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Publications

 

 

 

Submitted

  1. Yang Chen, Kevin Oghalai, and Heather Culbertson, “Mitigating cybersickness during locomotion in VR through increased agency with vibrotactile feedback,” IEEE Transactions on Visualization and Computer Graphics (TVCG), Submitted, Under Review.

2024

  1. Negin Heravi, Heather Culbertson, Allison M. Okamura, and Jeannette Bohg, “Development and evaluation of a learning-based model for real-time haptic texture rendering,” IEEE Transactions on
    Haptics, 2024.
  2. Naghmeh Zamani, Zhian Li, Ashkan Pourkand, and Heather Culbertson, “Dynamic end-effector for rendering hardness and stiffness with encountered-type haptics,” in EuroHaptics Conference, 2024.
  3. Premankur Banerjee, Jason Cherin, Jayati Upadhyay, Jason Kutch, and Heather Culbertson, “Perception and control of surfing in virtual reality using a 6-dof motion platform,” in EuroHaptics
    Conference, 2024.
  4. Xin Zhu, Zhenghui Su, Jonathan Gratch, and Heather Culbertson, “How visualizing touch can transform perceptions of intensity, realism, and emotion?” in EuroHaptics Conference, 2024.
  5. Xin Zhu, Zhenghui Su, Jocelyn Tsai, Cara M. Nunez, and Heather Culbertson, “The importance of contextual grounding in affective mediated touch,” in IEEE Haptics Symposium, 2024.
  6. Seung Heon Lee, Sandeep Kollannur, and Heather Culbertson, “Beyond sight: The role of kinesthetic feedback in redirected walking within virtual reality,” in IEEE Haptics Symposium, 2024.
  7. Yang Chen, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh, and Heather Culbertson, “Force-feedback through touch-based interactions with a nanocopter,” in IEEE Haptics Symposium, 2024.

2023

  1. Naghmeh Zamani and Heather Culbertson, “Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display,” IEEE Transactions on Haptics, vol. 16, no. 1, pp. 46-56, 2023.
  2. Cara Nunez, Michael Raitor, Philipp J. Stolka, Allison M. Okamura, and Heather Culbertson, “Design and evaluation of haptic guidance in ultrasound-based needle-insertion procedures,” IEEE Transactions on Biomedical Engineering, 2023.
  3. Pranavi Jalapati, Selwa Sweidan, Xin Zhu and Heather Culbertson, “Vocalization for Emotional Communication in Crossmodal Affective Display,” in AAAC Conference of Affective Computing and Intelligent Interaction, 2023.
  4. Shihan Lu and Heather Culbertson, “Active Acoustic Sensing for Robot Manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
  5. Yang Chen, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh, and Heather Culbertson, “Towards a stable 3D physical human-drone interaction,” in International Conference on Holodecks, 2023.
  6. Hamed Alimohammadzadeh, Heather Culbertson, and Shahram Ghandeharizadeh, “An evaluation of decentralized group formation techniques for flying light specks,” in ACM Multimedia Asia, 2023.
  7. Trung Phan, Hamed Alimohammadzadeh, Heather Culbertson, and Shahram Ghandeharizadeh, “An evaluation of three distance measurement technologies for flying light specks,” in iMETA
    2023: International Conference on Intelligent Metaverse Technologies, 2023.
  8. Xin Zhu, Pranavi Jalapati, Jocelyn Tsai, Zhenghui Su, Shihong Ling, and Heather Culbertson, “Exploring Electrotactile Stimulation as a Modality for Sensation Illusion on the Arm,” in IEEE World Haptics Work-In-Progress, 2023.
  9. Kyooeun Jang, Sandeep Kollannur, Xin Zhu, and Heather Culbertson, “When Virtual Hugs Become Sexual Harassment: Conceptualizing Acceptable Forms of Mediated Touch in Extended Reality Platforms,” in IEEE World Haptics Work-In-Progress, 2023.

2022

  1. Naghmeh Zamani and Heather Culbertson, “Combining haptic augmented reality with a stylus-based encountered-type display to modify perceived hardness,” in IEEE Haptics Symposium, 2022.
  2. Yawen Liu, Shihan Lu, and Heather Culbertson, “Texture classification by audio-tactile cross-modal congruence,” in IEEE Haptics Symposium, 2022.
  3. Pardis Miri, Mehul Arora, Aman Malhotra, Robert Flory, Stephanie Hu, Ashley Lowber, Ishan Goyal, Jacqueline Nguyen, John P Hegarty II, Marlo Kohn, David Schneider, Heather Culbertson, Daniel L. K. Yamins, Lawrence Fung, Antonio Hardan James Gross, and Keith Marzullo, “FAR: End-to-end vibrotactile distributed system designed to facilitate affect regulation in children diagnosed with autism spectrum disorder through slow breathing,” in CHI Conference on Human Factors in Computing Systems, 2022.
  4. Xin Zhu, Tiantian Feng, and Heather Culbertson, “Understanding the effect of speed on human emotion perception in mediated social touch using voice coil actuators,” Frontiers in Computer Science.
  5. Shihan Lu, Mianlun Zheng, Matthew C. Fontaine, Stefanos Nikolaidis, and Heather Culbertson, “Preference-driven texture modeling through interactive generation and search,” IEEE Transactions on Haptics, vol. 15, no. 3, pp. 508-520, 2022.

2021

  1. Mike Salvato, Sophia Williams, Cara Nunez, Xin Zhu, Frances Lau, Keith Klumb, Ali Israr, Freddy Abnousi, Allison M. Okamura, and Heather Culbertson, “Data-driven sparse skin stimulation can convey social touch information to humans,” IEEE Transactions on Haptics, 2021.
  2. Naghmeh Zamani, Ashkan Pourkand, Heather Culbertson, and David Grow, “Plate-and-Cable (PAC) haptic device for orthopaedic training,” in International Symposium on Medical Robotics (ISMR), 2021.
  3. Naghmeh Zamani, Adim Abass, Manjunath Shetkar, Saumya Dureja, Menghan Li, Heather Culbertson, and James Finley, “Integrating haptic feedback into a virtual reality mobility training game for people with Parkinson’s disease,” in IEEE World Haptics Work-In-Progress, 2021, pp. 1-2.

2020

  1. D. T. Goetz, D. K. Owusu-Antwi, and H. Culbertson, “PATCH: Pump-Actuated Thermal Compression Haptics,” in Proc. IEEE Haptics Symposium, 2020.
  2. S. Lu, Y. Chen, and H. Culbertson, “Towards multisensory perception: modeling and rendering sounds of tool-surface interactions,” IEEE Transactions on Haptics, vol. 13, no. 1, pp. 94-101, 2020.
  3. N. Zamani, P. Moolchandani, N. T. Fitter, and H. Culbertson, “Effects of motion parameters on acceptability of human-robot patting touch,” in Proc. IEEE Haptics Symposium, 2020.
  4. Cara M. Nunez, Bryce N. Huerta, Allison M. Okamura, and Heather Culbertson, “SHIFTS: Social haptic interfaces for tactile stroking,” in Proc. IEEE Haptics Symposium, 2020.
  5. Pardis Miri, Andero Uusberg, Robert Flory, Agata Kelman, Erik Peper, Richard H. Harvey, Heather Culbertson, James Gross, Katherine Isbister, and Keith Marzullo, “PIV: Placement, pattern, and personalization of an inconspicuous vibrotactile breathing pacer,” ACM Transactions on Computer-Human Interaction, vol. 27, no. 1, pp. 1-44, 2020.
  6. Rey Pocius, Naghmeh Zamani, Heather Culbertson, and Stefanos Nikolaidis, “Communicating robot goals via haptic feedback in manipulation tasks,” in ACM/IEEE HRI Pioneers Workshop, 2020.

2019

  1. Cara M. Nunez, Sophia R. Williams, Allison M. Okamura, and Heather Culbertson, “Understanding continuous linear sensations from a sequential discrete lateral skin-slip haptic device,” IEEE Transactions on Haptics, vol. 12, no. 4, pp. 414-427, 2019.
  2. P. B. Shull, T. Tan, H. Culbertson, X. Zhu, and A. M. Okamura, “Resonant frequency skin stretch for wearable haptics,” IEEE Transactions on Haptics,  vol. 12 , no. 2, pp. 247 – 256, July-Sept., 2019.
  3. N. Zamani and H. Culbertson, “Effects of dental glove thickness on tactile perception through a tool,” in Proc. IEEE World Haptics Conference, 2019.
  4. W. Wu and H. Culbertson, “Wearable haptic pneumatic device for creating the illusion of lateral motion on the arm,” in Proc. IEEE World Haptics Conference, 2019.
  5. D. K. Owusu-Antwi, W. Wu, and H. Culbertson, “PATCH: Pump-actuated thermal compression haptics,” in Proc. IEEE World Haptics Work-In-Progress, 2019.

