Material recognition based on thermal cues: Mechanisms and applications

References

• Katz D. The world of touch. Hillsdale, NJ: Lawrence Erlbaum Associates; 1989.
   Google Scholar
• Lederman SJ, Klatzky RL. Hand movements: A window into haptic object recognition. Cogn Neurosci. 1987;19:342-368. https://doi.org/10.1016/0010-0285(87)90008-9. PMID:3608405
   PubMed Web of Science ®Google Scholar
• Bergmann Tiest WM. Tactual perception of material properties. Vision Res. 2010;50:2775-2782. https://doi.org/10.1016/j.visres.2010.10.005. PMID:20937297
   PubMed Web of Science ®Google Scholar
• Gueorguiev D, Bochereau S, Mouraux A, Hayward V, Thonnard J. Touch uses frictional cues to discriminate flat materials. Sci. Rep. 2016;6:25553. https://doi.org/10.1038/srep25553. PMID:27149921
   PubMed Web of Science ®Google Scholar
• Okamoto S, Nagano H, Ho H-N. Psychophysical dimensions of material perception and methods to specify textural space. In: Kajimoto H, Saga S, Konyo M, editors. Pervasive haptics. Tokyo, Japan: Springer; 2016. p. 3-20.
   Google Scholar
• Verrillo RT, Bolanowski SJ, Checkosky CM, McGlone FP. Effects of hydration on tactile sensation. Somatosens Mot Res. 1998;15:93-108. https://doi.org/10.1080/08990229870826. PMID:9730110
   PubMed Web of Science ®Google Scholar
• Havenith G, van de Linde EJG, Heus R. Pain, thermal sensation and cooling rates of hands while touching cold materials. Eur J Appl Physiol. 1992;65:43-51. https://doi.org/10.1007/BF01466273
   PubMed Web of Science ®Google Scholar
• Mills AF. Heat transfer. Upper Saddle River, NJ: Prentice Hall; 1999.
   Google Scholar
• Sarda A, Deterre R, Vergneault C. Heat perception measurements of the different parts found in a car passenger compartment. Measurement. 2004;35:65-75. https://doi.org/10.1016/j.measurement.2003.08.018
   Web of Science ®Google Scholar
• Pennes HH. Analysis of tissue and arterial blood temperatures in the resting forearm. J. Appl. Physiol. 1948;1:93-122. PMID:18887578
   PubMed Web of Science ®Google Scholar
• Wissler EH Pennes' 1948 paper revisited. J. Appl. Physiol. 1998;85(1):35-41. PMID:9655751
   PubMed Web of Science ®Google Scholar
• Ho H-N, Jones LA. Infrared thermal measurement system for evaluating model-based thermal displays. Proceedings of World Haptics Conference; 2007.
   Google Scholar
• Cohen ML. Measurement of the thermal proeprties of human skin, a review. J. Invest. Dermatol. 1977;69:333-338. https://doi.org/10.1111/1523-1747.ep12507965
   PubMed Web of Science ®Google Scholar
• Yovanovich MM. Thermal contact correlations. In: Horton TE, editor. Spacecraft radiative transfer and temperature control. New York: AIAA; 1982. p. 83-95.
   Google Scholar
• Maamir F, Guiatni M, Morsly Y, Kheddar A. Pso algorithm based thermal contact resistance estimation for variable force hand/object interaction. 22nd mediterranean conference on control and automation (med); 2014, Palermo, Italy.
   Google Scholar
• Saggin B, Tarabini M, Lanfranchi G. A device for the skin–contact thermal resistance measurement. IEEE Trans. Instrum. Meas. 2012;61(2):489-495. https://doi.org/10.1109/TIM.2011.2169179
   Web of Science ®Google Scholar
• Jones LA, Ho H-N. Warm or cool, large or small? The challenge of thermal displays. IEEE Trans Haptics. 2008;1(1):53-70. https://doi.org/10.1109/TOH.2008.2. PMID:27788084
   PubMed Web of Science ®Google Scholar
• Bergmann Tiest WM, Kappers AML. Tactile perception of thermal diffusivity. Atten Percept Psychophys. 2009;71(3):481-489. https://doi.org/10.3758/APP.71.3.481
   PubMed Web of Science ®Google Scholar
• Molnar GW Analysis of the rate of digital cooling. J. Physiol. (Paris). 1971;63:350-352. PMID:5121945
   PubMedGoogle Scholar
• Schneider AM, Holcombe BV. Properties influencing coolness to the touch of fabrics. Text. Res. J. 1991;61(8):488-494. https://doi.org/10.1177/004051759106100810
   Web of Science ®Google Scholar
• Newton I. A scale of the degrees of heat (english translation of scala graduum caloris; original work published 1701). In philosophical transactions and collections to the end of the year 1720 abridged and disposed under general heads. London: Royal Society; 1809. p. 572-575.
