Lecture Notes in Computer Science 12272 Founding Editors Gerhard Goos Karlsruhe Institute of Technology, Karlsruhe, Germany Juris Hartmanis Cornell University, Ithaca, NY, USA Editorial Board Members Elisa Bertino Purdue University, West Lafayette, IN, USA Wen Gao Peking University, Beijing, China Bernhard Steffen TU Dortmund University, Dortmund, Germany Gerhard Woeginger RWTH Aachen, Aachen, Germany Moti Yung Columbia University, New York, NY, USA
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Lecture Notes in Computer Science 12272
Founding Editors
Gerhard GoosKarlsruhe Institute of Technology, Karlsruhe, Germany
Juris HartmanisCornell University, Ithaca, NY, USA
Editorial Board Members
Elisa BertinoPurdue University, West Lafayette, IN, USA
Wen GaoPeking University, Beijing, China
Bernhard SteffenTU Dortmund University, Dortmund, Germany
This Springer imprint is published by the registered company Springer Nature Switzerland AGThe registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
In this volume, you will find the proceedings of the EuroHaptics 2020 conference, heldduring September 6–9, 2020, in Leiden, The Netherlands. EuroHaptics is a majorinternational conference, organized biannually, that features the latest advances inhaptics science, technology, and applications. The 2020 edition of the meeting had aspecial focus on accessibility, and in the spirit of the focus, we have made the pro-ceedings open access.
The organization of the conference faced a unique challenge, as the start of thereview process coincided with the beginning of the COVID-19 pandemic. Like in allaspects of our lives, we also had to reinvent our scientific life, and find a new way towork. Conferences were canceled, moved to later dates, or re-organized as onlinevirtual conferences. Eurohaptics 2020 was rescheduled; instead of late spring (June) itwas held in September. Many of the authors, reviewers, and editors faced challenges:lab shutdowns, the transition to online teaching, and caring for our families to namejust a few. Considering the event, we are thankful for the effort and dedication toscientific rigor of the 220 external reviewers and 35 associate editors as they juggledadditional tasks and limited resources to finish the editorial process. We also want toacknowledge the diligence of authors to improve their papers in the midst of uncer-tainty and, for many of them, without access to their usual resources. Their commit-ment though the hardship of the situation made this conference possible.
All aspects of haptics, including neuroscience, psychophysics, perception, engi-neering, computing, interactions, virtual reality, and the arts were covered in the initialsubmissions for the full-paper category. The 111 submissions came from 24 countries:50% from Europe, 37% from Asia, and 10% from North America. The Application,Science and Technology track chairs invited experts to the Program Committee andprovided initial advice on three or four papers. The Program Committee membersinvited three independent reviewers and provided an assessment on the basis of aminimum of two reviews. To be accepted, we expected an innovative idea as well as adiligent experimental evidence, and 60 of the submissions (55%) were accepted forpublication. These papers were presented either as oral (36) or as poster presentations(24). In the proceedings, the two types of presentations are published with no dis-tinction between them.
The conference also featured work in progress abstracts which allowed for pre-sentation of late-breaking results as a poster, receiving feedback from the community.The abstracts of these posters are not featured in these proceedings.
Finally, we are delighted to be part of such a dynamic and innovative community,and we believe that the proceedings reflect its creativity and depth of thought. We hope
that the works presented in these proceedings will serve as inspiration and spark newideas for a better future where everyone is haptically connected.
September 2020 Ilana NiskyJess Hartcher-O’BrienMichaël Wiertlewski
Jeroen Smeets
vi Preface
Organization
General Chairs
Irene Kuling Eindhoven University of Technology, The NetherlandsJan van Erp TNO Soesterberg, The Netherlands
Program Chair
Jeroen Smeets Vrije Universiteit Amsterdam, The Netherlands
Local Chair
Dirk Heylen University of Twente, The Netherlands
Communication Chair
Krista Overvliet Utrecht University, The Netherlands
Proceedings Editors and Track Chairs
Jess Hartcher-O’Brien TU Delft, The NetherlandsIlana Nisky Ben-Gurion University of the Negev, IsraelMichaël Wiertlewski TU Delft, The Netherlands
Accessory Chairs
Sponsor
Frédéric Giraud University of Lille, France
Accessibility
Eric Velleman Accessibility Foundation, The Netherlands
Accessibility Sponsor
Vincent Hayward Sorbonne Université, France
Demos
William Frier Ultrahaptics, UK
Student Volunteers
Sabrina Paneels CEA Tech, FranceFemke van Beek Facebook Reality Labs, USA
Webmaster
Camille Sallaberry University of Twente, The Netherlands
Program Committee
Cagatay Basdogan Koç University, TurkeyMatteo Bianchi University of Pisa, ItalyLuca Brayda Acoesis, ItalyManuel Cruz Immersion, CanadaMassimiliano Di Luca University of Birmingham, UKIldar Farkhatdinov Queen Mary University London, UKFrancesco Ferrise Politecnico di Milano, ItalyDavid Gueorguiev Sorbonne Université, FranceMatthias Harders University of Innsbruck, AustriaJess Hartcher-O’Brien TU Delft, The NetherlandsHsin-Ni Ho NTT, JapanHiroyuki Kajimoto The University of Electro-Communications, JapanAyse Kucukyilmaz University of Nottingham, UKYoshihiro Kuroda University of Tsukuba, JapanScinob Kuroki NTT, JapanVincent Levesque École de Technologie Supérieure, CanadaMonica Malvezzi University of Siena, ItalySarah McIntyre Linköping University, SwedenAlejandro
Melendez-CalderonThe University of Queensland, Australia
Anna Metzger Justus Liebig University Giessen, GermanyAlessandro Moscatelli University of Rome, ItalyIlana Nisky Ben-Gurion University of the Negev, IsraelShogo Okamoto Nagoya University, JapanClaudio Pacchierotti IRISA, Inria Rennes, FranceSabrina Paneels CEA Tech, FranceGunhyuk Park Gwangju Institute of Science and Technology,
South KoreaHannes Saal The University of Sheffield, UKEvren Samur Boğaziçi University, TurkeyJeroen Smeets Vrije Universiteit Amsterdam, The NetherlandsMassimiliano Solazzi Scuola Superiore Sant’Anna, ItalyLuigi Tame University College London, UKFemke van Beek Facebook Reality Labs, USAMichaël Wiertlewski TU Delft, The NetherlandsTae-Heon Yang Korea National University of Transportation,
Density Estimation is Influenced More by Mass When Objects are Denser. . . 87Lara Merken and Vonne van Polanen
Haptic Feedback in a Teleoperated Box & Blocks Task . . . . . . . . . . . . . . . . 96Irene A. Kuling, Kaj Gijsbertse, Bouke N. Krom, Kees J. van Teeffelen,and Jan B. F. van Erp
Hirobumi Tomita, Satoshi Saga, Shin Takahashi, and Hiroyuki Kajimoto
Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip . . . . 362Noor Alakhawand, William Frier, Kipp McAdam Freud,Orestis Georgiou, and Nathan F. Lepora