© Vincent Hayward, 1997,1998,1999, 2000, 2001, 2002, 2003, 2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder such as IEEE's or ACM's . Appropriate credit must be given as to its source and authorship.
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Selected Publications - Vincent Hayward

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2017

251J Bochereau, S., Dzidek, B., Adams, M., Hayward, V. 2017. Characterizing and imaging gross and real finger contacts under dynamic loading. IEEE Transactions on Haptics, in press. [ Abstract ] [PDF]

250J Pacchierotti, C., Sinclair, S., Solazzi, M., Frisoli, A., Hayward, V., Prattichizzo, D. 2017. Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives. IEEE Transactions on Haptics, DOI: DOI: 10.1109/TOH.2017.2689006. [ Abstract ] [PDF]

249J Lu, T., Pacoret, C., Hériban, D., Mohand-Ousaid, A., Régnier, S., and Hayward, V. 2017. KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion. IEEE Transactions on Haptics. Online DOI: 10.1109/TOH.2016.2644613. [ Abstract ] [PDF]

248J Dupin, L., Hayward, V., Wexler, M. 2017. Generalized movement representation in haptic perception. Journal of Experimental Psychology: Human Perception and Performance, in press. [ Abstract ] [PDF]

247J Cai, V. A. D., Bidaud, P., Hayward, V., Gosselin, F. 2017. Self-adjustment mechanisms and their application for orthosis design Meccanica, 52(3):713-728. [ Abstract ] [PDF]

2016

246C Ziat, M. and Yao, H.-Y. and Schmitt, R. and Hayward, V. 2016. FrontPanel: Tangible User Interface for Touch-Screens Dedicated to Elderly. Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, pp. 3808--3811. [ Abstract ] [PDF]

235J Gueorguiev, D., Bochereau, S., Mouraux, A., Hayward, V. and Thonnard, J-L. 2016. Touch uses frictional cues to discriminate flat materials. Scientific Reports, 6:25553. [ Abstract ] [PDF]

234J Dzidek, B., Bochereau, S., Johnson, S., Hayward, V., and Adams, M. 2016. Frictional dynamics of finger pads are governed by four length-scales and two time-scales. Proceedings of the Haptic Symposium. 161-166 . [ Abstract ] [PDF]

233J Shao, Y., Hayward, Visell, Y. 2016. Spatial Patterns of Cutaneous Vibration During Whole-Hand Haptic Interactions. Proceedings of the National Academy of Sciences, 113(15) :4188-4193. [ Abstract ] [PDF]

232J Moscatelli, A., Bianchi, M., Serio, A., Terekhov, A., Hayward, V., Ernst, M. O., Bicchi, A. 2016. The Change in Fingertip Contact Area as a Novel Proprioceptive Cue, Current Biology. 26(9):1159-1163. [ Abstract ] [PDF]

231J Platkiewicz, J., Lipson, H., Hayward, V. 2016. Haptic Edge Detection Through Shear. Scientific Reports, 6:23551. [ Abstract ] [PDF]

230J Okamoto, S., Wiertlewski, M., Hayward, V. 2016. Anticipatory vibrotactile cueing facilitates grip force adjustment during perturbative loading. IEEE Transactions on Haptics, 9(2):233-242. [ Abstract ] [PDF]

229J Deroy, O., Fasiello, I., Hayward, V., Auvray, M. 2016. Differentiated audio-tactile correspondences in sighted and blind individuals. Journal of Experimental Psychology: Human Perception and Performance. 42(8):1204-1214. [ Abstract ] [PDF]

2015

228J Moscatelli, A., Hayward, V., Wexler, M. and Ernst, M. O. 2015. Illusory Tactile Motion Perception: An Analog of the Visual Filehne Illusion. Scientific Reports, 5:14584. [ Abstract ] [PDF]

227J Terekhov, A. V., Hayward, V. 2015. The Brain Uses Extra-Somatic Information To Estimate Limb Displacement. Proceedings of the Royal Society, B, 282(1814):20151661. [ Abstract ] [PDF]

226C Hartcher-O'Brien, J., Auvray, M. and Hayward, V. 2015. Perception of Distance-to-Obstacle Through Time-Delayed Tactile Feedback. Proceedings of the IEEE World Haptics Conference, pp. 7-12. [ Abstract ] [PDF] (Best Oral Paper, Honorable Mention)

225C Bochereau, S., Sinclair, S. and Hayward, V. 2015. Looking for Physical Invariants in the Mechanical Response of a Tactually Scanned Braille Dot. Proceedings of the IEEE World Haptics Conference, pp. 119-124. [ Abstract ] [PDF]

224C Bergmann Tiest, W. and Hayward, V. 2015. Inside vs. Outside: Haptic Perception of Object Size. Proceedings of the IEEE World Haptics Conference, 94-99. [ Abstract ] [PDF]

223B Hayward, V. 2015. Tactile Illusions. in Encyclopedia of Touch, Prescott, T. J. and Ahissar, E. (Eds.), Scholarpedia, 10(3):8245. [ Abstract ] [ Link ]

223J Mohand-Ousaid, A., Haliyo, S., Régnier, S., Hayward, V. 2015. A Stable and Transparent Microscale Force Feedback Teleoperation System. IEEE/ASME Transactions on Mechatronics, 20(5):2593-2603 [ Abstract ] [PDF]

221J Hudin, C. , Lozada, J., Hayward, V. 2015. Localized Tactile Feedback on a Transparent Surface Through Time-Reversal Wave Focusing. IEEE Transactions on Haptics, 8(2):188-198. [ Abstract ] [PDF]

220J Dupin, L., Hayward, V. Wexler, M. 2015. Direct Coupling of Haptic Signals Between Hands. Proceedings of the National Academy of Sciences, 112(2):619-624 [ Abstract ] [PDF]

219C Weill-Duflos, A., Mohand-Ousaid, A., Haliyo, S., Régnier, S., Hayward, V. 2015. Optimizing Transparency of Haptic Device Through Velocity Estimation Proceedings of the 2005 IEEE International Conference on Advanced Intelligent Mechatronics pp. 529-534. [ Abstract ] [PDF]

2014

218C Mohand-Ousaid, A., Bolopion, A., Haliyo, S., Régnier, S., and Hayward, V., 2014. Stability and transparency analysis of a teleoperation chain for microscale interaction. Proceedings of the 2014 IEEE International Conference onRobotics and Automation, pp. 5946-5951 [ Abstract ] [PDF]

217J Sinclair, S., Wanderley, M. M., Hayward, V. 2014. Velocity Estimation Algorithms For Audio-Haptic Simulations Involving Stick-Slip. IEEE Transactions on Haptics. 7(4):533-544 [ Abstract ] [PDF]

216J Mohand-Ousaid, A., Millet, G., Haliyo, S., Régnier, S., Hayward, V. 2014. Feeling What An Insect Feels. PloS ONE, 9(10):e108895 [ Abstract ] [PDF]

215J Jörntell, H., Bengtsson, F., Geborek, P., Spanne, A., Terekhov, A. V., Hayward, V. 2014. Segregation of Tactile Input Features in Neurons of the Cuneate Nucleus. Neuron. 83:1444-1452 [ Abstract ] [PDF]

214J Hayward, V., Terekhov, A. V., Wong, S.-C., Geborek, P, Bengtsson, F., Jörntell, H. 2014. Spatio-Temporal Skin Strain Distributions Evoke Low Variability Spike Responses In Cuneate Neurons. Journal of the Royal Society Interface, 11(93):20131015 [ Abstract ] [PDF]

213J Platkiewicz, J., Hayward, V. 2014. Perception-Action Dissociation Generalizes to the Size-Inertia Illusion. Journal of Neurophysiology, 111(7):1409-1416 [ Abstract ] [PDF]

212J Hudin, C. Lozada, J., Hayward, V. 2014. Spatial, temporal, and thermal contributions to focusing contrast by time reversal in a cavity. Journal of Sound and Vibration, 333(6):1818-1832 [ Abstract ] [PDF]

211C Hartcher-O'Brien, J., Terekhov, A. V., Auvray, M., and Hayward, V. 2014. Haptic Shape Constancy Across Distance. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-I, Auvray, M. and Duriez, C. (Eds). pp. 77-84 [ Abstract ] [PDF]

210C Bochereau, S., Terekhov, A. V., and Hayward, V. 2014. Amplitude and Duration Interdependence in the Perceived Intensity of Complex Tactile Signals. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-I, Auvray, M. and Duriez, C. (Eds). pp. 93-100 [ Abstract ] [PDF] (Best Oral Paper, Honorable Mention)