   Google Scholar
• Chen F, Nilsson H, Holmér I. Cooling responses of finger in contact with an aluminum surface. Am Ind Hyg Assoc J. 1994;55:218-222. https://doi.org/10.1080/15428119491019050. PMID:8184801
   PubMed Web of Science ®Google Scholar
• Chen F, Nilsson H, Holmer I. Cooling of fingerpad touching different material surfaces. Fifth International Conference on Environmental Ergonomics; 1992 November 2–6; Maastricht.
   Google Scholar
• Jay O, Havenith G. Skin cooling on contact with cold materials: The effect of blood flow during short-term exposures. Ann Occup Hyg. 2004;48(2):129-37. PMID:14990434
   PubMedGoogle Scholar
• Ho H-N. Influence of object geometry on skin temperature responses during hand-object interactions. EuroHaptics 2016 Proceedings; 2016; London, UK: Springer.
   Google Scholar
• Chen F, Nilsson H, Holmer I. Finger cooling by contact with cold aluminium surfaces – effects of pressure, mass and whole body thermal balance. Eur J Appl Physiol. 1994;69:55-60. https://doi.org/10.1007/BF00867928
   Web of Science ®Google Scholar
• Galie J, Ho H-N, Jones LA. Influence of contact conditions on thermal responses of the hand. Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; 2009 March 18–20; Salt Lake City, UT, USA.
   Google Scholar
• Ho H-N, Jones LA. Modeling the thermal responses of the skin surface during hand-object interactions. J Biomech Eng. 2008;130(2):21005-1-8. https://doi.org/10.1115/1.2899574
   Web of Science ®Google Scholar
• Mascaro SA, Asada HH. Photoplethysmograph fingernail sensors for measuring finger forces without haptic obstruction. IEEE Trans. Robot. Autom. 2001;17:698-708. https://doi.org/10.1109/70.964669
   Google Scholar
• Lienhard JHI, Lienhard JHV. A heat transfer textbook. Cambridge, MA: Phlogiston Press; 2003.
   Google Scholar
• Incropera FP, DeWitt DP. Fundamentals of heat and mass transfer. New York: Wiley; 1996.
   Google Scholar
• Ho H-N, Jones LA. Contribution of thermal cues to material discrimination and localization. Percept Psychophys. 2006;68:118-128. https://doi.org/10.3758/BF03193662
   PubMed Web of Science ®Google Scholar
• Yamamoto A, Cros B, Hasgimoto H, Higuchi T. Control of thermal tactile display based on prediction of contact temperature. Proceedings of the IEEE International Conference on Robotics and Automation; 2004.
   Google Scholar
• Yang G, Kyung K, Srinivasan MA, Kwon D. Quantitative tactile display device with pin-array type tactile feedback and thermal feedback. Proceedings of the IEEE International Conference on Robotics and Automation; 2006.
   Google Scholar
• Ho H-N, Jones LA. Development and evaluation of a thermal display for material identification and discrimination. ACM Trans Appl Percept. 2007;4(2):1-24. https://doi.org/10.1145/1265957.1265962
   Web of Science ®Google Scholar
• Ho H-N, Jones LA. Thermal model for hand-object interactions. Proceedings of the IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; 2006.
   Google Scholar
• Bergmann Tiest WM. An experimentally verified model of the perceived ‘coldness’ of objects. Proceedings of World Haptics Conference 2007; 2007.
   Google Scholar
• Yang G, Kwon D, Jones LA. Spatial acuity and summation on the hand: The role of thermal cues in material discrimination. Atten Percept Psychophys. 2009;71(1):156-163. https://doi.org/10.3758/APP.71.1.156
   PubMed Web of Science ®Google Scholar
• Yang G, Jones LA, Kwon D. Use of simulated thermal cues for material discrimination and identification with a multi-fingered display. Presence. 2008;17:29-42. https://doi.org/10.1162/pres.17.1.29
   Google Scholar
• Benali-Khoudja M, Hafez M, Alexandre JM, Benachour J, Kheddar A. Thermal feedback model for virtual reality. Proceedings of the International Symposium on Micromechatronics and Human Science; 2003.
   Google Scholar
• Bergamasco M, Alessi AA, Calcara M. Thermal feedback in virtual environments. Presence. 1997;6:617-629. https://doi.org/10.1162/pres.1997.6.6.617
   Google Scholar
• Kron A, Schmidt G. Multi-fingered tactile feedback from virtual and remote environments. Proceedings of the IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. 2003:16-23.
