JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

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Survey of Pseudo-haptics: Haptic Feedback
Design and Application Proposals
Yusuke Ujitoko, Member, IEEE, and Yuki Ban, Member, IEEE
Abstract—In the last two decades, the design of pseudo-haptics as a haptic presentation method that does not require a mechanicalfeedback device has been proposed in various research papers. Moreover, applications using pseudo-haptics have been proposed andevaluated in various contexts. However, the ﬁndings from these studies have not yet been comprehensively organized in a survey
paper in the recent times. In this paper, ﬁndings from a series of individual prior studies were summarized from the design through tothe application proposals. First, we summarize visual stimuli designs based on the target haptic object properties to induce
pseudo-haptics. Second, we summarize two special issues when designing pseudo-haptics; (1) workaround design for the visualized
mismatch of visual stimuli and user input and (2) the combination design of pseudo-haptics and physical stimuli. Third, application
proposals that use pseudo-haptics for training, assistance, and entertainment are presented. This survey paper would help not only
researchers in academia but also application developers who intend to use pseudo-haptics as a haptic presentation method.
Index Terms—Haptics, Pseudo-haptics, Design, Application

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I NTRODUCTION

H

APTICS allow humans to perform various explorationand manipulation tasks in the real world [1]. Without
haptics, it is difﬁcult to grasp and manipulate objects, andmaterial and surface properties cannot be determined. In
desktop, virtual reality (VR), augmented reality, or touchscreen applications, artiﬁcially reproduced haptic properties
can induce various effects such as realism and improved
human performance [2]. Currently, some commercial applications support limited haptics via vibrotactile channels
on devices such as smartphones [3]. It is believed that
future applications will support a wide variety of haptic
feedback, and these applications will be developed actively.
However, the development of haptic display design faces
several challenges such as creating a rich haptic sensationthat meets the requirements of applications.
The straightforward design of a haptic display involves
providing physical stimuli to the body of a user using force
feedback devices [4], [5], [6]. Owing to technological advancements, it has become possible to present users with ahighly realistic tactile experience. However, it is not possible
to apply these devices to all cases because of hardware
size or cost limitations. Wearable haptic displays, whichhave been actively researched in recent years, address thisissue [7]. However, these require small actuators or batteries,
and are not accessible in all cases. For example, there are
not these devices in all the ordinary home and the haptic
feedback with physical stimuli is sometimes not accessible
in home-use applications.

••

Yusuke Ujitoko is with the NTT Communication Science Laboratories,
Nippon Telegraph and Telephone Corporation, Kanagawa, Japan. E-mail:yusuke.ujitoko.ws@hco.ntt.co.jp
Yuki Ban is with the Graduate School of Frontier Sciences, the Universityof Tokyo, Chiba, Japan. E-mail: ban@edu.k.u-tokyo.ac.jp .

Manuscript received April 19, 2005; revised August 26, 2015.

Number of papers
on pseudo-haptics

F

Year

Fig. 1. Number of published papers on pseudo-haptics.

Another approach is to focus on illusional haptic perceptions evoked by human vision. Pseudo-haptics [8] can
induce the haptic illusions even in situations where there
is no mechanical haptic interfaces. In this paper, we deﬁne
pseudo-haptics as the phenomenon when users experience
haptic feedback by observing a visual stimulus that isdesigned to distort based on user input. Thus far, manystudies have proposed pseudo-haptic designs for inducing
various haptic properties, and the effects of pseudo-haptics
have been evaluated in some application contexts. Survey
papers on pseudo-haptics [8] and [9] were published in 2009
and 2011, respectively. On the other hand, Fig. 1 shows
the number of papers on pseudo-haptics published peryear considering the keyword “pseudo-haptic” on Google
Scholar; the ﬁgure indicates that pseudo-haptics has been
researched more actively in recent years. The number of
papers published in the last decade was approximately 50
and much more than before, but there is no survey paperthat comprehensively summarizes these papers on pseudohaptics over the past decade.
A comprehensive literature search was performed between February and June 2020. First, general search in the
databases of Google Scholar using the keyword “pseudohaptic” was performed. Additional literature was retrieved
through the reference lists of the acquired papers. The
abstracts of the articles were read to verify whether the

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

publications were related to pseudo-haptics.
We conducted a comprehensive literature search in the
databases of Google Scholar using the keyword “pseudohaptic” between February and June 2020. and, as a result,
retrieved a total of 74 papers. We summarize the knowledge
on the design of pseudo-haptics and application proposals
by analyzing those papers.
The rest of this paper is organized into ﬁve sections. In
section 2, we summarize how to design visual stimuli topresent the haptic properties of the objects. In section 3,
we summarize two special issues when designing pseudohaptics; the ﬁrst one is the workaround design for thevisualized mismatch of visual stimuli and user input. thesecond one is the combination design of pseudo-haptics andphysical stimuli. In section 4, we summarize the application
proposals. Finally, in the concluding section, we discuss thelimitations of the survey and future areas of investigation.

2 V ISUAL S TIMULI D ESIGN TO P RESENT TARGETH APTIC O BJECT P ROPERTY
2.1 Taxonomy
2.1.1 Taxonomy of Haptic Object Property
The method used to design visual stimuli for presenting
each haptic object property is summarized in Table 1. We
deﬁne the taxonomy of the haptic object property by quoting the existing literature by Jones and Lederman [10] andOkamoto et al. [11]. Thus far, it is known that pseudo-haptic
sensations are evoked only when users actively move theirbodies; therefore, we quoted the taxonomy from the “active
tactile sensing” section of the literature [10]. The taxonomyof object properties comprises material and geometric properties. The material properties include weight, compliance,
texture, thermal properties, and material composition; thegeometric properties include curvature, orientation and angle, size, shape, contact locations, and attributes of wieldedobjects. We will proceed with the discussion based on thistaxonomy; however, the following points should be noted
about the taxonomy.
When we checked object properties covered in the listed
pseudo-haptics papers, we found that they were biased
toward texture instead of other properties. Therefore, we
further classiﬁed texture using Okamoto et al. [11]’s classiﬁcation. This allows application developers to refer tothese properties in detail. Texture can be classiﬁed based
on ﬁne roughness, macro roughness, friction, hardness, andwarmth. The surface roughness is referred to as coarse
or macroscopic roughness [11] when the surface width of
two neighboring dots or ridges is larger than the rangeof few hundreds of micrometers to 1 mm. Macro roughness is associated with expressions such as “uneven,” “relief,” or “voluminous.” A surface roughness with a width
value smaller than this range is called ﬁne roughness, andis referred to by the adjective “rough”. Among texture
compositions, warmth overlaps thermal properties. Further,hardness overlaps with compliance. Therefore, we excluded
warmth and hardness from the texture dimension to avoid
redundancy.
There are methods to change geometric perceptions suchas position [12], [13], [14], [15] or shape [16]; these methods

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are similar to that described in Table 1. A few examples ofthese methods [16], [17], [18] have been proposed within thecontext of pseudo-haptics. However, they are referred to as“retargeting” or “redirection,” methods, and therefore, weremoved geometric properties from the scope of pseudohaptics. If an application developer wants to present geometric properties, we recommend reading these references.
There are some existing papers that cannot be categorized into the taxonomy deﬁned in this paper. For these
papers, we set the category as “other.”
The ﬁnal version of the taxonomy is indicated by theﬁrst and second columns in Table 1. The sub-properties arepresented in the second column. If there is a sub-property
among papers that belongs to the target haptic property,
there is a description of the sub-property.
2.1.2 Taxonomy of Visual Stimuli and User Input
In addition to haptic object properties, there exist user
inputs, visual stimuli, and references, as indicated in thecolumns in Table 1. User input indicates the action of theuser that is essentially the input information to the system.
Visual stimuli are the visual information provided to theuser as visual feedback based on the user’s action. Although
items for haptic object properties are collectively exhaustive,
the items for user input such as visual stimuli are ﬁlled
empirically as reported in existing papers. Each row in thetable indicates the existing combination of visual stimuli
and user input for each target property.
Here, we show three types of “user input” collected fromexisting papers: displacement, force, and pressing duration(as shown in Fig. 2).

Fig. 2. Three types of user inputs.
•••

When users move their bodies (such as ﬁngers or
hands) or input tools (such as mice or touch pens),
the system senses and uses displacement as input,
and the user input is considered as displacement(Fig. 2(a)).
When the user’s body or input tools apply a force
on something and the system senses and uses theamount of force as input, that speciﬁc user input isconsidered as force (Fig. 2(b)).
When the user’s body or input tools press something
for a certain duration and the system senses and uses
the duration as input, that user input is considered
as pressing duration (Fig. 2(c)).

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TABLE 1
Combination of user input and visual stimuli for presenting target haptic properties using pseudo-haptics.

Targethaptic property

Sub-property(if present)

User input

Visual stimuli

Reference

Weight-Displacement D
Applied force F

Displacement D′(e.g., D′ = αD)[19], [20], [21], [22]Weight-Displacement D

Displacement D′(e.g., D′ = αD)[23], [24], [25]Weight-Angular displacement θAngular displacement θ′(e.g., θ′ = αθ)[26], [27]Weight-Angular displacement θ′
Displacement∫ D′(e.g., D = α θdt)

[28]

Compliance-Displacement D
Applied force F

Displacement D′(e.g., D′ = αD)[29], [30], [31], [32][33], [34], [35], [36][37], [38], [39], [40]Compliance-Displacement D

Displacement D′(e.g., D′ = αD)[41]

Compliance-Applied force F

Displacement D′(e.g., D′ = αF )[42], [43], [44]Compliance-Applied force F

Surface deformation d(F )[45], [46], [47], [48]Compliance-

Press duration ∆t

Surface deformation d(∆t)[49], [50]Compliance-Displacement D

Surface deformation d(D)[46], [51], [52], [53]Compliance-

Press duration ∆t

Cursor color c(∆t)[49]Compliance-Applied force F

Skin color c(F )[33], [45]Compliance-

Angular displacement θ
Applied force F

Angular displacement θ′(θ′ = αθ)[54]

Friction

Kinetic friction

Applied force F

Displacement D′(D′ = αF )[29]

Friction

Kinetic friction

Displacement D

Displacement D′(D′ = αD)[24], [55], [56], [57][58], [59], [60]Friction

Static friction

Displacement D

Displacement D′[60], [61]Friction

Viscosity

Displacement D

Displacement D′[60], [62], [63]Fine roughness-

Displacement D

Perturbed
Displacement D′[60], [63], [64]Macro roughness-

Displacement D

Displacement D′[65], [66], [67], [68][69], [70], [71]Macro roughness-

Displacement D

Pointer size s[60], [63], [68]Thermal property

-

-

-

Material-

Displacement D

Displacement D′′[73], [74], [75], [76][77], [78], [79], [80][81], [82], [83], [84]
[85]

Other

Force

Displacement D

Displacement D

Other

Force

-

Displacement D′(of background image)

[86]

Other

-

Displacement D

Displacement D′[87]

We show four “visual stimuli” collected from existing
papers. The four types are displacement, surface deformation, color, and size (shown in Fig. 3).
•[72]

When the translation or rotational movement of•something such as a virtual body part or pointer ispresented to users as visual information, that visual
stimulus is considered as displacement (Fig. 3(a)).
When the surface deformation of something is pre-

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015a) displacementb) surface deformationc) colord) sizeFig. 3. Four types of visual stimuli.

•

•

2.2

sented to users as visual information, that speciﬁcvisual stimulus is considered as surface deformation(Fig. 3(b)).
When the color change of something is presented tousers as visual information, that visual stimulus isconsidered as color (Fig. 3(c)).
When the size change of something is presented tousers as visual information, that visual stimulus isconsidered as size (Fig. 3(d)).
WeightTo change weight perception while we are grasping andmoving the object around, all previous studies adopted amethod of distorting the ratio α of user input displacement
D (shown in Fig. 2(a)) and visualized displacement D′(shown in Fig. 3(a)), i.e., α = D′ /D. If α is smaller than
1, the users will perceive the object as heavier; if α is larger
than 1, the users will perceive the object as lighter. The ratio
α is sometimes called the control/display ratio (C/D ratio)in the context of pseudo-haptics. However, the meaningof the “C/D ratio” was different from person to person.
Some research (e.g., [21]) regarded the C/D ratio as theoutput gain with regard to the input. In that case, when
the C/D ratio is large, the visualized displacement is larger
than the user input displacement. In contrast, other research(e.g., [67]) regarded the C/D ratio as a fraction of Control
and Display. In that case, when the C/D ratio is large,
the visualized displacement is smaller than the user input
displacement. In order to prevent readers to be confused,
the term C/D ratio is not used in this study.
Some studies [19], [20], [21], [22] combined the distorted
displacement with physical haptic stimuli. Dominjon etal. [19] reported that a larger displacement D′ of visualfeedback with respect to the users’ input displacement D
can make users feel that the object is lighter than its actual
weight. In their psychophysical experiment, the users lifted
a ball the mass of which was simulated by the PHANToM [4]; they experienced the gravitational force and thevisual displacement of the hand. The result indicated thatall users felt the object was lighter. When α was ﬁve, i.e.,the visual displacement D′ was ﬁve times larger than theactual hand displacement D, the object weighing 110 g wasevaluated to be lighter than 100 g with a 50 % probability;
the assessments from ﬁve out of ten users were completely
inverted. That is, the heavier objects were perceived aslighter than the objects that were indeed lighter. The otherﬁve users were not completely misled; however, they weresigniﬁcantly disturbed. Samad et al. [21] applied a similar

