{"id":"https://openalex.org/W1562573538","doi":"https://doi.org/10.1109/whc.2015.7177695","title":"The effect of damping on the perception of hardness","display_name":"The effect of damping on the perception of hardness","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1562573538","doi":"https://doi.org/10.1109/whc.2015.7177695","mag":"1562573538"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2015.7177695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2015.7177695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE World Haptics Conference (WHC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5051118305","display_name":"Femke E. van Beek","orcid":"https://orcid.org/0000-0003-4741-6196"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Femke E. van Beek","raw_affiliation_strings":["Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083110503","display_name":"D.J.F. Heck","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dennis J. F. Heck","raw_affiliation_strings":["Mechanical Engineering, Eindhoven University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022300438","display_name":"Henk Nijmeijer","orcid":"https://orcid.org/0000-0001-5883-6191"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Henk Nijmeijer","raw_affiliation_strings":["Mechanical Engineering, Eindhoven University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068051240","display_name":"Wouter M. Bergmann Tiest","orcid":"https://orcid.org/0000-0001-6591-7221"},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["FR","NL"],"is_corresponding":false,"raw_author_name":"Wouter M. Bergmann Tiest","raw_affiliation_strings":["Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands","Institut des Syst\u00e8mes Intelligents et de Robotique, Universit\u00e9 Pierre et Marie Curie, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands","institution_ids":["https://openalex.org/I865915315"]},{"raw_affiliation_string":"Institut des Syst\u00e8mes Intelligents et de Robotique, Universit\u00e9 Pierre et Marie Curie, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048993641","display_name":"Astrid M. L. Kappers","orcid":"https://orcid.org/0000-0003-4101-7717"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Astrid M. L. Kappers","raw_affiliation_strings":["Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Human Movement Sciences, VU University, Amsterdam, The Netherlands","institution_ids":["https://openalex.org/I865915315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8536,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.89351928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"28","issue":null,"first_page":"82","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9943000078201294,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/teleoperation","display_name":"Teleoperation","score":0.7761422991752625},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6462568044662476},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6381231546401978},{"id":"https://openalex.org/keywords/indentation","display_name":"Indentation","score":0.5503562688827515},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5242474675178528},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4997222423553467},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4343186020851135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4216920733451843},{"id":"https://openalex.org/keywords/indentation-hardness","display_name":"Indentation hardness","score":0.41529664397239685},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3851969242095947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3543364107608795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2492583990097046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1737799048423767},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.13541385531425476},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1265510618686676}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7761422991752625},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6462568044662476},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6381231546401978},{"id":"https://openalex.org/C2780902562","wikidata":"https://www.wikidata.org/wiki/Q1154141","display_name":"Indentation","level":2,"score":0.5503562688827515},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5242474675178528},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4997222423553467},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4343186020851135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4216920733451843},{"id":"https://openalex.org/C165720898","wikidata":"https://www.wikidata.org/wiki/Q3150000","display_name":"Indentation hardness","level":3,"score":0.41529664397239685},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3851969242095947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3543364107608795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2492583990097046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1737799048423767},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.13541385531425476},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1265510618686676},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C87976508","wikidata":"https://www.wikidata.org/wiki/Q1498213","display_name":"Microstructure","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/whc.2015.7177695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2015.7177695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE World Haptics Conference (WHC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.vu.nl:openaire_cris_publications/cba2b3cb-b118-4534-83cb-25ecba665bde","is_oa":false,"landing_page_url":"https://research.vu.nl/en/publications/cba2b3cb-b118-4534-83cb-25ecba665bde","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"van Beek, F E, Heck, D J F, Nijmeijer, H, Bergmann Tiest, W M & Kappers, A M L 2015, The effect of damping on the perception of hardness. in 2015 IEEE World Haptics Conference (WHC). Evanston, Il, USA, pp. 82-87.