2018

  1. Y. Che, H. Culbertson, and A. M. Okamura, “Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation,” ACM Transactions on Human-Robot Interaction (THRI), vol. 7, no. 3, p. 20, 2018.
  2. H. Culbertson, S. B. Schorr, and A. M. Okamura, “Haptics: The Present and Future of Artificial Touch Sensations,” Annual Review of Control, Robotics, and Autonomous Systems, 2018.
  3. N. Agharese, T. Cloyd, L. H. Blumenschein, M. Raitor, E. W. Hawkes, H. Culbertson, and A. M. Okamura. “HapWRAP: Soft Growing Wearable Haptic Device,” in Proc. IEEE International Conference on Robotics and Automation, May 2018.
  4. J. M. Walker, H. Culbertson, M. Raitor, and A. M. Okamura, “Haptic Orientation Guidance Using Two Parallel Double-Gimble Control Moment Gyroscopes,” IEEE Transactions on Haptics, vol. 11 , no. 2, pp. 267 – 278, April-June 1 2018
  5. P. Miri, A. Uusberg, H. Culbertson, R. Flory, H. Uusberg, J. J. Gross, K. Marzullo, and K. Isbister, “Emotion Regulation in the Wild: Introducing WEHAB System Architecture,” in Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems, 2018.
  6. H. Culbertson, C. M. Nunez, A. Israr, F. Lau, F. Abnousi, and A. M. Okamura, “A Social Haptic Device to Create Continuous Lateral Motion Using Sequential Normal Indentation,” in Proc. IEEE Haptics Symposium, March 2018.
  7. C. M. Nunez, S. R. Williams, A. M. Okamura, and H. Culbertson, “Continuous linear sensations from a sequential discrete lateral skin-slip haptic device,” in IEEE Haptics Symposium Work-In-Progress. IEEE, 2018.

2017

  1. H. Culbertson and K. J. Kuchenbecker, “Ungrounded Haptic Augmented Reality Device for Displaying Texture and Friction“, IEEE/ASME Transactions on Mechatronics, vol. 2, no. 4, pp. 1839-1849, August 2017.
  2. H. Culbertson and K. J. Kuchenbecker, “Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces“, IEEE Transactions on Haptics, vol. 10, no. 1, pp. 63-74, Jan.-March 2017.
  3. I. Choi, H. Culbertson, M. Miller, A. Olwal, and S. Follmer. “Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality,” in Proc. ACM Symposium on User Interface Software and Technology, October 2017, pp. 119-130.
  4. M. Raitor, J. M. Walker, A. M. Okamura, and H. Culbertson. “WRAP: Wearable Restricted-Aperture Pneumatics for Haptic Guidance“, in Proc. IEEE International Conference on Robotics and Automation, May 2017, pp. 427-432.
  5. ​H. Culbertson, J. M. Walker, M. Raitor, and A. M. Okamura. “WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues“, in Proc. ACM CHI Conference on Human Factors in Computing Systems, May 2017, pp. 4972-4982, oral presentation.

2016

  1. H. Culbertson, J. M. Walker, M. Raitor, A. M. Okamura, and P. J. Stolka, “Plane Assist: The Influence of Haptics on Ultrasound-based Needle Guidance“, in Proc. International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), October 2016, pp. 370-377, poster presentation.
  2. ​H. Culbertson, J. M. Walker, and A. M. Okamura, “Modeling and Design of Asymmetric Vibrations to Induce Ungrounded Pulling Sensation Through Asymmetric Skin Displacement“, in Proc. IEEE Haptics Symposium, April 2016, pp. 27-33, oral presentation.
  3. ​J. M. Walker, M. Raitor, A. Mallery, H. Culbertson, and A. M. Okamura, “A Dual-Flywheel Ungrounded Haptic Feedback SYstem Provides Single-Axis Moment Pulses for Clear Direction Signals“, in Proc. IEEE Haptics Symposium, April 2016, pp. 7-13, oral presentation.

Earlier

  1. ​H. Culbertson and K. J. Kuchenbecker, “Should Haptic Texture Vibrations Respond to User Force and Speed?” in Proc. IEEE World Haptics Conference, June 2015, pp. 106-112, oral presentation.
  2. H. Culbertson, J. Unwin, and K. J. Kuchenbecker, “Modeling and Rendering Realistic Textures from Unconstrained Tool-Surface Interactions“, IEEE Transactions on Haptics, vol. 7, no. 3, pp. 381-393, July-Sept. 2014.
  3. ​H. Culbertson, J. J. Lopez Delgado, and K. J. Kuchenbecker, “One Hundred Data-driven Haptic Texture Models and Open-source Methods for Rendering of 3D Objects“, in Proc. IEEE Haptics Symposium, February 2014, pp. 319-325, poster presentation. Finalist for Best Poster Award.
  4. ​H. Culbertson, J. Unwin, B. E. Goodman, and K. J. Kuchenbecker, “Generating Haptic Texture Models from Unconstrained Tool-Surface Interactions“, in Proc. IEEE World Haptics Conference, April 2013, pp. 295-300, oral presentation. Finalist for Best Paper Award.
  5. ​H. Culbertson, J. M. Romano, P. Castillo, M. Mintz, and K. J. Kuchenbecker, “Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data“, in Proc. IEEE Haptics Symposium, March 2012, pp. 385-391, poster presentation. Finalist for Best Poster Award.

