{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T21:46:13Z","timestamp":1760132773552,"version":"build-2065373602"},"reference-count":59,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2023,10,17]],"date-time":"2023-10-17T00:00:00Z","timestamp":1697500800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Business Finland","award":["1316\/31\/2021"],"award-info":[{"award-number":["1316\/31\/2021"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["MTI"],"abstract":"<jats:p>In this paper, we report a method of implementing a universal volumetric haptic actuation platform which can be adapted to fit a wide variety of visual displays with flat surfaces. This platform aims to enable the simulation of the 3D features of input interfaces. This goal is achieved using four readily available stepper motors in a diagonal cross configuration with which we can quickly change the position of a surface in a manner that can render these volumetric features. In our research, we use a Microsoft Surface Go tablet placed on the haptic enhancement actuation platform to replicate the exploratory features of virtual keyboard keycaps displayed on the touchscreen. We ask seven participants to explore the surface of a virtual keypad comprised of 12 keycaps. As a second task, random key positions are announced one at a time, which the participant is expected to locate. These experiments are used to understand how and with what fidelity the volumetric feedback could improve performance (detection time, track length, and error rate) of detecting the specific keycaps location with haptic feedback and in the absence of visual feedback. Participants complete the tasks with great success (p &lt; 0.05). In addition, their ability to feel convex keycaps is confirmed within the subjective comments.<\/jats:p>","DOI":"10.3390\/mti7100099","type":"journal-article","created":{"date-parts":[[2023,10,17]],"date-time":"2023-10-17T10:43:10Z","timestamp":1697539390000},"page":"99","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Universal Volumetric Haptic Actuation Platform"],"prefix":"10.3390","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3822-1696","authenticated-orcid":false,"given":"Patrick","family":"Coe","sequence":"first","affiliation":[{"name":"TAUCHI Research Center, Tampere University, 33100 Tampere, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8580-8671","authenticated-orcid":false,"given":"Grigori","family":"Evreinov","sequence":"additional","affiliation":[{"name":"TAUCHI Research Center, Tampere University, 33100 Tampere, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4620-7886","authenticated-orcid":false,"given":"Mounia","family":"Ziat","sequence":"additional","affiliation":[{"name":"Department of Information Design and Corporate Communication, Bentley University, Waltham, MA 02452, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3276-7866","authenticated-orcid":false,"given":"Roope","family":"Raisamo","sequence":"additional","affiliation":[{"name":"TAUCHI Research Center, Tampere University, 33100 Tampere, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,17]]},"reference":[{"key":"ref_1","unstructured":"Coe, P., Evrienov, G., Pylvas, P., and Raisamo, R. (2023). Method of Generating Haptic Output and Electronic Apparatus Configured to Generate Haptic Output Using Said Method. (2023087158A1), WO Patent."},{"key":"ref_2","unstructured":"Lederman, S.J., and Klatzky, R.L. (1996). Somesthesis and the Neurobiology of the Somatosensory Cortex, Springer."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1016\/0010-0285(87)90008-9","article-title":"Hand movements: A window into haptic object recognition","volume":"19","author":"Lederman","year":"1987","journal-title":"Cogn. Psychol."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/0001-6918(93)90070-8","article-title":"Extracting object properties through haptic exploration","volume":"84","author":"Lederman","year":"1993","journal-title":"Acta Psychol."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"356","DOI":"10.1037\/0096-3445.116.4.356","article-title":"There\u2019s more to touch than meets the eye: The salience of object attributes for haptics with and without vision","volume":"116","author":"Klatzky","year":"1987","journal-title":"J. Exp. Psychol. Gen."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"726","DOI":"10.1037\/0096-1523.19.4.726","article-title":"Haptic exploration in the presence of vision","volume":"19","author":"Klatzky","year":"1993","journal-title":"J. Exp. Psychol. Hum. Percept. Perform."},{"key":"ref_7","unstructured":"Klatzky, R.L., Lederman, S.J., and O\u2019Neill, C. (1996). Somesthesis and the Neurobiology of the Somatosensory Cortex, Springer."