   Google Scholar
• Deml B, Mihalyi A, Hanning G. Development and experimental evaluation of a thermal display. Proceedings of 2006 EuroHaptics; 2006.
   Google Scholar
• Craig AD. Temperature sensation. In: Squire LR, editor, Encyclopedia of Neuroscience. Oxford: Academic Press; 2009. p. 903-907.
   Google Scholar
• Darian-Smith I. Thermal sensibility. In: Darian-Smith I, editor. Handbook of physiology: The nervous system. Bethesda, MD: American Physiological Society; 1984. p. 879-913.
   Google Scholar
• Brown AC. Somatic sensation: Peripheral aspects. In: Patton HD, editor. Textbook of physiology. Philadelphia: Saunders; 1989. p. 298-308.
   Google Scholar
• Spray DC. Cutaneous temperature receptors. Annu. Rev. Physiol. 1986;48:625-638. https://doi.org/10.1146/annurev.ph.48.030186.003205. PMID:3085583
   PubMed Web of Science ®Google Scholar
• Duclaux R, Kenshalo DR. Response characteristics of cutaneous warm receptors in the monkey. J. Neurophysiol. 1980;43(1):1-15. PMID:6766177
   PubMed Web of Science ®Google Scholar
• Kenshalo DR, Duclaux R. Response characteristics of cutaneous cold receptors in the monkey. J. Neurophysiol. 1977;40(2):319-332. PMID:403250
   PubMed Web of Science ®Google Scholar
• Kenshalo DR. Correlations of temperature sensitivity in man and monkey, a first approximation. In: Zotterman Y, editor. Sensory functions of the skin with special reference to man. Oxford: Pergamon Press; 1976. p. 305-330.
   Google Scholar
• Bowsher D. Representation of somatosensory modalities in pathways ascending from the spinal anterolateral funiculus to the thalamus demonstrated by lesions in man. Eur. Neurol. 2005;54:14-22. doi:10.1159/000086884. https://doi.org/10.1159/000086884. PMID:16015016
   PubMed Web of Science ®Google Scholar
• Mountcastle VB. Duality of function in the somatic efferent system. In: Brazier MAB, editor. Brain and behavior. Washington, DC: American Institute of Biological Science; 1961. p. 67.
   Google Scholar
• Mountcastle VB, Powell TPS. Neural mechanisms subserving cutaneous sensibility. Bulletin of the Johns Hopkins Hospital. 1959;105:201-232. PMID:14424738
   PubMedGoogle Scholar
• Craig AD, Chen K, Bandy D, Reiman EM. Thermosensory activation of insular cortex. Nat. Neurosci. 2000;3(2):184-190. https://doi.org/10.1038/72131. PMID:10649575
   PubMed Web of Science ®Google Scholar
• Hua LH, Strigo IA, Baxter LC, Johnson SC, Craig AD. Anteroposterior somatotopy of innocuous cooling activation focus in human dorsal posterior insular cortex. Am J Physiol Regul Integr Comp Physiol. 2005;289:319-325. doi:10.1152/ajpregu.00123.2005. https://doi.org/10.1152/ajpregu.00123.2005
   Web of Science ®Google Scholar
• Johnson KO, Darian-Smith I, LaMotte C. Peripheral neural determinants of temperature discrimination in man: A correlative study of responses to cooling skin. J. Neurophysiol. 1973;36:347-370.
   PubMed Web of Science ®Google Scholar
• Johnson KO, Darian-Smith I, LaMotte C, Johnson B, Oldfield S. Coding of incremental changes in skin temperature by a population of warm fibers in the monkey: Correlation with intensity discrimination in man. J. Neurophysiol. 1979;42:1332-1353. PMID:114610
   PubMed Web of Science ®Google Scholar
• Stevens JC, Choo KC. Temperature sensitivity of the body surface over the life span. Mot. Res. 1998;15:13-28. https://doi.org/10.1080/08990229870925
   PubMed Web of Science ®Google Scholar
• Stevens JC. Thermal sensibility. In: Heller MA, Schiff W, editors. The psychology of touch. Hillsdale, NJ: Lawrence Erlbaum; 1991. p. 61-90.