4

method for virtual spaces. Users lifted an object of 185 g,
and the experiment showed that ±5 g can be modiﬁed using
visual feedback.
In contrast to the studies stated above, studies by [23],[24], [25] only used the visual feedback without the actual
physical weight cues that were present. Rietzler et al. [25]proposed visualizing the offset between real hand positionand virtual hand position which suggested the weight cue.
The lifting of heavier objects results in a larger offset. Thisis a similar approach with studies mentioned above suchas [19]. Rietzler et al. [25] focused also on the inertial properties of the virtual object. They designed heavier objects suchthat they required more time to accelerate and slow down.
Their experiment showed that users could associate thedesigned visual stimuli with the weight property and accept
them as part of the virtual world. Yu and Bowman [26]proposed a method to change the perception of weightby scaling rotational motion. They changed the rotational
angle to be smaller when users had the object conﬁgured
to be heavier. Further, they changed the angle to be larger
when the users had the object conﬁgured to be lighter. Their
psychophysical experiment showed that users felt the object
was heavier by more than 80 % with their proposed methodthan without the method. Issartel et al. [27] proposed asimilar method to change the perception of the real object
pushed by the real effector held by users. They visualized
the virtual clone of the effector and decoupled the positionand orientation of the virtual effector from the real one inaccordance with the reaction force. Hirao et al. [28] tested
controller-based user input to change weight perception.
They made users tilt the analogue stick of a VR controller tomove a virtual object. The object moved at a speed that wasin proportion to both the angular displacement θ of the stickand the static conﬁguration α. The visualized
displacement∫of the object was calculated as D′ = α θdt.
2.3

Compliance

There are three different visual stimuli for presenting thecompliance property: distortion in displacement (Fig. 3(a)),
surface deformation (Fig. 3(b)), and color (Fig. 3(c)).
2.3.1 Displacement
The ﬁrst approach visualizes the distorted displacement ofuser input D′ (Fig. 2(a)) [29], [30], [31], [32], [33], [34], [36],[37], [38], [39], [40], [88].
Lécuyer et al. [29] asked users to push their thumb ona piston mounted on a passive spring, and they viewed
the distorted thumb displacements D′ on the display. They
computed D′ as D′ = F/K based on the applied force F
and the target compliance of the virtual spring K . Then,they conducted a compliance discrimination experiment
between two virtual springs using their proposed method.
The Weber fraction for the compliance discrimination between the two virtual springs was 6 %. Instead of a spring,Tatezono et al. [31] used PHANToM [4] and pseudo-haptic
feedback to provide compliance. Further, they adopted thesame approach as Lécuyer et al. [29] and changed thevisual feedback. They showed that the presence of thepseudo-haptic feedback could provide an additional perceived force of 0.2–0.4 N with a physical force feedback

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greater than when only physical force feedback was provided. Unlike aforementioned studies, Kumar et al. [41]proposed a pseudo-haptic compliance feedback without any
haptic physical stimuli. They made users move mouse andprovided visual feedback of virtual spring displacement.
With an assumption of equal work done in the mouse movement and the virtual spring movement, the relationshipbetween the displacement of the mouse and virtual spring
was derived. They experimentally validated their method.
In touchscreen environments, Ridzuan et al. [42] proposed atechnique of pseudo-compliance feedback inside the screen.
They allowed users to interact with the virtual object inside
the pressure-sensitive screen using a virtual ﬁnger as if
the ﬁnger of the user could penetrate through the screen
surface. The visual deformation depth of the virtual object
and ﬁnger displacement was controlled when users touchedthe virtual object inside the screen. By changing the visualfeedback, users felt different compliance properties related
to the surface of the object.
Paljic et al. [54] proposed a pseudo-haptic technique
for simulating torque feedback. When users rotate torsion
springs with torque T and the virtual angular displacement
θ′ is visually presented to users, virtual compliance C can be
simulated. They conducted an experiment using real springs
to evaluate the JND. The JND value for the compliance ofthe virtual torsion spring was 9.1 % when using a real springof the torsion constant, which was 2.05 × 10−2 Nm/rad andan elastic input device.
2.3.2 Surface Deformation
The second approach presents users with simulated surface
deformation (Fig. 3 (b)) as visual stimuli [45], [46], [46], [47],[48], [49], [51], [52], [53].
Punpongsanon et al. [45] presented a visual simulated
deformation of the cushion surface by projection mapping
when the user pressed it with their ﬁngers. They evaluatedwhether the proposed augmented deformation affects theuser’s perception of softness. Their analysis showed that
their surface deformation method was effective in the softening direction, but there was no signiﬁcant effect in thehardening direction.
Yabe et al. [48] proposed changing the visual surface
deformation of virtual objects displayed on a mobile display.
When users pushed the side of the mobile display, theobject deformed with respect to the applied force F . The
compliance can be modiﬁed by changing the relationshipbetween the deformation and applied force. Argelaguet etal. [49] proposed a technique similar to using the mouseand cursor in typical desktop environments. Instead of
measuring force, they used the pressing duration ∆t of
the mouse as the user input. Simulating the deformationd of images based on the pressing duration ∆t results inthe perceived different compliance of images. Fleureau etal. [50] applied the same technique to a digital tablet with anadditional audio feedback to simulate roughness. Kawabe
et al. [51] simulated compliance perception when pulling avirtual surface with ﬁngers in mid-air. They clariﬁed thatthe magnitude of the object deformation with respect to theﬁnger displacement D could change compliance perception.
Further, they indicated that Poisson’s ratio contributes tothe perception of softness. Ban et al. [52] controlled not only5