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/d6b851d7-023b-4c51-872a-051964be77ef","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/d6b851d7-023b-4c51-872a-051964be77ef","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"van Beek, F E, Heck, D J F, Nijmeijer, H, Bergmann Tiest, W M & Kappers, A M L 2015, The effect of damping on the perception of hardness. in J E Colgate, H Z Tan, S Choi & G Gerling (eds), IEEE World Haptics Conference 2015 : Eavanston, Il., USA, 22-26 June 2005., 7177695, Institute of Electrical and Electronics Engineers, Piscataway, pp. 82-87, 2015 IEEE World Haptics Conference (WHC 2015), Evanston, Illinois, United States, 22/06/15. https://doi.org/10.1109/WHC.2015.7177695","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.tue.nl:publications/d6b851d7-023b-4c51-872a-051964be77ef","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84947087439&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"van Beek, F E, Heck, D J F, Nijmeijer, H, Bergmann Tiest, W M & Kappers, A M L 2015, The effect of damping on the perception of hardness. in J E Colgate, H Z Tan, S Choi & G Gerling (eds), IEEE World Haptics Conference 2015 : Eavanston, Il., USA, 22-26 June 2005., 7177695, Institute of Electrical and Electronics Engineers, Piscataway, pp. 82-87, 2015 IEEE World Haptics Conference (WHC 2015), Evanston, Illinois, United States, 22/06/15. https://doi.org/10.1109/WHC.2015.7177695","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:tue:oai:pure.tue.nl:publications/d6b851d7-023b-4c51-872a-051964be77ef","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/d6b851d7-023b-4c51-872a-051964be77ef","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE World Haptics Conference 2015 : Eavanston, Il., USA, 22-26 June 2005, 82 - 87","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1589374209","https://openalex.org/W1874442725","https://openalex.org/W1887186376","https://openalex.org/W1965361141","https://openalex.org/W1967390389","https://openalex.org/W2020036491","https://openalex.org/W2033001785","https://openalex.org/W2067221866","https://openalex.org/W2073633842","https://openalex.org/W2077170918","https://openalex.org/W2091149376","https://openalex.org/W2114987226","https://openalex.org/W2135464393","https://openalex.org/W2137930184","https://openalex.org/W2142412018","https://openalex.org/W2143474540","https://openalex.org/W2145897023","https://openalex.org/W2161807223","https://openalex.org/W2163937441","https://openalex.org/W2168676985"],"related_works":["https://openalex.org/W2032002050","https://openalex.org/W1969586429","https://openalex.org/W4220678163","https://openalex.org/W4396920329","https://openalex.org/W2102967932","https://openalex.org/W1964500345","https://openalex.org/W2076478163","https://openalex.org/W2022567065","https://openalex.org/W1978605961","https://openalex.org/W1930795590"],"abstract_inverted_index":{"In":[0],"controlling":[1],"teleoperation":[2,175],"systems":[3,176],"subject":[4],"to":[5,23],"communication":[6],"delays,":[7],"unstable":[8],"behavior":[9],"is":[10,21,31,163],"often":[11],"prevented":[12],"by":[13,165],"injecting":[14],"damping.":[15],"A":[16],"proper":[17],"perception":[18],"of":[19,43,49,55,63,110,174],"hardness":[20,42,54,109,121,162],"required":[22],"efficiently":[24],"interact":[25],"with":[26,149],"an":[27,56,79,111,114],"object,":[28,57],"but":[29],"it":[30,118],"unknown":[32],"if":[33],"and":[34,65,81,95,127,135,138,183],"how":[35],"this":[36,146],"injected":[37],"damping":[38,50,105,166],"influences":[39],"the":[40,47,52,61,107,157,177,190],"perceived":[41,53,108,120,150,161],"objects.":[44],"To":[45],"investigate":[46],"effect":[48],"on":[51],"12":[58],"participants":[59],"compared":[60],"hardnesses":[62],"lightly":[64],"heavily":[66],"damped":[67],"objects":[68],"in":[69,145,167],"a":[70,82,123,141,154,168],"two-alternative":[71],"forced":[72],"choice":[73],"experiment.":[74],"Two":[75],"tasks":[76],"were":[77,91,98],"investigated:":[78],"in-contact":[80,115],"contact-transition":[83,124],"task.":[84,125],"For":[85],"each":[86],"task,":[87,116],"3":[88],"reference":[89],"stiffnesses":[90],"used.":[92],"Both":[93],"force":[94,128],"position":[96],"data":[97,129],"recorded.":[99],"The":[100],"results":[101,158,178],"show":[102,130,159],"that":[103,131,160,187],"adding":[104],"increases":[106],"object":[112,132,151],"for":[113,122,172,181],"while":[117],"decreases":[119],"Movement":[126],"indentation,":[133],"mean":[134],"maximum":[136],"velocity":[137],"adjusted":[139],"rate-hardness,":[140],"new":[142],"parameter":[143],"defined":[144],"paper,":[147],"correlate":[148],"hardness.":[152,192],"From":[153],"fundamental":[155],"perspective,":[156],"influenced":[164],"task-specific":[169],"way.":[170],"Moreover,":[171],"designers":[173],"provide":[179],"insights":[180],"tuning":[182],"designing":[184],"control":[185],"architectures":[186],"properly":[188],"reflect":[189],"desired":[191]},"counts_by_year":[{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}