209C Dzidek, B. M., Adams, M., Zhang, Z., Johnson, S., Bochereau, S., and Hayward, V. 2014. Role of Occlusion in Non-Coulombic Slip of the Finger Pad. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-I, Auvray, M. and Duriez, C. (Eds). pp. 109-116 [ Abstract ] [PDF]

208C Visell, Y., Duraikkannan, K. A., and Hayward, V. 2014. A Device and Method for Multimodal Haptic Rendering of Volumetric Stiffness. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-I, Auvray, M. and Duriez, C. (Eds). pp. 478-486 [ Abstract ] [PDF]

207C Platkiewicz, J., Mansutti, A., Bordegoni, M., Hayward, V. 2014. Recording Device for Natural Haptic Textures Felt with the Bare Fingertip. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-I, Auvray, M. and Duriez, C. (Eds), pp. 521-528 [ Abstract ] [PDF]

206C Moscatelli, A., Bianchi, M., Serio, A., Al Atassi, O., Fani, S., Terekhov, A. V, Hayward V., Ernst, M. O., and Bicchi, A. 2014. A Change in the Fingertip Contact Area Induces an Illusory Displacement of the Finger. in Haptics: Neuroscience, Devices, Modeling, and Applications, Part-II, Auvray, M. and Duriez, C. (Eds). pp. 72-79 [ Abstract ] [PDF]

2013

205J Klöcker, A., Wiertlewski, M., Théate, V., Hayward, V., Thonnard, J.-L. 2013. Physical factors influencing pleasant touch during tactile exploration. PloS ONE, 8(11):e79085. [ Abstract ] [PDF]

204C Ziat, M., Frissen, I., Campion, G., Hayward, V., Guastavino, C. 2013 Plucked String Stiffness Affects Loudness Perception Proceedings of the Workshop on Haptic and Audio Interaction Design. LNCS 7989, Springer-Verlag Berlin Heidelberg, pp. 79-88 [ Abstract ] [PDF]

203J Castaños, F., Gromov, D., Hayward, V., Michalska, H. 2013. Implicit and explicit representations of continuous-time port-Hamiltonian systems. Systems & Control Letters, 62(4):324-330 [ Abstract ] [PDF]

202J Adams, M., Johnson, S., Lefèvre, Ph., Lévesque, V., Hayward, V., André, T., Thonnard, J.-L. 2013. Finger pad friction and its role in grip and touch. Journal of the Royal Society Interface, 10(80):20120467, online: doi 10.1098/rsif.2012.0467 [ Abstract ]

201C Mohand-Ousaid, A., Haliyo, S., Régnier, S. and Hayward, V. 2013 H-infinity optimal control for micro-force sensing. Proceedings of the 3rd International Conference on Systems and Control (ICSC13), pp. 490-495 [ Abstract ] [PDF]

200C Mohand-Ousaid, A., Haliyo, S., Régnier, S. and Hayward, V. 2013. Micro-Force Sensor by Active Control of a Comb-Drive. Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 612-617 [ Abstract ] [PDF]

199C Hudin, C. Lozada, J., Hayward, V. 2013. Localized Tactile Stimulation by Time-Reversal of Flexural Waves: Case Study With a Thin Sheet of Glass. Proceedings of the IEEE World Haptics Conference 2013. pp. 67-72. [ Abstract ] [PDF]

198C Okazaki, R., Hachisu, T., Sato, M., Fukushima, S., Hayward, V., Kajimoto, K. 2013. Judged Consonance of Tactile and Auditory Frequencies. Proceedings of the IEEE World Haptics Conference 2013. pp. 663-666. [ Abstract ] [PDF]

188C Wiertlewski, M., Endo, S., Wing, A. M., Hayward, V. 2013. Slip-Induced Vibration Influences the Grip Reflex: A Pilot Study. Proceedings of the IEEE World Haptics Conference 2013. pp. 627-632. [ Abstract ] [PDF]

187C Okamoto, S., Wiertlewski, M., Hayward, V. 2013. Anticipatory vibrotactile cueing facilitates grip force adjustment. Proceedings of the IEEE World Haptics Conference 2013. pp. 525--530. [ Abstract ] [PDF]

186C Farkhatdinov, I., Ouarti, N., Hayward, V. 2013. Vibrotactile Inputs To The Feet Can Modulate Vection. Proceedings of the IEEE World Haptics Conference 2013. pp. 677-681. [ Abstract ] [PDF]

185C Visell, Y., Hayward, V, 2013. An Asymmetry In Force Perception Contingent On Motion Reversal. Proceedings of the IEEE World Haptics Conference 2013. pp. 651--656. [ Abstract ] [PDF]

2012

184J Frissen, I., Ziat, M., Campion, G., Hayward, V. and Guastavino, C. 2012. Auditory-Haptic and Haptic-Haptic Temporal Order Judgements During Passive and Active Arm Movements, Acta Psychologica, 141:40-148 [ Abstract ] [PDF]

183J Delhaye, B., Hayward, V., Lefèvre, Ph., Thonnard, J.-L. 2012. Texture-induced vibrations in the forearm during tactile exploration, Frontiers in Behavioral Neuroscience, 6(7):1-10 [ Abstract ] [PDF]

182J Wiertlewski, M., Hayward, V. 2012. Mechanical Behavior of the Fingertip In The Range of Frequencies and Displacements Relevant to Touch. Journal of Biomechanics, 45(11):1869-1874 [ Abstract ] [PDF]

181C Farkhatdinov, I., Hayward, V. Berthoz, A., Michalska, H. 2012. Modeling Verticality Estimation During Locomotion. Proceedings of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Romansy 2012. pp. 651-656 [ Abstract ] [PDF]

180C Berrezag, A. Visell, Y. Hayward, V. 2012. Compressibility and Crushability Reproduction Through an Amorphous Haptic Interface. Proceedings of Eurohaptics 2012, LNCS 7283, Part II, pp. 186-190 (Demonstration) [ Abstract ] [PDF]

179C Okazaki, R., Kajimoto, H., Hayward, V. 2012. Vibrotactile Stimulation Can Affect Auditory Loudness: A Pilot Study. Proceedings of Eurohaptics 2012. LNCS 7283, Part II, pp. 103-108. [ Abstract ] [PDF]

178C Hudin, C., Lozada, J., Wiertlewski, M., Hayward, V. 2012. Tradeoffs In The Application of Time-Reversed Acoustics to Tactile Stimulation. Proceedings of Eurohaptics 2012, LNCS 7283, Part I, pp. 218-226. [ Abstract ] [PDF] (Best Paper Honorable Mention)

177J Giordano, B., Visell, Y., Yao, H.-Y., Hayward, V., Cooperstock, J. and McAdams, S. 2012. Identification Of Walked-Upon Materials In Auditory, Kinesthetic, Haptic And Audio-Haptic Conditions. Journal of the Acoustical Society of America, 131(5):4002-4012 [ Abstract ] [PDF]

176J Wiertlewski, M., Hayward, V. 2012. Transducer For Mechanical Impedance Testing over a Wide Frequency Range Through Active Feedback. Review of Scientific Instruments. 83(2):025001 [ Abstract ] [PDF]

175J. Mohand-Ousaid, A., Millet, G., Régnier, S., Haliyo, S., and Hayward, V. 2012. Haptic Interface Transparency Achieved Through Viscous Coupling. International Journal of Robotics Research. 31(3):319-329. [ Abstract ] [PDF]

2011

174C. Farkhatdinov, I. and Hayward, V. and Berthoz, A. 2011. On the Benefits of Head Stabilization with a View to Control Balance and Locomotion in Humanoids. Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots. pp. 147--152. [ Abstract ] [PDF]

173J Wiertlewski, M., Hayward, V. 2011. Les Interfaces Tactiles. Biofutur, pp. 38-40

172J. Fasiello, I., Hayward, V. 2011. Un Sens Trompeur. Biofutur, pp. 42-43

171P. Ellis, R. E., Hayward, V., and Yao, H.-Y. 2011 (Sept 13). Tactile Amplification Instrument and Method of Use. US Patent 8,016,818. [ Abstract ]

170J. Terekhov, A. V., and Hayward, V. 2011. Minimal Adhesion Surface Area In Tangentially Loaded Digital Contacts. Journal of Biomechanics. 44(13):2508-2510. [ Abstract ] [PDF]

169J. Hayward, V. 2011. Is There a `Plenhaptic' Function? Philosophical Transactions of the Royal Society B, 366:3115-3122. [ Abstract ] [PDF]

168J. André, T., Levesque, V., Hayward, V., Lefèvre, P., and Thonnard, J.-L. 2011. Effect Of Skin Hydration On The Dynamics Of Fingertip Gripping Contact. Journal of the Royal Society Interface, 8(64):1574-1583 [ Abstract ] [PDF]