the surface deformation of the virtual object but also theposture of the ﬁngers grasping a virtual object to enhancethe effect of pseudo-haptics. They conﬁrmed that distorting
the virtual ﬁngers’ posture to ﬁt the virtual deformation ofan object signiﬁcantly modiﬁed the compliance perception
in the task of pinching an elastic object with the thumb andforeﬁnger. Argelaguet et al. [53] assumed a collaborative
scenario wherein two users interacted with a deformableobject. They proposed a pseudo-haptic method considering
the input of both users. Their results indicated that users
could determine the the compliance of the virtual object
with pseudo-haptic feedback.
2.3.3 Color
The third approach changes the color (Fig. 3(c)) of the user’s
skin [34], [45] or cursor [49].
Note that there are studies that regarded the color
change method as a sensory substitution of some haptic
properties [89], [90]. Such studies did not investigate how
haptic perception was modulated by the color-changing
method. In contrast to such studies, the studies presented
below veriﬁed that the haptic perception was modulated by
the color-changing method and we regard such methods as
one of the pseudo-haptic methods.
Punpongsanon et al. [45] proposed four coloring methods using projection mapping to change the perception ofsoftness when users press a virtual ﬁnger on a cushion:coloring the ﬁngernail of the ﬁnger used to press the cushion, coloring the skin of this ﬁnger, coloring the skin of thisﬁnger gradually from the ﬁngertip to the base, and coloring
the blood vessels of this ﬁnger. Their experimental results
indicated that only the method of coloring the skin of the
ﬁnger provided a greater perception of softness. Argelaguet
et al. [49] proposed a similar method: changing the color of ahand-shaped mouse cursor in a desktop environment fromwhite to red when a user clicked on an image.
Achibet et al. [33] proposed that changing the color of avirtual hand alters the perception of the softness of an elastic
handheld device in 3D VR space. They proposed two different visual feedbacks to expose the amount of force exerted
on the hand graphically: “Boolean feedback” and “progressive feedback.” For Boolean feedback, the appearance of thehand was unchanged until the compression ratio reached
the threshold; when it reached the threshold, the appearancechanged to a different color. By contrast, with progressive
feedback, the appearance of the hand changed continuously.
In the experiment for assessing the compliance of the device,
progressive feedback provided a better performance.
2.4 Friction
2.4.1 Kinetic Friction
For presenting kinetic friction, all studies visually manipulated the displacements of objects (Fig. 3(a)); however, they
adopted different user inputs: force input [29] (Fig. 2(b))
or ﬁnger displacement input [24], [55], [56], [57], [58], [59](Fig. 2(a)).
The ﬁrst approach uses force as the user input and provides users with displacement feedback. Lécuyer et al. [29]allowed users to move a cube in a virtual environment witha constant velocity. An isometric user interface was used

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to control the velocity of the cube, v , which was calculated
from the user’s input force F and the friction coefﬁcient µkof the virtual environment. When reaching the area withhigher friction, the cube was slowed down with a constant
input force. The user was asked to maintain the velocity of
the cube, and therefore, the user tended to increase his/herinteraction force F . The change in the user’s excitation force
combined with the visual feedback of the cube’s velocity
made the user feel differences in friction.
The second approach uses ﬁnger displacement as theuser input and provides users with a distorted displacement
feedback. Narumi et al. [55] proposed a method of changing
the displacement ratio α between the ﬁnger D and background image scroll D′ on a touchscreen (α = D′ /D). Whenthe ratio α was smaller than one, users felt a resistive frictional feeling. Their psychophysical experiments clariﬁedthat when the ratio was 0.34, users succeeded in recognizing
the frictional feeling at 75 % probability. Hashimoto etal. [56] adopted the same method on a touchscreen andevaluated the effect on a visual memory task. Ujitoko etal. [57] applied the method for a locomotion interface using
a ﬁnger as if they were walking on snowy virtual ground on
a touchscreen.
2.4.2 Static Friction
Static frictional properties can be induced using distorted
displacement (Fig. 3(a)). The work by [60], [61] focused on
the stick-slip phenomenon.
Ujitoko et al. [61] focused on the stick-slip phenomenon
while users explored surfaces with an input device such asa stylus. During the stick phase, users watched a virtual
contact point being stuck at the contact point on the screen
while users freely moved the input device. They used the
Coulomb friction model and provided users with ﬁnger
displacement D based on the user’s input displacement D′ ,and the static friction coefﬁcient µs . Their method succeededin providing users with a pseudo-haptic static friction property at more than 90 % probability. The method made users
feel that the amount of frictional intensity of the virtualsurface was changed by 23 % at the maximum throughmagnitude estimation. Costes et al. [60] focused on stickslips following Coulomb’s law, and they proposed a similar
method on the touchscreen. In the stick phase, the cursor on
touchscreens stretched as if one of its extremities was ﬁxed
to the start position, whereas the other one followed theﬁnger. When a given amount of deformation was reached,
the effect entered the sliding phase, wherein the cursor
followed the ﬁnger without any alteration. Stickiness was
represented by the deformation limit between the sticking
and sliding phases.
2.4.3 Viscosity
An approach to simulate the visual displacement D′ is used
to present viscosity (Fig. 3(a)). Fukushima et al. [62] madeusers watch the visual displacement of a cursor D′ , which
was updated based on the viscous resistance model. Their
model assumed that the cursor received viscous resistanceF = 6πrηV , where r, η , and V denote the cursor size,
ﬂuid viscosity, and uniform stream of velocity, respectively.
Costes et al. [60] and Watanabe et al. [63] applied a similar
method to simulate ﬂuid viscosity.

