{"key":"atypb21","doi-asserted-by":"crossref","unstructured":"Srinivasan, M.A. and LaMotte, R. H. 1991. Encoding of shape in the responses of cutaneous mechanoreceptors. Information Processing in the Somatosensory System, O. Franzen and J. Westman, editors, Wenner-Gren International Symposium Series, Macmillan, London .","DOI":"10.1007\/978-1-349-11597-6_5"},{"key":"atypb22","doi-asserted-by":"crossref","unstructured":"Yokokohji, Y., Muramori, N., Sato, Y., and Yoshikawa, T. 2004. 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