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Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering
Departmental Papers (MEAM)
  • Katherine J Kuchenbecker, University of Pennsylvania
  • William McMahan, University of Pennsylvania
  • Nils Landin, KTH Royal Institute of Technology
  • Joseph M Romano, University of Pennsylvania
Document Type
Conference Paper
Date of this Version

N. Landin, J. M. Romano, W. McMahan, and K. J. Kuchenbecker. Dimensional reduction of high-frequency accelerations for haptic rendering. In Proceedings, EuroHaptics, pages 79-86, July 2010. doi: 10.1007/978-3-642-14075-4_12

The final publication is available at


Haptics research has seen several recent efforts at understanding and recreating real vibrations to improve the quality of haptic feedback in both virtual environments and teleoperation. To simplify the modeling process and enable the use of single-axis actuators, these previous efforts have used just one axis of a three-dimensional vibration signal, even though the main vibration mechanoreceptors in the hand are know to detect vibrations in all directions. Furthermore, the fact that these mechanoreceptors are largely insensitive to the direction of high-frequency vibrations points to the existence of a transformation that can reduce three-dimensional high-frequency vibration signals to a one-dimensional signal without appreciable perceptual degradation. After formalizing the requirements for this transformation, this paper describes and compares several candidate methods of varying degrees of sophistication, culminating in a novel frequency-domain solution that performs very well on our chosen metrics.

  • haptic feedback,
  • vibrations,
  • measurement-based modeling
Citation Information
Katherine J Kuchenbecker, William McMahan, Nils Landin and Joseph M Romano. "Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering" (2010)
Available at: