{"id":"https://openalex.org/W2119356874","doi":"https://doi.org/10.1109/haptic.2010.5444665","title":"High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces","display_name":"High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2119356874","doi":"https://doi.org/10.1109/haptic.2010.5444665","mag":"2119356874"},"language":"en","primary_location":{"id":"doi:10.1109/haptic.2010.5444665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptic.2010.5444665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Haptics Symposium","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/a6a3b798-a96e-484d-8721-4dd7bbc56efa/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113511907","display_name":"William McMahan","orcid":"https://orcid.org/0000-0002-1297-6735"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"William McMahan","raw_affiliation_strings":["Haptics Group, GRASP Laboratory, University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Haptics Group, GRASP Laboratory, University of Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086053479","display_name":"Joseph M. Romano","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph M. Romano","raw_affiliation_strings":["Haptics Group, GRASP Laboratory, University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Haptics Group, GRASP Laboratory, University of Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071582049","display_name":"Abdul Abdul Rahuman","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amal M. Abdul Rahuman","raw_affiliation_strings":["Haptics Group, GRASP Laboratory, University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Haptics Group, GRASP Laboratory, University of Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080962480","display_name":"Katherine J. Kuchenbecker","orcid":"https://orcid.org/0000-0002-5004-0313"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine J. Kuchenbecker","raw_affiliation_strings":["Haptics Group, GRASP Laboratory, University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Haptics Group, GRASP Laboratory, University of Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113511907"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":2.4284,"has_fulltext":true,"cited_by_count":68,"citation_normalized_percentile":{"value":0.88341531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"141","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9725000262260437,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.698966383934021},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5915089249610901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5866167545318604},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5820329189300537},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5758919715881348},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.43906351923942566},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3690461218357086},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35703974962234497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.343095600605011},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32098090648651123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20281466841697693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16448882222175598}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.698966383934021},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5915089249610901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5866167545318604},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5820329189300537},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5758919715881348},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.43906351923942566},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3690461218357086},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35703974962234497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.343095600605011},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32098090648651123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20281466841697693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16448882222175598},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/haptic.2010.5444665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptic.2010.5444665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Haptics Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.upenn.edu:meam_papers-1230","is_oa":true,"landing_page_url":"https://repository.upenn.edu/meam_papers/220","pdf_url":"https://repository.upenn.edu/bitstreams/a6a3b798-a96e-484d-8721-4dd7bbc56efa/download","source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (MEAM)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/39937","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/39937","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:meam_papers-1230","is_oa":true,"landing_page_url":"https://repository.upenn.edu/meam_papers/220","pdf_url":"https://repository.upenn.edu/bitstreams/a6a3b798-a96e-484d-8721-4dd7bbc56efa/download","source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (MEAM)","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2119356874.pdf","grobid_xml":"https://content.openalex.org/works/W2119356874.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1487180729","https://openalex.org/W1562582686","https://openalex.org/W1969299770","https://openalex.org/W1974136497","https://openalex.org/W1983555738","https://openalex.org/W1985798672","https://openalex.org/W2114987226","https://openalex.org/W2128911019","https://openalex.org/W2133767973","https://openalex.org/W2149905539","https://openalex.org/W2163616414","https://openalex.org/W2163951978","https://openalex.org/W2171196810","https://openalex.org/W2173716982","https://openalex.org/W2997988338","https://openalex.org/W6633602192"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857"],"abstract_inverted_index":{"Almost":[0],"every":[1],"physical":[2],"interaction":[3],"generates":[4],"high":[5],"frequency":[6],"vibrations,":[7],"especially":[8],"if":[9],"one":[10],"of":[11,28,38,64,67,85,99,106,121,167],"the":[12,24,36,62,79,93,100,165],"objects":[13],"is":[14],"a":[15,32,56,65,72,82,150,155,161,176],"rigid":[16],"tool.":[17],"Previous":[18],"haptics":[19],"research":[20],"has":[21,46],"hinted":[22],"that":[23,60,125,127],"inclusion":[25],"or":[26],"exclusion":[27],"these":[29],"signals":[30],"plays":[31],"key":[33],"role":[34],"in":[35,132],"realism":[37,115,140,182],"haptically":[39],"rendered":[40],"surface":[41,68,163],"textures,":[42],"but":[43],"this":[44,122,168],"connection":[45],"not":[47],"been":[48],"formally":[49],"investigated":[50],"until":[51],"now.":[52],"This":[53],"paper":[54],"presents":[55],"human":[57],"subject":[58],"study":[59,123],"compares":[61],"performance":[63,111],"variety":[66],"rendering":[69],"algorithms":[70,126],"for":[71,153],"master-slave":[73],"teleoperation":[74],"system;":[75],"each":[76],"controller":[77],"provides":[78],"user":[80],"with":[81,95,134,180],"different":[83],"combination":[84,133],"position":[86,135,144],"and":[87,90,113],"acceleration":[88,130,157],"feedback,":[89],"subjects":[91,171],"compared":[92],"renderings":[94],"direct":[96],"tool-mediated":[97],"exploration":[98],"real":[101],"surface.":[102],"We":[103],"use":[104],"analysis":[105],"variance":[107],"to":[108,174],"examine":[109],"quantitative":[110],"metrics":[112],"qualitative":[114],"ratings":[116,141],"across":[117,170],"subjects.":[118],"The":[119],"results":[120],"show":[124],"include":[128],"high-frequency":[129],"feedback":[131,136,145,158],"achieve":[137],"significantly":[138],"higher":[139],"than":[142],"traditional":[143],"alone.":[146],"Furthermore,":[147],"we":[148],"present":[149],"frequency-domain":[151],"metric":[152,169],"quantifying":[154],"controller's":[156],"performance;":[159],"given":[160],"constant":[162],"stiffness,":[164],"median":[166,181],"was":[172],"found":[173],"have":[175],"significant":[177],"positive":[178],"correlation":[179],"rating.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