Hands-On Demonstrations

  1. Xin Zhu, Zhenghui Su, and Heather Culbertson, “Interactive Servo Matrix: A Novel Approach to Displaying Touch Gestures,” in IEEE World Haptics Demo, 2023.
  2. Pranavi Jalapati, Selwa Sweiden, and Heather Culbertson, “Affective haptics from vocal expression,” Hands-on Demonstration presented at ISRE, Los Angeles, CA, July 2022.
  3. Xin Zhu and Heather Culbertson, “Communicating emotions through virtual touch,” Hands-on Demonstration presented at ISRE, Los Angeles, CA, July 2022.
  4. Shihan Lu, Yang Chen, and Heather Culbertson, “A real-time sound modeling and rendering system for virtual tool-surface interactions,” Hands-on Demonstration presented at IEEE World Haptics Conference, July 2021.
  5. Xin Zhu, Tiantian Feng, and Heather Culbertson, “Wearable system for generating mediated social touch through force mapping,” Hands-on Demonstration presented at IEEE World Haptics Conference, July 2021.
  6. Kivilcim Cumbul, Fatma Z. Uludag, and Heather Culbertson, “Haptic Vest for Displaying Full Body Collisions in VR Games,” Hands-on Demonstration presented at IEEE Haptics Symposium, March 2020.
  7. Eura Shin, Hejia Zhang, Rey J Pocius, Nathaniel Dennler, Heather Culbertson, Naghmeh Zamani, and Stefanos Nikolaidis, “Robot-assisted hair-brushing,” Hands-on Demonstration presented at Conference on Neural Information Processing Systems, December 2019.
  8. Pardis Miri, Andero Uusberg, Robert Flory, Agata Kelman, Erik Peper, Richard H. Harvey, Heather Culbertson, James Gross, Katherine Isbister, and Keith Marzullo, “Demonstrating personalization of PIV: Personalizable inconspicuous vibrotacile breathing paced,” Hands-on Demonstration presented at ACM CHI Conference on Human Factors in Computing Systems, May 2019.
  9. H. Culbertson, C. M. Nunez, and A. M. Okamura. “Continuous Lateral Motion Created Using Sequential Normal Indentation for Displaying Social Haptic Cues,” Hands-on demonstration presented at IEEE Haptics Symposium, San Francisco, CA, March 2018.
  10. M. Raitor, M. W. Gilbertson, A. M. Okamura, H. Culbertson, “Wearable Pneumatic Wristband for Displaying Haptic Guidance Cues,” Hands-on demonstration presented at IEEE World Haptics Conference, Munich, Germany, June 2017.
  11. ​H. Culbertson, J. M. Walker, M. Raitor, A. M. Okamura, “Targeting Task Using Ungrounded Pulling Force Induced by Asymmetric Vibrations”, Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, April 2016.
  12. ​J. M. Walker, M. Raitor, A. Mallery, H. Culbertson, P. Stolka, and A. M. Okamura, “Moment Pulses with a Dual-Flywheel Ungrounded Haptic Feedback System”, Hands-on demonstration presented at IEEE Haptics Symposium, Philadelphia, Pennsylvania, April 2016.
  13. ​H. Culbertson and K. J. Kuchenbecker, “Haptic Textures for Online Shopping”. Interactive demonstrations in The Retail Collective exhibit, presented for two days at the Dx3 Conference in Toronto, Canada, March 2015.
  14. ​H. Culbertson, J. J. Lopez Delgado, and K. J. Kuchenbecker, “The Penn Haptic Texture Toolkit”, Hands-on demonstration presented at IEEE Haptics Symposium, Houston, Texas, February 2014.
  15. ​H. Culbertson, C. G. McDonald, B. E. Goodman, and K. J. Kuchenbecker, “Data-Driven Modeling and Rendering of Isotropic Textures”, Hands-on demonstration presented at IEEE World Haptics Conference, Daejeon, South Korea, April 2013. Best Hands-on Demonstration Award.
  16. ​P. Castillo, J. M. Romano, H. Culbertson, M. Mintz, and K. J. Kuchenbecker, “Pen Tablet Drawing Program with Haptic Textures”, Hands-on demonstration presented at IEEE Haptics Symspoium, Vancouver, Canada, March 2012.

Ph.D. Thesis

H. Culbertson. “Data-Driven Haptic Modeling and Rendering of Realistic Virtual Textured Surfaces,” Ph.D. Dissertation, University of Pennsylvania, 2015.

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