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Nakagaki, K., Fitzgerald, D., Ma, Z., Vink, L., Levine, D., and Ishii, H. (2019, January 17\u201320). inFORCE: Bi-directionalforce\u2019shape display for haptic interaction. Proceedings of the Thirteenth International Conference on Tangible, Embedded, and Embodied Interaction, Tempe, AZ, USA.","DOI":"10.1145\/3294109.3295621"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Saga, S., and Deguchi, K. (2012, January 4\u20137). Lateral-force-based 2.5-dimensional tactile display for touch screen. Proceedings of the 2012 IEEE Haptics Symposium (HAPTICS), Vancouver, BC, Canada.","DOI":"10.1109\/HAPTIC.2012.6183764"},{"key":"ref_10","first-page":"2501","article-title":"inFORM: Dynamic Physical Affordances and Constraints through Shape and Object Actuation (UIST\u201913)","volume":"13","author":"Follmer","year":"2013","journal-title":"Uist"},{"key":"ref_11","first-page":"1","article-title":"From kinesthetic sense to new interaction concepts: Feasibility and constraints","volume":"3","author":"Evreinova","year":"2014","journal-title":"Int. J. Adv. Comput. Technol."},{"key":"ref_12","unstructured":"Perry, D.A., and Wright, H.E. (1987). Touch Enhancing Pad. (4,657,021), US Patent."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1109\/TOH.2020.2965446","article-title":"Incidental Categorization of Vibrotactile Stimuli","volume":"13","author":"Martinez","year":"2020","journal-title":"IEEE Trans. Haptics"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"385","DOI":"10.1146\/annurev-control-060117-105043","article-title":"Haptics: The present and future of artificial touch sensation","volume":"1","author":"Culbertson","year":"2018","journal-title":"Annu. Rev. Control. Robot. Auton. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2661229.2661257","article-title":"Rendering volumetric haptic shapes in mid-air using ultrasound","volume":"33","author":"Long","year":"2014","journal-title":"ACM Trans. Graph. (TOG)"},{"key":"ref_16","unstructured":"Kervegant, C., Raymond, F., Graeff, D., and Castet, J. (2017). ACM SIGGRAPH 2017 Emerging Technologies, ACM."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Carter, T., Seah, S.A., Long, B., Drinkwater, B., and Subramanian, S. (2013, January 8\u201311). UltraHaptics: Multi-point mid-air haptic feedback for touch surfaces. Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology, St. Andrews, UK.","DOI":"10.1145\/2501988.2502018"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Rutten, I., Frier, W., Van den Bogaert, L., and Geerts, D. (2019, January 4\u20139). Invisible touch: How identifiable are mid-air haptic shapes?. Proceedings of the Extended Abstracts of the 2019 CHI Conference on Human Factors in Computing Systems, Glasgow, UK.","DOI":"10.1145\/3290607.3313004"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Abdouni, A., Clark, R., and Georgiou, O. (2019, January 14\u201318). Seeing is believing but feeling is the truth: Visualising mid-air haptics in oil baths and lightboxes. Proceedings of the 2019 International Conference on Multimodal Interaction, Suzhou, China.","DOI":"10.1145\/3340555.3358661"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Subramanian, S., Seah, S.A., Shinoda, H., Hoggan, E., and Corenthy, L. (2016, January 7\u201312). Mid-air haptics and displays: Systems for un-instrumented mid-air interactions. Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, San Jose, CA, USA.","DOI":"10.1145\/2851581.2856464"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1109\/TOH.2020.3018754","article-title":"A survey of mid-air ultrasound haptics and its applications","volume":"14","author":"Rakkolainen","year":"2020","journal-title":"IEEE Trans. Haptics"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1177\/1350650113504908","article-title":"A review of fingerpad contact mechanics and friction and how this affects tactile perception","volume":"229","author":"Masen","year":"2015","journal-title":"Proc. Inst. Mech. Eng. Part J J. Eng. Tribol."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1007\/s00221-002-1240-4","article-title":"Deployment of fingertip forces in tactile exploration","volume":"147","author":"Smith","year":"2002","journal-title":"Exp. Brain Res."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Inoue, S., Makino, Y., and Shinoda, H. (2015, January 22\u201326). Active touch perception produced by airborne ultrasonic haptic hologram. Proceedings of the 2015 IEEE World Haptics Conference (WHC), Evanston, IL, USA.","DOI":"10.1109\/WHC.2015.7177739"},{"key":"ref_25","unstructured":"Lapides, P., Sharlin, E., Sousa, M.C., and Streit, L. (2006, January 5\u20137). The 3D tractus: A three-dimensional drawing board. Proceedings of the First IEEE International Workshop on Horizontal Interactive Human-Computer Systems (TABLETOP\u201906), Adelaide, Australia."