167J. Gosline, A. H. C., Hayward, V., Michalska, H. 2011. Ineluctability of Oscillations in Systems With Digital Implementation of Derivative Feedback. Automatica, 47(11):2444-2450 [ Abstract ] [PDF]

166J. Wiertlewski, M., Lozada,J., Hayward, V. 2011. The Spatial Spectrum Of Tangential Skin Displacement Can Encode Tactual Texture. IEEE Transactions on Robotics, 27(3):461--472 [ Abstract ] [PDF]

165C. Wiertlewski, M. , Hudin, C., Hayward, V. 2011. On The 1/F Noise And Non-Integer Harmonic Decay Of The Interaction Of A Finger Sliding On Flat And Sinusoidal Surfaces. Proceedings of World Haptics Conference 2011, pp. 25--30. [ Abstract ] [PDF] (Nominated for Best Paper)

164C. Wexler, M. and Hayward V. 2011. Weak Spatial Constancy In Touch. Proceedings of World Haptics Conference 2011, pp. 605--607. [ Abstract ] [PDF]

163C. Sinclair, S., Wanderley, M., Hayward, V., Scavone, G. Noise-Free Haptic Interaction With A Bowed-String Acoustic Model. Proceedings of World Haptics Conference 2011, pp. 463--468. [ Abstract ] [PDF]

162C. Pasquero, J. and Hayward, V. 2011. Tactile Feedback Can Assist Vision in Mobile Interaction. Proceedings of CHI 2011, the International Conference on Human Factors in Computing Systems, pp. 3277--3280. [ Abstract ] [PDF]

2010

161J. Ziat, M., Hayward, V., Chapman, C. E., Ernst, M. O., and Lenay, C. 2010. Tactile Suppression of Displacement. Experimental Brain Research, 206(3):299-310. [ Abstract ] [PDF]

160C. Turchet, L., Nordahl, R., Serafin, S., Berrezag, A., Dimitrov, S., and Hayward, V. 2010. Audio-haptic physically-based simulation of walking on different grounds. Proceedings of the 2010 the IEEE International Worshop on Multimedia Signal Processing, MMSP10, pp. 269-273. [ Abstract ] [PDF] (4th in the Top 10% Paper Award)

159B. Xinjilefu, Hayward, V., and Michalska, H. 2010. Hybrid Stabilizing Control for the Spatial Double Inverted Pendulum. In "International Symposium on Brain, Body and Machine", Springers series in Advances in Intelligent and Soft Computing, Angeles, J., Boulet, B., Clark, J. J., Kovecses, J. and Siddiqi, K. (Eds.), pp. 201-215. [ Abstract ] [PDF]

158C. Wiertlewski, M., Lozada, J., Pissaloux, E., and Hayward, V. 2010. Causality Inversion in the Reproduction of Roughness. Proceedings of Europhaptics 2010, Part II, Kappers, A.M.L. et al. (Eds.), LNSC 6192, Springer-Verlag, pp. 17-24. [ Abstract ] [PDF] (Best Paper Award)

157C. Wiertlewski, M., Lozada, J., Pissaloux, E., and Hayward, V. 2010. Tactile interface for stimulation of fingertip via lateral traction. Proceedings of Actuators 2010, the 12th International Conference on New Actuators, pp. 520-523. [ Abstract ] [PDF]

156C. Levesque, V. and Hayward, V. 2010. Laterotactile Rendering of Vector Graphics with the Stroke Pattern. Proc. of Europhaptics 2010, Part II, Kappers, A.M.L. et al. (Eds.), LNSC 6192, Springer-Verlag, pp. 25-30. [ Abstract ] [PDF]

155C. Nordahl, R., Berrezag, A., Dimitrov, S., Turchet, L., Hayward, V. Serafin, S. 2010. Preliminary Experiment Combining Virtual Reality Haptic Shoes And Audio Synthesis. Proceedings of Europhaptics 2010, Part II, Kappers, A.M.L. et al. (Eds.), LNSC 6192, Springer-Verlag, pp. 123-129. [ Abstract ] [PDF]

154J. Yao, H.-Y. and Hayward, V. 2010. Design and Analysis of A Recoil-Type Vibrotactile Transducer. Journal of the Acoustical Society of America. 128(2):619-627. [ Abstract ] [PDF]

153J. Wang, Q. and Hayward, V. 2010. Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation. International Journal of Robotics Research. 29(4):323-335. [ Abstract ] [PDF]

152J. Smith, A. M., Basile, G., Theriault-Groom, J., Fortier-Poisson, P., Campion, G., Hayward, V. 2010. Roughness of simulated surfaces examined with a haptic tool; effects of spatial period, friction, and resistance amplitude. Experimental Brain Research, 202(1):33-43. [ Abstract ] [PDF]

152C. Cai, V. A. D., Bru, B., Bidaud, P., Hayward, V., and Pasqui, V. 2010. Experimental Evaluation of a Goniometer For the Identification of Anatomical Joint Motions. Proc. of the Thirteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, pp. 1255--1262. [ Abstract ] [PDF]

151C. Cai, V. A. D., Bidaud, P., Hayward, V., and Gosselin, F. 2010. Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer. Proc. of the 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, ROMANSY 2010, pp 399-406. [ Abstract ] [PDF]

2009

151J. Smith, A. M., Chapman, C. E., Donati, F., Fortier-Poisson, P. and Hayward, V. 2009. Perception of simulated local shapes using active and passive touch. Journal of Neurophysiology, 102:3519-3529 [ Abstract ] [PDF]

150C. Xinjilefu, Hayward, V. and Michalska, H. 2009. Stabilization of the spatial double inverted pendulum using stochastic programming seen as a model of standing postural control. Proc. 9th RAS International Conference on Humanoid Robots (Humanoids09), pp. 367-372. [ Abstract ] [PDF]

149C. Michalska, H. and Hayward, V. 2009. Quantized and Sampled Control of Linear Second Order Systems. Proc. European Control Conference 2009, pp. 531-536. [ Abstract ] [PDF]

147J. Konkle, T., Wang, Q., Hayward, V., Moore, C. I. 2009. Motion Aftereffects Transfer between Touch and Vision. Current Biology, 19(9):745-750. [ Abstract ] [PDF]

147C. Cai, V. A. D., Bidaud, P., Hayward, V., and Gosselin, F. 2009. Design of Self-Adjusting Orthoses For Rehabilitation. Proc. of the 14th IASTED International Conference Robotics and Applications, pp. 215-223. [ Abstract ] [PDF]

146C. Millet, G., Haliyo, S., Régnier, S., Hayward, V. 2009. The ultimate haptic device: First step. Proc. Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems WHC'09. pp. 273-278. [ Abstract ] [PDF]

145J. Gosline, A. H. C. and Hayward, V. 2009. Dual-Channel Haptic Synthesis of Viscoelastic Tissue Properties Using Programmable Eddy Current Brakes. International Journal of Robotics Research. 28(10):1387-1399. [ Abstract ] [PDF]

144J. Campion, G. and Hayward, V. 2009. Fast Calibration Of Haptic Texture Synthesis Algorithms. IEEE Transactions on Haptics. 2(2):85-93. [ Abstract ] [PDF]

143J. Wijntjes, M. W. A., Sato, A., Hayward, V., Kappers, A. M. L. 2009. Local Surface Orientation Dominates Haptic Curvature Discrimination. IEEE Transactions on Haptics. 2(2):94-102. [ Abstract ] [PDF]

142J. Hayward, V., Armstrong, B. S. R., Altpeter, F., and Dupont P. E. 2009. Discrete-Time Elasto-Plastic Friction Estimation. IEEE Transactions on Control Systems Technology. 17(3):688-696. [ Abstract ] [PDF]

2008

141J. Petit, G., Dufresne, A., Lvesque, V., Hayward, V. 2008. Exploration multimodale d'images pour des utilisateurs ayant une dficience visuelle. Sciences et Technologies pour le Handicap. 2(2):175-186. [ Abstract ] [PDF]

140C. Petit, G., Dufresne, A., Levesque, V., Hayward V., Trudeau, N. 2008. Graphisme tactile appliqu aux illustrations de manuels scolaires l'usage d'enfants ayant une dficience visuelle. Proc. Interaction Homme-Machine 2008. [ Abstract ] [PDF]

139C. Petit, G., Dufresne, A., Levesque, V., Hayward V., Trudeau, N. 2008. Refreshable Tactile Graphics Applied to Schoolbook Illustrations for Students with Visual Impairment. Proc. 10th International ACM SIGACCESS Conference on Computers and accessibility (ASSETS 2008), pp. 89-96. [ Abstract ] [PDF]

138J. Gosline, A. H. C., Hayward, V. 2008. Eddy Current Brakes for Haptic Interfaces: Design, Identification, and Control. IEEE/ASME Transactions on Mechatronics. 13(6):669-677. [ Abstract ] [PDF]

137J. Carter, O., Konkle, T., Wang, Q., Hayward, V., Moore, C. I. 2008. Tactile Rivalry Demonstrated with an Ambiguous Apparent-Motion Quartet. Current Biology, 18(14):1050-1054. [ Abstract ] [PDF]

135B. Hayward, V. 2008. Haptic Shape Cues, Invariants, Priors, and Interface Design. In "Human Haptic Perception - Basics and Applications", Grunwald, M. (ed.), Birkhauser Verlag, pp. 381-392. [ Abstract ] [PDF]

134C. Azar, T. and Hayward, V. 2008. Estimation of the Fracture Toughness of Soft Tissue From Needle Insertion. Proc. Biomedical Simulation, 4th International Symposium, ISBMS 2008, Bello, F. and Edwards, E. (Eds.) Lecture Notes in Computer Science, Vol. 5104, Springer Verlag, pp. 166-175. [ Abstract ] [PDF]

133J. Campion, G. and Hayward, V. 2008. On the Synthesis of Haptic Textures. IEEE Transactions on Robotics, 24(3):527-536. [ Abstract ] [PDF]

132J. Hayward, V. 2008. A Brief Taxonomy of Tactile Illusions and Demonstrations That Can Be Done In a Hardware Store. Brain Research Bulletin (special issue on Robotics and Neuroscience), 75:742-752. [ Abstract ] [PDF]

131J. Wang, Q. and Hayward, V. 2008. Tactile Synthesis and Perceptual Inverse Problems Seen from the View Point of Contact Mechanics. ACM Transactions on Applied Perception. 5(2):1-19. [ Abstract ] [PDF]

130A. Levesque, V., Hayward V., Petit G., Dufresne A. 2008. Refreshable tactile graphics using a lateral skin deformation device. Abstract selected for oral presentation, 9th International Conference on Low Vision, July 7 - 11, 2008, Montreal, Quebec, Canada. [PDF]

129C. Wijntjes, M. W. A., Sato, A., Kappers, A. M. L. and Hayward V. 2008. Haptic Perception of Real and Virtual Curvature. Proc. Eurohaptics 2008, LNCS 5024, Springer-Verlag, pp. 361-366. [ Abstract ] [PDF]

128C. Nakatani, M. , Sato, A., Tachi, S. and Hayward, V. 2008. Tactile Illusion Caused by Tangential Skin Srain and Analysis In Terms of Skin Deformation. Proc. Eurohaptics 2008, LNCS 5024, Springer-Vergal, pp. 229-237. [ Abstract ] [PDF]

127C. Campion, G., Gosline, A. H. and Hayward, V. 2008b. Does Judgement of Haptic Virtual Texture Roughness Scale Monotonically With Lateral Force Modulation? Proc. Eurohaptics 2008, LNCS 5024, Springer-Verlag, pp. 718-723. [ Abstract ] [PDF]

126C. Levesque, V. and Hayward, V. 2008. Tactile Graphics Rendering Using Three Laterotactile Drawing Primitives. Proc. 16th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems, pp. 429-436. [ Abstract ] [PDF] (Best Demontration Award of the IEEE Technical Committee on Haptics)

125C. Campion, G., Gosline, A. H. and Hayward, V. 2008a. Passive Viscous Haptic Textures. Proc. 16th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems, pp. 379-380. [ Abstract ] [PDF]

125P. Cruz-Hernandez, M., Grant, D. and Hayward, V. 2008 (May 6). Haptic devices having multiple operational modes including at least one resonant mode. US Patent 7,369,115. [ Abstract ]

124P. Hayward, V., Alarcon, R., Rosenberg, L. B. 2008 (February 26). Haptic pads for use with user-interface devices. US Patent 7,336,266. [ Abstract ]

123J. MacLean, K. E. and Hayward, V. 2008. Do It Yourself Haptics, Part-II. IEEE Robotics and Automation Magazine, 15(1):104-119. [ Abstract ] [PDF]

122B. Hayward, V. 2008. Physically-Based Haptic Synthesis. In "Haptic Rendering: Foundations, Algorithms and Applications", M. Lin and M. Otaduy (eds.), A K Peters, Ltd, pp. 297-309. [ Abstract ] [PDF]

2007

121C. Carter, O., Konkle, T., Snyder, J., Wang, Q., Hayward, V., Moore, C. and Nakayama, K. 2007. Bi-stable tactile stimulus shows perceptual rivalry exists across the senses. 8th International Multisensory Research Forum. (Poster). [PDF]

120J. Hayward, V. and MacLean, K. E. 2007. Do It Yourself Haptics, Part-I. IEEE Robotics and Automation Magazine, Vol. 14, No. 4, pp. 88-104. [ Abstract ] [PDF]

118C. Gosline, A. H. and Hayward, V. 2007. Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware. Proc. World Haptics 2007 (Second Joint Eurohaptics Conference And Symposium On Haptic Interfaces For Virtual Environment And Teleoperator Systems), pp. 164-169. [ Abstract ] [PDF]

117C. Levesque, V., Pasquero, J., and Hayward, V. 2007. Braille Display by Lateral Skin Deformation with the STReSS^2 Tactile Transducer. Proc. World Haptics 2007 (Second Joint Eurohaptics Conference And Symposium On Haptic Interfaces For Virtual Environment And Teleoperator Systems), March 22-24, 2007, Tsukuba, Japan, pp. 115-120. (Best Paper Award For Haptic Application) [ Abstract ] [PDF]

116C. Yao, H.-Y., Hayward, M. Cruz, D. Grant. V. 2007. The Effect of Weight on the Perception of Vibrotactile Intensity with Handheld Devices. Proc. World Haptics 2007 (Second Joint Eurohaptics Conference And Symposium On Haptic Interfaces For Virtual Environment And Teleoperator Systems), March 22-24, 2007, Tsukuba, Japan, pp 551-552. [ Abstract ] [PDF]

116J. Janabi-Sharifi, F., V. Hayward, V., Wang, Q. Y. 2007. Design and implementation of a graphic-haptic display system. Displays, Vol. 28, pp. 118-128. [ Abstract ] [PDF]

115J. Wang, Q., Hayward, V. 2007. In Vivo Biomechanics of the Fingerpad Skin Under Local Tangential Traction. J. of Biomechanics. 40(4):851-860 [ Abstract ] [PDF]

114J. Pasquero, J., Luk, J., Levesque, V., Wang, Q., Hayward, V., and MacLean, K. E. 2007. Haptically Enabled Handheld Information Display with Distributed Tactile Transducer. IEEE Transactions on Multimedia, 9(4):746-753. [ Abstract ] [PDF]

2006

113R. Pasquero, J. 2006. Survey on communication through touch. Technical Report TR-CIM-06.04. Center for Intelligent Machines, McGill University. [ Abstract ] [PDF]

113P. Hayward, V., Pasquero, J., Levesque, V. 2006 (July 18). Apparatus to reproduce tactile sensations. US Patent 7,077,015. [ Abstract ]

112C. Wang, Q., Kong, L., Sprigle, S., Hayward, V. 2006. Portable Gage for Pressure Ulcer Detection. Proc. IEEE Engineering in Medicine and Biology Society Conference, EMBC06, pp. 5997-6000. [ Abstract ] [PDF]

111C. Gosline, A. H., Campion, G. and Hayward, V. 2006. On The Use of Eddy Current Brakes as Tunable, Fast Turn-On Viscous Dampers For Haptic Rendering. Proc. Eurohaptics 2006. pp. 229-234. [ Abstract ] [PDF]

110C. Yao, H.-Y. and Hayward, V. 2006. An Experiment on Length Perception with a Virtual Rolling Stone. Proc. Eurohaptics 2006. pp. 325-330. (Best Hands-on Demo Award) [ Abstract ] [PDF]

109C. Hayward, V. 2006. Haptic Synthesis. (Keynote Paper) Proc. SYROCO 2006, 8th International IFAC Symposium on Robot Control. pp. 19-24. [ Abstract ] [PDF]

107C. Luk, J., Pasquero, J., Little, S., MacLean, K. E., Levesque, V. and Hayward, V. 2006. A Role for Haptics in Mobile Interaction: Initial Design Using a Handheld Tactile Display Prototype. Proc. of the ACM 2006 Conference on Human Factors in Computing Systems, CHI 2006. (Best Paper Award). pp. 171-180. [ Abstract ] [PDF]

