{"id":"https://openalex.org/W4365443577","doi":"https://doi.org/10.1109/toh.2023.3266726","title":"Preference-Based Human-in-the-Loop Optimization for Perceived Realism of Haptic Rendering","display_name":"Preference-Based Human-in-the-Loop Optimization for Perceived Realism of Haptic Rendering","publication_year":2023,"publication_date":"2023-04-13","ids":{"openalex":"https://openalex.org/W4365443577","doi":"https://doi.org/10.1109/toh.2023.3266726","pmid":"https://pubmed.ncbi.nlm.nih.gov/37053068"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2023.3266726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3266726","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074751695","display_name":"Bilal Catkin","orcid":"https://orcid.org/0000-0003-0929-2022"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Bilal Catkin","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0003-0929-2022","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-6644-3937","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":1.1791,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75735312,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"16","issue":"4","first_page":"470","last_page":"476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9947999715805054,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9947999715805054,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9937000274658203,"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":0.9790999889373779,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7666915059089661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6574347019195557},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5825647711753845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5068135857582092},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.4761486053466797},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46174341440200806},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.439363956451416},{"id":"https://openalex.org/keywords/realism","display_name":"Realism","score":0.4368930160999298},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.4133501946926117},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40471628308296204},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16924583911895752}],"concepts":[{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7666915059089661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6574347019195557},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5825647711753845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5068135857582092},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.4761486053466797},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46174341440200806},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.439363956451416},{"id":"https://openalex.org/C543847140","wikidata":"https://www.wikidata.org/wiki/Q2642826","display_name":"Realism","level":2,"score":0.4368930160999298},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.4133501946926117},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40471628308296204},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16924583911895752},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/toh.2023.3266726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3266726","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Haptics","raw_type":"journal-article"},{"id":"pmid:37053068","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37053068","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null},{"id":"pmh:oai:research.sabanciuniv.edu:48603","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/48603/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G143443946","display_name":null,"funder_award_id":"120N523","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W132875597","https://openalex.org/W1864504421","https://openalex.org/W1965520710","https://openalex.org/W2010561502","https://openalex.org/W2042036980","https://openalex.org/W2044493620","https://openalex.org/W2109205165","https://openalex.org/W2130027644","https://openalex.org/W2166667242","https://openalex.org/W2700163520","https://openalex.org/W2755367247","https://openalex.org/W2765416275","https://openalex.org/W2802274915","https://openalex.org/W2964107903","https://openalex.org/W3001115386","https://openalex.org/W3036967843","https://openalex.org/W3039563104","https://openalex.org/W3091627088","https://openalex.org/W3099715976","https://openalex.org/W3129424176","https://openalex.org/W3194003572","https://openalex.org/W3206918183","https://openalex.org/W4211049957","https://openalex.org/W4229057662","https://openalex.org/W6639904974","https://openalex.org/W6737531337"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2487162673","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W2604504363"],"abstract_inverted_index":{"The":[0],"fidelity":[1,69],"of":[2,14,31,49,52,62,70,77,94,114,129,162,180,184],"haptic":[3,55,115,185],"rendering":[4,56,72,116,133,142,186],"is":[5],"characterized":[6],"by":[7,138,191],"the":[8,12,25,32,36,46,50,53,59,63,65,68,71,75,92,111,126,140,151,174,182,193,196],"perceived":[9,112,127,189],"realism":[10,22,113,128,190],"capturing":[11,192],"level":[13],"similarity":[15],"to":[16,109],"a":[17,42,159,165],"corresponding":[18],"tangible":[19],"object.":[20],"Perceived":[21],"depends":[23],"on":[24,100,188],"musculoskeletal,":[26],"mental,":[27],"and":[28,74,80,105,131,134],"perceptual":[29],"properties":[30],"individuals":[33],"that":[34,124,150,173],"manipulate":[35],"system.":[37],"Human-in-the-loop":[38],"(HiL)":[39],"studies":[40,123],"provide":[41],"feasible":[43],"means":[44,179],"for":[45,199],"concurrent":[47],"optimization":[48,97,103,122,168],"performance":[51],"overall":[54],"process,":[57],"as":[58],"physical":[60],"limitations":[61,76],"hardware,":[64],"factors":[66],"affecting":[67],"algorithm,":[73],"human":[78],"action":[79],"perception":[81],"can":[82,154],"all":[83],"be":[84,156],"considered":[85],"simultaneously.":[86],"In":[87],"this":[88],"study,":[89],"we":[90,171],"propose":[91],"use":[93],"preference-based":[95,166],"HiL":[96,121,167],"techniques":[98],"based":[99],"sample-efficient":[101],"Bayesian":[102],"algorithms":[104],"qualitative":[106],"pairwise":[107],"comparisons":[108],"maximize":[110,125],"tasks.":[117],"We":[118,148],"present":[119],"two":[120],"spring":[130],"friction":[132],"validate":[135],"our":[136],"results":[137],"comparing":[139],"HiL-optimized":[141],"models":[143],"with":[144],"expert-tuned":[145],"nominal":[146],"models.":[147],"show":[149],"system":[152],"parameters":[153,187],"effectively":[155],"optimized":[157],"within":[158],"reasonable":[160],"amount":[161],"time":[163],"using":[164],"approach.":[169],"Furthermore,":[170],"demonstrate":[172],"approach":[175],"provides":[176],"an":[177],"efficient":[178],"studying":[181],"effect":[183],"interactions":[194],"among":[195],"parameters,":[197],"even":[198],"relatively":[200],"high":[201],"dimensional":[202],"parameter":[203],"spaces.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}