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Sinclair, M., Pahud, M., and Benko, H. (2013, January 6\u20139). TouchMover: Actuated 3D touchscreen with haptic feedback. Proceedings of the 2013 ACM International Conference on Interactive Tabletops and Surfaces, St Andrews, UK.","DOI":"10.1145\/2512349.2512805"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Sinclair, M., Pahud, M., and Benko, H. (2014, January 23\u201326). TouchMover 2.0-3D touchscreen with force feedback and haptic texture. Proceedings of the 2014 IEEE Haptics Symposium (HAPTICS), Houston, TX, USA.","DOI":"10.1109\/HAPTICS.2014.6775425"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Pyo, D., Ryu, S., Kim, S.C., and Kwon, D.S. (2014, January 24\u201326). A new surface display for 3D haptic rendering. Proceedings of the Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France. Proceedings, Part I 9.","DOI":"10.1007\/978-3-662-44193-0_61"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Adel, A., Micheal, M.M., Abou Self, M., Abdennadher, S., and Khalil, I.S. (2018, January 1\u20135). Rendering of virtual volumetric shapes using an electromagnetic-based haptic interface. Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593699"},{"key":"ref_30","unstructured":"Needleman, S.E. (2023, October 01). Virtual Reality, Now with the Sense of Touch. Available online: https:\/\/www.wsj.com\/articles\/virtual-reality-now-with-the-sense-of-touch-1522764377."},{"key":"ref_31","unstructured":"Matteson, L., Jones, M., and Hinojosa, S. (2023, October 01). HaptX Team Final Project Report. Available online: https:\/\/digitalcommons.trinity.edu\/engine_designreports\/42\/."},{"key":"ref_32","unstructured":"Zuckerberg, M. (2023, October 01). Zuckerberg Facebook Post and Video about Meta Reality Labs Haptic Gloves. Available online: https:\/\/www.facebook.com\/zuck\/posts\/10114081291949851."},{"key":"ref_33","unstructured":"de Vries, J. (2023). Redesigning a Haptic Glove for New Features and Improved Assembly. [Ph.D. Thesis, Delft University of Technology]."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Caeiro-Rodr\u00edguez, M., Otero-Gonz\u00e1lez, I., Mikic-Fonte, F.A., and Llamas-Nistal, M. (2021). A systematic review of commercial smart gloves: Current status and applications. Sensors, 21.","DOI":"10.3390\/s21082667"},{"key":"ref_35","unstructured":"Wokke, S. (2017). Calibrating the Manus VR Glove: Improving Calibration for the Manus VR Flex Sensor Glove Using Ground Truths. [Master\u2019s Thesis, Eindhoven University of Technology]."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Yoshida, T., Shimizu, K., Kurogi, T., Kamuro, S., Minamizawa, K., Nii, H., and Tachi, S. (2011, January 19\u201323). RePro3D: Full-parallax 3D display with haptic feedback using retro-reflective projection technology. Proceedings of the 2011 IEEE International Symposium on VR Innovation, Singapore.","DOI":"10.1109\/ISVRI.2011.5759601"},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Trinitatova, D., and Tsetserukou, D. (2019, January 9\u201312). Deltatouch: A 3D haptic display for delivering multimodal tactile stimuli at the palm. Proceedings of the 2019 IEEE World Haptics Conference (WHC), Tokyo, Japan.","DOI":"10.1109\/WHC.2019.8816136"},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Abad, A.C., Reid, D., and Ranasinghe, A. (2022). A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback. Sensors, 22.","DOI":"10.3390\/s22051924"},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Tsai, H.R., Tsai, C., Liao, Y.S., Chiang, Y.T., and Zhang, Z.Y. (May, January 30). FingerX: Rendering Haptic Shapes of Virtual Objects Augmented by Real Objects Using Extendable and Withdrawable Supports on Fingers. Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, New Orleans, LA, USA.","DOI":"10.1145\/3491102.3517489"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"2100090","DOI":"10.1002\/aisy.202100090","article-title":"Pseudo-Hologram with Aerohaptic Feedback for Interactive Volumetric Displays","volume":"4","author":"Christou","year":"2022","journal-title":"Adv. Intell. Syst."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1109\/TOH.2021.3061150","article-title":"\u201cHaptics On-Demand\u201d: A Survey on Encountered-Type Haptic Displays","volume":"14","author":"Mercado","year":"2021","journal-title":"IEEE Trans. Haptics"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Costes, A., Danieau, F., Argelaguet-Sanz, F., L\u00e9cuyer, A., and Guillotel, P. (2018, January 22\u201323). Kinestouch: 3D force-feedback rendering for tactile surfaces. Proceedings of the Virtual Reality and Augmented Reality: 15th EuroVR International Conference, EuroVR 2018, London, UK. Proceedings 15.","DOI":"10.1007\/978-3-030-01790-3_6"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1109\/TOH.2017.2768523","article-title":"Haptic rendering of 3D geometry on 2D touch surface based on mechanical rotation","volume":"11","author":"Kim","year":"2017","journal-title":"IEEE Trans. Haptics"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1007\/s004220050020","article-title":"Characteristics of human fingertips in the shearing direction","volume":"82","author":"Nakazawa","year":"2000","journal-title":"Biol. Cybern."