{"id":"https://openalex.org/W2968034891","doi":"https://doi.org/10.1109/vr.2019.8798205","title":"Toward Universal Tangible Objects: Optimizing Haptic Pinching Sensations in 3D Interaction","display_name":"Toward Universal Tangible Objects: Optimizing Haptic Pinching Sensations in 3D Interaction","publication_year":2019,"publication_date":"2019-03-01","ids":{"openalex":"https://openalex.org/W2968034891","doi":"https://doi.org/10.1109/vr.2019.8798205","mag":"2968034891"},"language":"en","primary_location":{"id":"doi:10.1109/vr.2019.8798205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vr.2019.8798205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-02021319","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010182216","display_name":"Xavier de Tinguy","orcid":"https://orcid.org/0000-0001-9590-6814"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xavier de Tinguy","raw_affiliation_strings":["INSA, IRISA, Inria, CNRS, Univ Rennes, Rennes, France","Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INSA, IRISA, Inria, CNRS, Univ Rennes, Rennes, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA Rennes, Univ Rennes, France","RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA Rennes, Univ Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I2802519937","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006521642","display_name":"Maud Marchal","orcid":"https://orcid.org/0000-0002-6080-7178"},"institutions":[{"id":"https://openalex.org/I28221208","display_name":"Institut National des Sciences Appliqu\u00e9es de Rennes","ror":"https://ror.org/04xaa4j22","country_code":"FR","type":"education","lineage":["https://openalex.org/I28221208"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maud Marchal","raw_affiliation_strings":["INSA, Univ Rennes, Rennes, France","Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INSA, Univ Rennes, Rennes, France","institution_ids":["https://openalex.org/I28221208","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090150936","display_name":"Anatole L\u00e9cuyer","orcid":"https://orcid.org/0000-0002-1409-244X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anatole Lecuyer","raw_affiliation_strings":["Inria, CNRS, IRISA Rennes, Univ Rennes, France","Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, CNRS, IRISA Rennes, Univ Rennes, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Hybrid - 3D interaction with virtual environments using body and mind (Campus de Beaulieu 35042 Rennes cedex - France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9971,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74858241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"321","last_page":"330"},"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":0.9988999962806702,"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":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7959999442100525},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7251453399658203},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.6936500668525696},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.665359616279602},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6130499243736267},{"id":"https://openalex.org/keywords/illusion","display_name":"Illusion","score":0.6077645421028137},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5829219222068787},{"id":"https://openalex.org/keywords/virtual-image","display_name":"Virtual image","score":0.5176156759262085},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4758041799068451},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4751441478729248},{"id":"https://openalex.org/keywords/virtual-machine","display_name":"Virtual machine","score":0.44718679785728455},{"id":"https://openalex.org/keywords/metaverse","display_name":"Metaverse","score":0.43950724601745605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.433212548494339},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07563161849975586}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7959999442100525},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7251453399658203},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.6936500668525696},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.665359616279602},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6130499243736267},{"id":"https://openalex.org/C184047640","wikidata":"https://www.wikidata.org/wiki/Q182593","display_name":"Illusion","level":2,"score":0.6077645421028137},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5829219222068787},{"id":"https://openalex.org/C51970089","wikidata":"https://www.wikidata.org/wiki/Q44415","display_name":"Virtual image","level":2,"score":0.5176156759262085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4758041799068451},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4751441478729248},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.44718679785728455},{"id":"https://openalex.org/C53332860","wikidata":"https://www.wikidata.org/wiki/Q2632041","display_name":"Metaverse","level":3,"score":0.43950724601745605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.433212548494339},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07563161849975586},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/vr.2019.8798205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vr.2019.8798205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02021319v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02021319","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"VR 