106C. Wang, Q., Levesque, V., Pasquero, J. and Hayward V. 2006. A Haptic Memory Game using the STRESS2 Tactile Display Proc. of the 2006 ACM Conference on Human Factors in Computing Systems, CHI 2006. pp. 271-274. [ Abstract ] [PDF]

105C. Wang, Q. and Hayward V. 2006. Compact, Portable, Modular, High-performance, Distributed Tactile Transducer Device Based on Lateral Skin Deformation. Proc. 14th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems IEEE VR 2006, pp. 67-72 (Best Paper Award). [ Abstract ] [PDF]

104C. Campion, G., Gosline, A. H. and Hayward, V. 2006. Initial results using Eddy Current Brakes as Fast Turn-on, Programmable Physical Dampers for Haptic Rendering. Proc. 14th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems IEEE VR 2006, pp. 73-74. [ Abstract ] [PDF]

103C. Pasquero, J., Luk, J., Little, S. MacLean, K. E. 2006. Perceptual Analysis of Haptic Icons: an Investigation into the Validity of Cluster Sorted MDS. Proc. 14th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems IEEE VR 2006. pp. 437-444. [ Abstract ] [PDF]

102C. Yao, H.-Y. and Hayward, V. 2006. A Network-ready Multi-lateral High Fidelity Haptic Probe. Proc. 14th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems IEEE VR 2006, pp. 81-82. [ Abstract ] [PDF]

101J. Yi, D. and Hayward, V. 2006. Depth Discrimination with 2d Haptics During Static Viewing of 3d Angiograms. Haptics-e, Vol. 3, No. 8. [ Abstract ] [PDF]

2005

100R. Levesque, V. 2005. Blindness, Technology and Haptics. Technical Report TR-CIM-05.08. Center for Intelligent Machines, McGill University. [ Abstract ] [PDF]

99C. Campion, G., Wang, Q., and Hayward, V. 2005. The Pantograph Mk-II: A Haptic Instrument. Proc. IROS 2005, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 723-728. [ Abstract ] [PDF]

98J. Yao, H.-Y., Hayward, V., and Ellis, R. E. 2005. A Tactile Enhancement Instrument for Minimally Invasive Surgery. Computer Aided Surgery, Vol. 10, No. 4, pp. 233-239. [ Abstract ] [PDF]

97J. Cruz-Hernandez, M. and Hayward, V. 2005. Position Stability For Phase Control Of The Preisach Hysteresis Model. Transactions of the CSME (Special Edition), Vol. 29, No. 2, pp. 129--142. [ Abstract ] [PDF]

96C. Campion, G. and Hayward, V. 2005. Fundamental Limits in The Rendering of Virtual Haptic Textures. Proc. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems WHC'05, pp. 263-270. [ Abstract ] [PDF]

95J. Levesque, V., Pasquero, J., Hayward V., and Legault, M. 2005. Display Of Virtual Braille Dots By Lateral Skin Deformation: Feasibility Study. ACM Transactions on Applied Perception. Vol. 2, No. 2, pp. 132-149. [ Abstract ] [PDF]

94J. Dostmohamed, H. and Hayward, V. 2005. Trajectory of Contact Region On the Fingerpad Gives the Illusion of Haptic Shape. Experimental Brain Research. Vol. 164, No. 3, pp. 387-394. [ Abstract ] [PDF]

93J. Mahvash, M. and Hayward V. 2005. High Fidelity Passive Force Reflecting Virtual Environments. IEEE Transactions on Robotics. 21(1):38-46. [ Abstract ] [PDF]

93B. Dostmohamed, H. and Hayward, V. 2005. Contact Location Trajectory on the Fingertip as a Sufficient Requisite for Illusory Perception of Haptic Shape and Effect of Multiple Contacts. In Multi-point Interaction with Real and Virtual Objects, F. Barbagli, D. Prattichizzo and K. Salisbury (Eds.), Springer Tracts in Advanced Robotics. Volume 18, pp. 189-198. [ Abstract ] [PDF]

2004

92C. Yao, H.-Y., Hayward, V., and Ellis, R. E. 2004. A Tactile Magnification Instrument for Minimally Invasive Surgery. Proc. MICCAI 2004, Barillot, C. Haynor, D.R. and Hellier P. (Eds.), LNCS 3217, pp. 89-96, Springer-Verlag: Berlin, Heidelberg. [ Abstract ] [PDF]

91C. Wang, Q., Hayward, V., and Smith, A. M. 2004. A New Technique for the Controlled Stimulation Of The Skin. Proc. Canadian Medical and Biological Engineering Society Conference, CMBEC Quebec City, Canada, September 9-11. [ Abstract ] [PDF]

90C. Garroway, D. and Hayward, V. 2004. A Haptic Interface for Editing Space Trajectories. (Poster) Proc. ACM SIGGRAPH & EuroGraphics Symposium on Computer Animation. August 27-29. Grenoble France. [ Abstract ] [PDF]

89C. Hayward, V. 2004. Display of Haptic Shape at Different Scales.(Keynote Paper) Proc. Eurohaptics 2004. Munich, Germany, June 5-7. pp. 20-27. [ Abstract ] [PDF]

86C. Pasquero, J., Levesque, V., Hayward V., and Legault, M. 2004. Display of Virtual Braille Dots by Lateral Skin Deformation: A Pilot Study. Proc. Eurohaptics 2004. Munich, Germany, June 5-7. pp.96-103. [ Abstract ] [PDF]

86P. Hayward, V., 2004 (February 17). Electro-mechanical transducer suitable for tactile display and article conveyance. US Patent 6,693,516. [ Abstract ]

85C. Hayward, V. 2004. Transduction tactile par champs de contraintes latérales réparties : les dispositifs STReSS. Actes of la Journée "Conception de stimulateurs tactiles orientée utilisateur", Université de Lille 1 (USTL), 23 Mars 2004. [ Abstract ] [PDF]

85J. Mahvash, M. and Hayward, V. 2004. High Fidelity Haptic Synthesis of Contact With Deformable Bodies. IEEE Computer Graphics and Applications. (Special issue on haptic rendering), Vol. 24(2):48-55 [ Abstract ] [PDF]

84J. Sidobre,D. and Hayward, V. 2004. Calibrated Measurement of Mechanical Junctions Behaviour From Micrometer to Subnanometer Scale: The Friction Force Scanner. J. of Meas. Sci. and Technol. 15(2):451-459. [ Abstract ] [PDF]

84P. Gregorio, P., Hayward, V., and Ramstein C. 2004 (August 24). Hand Controller. US Patent 6,781,569. [ Abstract ]

83J. Hayward, V., Astley, O. R., Cruz-Hernandez, M., Grant, D., and Robles-De-La-Torre, G. 2004. Haptic Interfaces and Devices. Sensor Review. 24(1):16-29. [ Abstract ] [PDF]

2003

82C. Levesque, V. and Hayward, V. 2003. Experimental Evidence of Lateral Skin Strain During Tactile Exploration. Proc. Eurohaptics 2003. pp. 261-275. [ Abstract ] [PDF]

81C. Pasquero, J. and Hayward, V. 2003. STReSS: A Practical Tactile Display System with One Millimeter Spatial Resolution and 700 Hz Refresh Rate. Proc. Eurohaptics 2003. pp. 94-110. [ Abstract ] [PDF]

80C. Mahvash, M. and Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722-3728. [Abstract] [PDF]

79B. Mahvash, M. and Hayward, V. 2003b. Haptic Simulation of a Tool In Contact With a Nonlinear Deformable Body. In "IS4TM: International Symposium on Surgery Simulation and Soft Tissue Modelling", Ayache, N., Delingette, H. (Eds), Lecture Notes in Computer Science (LNSC 2673), Springer Verlag. pp. 311-320. [Abstract] [PDF]

78B. Hayward, V. and Yi, D. 2003. Change of Height: An Approach to the Haptic Display of Shape and Texture Without Surface Normal. In Experimental Robotics VIII, Springer Tracts in Advanced Robotics 5, Siciliano, B. and Dario, P., (Eds.), Springer Verlag, New York. pp. 570-579. [ Abstract ] [PDF]

2002

77C. Yi, D. and Hayward, V., 2002. Linear Cost Reconstruction of Vascular Trees From Intensity Volume Angiograms. Proc. 2nd International Conference on Image and Graphics, ICIG2002, SPIE. pp. 195-200. [Abstract] [PDF]

76C. Yi, D. and Hayward, V., 2002. Augmenting Computer Graphics With Haptics For The Visualization Of Vessel Networks. Proc. 10th Pacific Conference on Computer Graphics and Applications. [Abstract] [PDF]

75J. Yi, D. and Hayward, V., 2002. Skeletonization of Volumetric Angiograms for Display. Computer Methods in Biomechanics and Biomedical Engineering. Vol. 5, No. 5, pp. 329-341. [Abstract] [PDF]

