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When: 6th July, 9 to 13
Where: Room C, Santa Maria della Scala, Siena, Italia
Whether you are new to haptics or already working in the field, you are welcome to join.
Early-career researchers are especially encouraged to participate. Bring your laptop!
Accurately reproducing real-world texture sensations remains a long-standing challenge in haptics, as the perceptual realism of rendered textures depends not only on the underlying texture representation but also on recording conditions and transfer characteristics of the rendering devices.
This half-day, hands-on workshop introduces participants to a complete pipeline for this process, encompassing data-driven texture acquisition, modeling, and rendering. Working in small groups, participants will learn how to properly record finger–surface interactions, analyze the captured signals, and construct both low- and high-dimensional representations of textures. These models will then be rendered using different tactile actuators, allowing participants to directly experience how device properties and modeling choices influence the resulting percepts.
Through guided experiments, participants will explore how variations in recording conditions, actuator characteristics, and signal processing affect the fidelity of rendered textures. The workshop will also foster discussion on strategies to improve perceptual realism and achieve more robust cross-device texture rendering.
MakeSense
MakeSense
The workshop will provide the MakeSense kit, a hardware setup designed for small working groups. Each group will receive a complete texture recording and rendering kit featuring a wide-band vibrotactile actuator (Drake MF, Titan Haptics), a linear resonant actuator (VG0832013D, Vybronics Inc.), an accelerometer (ADXL358, Analog Devices) for measuring actuator and contact response, a Class-D audio amplifier (AudioAmp 2 Click, MIKROE) for driving the actuators, and a mixed-signal ADC/DAC (PIXI Click, MIKROE) interfaced with an STM32F411 Blackpill microcontroller (STMicroelectronics) for real-time signal acquisition and generation.
The workshop will also use an open-source GUI which guides them through the complete texture rendering pipeline, including texture loading, signal visualization, actuator characterization, inverse-filter-based device compensation, and real-time texture rendering. The interface is designed to make each processing step visually accessible and interactive.
Download all the material at the GitHub!
SENSE3 Database
SENSE3 Database
During this workshop you will have the opportunity to work with the SENS3 database, an open-source multisensory database of finger-surface interactions and corresponding sensations. Check out more here!
Workshop Schedule
Workshop Schedule
08:30 - 09:00 Arrival and set up
09:00 - 09:10 Introduction and overview - Overview presentation of the full pipeline and workshop objectives
09:10 - 09:25 GUI download and installation - Participants download, install and launch the GUI
09:25 - 09:45 Texture recording and SENS3 dataset - Live texture recording demo and exploration of SENS3 textures
09:45 - 10:05 Reduced texture representations - Guided GUI walk-through for visualization and feature extraction
10:05 - 10:30 Actuator characterization - Participants measure actuator responses with accelerometers.
10:30 - 10:45 Break
10:45 - 11:10 Device compensation and inverse filtering - Hands-on application of inverse FFT filtering within the GUI.
11:10 - 11:40 Real-time texture rendering - Rendering recorded textures on multiple actuators.
11:40 - 12:00 Group discussion and wrap-up - Open discussion on realism and takeaways
Organizers
Organizers
Yasemin Vardar
Yasemin Vardar
Yasemin Vardar is an Associate Professor in the Department of Cognitive Robotics at TU Delft, The Netherlands, where she leads the Haptic Interface Technology Lab. She received her Ph.D. in Mechanical Engineering from Koç University, Turkey, in 2018, and worked as a postdoctoral researcher at the Max Planck Institute for Intelligent Systems in Germany. Her research focuses on understanding human touch and digitizing tactile information through advanced haptic interfaces. She is a recipient of the ERC Starting Grant, the NWO VENI Grant, and the Eurohaptics Best PhD Thesis Award, and currently serves as Chair of the IEEE Technical Committee on Haptics.
Koen Wosten
Koen Wosten
Koen Wösten is a 1st-year PhD candidate in the Haptic Interface Technology Lab within the Cognitive Robotics Department at Delft University of Technology, supervised by Yasemin Vardar. His research focuses on multi-site vibrotactile integration and wearable haptics for texture rendering.
Jagan K Balasubramanian
Jagan K Balasubramanian
Jagan K Balasubramanian is a 4th-year Ph.D. Student in the Department of Cognitive Robotics at TU Delft, The Netherlands, supervised by Yasemin Vardar. He works in the Haptic Interface Technology Lab on sensation-based modelling of tactile signals.
Umut Kenanoglu
Umut Kenanoglu
Celal Umut Kenanoglu is a 3rd-year Ph.D. Student in the Department of Cognitive Robotics at TU Delft, The Netherlands, supervised by Yasemin Vardar. He works in the Haptic Interface Technology Lab, modelling electrostatic actuation across different touch conditions and users.
Paulina Gallego
Paulina Gallego
Paulina Gallego is a 1st-year Ph.D. Student in the Department of Cognitive Robotics at TU Delft, The Netherlands, supervised by Yasemin Vardar. She works in the Haptic Interface Technology Lab on multimodal tactile perception and surface haptics, focusing on artificial touch experiences on everyday surfaces.
Virginia Civeriati
Virginia Civeriati
Virginia Civeriati is a 1st-year Ph.D. Student in the Department of Cognitive Robotics at TU Delft, The Netherlands, supervised by Yasemin Vardar. She works in the Haptic Interface Technology Lab on multimodal tactile perception and surface haptics.
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