2019 - 26th IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2019, Osaka, Japan. pp.321-330, &#x27E8;10.1109/VR.2019.8798205&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02021319v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02021319","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"VR 2019 - 26th IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2019, Osaka, Japan. pp.321-330, &#x27E8;10.1109/VR.2019.8798205&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W52592340","https://openalex.org/W1204057041","https://openalex.org/W1485390031","https://openalex.org/W1489557789","https://openalex.org/W1560270123","https://openalex.org/W1912205781","https://openalex.org/W1977775301","https://openalex.org/W1987370452","https://openalex.org/W1988245745","https://openalex.org/W1989540182","https://openalex.org/W2010704342","https://openalex.org/W2012571009","https://openalex.org/W2028895962","https://openalex.org/W2029222125","https://openalex.org/W2029964484","https://openalex.org/W2030891474","https://openalex.org/W2044852496","https://openalex.org/W2049149977","https://openalex.org/W2050595634","https://openalex.org/W2052790699","https://openalex.org/W2052976238","https://openalex.org/W2057316718","https://openalex.org/W2065704586","https://openalex.org/W2068723845","https://openalex.org/W2085325415","https://openalex.org/W2090855657","https://openalex.org/W2095370056","https://openalex.org/W2112418710","https://openalex.org/W2115763420","https://openalex.org/W2118262422","https://openalex.org/W2124300741","https://openalex.org/W2132799267","https://openalex.org/W2144573888","https://openalex.org/W2149729559","https://openalex.org/W2151343545","https://openalex.org/W2157139838","https://openalex.org/W2168881048","https://openalex.org/W2219761336","https://openalex.org/W2282481780","https://openalex.org/W2403959797","https://openalex.org/W2405777275","https://openalex.org/W2472405374","https://openalex.org/W2611252116","https://openalex.org/W2612110125","https://openalex.org/W2623900538","https://openalex.org/W2762517015","https://openalex.org/W2762882708","https://openalex.org/W2794034738","https://openalex.org/W2797028869","https://openalex.org/W2885564406","https://openalex.org/W2896292618","https://openalex.org/W2917841207","https://openalex.org/W2962737955","https://openalex.org/W2963654160","https://openalex.org/W4244404253","https://openalex.org/W4252405433","https://openalex.org/W4299290988","https://openalex.org/W6602167523"],"related_works":["https://openalex.org/W116156528","https://openalex.org/W1575430874","https://openalex.org/W2953657335","https://openalex.org/W2024571360","https://openalex.org/W3160734479","https://openalex.org/W2093109930","https://openalex.org/W2572958744","https://openalex.org/W881786707","https://openalex.org/W2970355171","https://openalex.org/W2902990835"],"abstract_inverted_index":{"Tangible":[0],"objects":[1,80,104,119],"are":[2],"a":[3,17,23,152,207],"simple":[4],"yet":[5],"effective":[6],"way":[7],"for":[8,147],"providing":[9],"haptic":[10,43,129],"sensations":[11],"in":[12,30,38,58,81,125],"Virtual":[13],"Reality.":[14],"For":[15],"achieving":[16],"compelling":[18],"illusion,":[19],"there":[20],"should":[21,49],"be":[22],"good":[24],"correspondence":[25],"between":[26,193,228],"what":[27,35,194],"users":[28,195],"see":[29,196],"the":[31,39,46,54,78,82,99,114,122,140,160,172,177,183,189,213,229],"virtual":[32,56,79,108,118,144,178,233],"environment":[33],"and":[34,117,143,174,197,232],"they":[36],"touch":[37],"real":[40],"world.":[41],"The":[42,110,199],"features":[44,223],"of":[45,53,76,101,127,154,201],"tangible":[47,74,103,116,142,173,231],"object":[48,222],"indeed":[50],"match":[51],"those":[52],"corresponding":[55],"one":[57,170,175],"terms":[59,126],"of,":[60],"e.g.,":[61],"size,":[62],"local":[63],"shape,":[64],"mass,":[65],"texture.":[66],"A":[67],"straightforward":[68],"solution":[69],"is":[70,86,204,215],"to":[71,105,120,167,217,224],"create":[72],"perfect":[73],"replicas":[75],"all":[77],"scene.":[83],"However,":[84],"this":[85],"often":[87],"neither":[88],"feasible":[89],"nor":[90],"desirable.":[91],"This":[92],"paper":[93],"presents":[94],"an":[95],"innovative":[96],"approach":[97,203],"enabling":[98],"use":[100],"few":[102],"render":[106],"many":[107],"ones.":[109],"proposed":[111],"algorithm":[112,214],"analyzes":[113],"available":[115],"find":[121,225],"best":[123,190],"grasps":[124],"matching":[128,191],"sensations.":[130],"It":[131],"starts":[132],"by":[133],"identifying":[134],"several":[135,220],"suitable":[136],"pinching":[137,164,185],"poses":[138,165],"on":[139,171,176],"considered":[141],"objects.":[145,234],"Then,":[146],"each":[148],"pose,":[149,186],"it":[150,158,181],"evaluates":[151],"series":[153],"haptically-salient":[155,221],"characteristics.":[156],"Next,":[157],"identifies":[159],"two":[161],"most":[162],"similar":[163],"according":[166],"these":[168],"metrics,":[169],"object.":[179],"Finally,":[180],"highlights":[182],"chosen":[184],"which":[187],"provides":[188],"sensation":[192],"touch.":[198],"effectiveness":[200],"our":[202],"evaluated":[205],"through":[206],"user":[208],"study.":[209],"Results":[210],"show":[211],"that":[212],"able":[216],"well":[218],"combine":[219],"convincing":[226],"pinches":[227],"given":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