74C. Mahvash, M., Hayward, V., and Lloyd, J. E. 2002. Haptic Rendering of Tool Contact. Proc. Eurohaptics 2002. pp. 110-115. [Abstract] [PDF ]

73J. Greenish, S., Hayward, V., Chial, V., Okamura, A., and Steffen, T. 2002. Measurement, Analysis and Display of Haptic Signals During Surgical Cutting. Presence: Teleoperators and Virtual Environments. Vol. 11(6). pp. 626-651. [ Abstract ] [PDF]

72J. Dupont, P., Hayward, V., Armstrong, B., and Altpeter, F. 2002. Single State Elasto-Plastic Friction Models. IEEE Transactions on Automatic Control, 47(5):787-792. [ Abstract ] [ PDF]

72P. Cruz-Hernandez, M. and Hayward, V., 2002 (September 3). Electro-mechanical transducer suitable for tactile display and article conveyance. US Patent 6,445,284. [ Abstract ]

2001

71J. Mahvash, M. and Hayward, V. 2001. Haptic Rendering of Cutting: A Fracture Mechanics Approach. Haptics-e, Vol. 2, No. 3. [ Abstract ] [PDF]

70J. Robles-De-La-Torre, G. and Hayward, V. 2001. Force Can Overcome Object Geometry In The Perception Of Shape Through Active Touch. Nature, Vol. 412, pp. 445-448. [ Abstract ] [PDF]

69B. Hayward, V. 2001. Survey Of Haptic Interface Research At McGill University.(Keynote Paper) Proc. Workshop on "Advances in Interactive Multimodal Telepresence Systems", March 2001, Munich, Germany. Hieronymus Buchreproduktions GmbH. [ Abstract ] [ PDF]

68J. Lloyd, J. E. and Hayward, V. 2001. Singularity Robust Trajectory Generation. Int. J. Robotics Research. Vol. 20, No. 1, pp. 38-56. [ Abstract ] [PDF]

67J. Cruz-Hernandez, J. M. and Hayward, V. 2001. Phase Control Approach To Hysteresis Reduction. IEEE T. On Control Systems Technology. Vol. 9, No. 1, pp. 17-26. [ Abstract ] [PDF]

66B. Hayward, V. 2001. Haptics: A Key To Fast Paced Interactivity. (Keynote Paper) In Human Friendly Mechatronics. Selected Papers of the International Conference on Machine Automation, 25-27 September, 2000, Osaka, Japan. Takano, M., Arai E. Arai T., Elsevier Science. ISBN 0-444-50649-7. [ Abstract ] [ PDF]

65C. Dupuis, E., Papadopoulos, E., and Hayward, V. 2001. The Singular VectorAlgorithm for the Computation of the Loci of Rank-Deficiency Loci of Rectangular Jacobians. Proc. Int. Conf. on Intelligence Robots and Systems, IROS2001 IEEE/RSJ, pp. 324-329. [ Abstract ] [PDF]

2000

64C. Robles-De-La-Torre, G., and Hayward, V. 2000. Virtual Surfaces and Haptic Shape Perception. Proc. of the Haptic Interfaces for Virtual Environment and Teleoperator Systems Symposium, ASME IMECE2000, Orlando, Florida, USA. Proc. ASME Vol. DSC-69-2, pp. 1081-1087. [ Abstract ] [ PDF]

63C. Hayward, V., and Cruz-Hernandez, M. 2000. Tactile Display Device Using Distributed Lateral Skin Stretch. Proc. Symposium on Haptic Interfaces for Virtual Environments and Teleoperator System (IMECE2000), Orlando, Florida, USA. Proc. ASME Vol. DSC-69-2, pp. 1309-1314. [ Abstract ] [PDF]

62J. Janabi-Sharifi, F., Hayward, V., and Chen, C-S. J. 2000. Discrete-Time Adaptive Windowing For Velocity Estimation. IEEE T. On Control Systems Technology. Vol. 8, No. 6, pp. 1003-1009. [ Abstract ] [PDF]

61B. Hayward, V. and Armstrong, B. 2000. A New Computational Model Of Friction Applied To Haptic Rendering. In Experimental Robotics VI, Peter Corke and James Trevelyan (Eds), Lecture Notes in Control and Information Sciences, Vol. 250, Springer-Verlag, pp. 403-412. (ISBN: 1 85233 210 7). [ Abstract ] [ PDF]

60C. Boulet, B. and Hayward, V. 2000. Robust Control Of A Robot Joint With Hydraulic Actuator Redundancy. Proceedings of 31st International Symposium on Robotics (ISR2000), Montreal, Canada, May 14-17, 2000, pp. 36-41. [ Abstract ] [PDF]

59J. Dong, C-J. , Swindale, N. V. , Zakarauskas, P., Hayward, V., and Cynader, M. 2000. The Auditory Motion Aftereffect: Its Tuning And Specificity In The Spatial And Frequency Domains. Perception and Psychophysics, Vol. 62(5):1099-1111. [ Abstract ] [PDF]

58B. Rovan, J. and Hayward, V. 2000. Typology Of Tactile Sounds And Their Synthesis In Gesture-Driven Computer Music Performance. In "Trends in Gestural Control of Music". Wanderley, M., Battier, M. (eds). Editions IRCAM, Paris, 2000. pp. 297--320. [ Abstract ] [PDF]

57C. Grant, D. and Hayward, V. 2000. Constrained Force Control Of Shape Memory Alloy Actuators. Proc. of the IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April 2000. pp. 1320-1314. [ Abstract ] [PDF]

56C. Astley, O. and Hayward, V. 2000. Design Constraints For Haptic Surgery Simulation. Proc. of the IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April 2000. pp. 2446-2451. [ Abstract ] [ PDF]

56C. Dupont, P., Armstrong, B. and Hayward, V. 2000. Elasto-Plastic Friction Model: Contact Compliance and Stiction. Proc. 2000 American Control Conference, June 28-30, 2000, Chicago, Ill. USA. pp. 1072-1077. [ Abstract ] [PDF]

56P. Hayward, V. 2000 (September 12). Mechanisms for orienting and placing articles. US Patent 6,116,844. [ Abstract ]

55P. Gregorio, P., Hayward V., and Grant, D. 2000 (February 1). Differential displacement optical sensor. US Patent 6,020,967. [ Abstract ]

1998

55C. Astley, O. and Hayward, V. 1998. Multirate Haptic Simulation Achieved By Coupling Finite Element Meshes Through Norton Equivalents. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 989-994. [ Abstract ] [PDF]

54C. Cruz-Hernandez, J. M., and Hayward, V. 1998a. An Approach To Reduction Of Hysteresis In Smart Materials. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 1510-1515. [ Abstract ] [ PDF]

53J. Hayward, V., and Cruz-Hernandez, J. M. 1998. Parameter Sensitivity Analysis For Design And Control Of Force Transmission Systems. Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME. Vol 120, No. 2, pp. 241-249. [ Abstract ] [PDF]

52C. Grant, D., and Hayward, V. 1998. Vibration Isolation With High Strain Shape Memory Alloy Actuators. International Mechanical Engineering Congress and Exposition. Vol. 229, Applied Mechanics Division. [ Abstract ] [PDF]

51C. Cruz-Hernandez, J. M., and Hayward, V. 1998b. Reduction of Major and Minor Hysteresis Loops in a Piezoelectric Actuator. Proc. 1998. CDC Conference. [ Abstract ] [PDF]

51C. Lloyd, J. M., and Hayward, V. 1998. Generating Robust Trajectories in the Presence of Ordinay and Linear-Self-Motion Singularities. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3228-3234. [ Abstract ] [PDF]

50B. Hayward, V. Gregorio, P. Astley, O. Greenish, S. Doyon, M. Lessard, L. McDougall, J. Sinclair, I. Boelen, S. Chen, X. Demers, J.-P. Poulin, J. Benguigui, I. Almey, N. Makuc, and B. Zhang, X. 1998. Freedom-7: A High Fidelity Seven Axis Haptic Device With Application To Surgical Training. In Experimental Robotics V, Casals, A., de Almeida, A. T. (eds.), Lecture Notes in Control and Information Science 232, pp. 445-456. [ Abstract ] [PDF]

50P. Hui; R. C.-Y., Hayward, V., Ouellet, A. G., Peruzzini, W. Gregorio, P., Wang, A., and Vukovich, G. 1998 (December 8). Mechanism for control of position and orientation in three dimensions. US Patent 5,847,528. [ Abstract ]

49P. Hayward, V., and Grant, D. 1998 (March 17). Deformable structural arrangement. US Patent 5,727,391. [ Abstract ]

1997

49C. Cruz-Hernandez, J. M. and Hayward, V. 1997. On The Linear Compensation Of Hysteresis. CDC-97. pp. 1956-1957. [ Abstract ] [PDF]

48C. Astley, O. and Hayward, V. 1997. Real-Time Finite-Elements Simulation Of General Visco-Elastic Materials For Haptic Presentation. Workshop on Dynamic Simulation: Methods and Applications. IROS'97 1997 IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Grenoble, France, Sept. 1997. pp. 52-57. [ Abstract ] [ PDF]

47C. McDougal, J., Lessard, L. B., and Hayward, V., 1997. Applications Of Advanced Materials To Robotic Design: The Freedom-7 Haptic Hand Controller. Proc. Eleventh International Conference on Composite Materials (ICCM-11) Brisbane, Queensland, 4218, Australia, July 1997.