6

2.5 Fine Roughness
To modulate ﬁne roughness, studies [63], [64] perturbed thevisual ﬁnger displacement D′ (Fig. 3(a)) when exploring
the virtual surfaces. Watanabe et al. [64] applied visual
perturbation while users explored the surface with a mouseand cursor in a desktop environment. Though they did
not conduct the experiment, they claimed that users experienced the roughness property even without haptic information. Ujitoko et al. [63] combined the same method withvibrotactile feedback to enhance the roughness sensation
represented by the vibration. They had users explore thestylus-based vibrotactile input device on the touchpad andwatch the visual perturbation of the cursor on the display
monitor. The experiment showed that users could feel thevibrotactile surface become rougher at approximately 80%
with visual perturbation. Further, they clariﬁed that theamount of change in the perceived roughness of vibrotactile
texture was larger when a larger visual perturbation waspresented. Costes et al. [60] applied the same technique totouchscreens.
2.6 Macro Roughness
There are two different approaches for presenting visual
stimuli: distortion in the ﬁnger displacement (Fig. 3(a)) orof the ﬁnger size (Fig. 3(d)).
The ﬁrst approach changes the visually displayed ﬁnger
displacement D′ with respect to the actual ﬁnger displacement D [65], [66], [67], [68], [69], [70], [71]. Mensvoort etal. [69] proposed a method to evoke the perception of bumps
or holes with only the distorted cursor displacement D′ . If
the cursor moved over a hole, the displacement of the cursor
became larger and appeared as if the cursor was dragged
toward the center. When the cursor rolled over the bump,the cursor appeared to be pushed away from the center.
Lécuyer et al. [67] used the same method and clariﬁed thatdifferent height proﬁles of bumps can be simulated. They
simulated three proﬁles: Gaussian, polynomial, and linear
ones. Users could draw these different proﬁles of bumps
correctly.
The second approach changes the size of the mouse
cursor based on the height proﬁle of the bumps or thedepth of the holes [63], [68]. Lécuyer et al. [68] proposed
varying the size of the cursor according to the local heightof the texture displayed on the screen; they refer to thistechnique as the “size technique.” Their experimental results
conﬁrmed that the size technique enabled users to identify
bumps and holes successfully. Further, they conducted anexperiment wherein they compared the effectiveness of thesize technique and the technique of distorted ﬁnger displacement. The comparison results indicated that the users’
answers were more inﬂuenced by the size technique.
2.7 Material
Hachisu et al. [72] combined vibrotactile stiffness andpseudo-haptics to simulate the material properties of instruments while users played with chromatic percussion. Users
moved a real stick and watched the virtual stick’s vibration
on a display when they tapped on the chromatic percussion.
The visual vibration was modeled using Okamura et al.’s

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

decaying sinusoidal waveform: D′ = A(v)e−Bt sin(2πf t).
The displacement D′ depended on amplitude A as a function of the instrument impact velocity v , the decay rateof sinusoid B , and the sinusoid frequency f , where A,
B , and f were dependent on the type of material. The
appropriate conﬁguration of the visual and actual vibrations
successfully allowed users to recognize materials such as“wood” or “metal.”
2.8 Other Properties
There are papers that proposed using pseudo-haptics forproperties that cannot be categorized according to our taxonomy. We introduced these papers as “other properties.”
Though most of the papers used pseudo-haptic techniques
to present force, which are described next subsection, one
paper [87] is different. The paper used pseudo-haptic technique to present the deﬁned cost distribution in the twodimensional images during cursor movement for navigation.
2.8.1 Force
Some papers used pseudo-haptic techniques to present force
for various applications.
Nomoto et al. [73] proposed a pseudo-haptic force tosupport users in tracking a precise path during manual
handling tasks (please see details in subsection 4.3.1). Li
et al. [75] developed a rehabilitation system by creating avirtual force using pseudo-haptics. They altered the pointerspeed and provided motion assistance or resistance to arm
movement. Rietzler et al. [76] used a similar method thatsimulated virtual forces; they combined the pseudo-haptic
feedback with muscle exertion. Kang et al. [77] simulated
drag force during swimming using pseudo-haptic force
feedback. Tada et al. [78] proposed a pseudo-haptic force
feedback evoked by rotating the viewpoint of a user inthe virtual world. When users moved a hand in the realworld at displacement D, the virtual viewpoint rotated,
and users felt as if the virtual hand displaced D′ . They
conﬁrmed that their method could provide pseudo-haptic
force. Kashihara et al. [79], [80], [81], [82] used a similar
method for educational support. Weng et al. [83] also used asimilar method for manipulation of knot diagram interfaces.
Baglioni et al. [84] presented users with a virtual inertial
force when scrolling on a touchscreen for navigation.
Watanabe et al. [86] provided the sensation of force at thetime of collision. In contrast to the studies stated above, theyreported that the pseudo-haptic sensation can be producedby modulating the speeds of background visual images,
without changing the movement of the pointer itself.

7[34], [35], kinetic friction [24], [55], [56], [57], [58], [59], [60],or macro roughness [65], [66], [67], [68], [69], [70], [71]. To
provide users with speciﬁc target haptic properties, visual
stimuli applied with respect to the interaction with theenvironment are key. For example, altering the displacementof the entire hand when the user grasps and moves a virtual
object can elicit a sensation of increased/decreased weight.
Further, altering the displacement of the ﬁngers when probing a surface can elicit the sensation of increased/reduced
compliance.
2.9.2 Missing Area
Table 1 indicates that the thermal property is not implemented using pseudo-haptics. In our opinion, it is possible
to present or modulate the thermal property using pseudohaptics. For example, previous studies showed that colortemperature correspondences can affect people’s feelings ofwarmth and coldness [91]. However, previous studies tested
thermal perception without synchronizing user input. We
are interested in thermal perceptions when the skin color of
the user changes to red at the time of touch.

3

D ESIGN T IPS

3.1 Visual Stimuli Design when User Input is Visible
3.1.1 Problem: Visualized Mismatch
Based on the analysis results from the previous section(summarized in Table 1), there are only four visual stimuli
being used in the literature for rendering pseudo-haptic
sensations: 1) displacement, 2) surface deformation, 3) color,and 4) size.
For displacement, among these, there is a positional orrotational mismatch between the actual user’s input andthe visual stimuli. The mismatch of positions cannot cause
problems in presentation environments where the user input is invisible to users. Examples include the use of visualpresentation devices such as VR HMDs.
By contrast, the mismatch can cause problems in environments where the user input is visible. Examples include
the use of visual presentation devices such as touchscreensand optical see-through HMDs. When user input and visual
stimuli are co-visualized, the mismatch is directly seen by
the users [55], [57], [60] (shown in Fig. 4). The mismatch
between the visual stimuli and user input makes the users
feel that something is odd in the cross-modal feedback [9].
This makes it difﬁcult to induce pseudo-haptics because of
the noticeable mismatch in the movement between a user
input and a visual stimuli [46].
visualized mismatch

2.9 Discussion
2.9.1 Different Haptic Properties can be Expressed evenwith the Same Combination of Visual Stimuli and User Input
Here, we focus on the ﬁndings that even the same combination of visual stimuli and user input can represent different
haptic object properties. For example, when we present the
distorted visual ﬁnger displacement D′ with respect to thereal ﬁnger displacement D, we can present the sense ofweight [23], [24], [25], compliance [29], [30], [31], [32], [33],visual stimuli
user input

D’

D

Fig. 4. Visualized mismatch in touchscreen, AR, and projection environments.

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

(a)

8

3.2.1
visual stimuli
user input

D’

D

(b)
visual stimuli

virtual stringD’user input

Complementation between Haptic Object Properties

One objective is to complement the different haptic properties by delivering multisensory feedback. For example,
Pezent et al. [92] developed a wristband-type multisensory
haptic display. This display presents compliance properties
using pseudo-haptics, and the different compliance levels
are presented by changing the ratio of displacement of
the user’s real and virtual hands. Further, the wristbandtype display can deliver an additional squeeze force andvibrotactile feedback using physical stimuli.

D
3.2.2
Fig. 5. Top (a): Larger-sized visual stimuli prevent the visualization of
mismatch. Bottom (b): Visualized virtual string between user and visual
stimuli bridges the mismatch.

3.1.2 Workaround Techniques
Two techniques have been proposed to solve this problem.
The ﬁrst technique uses larger-sized visual stimuli thatreﬂects user input so that the real body of the user is in
the range of the visual stimuli even when there is a displacement mismatch (shown in Fig. 5 (a)). Ujitoko et al. [57]proposed scrolling a background image with various distorted displacement ratios α to induce frictional sensations.
The ratio α represents the ratio of displacements between
the ﬁnger of the user and the background image. Even if
the ratio α is large or small, the ﬁnger of the user on thetouchscreen touches the background image, and therefore,
there is no mismatch. Costes et al. [60] used a large cursor
on the touchscreen following the same approach. Because
the cursor is large to some extent, even if α is small, it seems
as if the ﬁnger and cursor are in contact with each other.
The second technique [24], [61] uses a virtual visual
string that shows a connection between the ﬁnger and theobject (shown in Fig. 5 (b)). Ban et al. [24] implemented thevirtual string on the swipe interaction of the touchscreen.
When the users touched and swiped the object with theirﬁnger, the displacements between them were caused by the
conﬁgured displacement ratio of α. The string appeared
when the position of the input ﬁnger and object moved
away while dragging. Further, the users could drag theobject via the string even if the ﬁnger and object wereseparated on the screen. The string disappeared when theﬁnger was lifted off the screen. User studies showed thatthe presence of the virtual string was effective in invoking
pseudo-haptics [24].
3.2 Combination Design of Pseudo-haptics with Physical Stimuli
Thus far, there have been studies in which the combination of pseudo-haptics and physical stimuli has been
implemented, and the effect of the combination has been
conﬁrmed. Here, we introduce phenomena that have beenfound for two cases, where haptic properties presented bypseudo-haptics and the one presented by physical stimuli
are different or the same.

Modulation within Haptic Object Property

The other objective is the modulation of the speciﬁc haptic
property. The speciﬁc property is presented with physicalstimuli, and pseudo-haptics is used to modulate the same
property.
Tatezono et al. [31] combined a force feedback device
with pseudo-haptics to provide compliance effectively. They
showed that the pseudo-haptic presence can provide an
additional force of 0.2-0.4 N with a force feedback compared
to when only the force feedback was provided.
Ujitoko et al. [64] combined real vibration and visual
perturbation on a cursor on a display to modulate the perceived roughness. They showed that vibrotactile roughness
could be perceived to be rougher with a visual perturbation. Hachisu et al. [72] combined vibrotactile feedback andpseudo-haptics to simulate the material properties of instruments while users played chromatic percussions. Users
watched the vibration of a virtual stick on a display whentapping on the chromatic percussion. The proper conﬁguration of the visual vibration and actual vibration allowed
users to successfully recognize different materials. Hachisu
et al. [71] suggested that the combination of the visual
distortion of the displacement and patterned vibration canenable users to recognize macro bumps or holes. In theirimplementation, the speed of the cursor decreased when
there was a positive slope, which was conveyed to the user
through visual (cursor moves slower) and vibrotactile cues
(frequency decreases).
As suggested by the above studies, the sensation felt by
the user can be modulated using pseudo-haptics. Thus, thetarget sensation should be evaluated after integration if real
physical stimuli are present.
3.2.3

Missing Area

Research has been conducted to present different haptic
properties with pseudo-haptics and physical stimuli. Further, research has also been conducted to modulate a certain haptic property presented by the physical stimuli withpseudo-haptics.
In previous studies, the methods of physical stimulationand target haptic object properties were both limited. It is
expected that more comprehensive veriﬁcation of the effectof the combination with more diverse physical stimulations
and haptic object properties will be conducted in the future.
Further, there is no clarity on how different haptic
properties affect each other. For example, when considering
complementation, which presents a feeling of friction withpseudo-haptics and a feeling of roughness with vibration, it
is unclear if the effects are completely independent of each

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

9

TABLE 2
We frame the existing papers into three application categories and extract the context and haptic object property presented by pseudo-haptics.

Application category

Application context

Haptic object property
presented by pseudo-haptics

Reference

Training

Surgical training

Compliance[36], [38], [88]Assistance

Manual operation

Force

[73]

Assistance

Manual operation

Compliance[43], [44]AssistanceNavigation

Friction[56], [58]AssistanceNavigationForce[74], [83], [84]AssistanceNavigation

-

[87]

Assistance

Workout

Weight[20], [22]Assistance

Workout

Force

[75]

Assistance

Education

Force[79], [80], [81], [82]Entertainment

Bowling

Weight[26]

Entertainment

Swimming

Force

[77]

Entertainment

Walking

Friction[57], [59]other. It is important to know the dependency because weneed to control the effects on both properties in some cases.