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"1869","DOI":"10.1016\/j.jbiomech.2012.05.045","article-title":"Mechanical behavior of the fingertip in the range of frequencies and displacements relevant to touch","volume":"45","author":"Wiertlewski","year":"2012","journal-title":"J. Biomech."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1186\/s40648-017-0087-1","article-title":"Wearable finger pad deformation sensor for tactile textures in frequency domain by using accelerometer on finger side","volume":"4","author":"Sato","year":"2017","journal-title":"Robomech J."},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"Hausberger, T., Terzer, M., Enneking, F., Jonas, Z., and Kim, Y. (2017, January 6\u20139). SurfTics\u2014Kinesthetic and tactile feedback on a touchscreen device. Proceedings of the 2017 IEEE World Haptics Conference (WHC), Munich, Germany.","DOI":"10.1109\/WHC.2017.7989947"},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"Alexander, J., Lucero, A., and Subramanian, S. (2012, January 21\u201324). Tilt displays: Designing display surfaces with multi-axis tilting and actuation. Proceedings of the 14th International Conference on Human-Computer Interaction with Mobile Devices and Services, San Francisco, CA, USA.","DOI":"10.1145\/2371574.2371600"},{"key":"ref_49","unstructured":"(2023, October 01). Portescap, 20DAM SERIES LINEAR ACTUATORS Specsheet. Available online: https:\/\/docs.rs-online.com\/f06c\/0900766b8160ba85.pdf."},{"key":"ref_50","unstructured":"Electronics, I. (2023, October 01). FSR 400 Datasheet. Available online: https:\/\/www.digikey.com\/en\/htmldatasheets\/production\/1184367\/0\/0\/1\/34-00022."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"112969","DOI":"10.1109\/ACCESS.2020.3002775","article-title":"A cascaded multimodal natural user interface to reduce driver distraction","volume":"8","author":"Kim","year":"2020","journal-title":"IEEE Access"},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"1693","DOI":"10.1177\/1071181312561339","article-title":"Driver distraction: Effects of text entry methods on driving performance","volume":"Volume 56","author":"Crandall","year":"2012","journal-title":"Proceedings of the Human Factors and Ergonomics Society Annual Meeting"},{"key":"ref_53","first-page":"553","article-title":"Improving motivation in a haptic teaching\/learning framework","volume":"32","author":"Esteban","year":"2016","journal-title":"Int. J. Eng. Educ. (IJEE)"},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"65","DOI":"10.3991\/ijoe.v9iS8.3392","article-title":"Let\u2019s use haptics!","volume":"9","author":"Quintas","year":"2013","journal-title":"Int. J. Online Eng."},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Georgiou, O., Frier, W., Freeman, E., Pacchierotti, C., and Hoshi, T. (2022). Ultrasound Mid-Air Haptics for Touchless Interfaces, Springer.","DOI":"10.1007\/978-3-031-04043-6"},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1080\/03091902.2020.1772391","article-title":"A review of haptic feedback in tele-operated robotic surgery","volume":"44","year":"2020","journal-title":"J. Med. Eng. Technol."},{"key":"ref_57","unstructured":"Zhou, J., Shen, X., and Georganas, N.D. (2004, January 2\u20133). Haptic tele-surgery simulation. Proceedings of the 3rd IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications, Ottawa, ON, Canada."},{"key":"ref_58","doi-asserted-by":"crossref","first-page":"74","DOI":"10.5152\/jtgga.2012.05","article-title":"The future of telesurgery: A universal system with haptic sensation","volume":"13","author":"Stark","year":"2012","journal-title":"J. Turk. Ger. Gynecol. Assoc."},{"key":"ref_59","unstructured":"Hutson, M. (Smithsonian Magazine, 2018). Here\u2019s What the Future of Haptic Technology Looks (Or Rather, Feels) Like, Smithsonian Magazine."}],"container-title":["Multimodal Technologies and Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2414-4088\/7\/10\/99\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T21:08:37Z","timestamp":1760130517000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2414-4088\/7\/10\/99"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,17]]},"references-count":59,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2023,10]]}},"alternative-id":["mti7100099"],"URL":"https:\/\/doi.org\/10.3390\/mti7100099","relation":{},"ISSN":["2414-4088"],"issn-type":[{"type":"electronic","value":"2414-4088"}],"subject":[],"published":{"date-parts":[[2023,10,17]]}}}