46C. Hayward, V., Janabi-Sharifi, F., and C-S. J. Chen, 1997. Adaptive Windowing Discrete-Time Velocity Estimation Techniques: Application To Haptic Interfaces. Symp. on Rob. Control. SY.RO.CO'97, IFAC. Nantes, France, September 1997. pp. 465-472. [ Abstract ] [PDF]

45J. Grant, D. and Hayward, V. 1997a. Variable Structure Control Of Shape Memory Alloy Actuators. IEEE Systems and Control Magazine. Vol. 17, No. 3, pp. 80-88. [ Abstract ] [PDF]

44C. Joly, L. D., Andriot, C., and Hayward, V. 1997. Mechanical Analogies In Hybrid Position/Force Control. Proc. IEEE Int. Conf. on Robotics and Automation. Vol. 1, pp. 835-839. [ Abstract ] [PDF]

43C. Grant, D., and Hayward, V. 1997b. Controller for a High Strain Shape Memory Alloy Actuator: Quenching of Limit Cycles. Proc. IEEE Int. Conf. on Robotics and Automation. Vol. 1, pp. 254-259. [ Abstract ] [ PDF]

42C. Lu, X., Grant, D., and Hayward, V. 1997. Design And Comparison Of High Strain Shape Memory Actuators. Proc. IEEE Int. Conf. on Robotics and Automation. Vol. 1, pp. 260-267. [ Abstract ] [ PDF]

41C. Astley, O. and Hayward, V. 1997. An Experimental Procedure For Autonomous Joint Sensor Estimation Using Adaptive Control. Proc. IEEE Int. Conf. on Robotics and Automation. Vol. 2, pp. 1743-1748. [ Abstract ] [PDF]

40B. Hayward, V. and Cruz-Hernandez, M. J. 1997. Parameter Sensitivity Analysis For Design And Control Of Tendon Transmissions. Experimental Robotics IV, Khatib, O., Salisbury, J. K. (Eds.) Lecture Notes in Control and Information Sciences 223. pp. 241-252. [ Abstract ] [ PDF]

1996

39C. Payette, J. Hayward, V., Ramstein, C., and Bergeron, D. 1996. Evaluation Of A Force-Feedback (Haptic) Computer Pointing Device In Zero Gravity. Proc. Fifth Annual Symposium on Haptic Interfaces for Virtual Environments and Teleoperated Systems, ASME Dynamic Systems and Control Division, DSC-Vol. 58. pp. 547-553. [ Abstract ] [ PDF]

38B. Hayward, V. and Astley, O.R. 1996. Performance Measures For Haptic Interfaces. In Robotics Research: The 7th International Symposium. Giralt, G., Hirzinger, G., (Eds.), Springer Verlag. pp. 195-207. [ Abstract ] [PDF]

37C. Lloyd, J. E. and Hayward, V. 1996. A Discrete Algorithm For Fixed-Path Trajectory Generation At Kinematic Singlarities. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2743-2748. [ Abstract ] [PDF]

1995

36C. Hayward, V. 1995. Toward A Seven Axis Haptic Interface. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems '95. Vol. 3, pp. 133-139. [ Abstract ] [PDF]

35C. Grant, D. and Hayward, V. 1995. Design of Shape Memory Alloy Actuator with High Strain and Variable Structure Control. Proc. Int. IEEE Conference on Robotics and Automation. [ Abstract ] [PDF]

34J. Kurtz, R. and Hayward, V. 1995. Dexterity Measures For Mechanisms With Unilateral Constraints: The N+1 Case. J. of Advanced Robotics. (Special Issue on enveloping grasp and whole-arm manipulation). Vol. 9. No. 5, pp. 561-577. [ Abstract ] [PDF]

33J. Hayward, V. Aubry, S., Foisy, A., and Ghallab, Y. 1995. Collision Prediction Among Many Moving Objects. Int. J. Robotics Research. Vol. 14, No. 2, MIT Press. pp. 129-143. [ Abstract ] [PDF]

32C. Aubry, S. and Hayward, V. 1995. Three Dimentional Model Construction From Multiple Sensor View Points. Proc. Int. IEEE Conference on Robotics and Automation. pp. 2054-2059. [ Abstract ] [PDF]

31C. Mougenet, J.-F., and Hayward, V. 1995. Limit Cycle Characterization, Existence And Quenching In The Control Of High Performance Hydraulic Actuator. Proc. Int. IEEE Conference on Robotics and Automation. pp. 2218-2223. [ Abstract ] [ PDF]

30B. Foisy, A. and Hayward, V 1995. A Safe Swept Volume Method For Collision Detection. In Robotics Research, the Sixth International Symposium. The International Foundation for Robotics Research. Cambridge, MA. pp. 62-68. [ Abstract ] [PDF]

1994

29B. Hayward, V., Choksi, J. Lanvin, G., and Ramstein, C. 1994. Design And Multi-Objective Optimization Of A Linkage For A Haptic Interface. In Advances in Robot Kinematics. J. Lenarcic and B. Ravani (Eds.). Kluver Academic. pp. 352-359. [ Abstract ] [PDF]

29C. Ramstein, C. and Hayward, V. 1994 (April, Boston, MA). The Pantograph: A Large Workspace Haptic Device For A Multi-Modal Human-Computer Interaction. CHI'94, Conference on Human Factors in Computing Systems ACM/SIGCHI Companion-4/94. pp. 57-58. [ Abstract ] [PDF] [MOVIE]

28R. Bonneton, E. 1994. Pantograph Project, Chapter: Implementation of a virtual wall. Technical Report. McGill Research Center for Intelligent Machines. McGill University, Montreal, Canada. [ Abstract ] [PDF]

27B. Hayward, V. 1994. Design Of Hydraulic Robot Shoulder Based On Combinatorial Mechanism. In Experimental Robotics 3, Yoshikaswa, T., Myiazaki, F (Eds.), Lecture Notes in Control and Information Sciences 200. Springer Verlag. pp. 297-310. [ Abstract ] [PDF]

26J. Hayward, V., Daneshemend, L. K. Nilakantan, A. 1994. Trajectory Generation And Control For Automatic Manipulation. Robotica, (Special issue on Automatic Manipulation), Vol. 12, pp. 115-125. [ Abstract ] [PDF]

25C. Baron, T., Levine, M. L., Hayward, V., Bolduc, M., and Grant, D. 1994. A biologically-motivated robot eye system. Proc. 8th Canadian Astronautics and Space Institute (CASI) Annual Conference. pp. 231-240. (Best Paper Award)

24C. Doyon, M., Hayward, V., and Pelletier, M. 1994. Decentralized Impedance Control. Proc. SY.RO.CO'94, IFAC. Vol. 2, pp. 389-394. [ Abstract ] [PDF]

23C. Nahvi, A. Hollerbach, J. M., and Hayward, V. 1994. Calibration of a Parallel Robot Using Multiple Loops. Proc. Int. IEEE Conference on Robotics and Automation. pp. 407-413. [ Abstract ] [PDF]

1993

22J. Lloyd, E. J. and Hayward, V. 1993. Trajectory Generation For Dynamic, Sensor-Driven Environments. Int. J. Robotics Research, MIT Press, Vol. 12, No. 4. pp. 380-394. [ Abstract ] [PDF]

21B. Boulet, B., Daneshmend, L. K., Hayward, V., and Nemri, C. 1993. System Identification And Modelling Of A High Performance Hydraulic Actuator. In Experimental Robotics 2, Chatila, R., Hirzinger, G. (Eds.), Lecture Notes in Control and Information Sciences, Springer Verlag, pp. 505-520. [ Abstract ] [PDF]

20J. Boyer, M., Daneshmend, L. K., and Hayward, V., 1993. Using *This Method* To Plan And Execute Tasks In CLOS. ACM-SIGPLAN, Lisp Pointers, Vol. V, No. 3, pp. 3-12.