4

P ROPOSED A PPLICATIONS

4.1

Taxonomy of Application

We quote the taxonomy of applications for each objective
introduced in [93] as follows:
Three categories are presented: training, assistance, andentertainment. The category of training is based on theapplication of haptic systems in virtual environments
as tools or strategies for acquiring knowledge about aspeciﬁc task/topic. By contrast, the category of assistancefocuses on applications created to help during activities
wherein the user already has the knowledge and experience, but the system is expected to enhance performance.
The ﬁnal category presented is entertainment. The entertainment industry has played an important role in thedevelopment of haptic systems and virtual environments
because they have the same objective: immersion of the
ﬁnal user.
We categorized the existing papers based on the abovementioned taxonomy. Among the existing studies, thosethat proposed only a potential application but did not evaluate the effect of pseudo-haptics in the application context
were not considered. Further, we extracted the context andhaptic object property presented by pseudo-haptics for eachapplication. The results are listed in Table 2.
4.2

Training

Li et al. [36], [38], [88] proposed a surgical training systemthat used pseudo-haptics for tumor identiﬁcation duringpalpation. They proposed presenting the hardness of thetumor using pseudo-haptics on soft tissue surfaces.
They combined pseudo-haptics with actual force feedback to reduce the time required for nodule detection duringpalpation. Compared to sole pseudo-haptic feedback orforce feedback, the proposed combined feedback techniqueenabled participants to detect hard nodules in soft tissue
more quickly. However, the effect on actual tumor identiﬁcation performance after training with their proposed systemremains unclear and is considered a research direction for a
future study.
4.3

Assistance

We found that previously proposed applications for thiscategory can be grouped into several subcategories suchas manual operation, navigation, workout, and educational
support.
4.3.1 Manual Operation
Nomoto et al. [73] presented a force using pseudo-haptics
to support users who are tracking a precise path during
manual handling tasks. They presented a virtual force whenusers deviated from the target path. Their results indicatedthat manual handling accuracy improved by 50 % whenusing pseudo-haptics. However, the duration required to
track a path increased when the expansion rate was large.
Neupert et al. [43], [44] used pseudo-haptic feedback topresent the compliance property instead of using a kinesthetic feedback device in robot teleoperation. Their proposed system returns the pseudo-haptic feedback of theoperation at the end-effector of the remote robot to facilitate
the operation. They clariﬁed that users can recognize theJOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

compliance of remote materials using pseudo-haptic feedback, and they suggested a use case for pseudo-haptics inthe remote operation.
4.3.2 Navigation
Pseudo-haptics can be used to perform navigation on touchscreen interfaces. Kim et al. [58] proposed a content-aware
kinetic scrolling technique that presents pseudo-haptic kinetic friction around the points of high interest on a page.
This allows users to identify interesting content quickly
while exploring the page without further cluttering the limited visual space. Their results indicated that users focusedon items with kinetic scrolling feedback during the search,recognition, and skimming tasks. Hashimoto et al. [56]
investigated the effect of the kinetic frictional property
presented by pseudo-haptics during touchscreen browsing.
They used this method to evaluate the performances of thevisual memory task. The results showed that ﬁgures aroundhigher frictional areas signiﬁcantly remained in memory.
Further, the participants showed the best performance forthe visual memory task when using interactive scrollingwith the dynamic kinetic friction modiﬁcation. Baglioni etal. [84] presented users with virtual inertial force using
pseudo-haptics when scrolling on a touchscreen for navigation. When users touched the screen during background
scrolling, the scrolling speed did not become zero but
decelerated slowly. The results of their target acquisition
experiment indicated that the number of scrolling times
decreased when this technique was applied. In desktop
environments, Schoor et al. [87] used pseudo-haptics as anavigation technique for segmenting large biological image
data. Though they did not clarify what type of haptic object
property was represented by the pseudo-haptic feedback,they modiﬁed the visual cursor displacement with respect
to input displacement based on the image content. Further,
they found that the addition of the pseudo-haptic techniques improved the overall performance of the segmentation in terms of both accuracy and task completion time.
Weng et al. [83] proposed a knot manipulation interface withpseudo-haptics for intuitive exploration of mathematicalknot diagrams. Their experimental results showed that thepseudo-haptic force cues had the potential to redirect theuser s eye-gaze onto the designated path and geometricfeatures in mathematical visualization of knot. Gaucher et
al. [74] highlighted relevant items in a 3D carousel-based
interaction. They presented a frictional and magnetic force
using pseudo-haptics and attracted the user towards these
speciﬁc items when interacting with the carousel.
4.3.3 Workout
The possibility of changing the weight property of an object is illustrated using pseudo-haptics. Taima et al. [20]conducted an experiment wherein they visually altered
the movement of a dumbbell to ensure that the dumbbell
felt lighter than its actual weight. The results of the user
experiments indicated that it was possible to reduce fatigue
in subjects and increase the number of repetitions by 9.0 %.
These results suggested that the pseudo-haptic effect may
affect physiological responses in addition to the perceptionof the user. Jauregui et al. [22] used a similar approach to
make the dumbbell lighter. In their task, the user lifted a

10

virtual dumbbell by mapping gestures in real time onto aself-animated avatar. The avatar showed different visual efforts based on the weight of each virtual dumbbell. Pseudohaptics has been proposed for use in rehabilitation. Li etal. [75] used pseudo-haptics to add motion assistance orresistance to virtual reality-based upper-limb rehabilitation.
The participants were asked to control the cursor with theupper-limb and perform the path following task. The results
revealed that the motion assistance mode was more timeefﬁcient and easier compared to the motion resistance mode.
It suggested that the difﬁculty of the path following task
could be modulated by the pseudo-haptics.
4.3.4 Education
An illusory force represented by pseudo-haptics has been
considered for use in educational support on tablets [79],[80], [81], [82]. Kashihara et al. [79] proposed an illusory
force presented using pseudo-haptics to promote knowledge acquisition. They developed a tablet system whereinusers can link nodes to construct systematic knowledge.
When users link two nodes that were incorrect, users arepresented with a repulsive force; when they link nodes
with an important relationship, they are presented with an
attractive force. Their experimental results indicated thatpseudo-haptics can positively inﬂuence the memorizationof important knowledge.
4.4

Entertainment

Realism in the virtual world is improved when appropriate haptic feedback is presented in addition to visual orauditory feedback [94]. The following studies investigatedwhether pseudo-haptics, which can be realized using inexpensive devices instead of physical stimuli, can be used to
improve realism in entertainment applications.
Rietzler et al. [25] showed that simulating weight bypseudo-haptics provided users with higher levels of presence, immersion, and enjoyment in a virtual bowling scene.
Kang et al. [77] proposed the reproduction of drag forces
in a virtual underwater environment using pseudo-haptics.
Their results indicated that their method could effectively
reproduce the sense of being immersed in water. Ujitoko etal. [57], [59] proposed a touchscreen system wherein users
can walk in a snowy environment using their ﬁngers. Bychanging the ratio between the displacement of the ﬁnger
and the amount of scroll of the visual ground, users canbe provided with pseudo-haptic feedback to present thesensation of the difﬁculty in moving forward because of
the snow. A user study showed that users felt a signiﬁcantamount of difﬁculty when moving forward while using
pseudo-haptics.
4.5

Discussion

Table 2 indicates that the number of research studies onapplications for training is lower than that for assistanceor entertainment. This is attributed to the following reasons:
To use the haptic display to present a virtual haptic object
property for training applications, the property should becomparable to the actual property. However, a haptic object property presented by pseudo-haptics is considered toprovide only an illusory feeling, and it cannot substitute

JOURNAL OF LATEX CLASS FILES, VOL. 14, NO. 8, AUGUST 2015

physical stimuli. Therefore, even if training is performed
with a system that presents the haptic object property using
pseudo-haptics, it is difﬁcult to guarantee the effect oftraining in the actual work. In fact, the research proposing
surgical training [43], [44] was unable to successfully verify
the effectiveness of the training. Therefore, it is considered
difﬁcult to use pseudo-haptic feedback for training applications.
By contrast, the effectiveness of pseudo-haptics in assistance or entertainment applications has been demonstrated.
Further, it is expected that an increasing number of applications will be developed for these categories. As of November
2020, COVID-19 has become a global threat. Under thesecircumstances, pseudo-haptics can help support the requirement to touch an object remotely without requiring special
equipment. Two targets can be touched by an end user: an
object and a human (social touch) [95], [96]. Scenarios where
the end user touches an object have been evaluated in many
previous studies [95], [96]. However, studies where pseudohaptics is used for human-to-human touch experience or social touch are lacking. Therefore, the use of pseudo-haptics
for social touch is considered a promising scenario.
A comparison between Tables 1 and 2 indicates thatsome object properties have not been proposed or evaluatedin practical application contexts even though the properties
can be presented with pseudo-haptics. For example, roughness is a property that has been actively studied; however,its practical application has not been considered yet. This isbecause the implementation indicates that roughness can bepresented using the physical stimulus (e.g., by vibrotactile
actuator) in a relatively simple and inexpensive manner.
Thus, because these properties can be presented using suchan inexpensive and simple competing method, it is necessary to consider the application context carefully.

5

C ONCLUSION

In this study, ﬁndings from individual studies on pseudohaptics were investigated comprehensively and organizedfrom the design through to the application proposal.
••

First, we summarized the visual stimuli and user
input required for presenting each target haptic property. The summary showed that only four visual
stimuli and three user inputs were considered in theexisting papers. Although there have been studies
addressing the thermal property using cross-modal
visual-haptic or audio-haptic effects, we found that
this property has not been addressed using pseudohaptics. It may be possible to present or modulate
this property based on the concept of pseudo-haptics.
Second, we summarized the two supecial issues
when designing pseudo-haptics. We introduced the
problem and the visual stimuli design as theworkaround techniques when the user input could
be observed by the users. The restrictions on thepresentation environment in which pseudo-haptics
can be applied were relaxed using these techniques.
Also, we summarized the effects of the combination of pseudo-haptics and other physical stimuli.
We introduced the complementation between haptic

11•

properties and modulation within the haptic property. However, we could not verify how different
haptic properties presented with physical stimuli
and pseudo-haptics affect each other. Therefore, it isimportant to determine the dependency because weneed to control the effects on both properties in somecases.
Finally, we summarized the applications using
pseudo-haptics that have been proposed for training, assistance, and entertainment. This clariﬁed theapplication contexts in which pseudo-haptics has
been shown to be effective and what haptic object
properties are presented. We found that the numberof proposed applications for training is lower thanthose for assistance or entertainment. This can be
attributed to the lack of clarity related to whether
training using pseudo-haptics is effective for actual
work using real haptic feedback after training.

One of the limitations of this survey paper is that theeffects of the proposed pseudo-haptics cannot be comparedand evaluated between individual papers. For example,
several visual stimuli that change the compliance propertyof objects have been proposed (shown in Table 1), but it is
not possible to make a comparative evaluation of which ofthese was best in terms of robustness or resolution. This
paper summarizes the content of individual papers andsimply presents readers with design options.
In our opinion, there exist two future challenges. Firstly,
pseudo-haptics is yet to be incorporated into applications
used by the public. Though researchers have evaluatedpseudo-haptics in various application contexts in the academic world, it is still unknown how it is applicable to realworld issues outside laboratories. When applying pseudohaptics in the real world, we recognize the gap. Thus, wehope that haptic application developers will have opportunities to conduct experiments with pseudo-haptics outside
the lab. Secondly, we need to identify the perceptual basisof pseudo-haptics to facilitate the design. The key challenge
will be identifying the visual stimuli design such that theeffect of pseudo-haptics is robust across users.

ACKNOWLEDGMENTS
This research was partially supported by JSPS KAKENHI,
Grant Number 19K20315, 2019.

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Yusuke Ujitoko is a researcher at the NTT
Communication Science Laboratory since 2020.
He used to be a member of the R&D Groupin Hitachi, Ltd. from 2016 to 2020. He received his PhD from the University of ElectroCommunications, Japan, in 2020. He received
his BE degree in mechanical engineering and
MAE degree in interdisciplinary information studies from the University of Tokyo, Japan, in 2014
and 2016, respectively. His research interests
include applied haptic perception and haptic interfaces.

14

Yuki Ban received his MS and PhD degrees
in information science and technology from the
University of Tokyo, Tokyo, Japan, in 2013 and2016, respectively. He was a researcher at Xcoo
Inc. research from 2016 to 2017. He is currently an assistant professor at the Department
of Frontier Sciences at the University of Tokyo.
His current research interests include modifying
spatial perception using visuo-haptic interaction.
He is a member of the IEEE.