19J. Hayward, V., Nemri, C., Chen, X., and Duplat, B. 1993. Kinematic Decoupling In Mechanisms And Application To A Passive Hand Controller. J. Robotics Systems, Wiley, Vol. 10, No. 5, pp. 767-790. [ Abstract ] [PDF]

18J. Lloyd, J. E. and Hayward, V. 1993. Real-Time Trajectory Generation In Multi-RCCL. J. Robotics Systems, Wiley, Vol. 10, No. 3., pp. 369-390. [ Abstract ] [PDF]

17B. Hayward V. 1993. Borrowing Some Design Ideas From Biological Manipulators To Design An Artificial One. In Robots and Biological Systems, NATO Series, P. Dario, P. Aebisher, and G. Sandini, (Eds.), Springer Verlag. pp. 135-148. [ Abstract ] [PDF]

17R. Reynier, F. and Hayward, V. 1993. Summary of the Kinesthetic and Tactile Function of the Human Upper Extremity. McGill Research Center for Intelligent Machines Technical Report. CIM-93-4. [PDF]

1992

16J. Izaguirre, A., Hashimoto, M., Paul, R. P., and Hayward, V. 1992. A New Computational Structure For Real-Time Dynamics. Int. J. of Robotics Research. MIT Press, Vol. 11(4). pp. 346-362. [ Abstract ] [PDF]

15J. Hayward, V.1992. Physical Modeling Applies To Physiology, Too. Open Peer Commentary in Behavior and Brain Sciences, Vol. 15, No. 2, Cambridge University Press. pp. 342-343. [ Abstract ] [PDF]

14J. Kurtz, R. and Hayward, V. 1992. Multiple-Goal Optimization Of A Parallel Mechanism With ActuatorRedundancy. IEEE Transactions on Robotics and Automation. Vol. RA-8, No. 5. pp. 633-651. [ Abstract ] [PDF]

13J. Hayward, V. and Kurtz, R. 1992. Modeling Of A Parallel Wrist Mechanism With Actuator Redundancy. Int. J. Laboratory Robotics and Automation, V 4,ol. No. 2. pp. 69-76.

12B. Hayward, V. 1992. Review Of "Kinematic Analysis And Design Of Redundant Manipulators". in Robotics Review 2, Khatib, O., Craig, J., and Lozano-Perez, T. (Eds.), MIT Press. pp. 191-195.

1991

11C. Lloyd, J. E and Hayward, V. 1991. Real-Time Trajectory Generation Using Blend Functions. Proc. IEEE Int. Conference on Robotics and Automation. pp. 784-789. [ Abstract ] [PDF]

10C. Boyer, M., Daneshmend, L. K., Hayward, V., and Foisy, A. 1991. An object-oriented paradigm for the design and implementation of robot planning and programming systems. Proc. IEEE Int. Conference on Robotics and Automation, pp. 204-209. [ Abstract ] [PDF]

10B. Hayward, V. and Kurtz, R. 1991. Modeling Of A Parallel Wrist Mechanism With Actuator Redundancy. In Advances in Robot Kinematics.S. Stifter and J. Lenarcic (Eds). Springer Verlag, pp. 444-456. [ Abstract ] [PDF]

9C. Kurtz, R. and Hayward, V. 1991. Dexterity Measures For Tendon Actuated Parallel Mechanisms. Int. Conf. on Advanced Robotics, ICAR. pp. 1141-1148. [ Abstract ] [PDF]

1990

8C. Foisy, A., Hayward, V., and Aubry, S. 1990. The use of awareness in collision prediction Proc. IEEE International Conference on Robotics and Automation. pp. 338-343. [ Abstract ] [PDF]

8B. Hayward V. 1990. An Analysis Of Redundant Manipulators From Several View-Points. In Robots with redundancy: design, sensing and control, NATO ARK Workshop. A. Bejczy (Ed.).

7B. Daneshmend, L., Hayward, V., and Pelletier, M. 1990. Adaptation To Environment Stiffness In The Control Of Manipulators. In Experimental Robotics 1, V. Hayward, O. Khatib (Eds.), Lecture Notes in Control and Information Science, 139, Springer Verlag, pp. 150-165.

6B. Aubry S. and Hayward V. 1990. Building Hierarchical Solid Models From Sensor Data. In Advances on Spatial Reasoning, Su-shing Chen (Ed.), ABLEX Publishing. pp. 1-64.

5C. Hayward, V., Daneshmend, L. K., Foisy, A., Boyer, M., Demers, L. P., Ravindran, R., and Ng, T. 1990. The evolutionary design of MCPL, the MSS command and programming language. Int. IEEE International Workshop on Intelligent Robots and Systems IROS. pp. 413-419. [ Abstract ] [PDF]

1989

4J. Nilakantan, A. and Hayward, V.1989. The Synchronization Of Multiple Manipulators In Kali. Robotics and Autonomous Systems, North-Holland. Vol. 5., pp. 345-358. [ Abstract ] [PDF]

4C. Hayward, V. 1989. A Translation in Artificial Terms of the Design of Biological Manipulators Proc. IEEE Engineering in Medicine & Biology Society llth Annual International Conference. pp. 898-899. [ Abstract ] [PDF]

4B. Hayward, V., Kurtz, R. 1989. Preliminary Study of Serial-parallel Redundant Manipulator. Proc. NASA Conference on Space Telerobotics. Vol. 2, pp. 39-48. [ Abstract ] [PDF]

4C Hayward, V., Daneshmend, L., Hayati, S. 1989. An Overview of KALI: a System to Program and Control Cooperative Manipulators. Proc. International Conference on Advanced Robotics, pp. 547-558. [ Abstract ] [PDF]

3C. Pelletier, M. and Hayward, V. 1989. Super-Grip: An Expert System For Grasping Boxes. Proc. IEEE International Conference on Systems Man and Cybernetics. pp. 510-515. [ Abstract ] [PDF]

1988

3J. Lloyd, E. J., and Hayward, V. 1988. Kinematics Of Common Industrial Robots. Robotics, North-Holland, Vol. 4. pp. 169-191. [ Abstract ] [PDF]

3Cd. Hayward, V. 1988. Autonomous Control Issues In a Telerobot. Proc. IEEE International Conference on Systems Man and Cybernetics. Workshop on Manipulators in Space. pp. 122-125. [ Abstract ] [PDF]

3Cc. Hayward, V., Hayati, S. 1988. Kali: An Environment For The Programming And Control Of Cooperative Manipulators Proc. American Control Conference. pp. 473-478. [ Abstract ] [PDF]

1987

3Cb. Lee, J. S. and Hayati, S. and Hayward, V. and Lloyd, J. E. 1987. Implementation of RCCL, a robot control C library on a microVAX II. Proc. SPIE - International Society Optical Engineering, 726, pp. 472--480. [ Abstract ]

3Ca. Hayward, V. and Hayati, S. 1987. Design principles of a cooperative robot controller. Proc. SPIE - International Society Optical Engineering, 851. pp. 135--140. [ Abstract ]

2C. Aubry, S. and Hayward, V. 1987a. Recursive decomposition of free-space from boundary points. Proc. Workshop on Spatial Reasoning and Multi-Sensor Fusion. pp. 118--126 [ Abstract ]

2CC. Aubry, S. and Hayward, V. 1987b. Range image analysis using level curves. Proc. Scandinavian Conference on Image Analysis. pp. 661-668. [ Abstract ]

1986

2J. Hayward, V., and Paul, R. P. 1986. Robot Manipulator Control Under Unix: RCCL A Robot Control `C' Library. Int. J. of Robotics Research, MIT Press, Vol. 5(4). pp. 94-111. [ Abstract ] [PDF]

1C. Hayward, V., 1986a. Fast Collision Detection Scheme By Recursive Decomposition Of A Manipulator Worspace. Proc. IEEE Int. Conf. Robotics and Automation, San Fransisco, CA. pp. 1044-1049. [ Abstract ] [PDF]

1985

1B. Paul, R. P. and Hayward, V. 1985. Robot Control and Computer Languages Proc. CISM-IFToM Symposium on Theory and Practice of Robots and Manipulators (RoManSy), pp. 187-193. [ Abstract ] [PDF]

1984

1CC. Hayward, V. and Paul, R. P. 1984. Introduction to RCCL: a robot control `C' library Proc. IEEE International Conference on Robotics, pp. 293-297. [ Abstract ] [PDF]

1983

1J. Hayward, V. and Osorio, A. 1983. System To Automatically Analyze assembled Programs IEEE Transactions on Software Engineering, Vol. SE-9, No. 2, pp. 210-213. [ Abstract ] [PDF]