   Google Scholar
• Tritsch MK. The veridical perception of object temperature with varying skin temperature. Percept Psychophys. 1988;43:531-540. https://doi.org/10.3758/BF03207741
   PubMed Web of Science ®Google Scholar
• Cain WS. Spatial discrimination of cutaneous warmth. Am J Psychol. 1973;86:169-181. https://doi.org/10.2307/1421858. PMID:4742384
   PubMed Web of Science ®Google Scholar
• Marks LE, Stevens JC. Spatial summation of warmth: Influence of duration and configuration of the stimulus. Am J Psychol. 1973;86:251-267. https://doi.org/10.2307/1421436. PMID:4775377
   PubMed Web of Science ®Google Scholar
• Taus RH, Stevens JC, Marks LE. Spatial localization of warmth. Percept Psychophys. 1975;17:194-196. https://doi.org/10.3758/BF03203885
   Web of Science ®Google Scholar
• Stevens JC, Marks LE. Spatial summation of cold. Physiol. Behav. 1979;22:541-547. https://doi.org/10.1016/0031-9384(79)90023-4
   PubMed Web of Science ®Google Scholar
• Rozsa AJ, Kenshalo DR. Bilateral spatial summation of cooling of symmetrical sites. Percept Psychophys. 1977;21:455-462. https://doi.org/10.3758/BF03199502
   Web of Science ®Google Scholar
• Hardy JD, Oppel TW. Studies in temperature sensation. III. The sensitivity of the body to heat and the spatial summation of the end organ responses. J Clin Invest. 1937;16:533-540. https://doi.org/10.1172/JCI100879. PMID:16694500
   PubMedGoogle Scholar
• Green BG. Localization of thermal sensation: An illusion and synthetic heat. Percept Psychophys. 1977;22:331-337. https://doi.org/10.3758/BF03199698
   Web of Science ®Google Scholar
• Green BG. Referred thermal sensations: Warmth versus cold. Sens Processes. 1978;2:220-230. PMID:749203
   PubMedGoogle Scholar
• Ho H-N, Watanabe J, Ando H, Kashino M. Somatotopic or spatiotopic? Frame of reference for localizing thermal sensations under thermo-tactile interactions. Atten Percept Psychophys. 2010;72(6):1666-1675. https://doi.org/10.3758/APP.72.6.1666
   PubMed Web of Science ®Google Scholar
• Ho H-N, Watanabe J, Ando H, Kashino M. Mechanisms underlying referral of thermal sensations to sites of tactile stimulation. J Neurosci. 2011;31(1):208-213. https://doi.org/10.1523/JNEUROSCI.2640-10.2011. PMID:21209206
   PubMed Web of Science ®Google Scholar
• Winzen J, Albers F, Marggraf-Micheel C. The influence of coloured light in the aircraft cabin on passenger thermal comfort. Light Res Technol. 2014;46(4):465-475.
   Web of Science ®Google Scholar
• Berry PC. Effect of colored illumination upon perceived temperature. J. Appl. Psychol. 1961;45(4):248-250. https://doi.org/10.1037/h0040221
   Web of Science ®Google Scholar
• Ho H-N, Iwai D, Yoshikawa Y, Watanabe J, Nishida S. Combining colour and temperature: A blue object is more likely to be judged as warm than a red object. Sci Rep. 2014;4:5527.
   Web of Science ®Google Scholar
• Ho H-N, Iwai D, Yoshikawa Y, Watanabe J, Nishida S. Impact of hand and object colors on object temperature perception. Temperature. 2015;2(3):344-345. https://doi.org/10.1080/23328940.2015.1078926
   PubMedGoogle Scholar
• Sanchez-Vives MV. What feels warmer? A red skin versus a red object. Temperature. 2015;2(3):339-340. https://doi.org/10.1080/23328940.2015.1062074
   PubMedGoogle Scholar
• Bergmann Tiest WM, Kappers AML. Thermosensory reversal effect quantified. Acta Psychol. 2008;127:46-50.https://doi.org/10.1016/j.actpsy.2006.12.006. PMID:17306203
   PubMed Web of Science ®Google Scholar
• Dyck PJ, Curtis DJ, Bushek W, Offord K. Description of “minnesota thermal disks” and normal values of cutaneous thermal discrimination in man. Neurology. 1974;24:325-330. https://doi.org/10.1212/WNL.24.4.325. PMID:4361767
   PubMed Web of Science ®Google Scholar
• Jones LA, Berris M. The psychophysics of temperature perception and thermal-interface design. Proceedings of the 10th Symposium On Haptic Interfaces For Virtual Environment & Teleoperator Systems; 2002.
   Google Scholar
• Jones LA, Berris M. Material discrimination and thermal perception. Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; 2003.
   Google Scholar
• Lederman SJ, Klatzky RL. Relative availability of surface and object properties during early haptic Processing. J. Exp. Psychol.-Hum. Percept. Perform. 1997;23: 1680–1707.
   Google Scholar
• Plaisier MA, Kappers AML. Cold Objects Pop Out!. In: Kappers AML, van Erp JBF, Bergmann Tiest WM, van derHelm FCT, editors. Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science. Berlin, Heidelberg: Springer; 2010. p. 219–224.
   Google Scholar
• Ho H-N, Sato K, Kuroki S, Watanabe J, Maeno T, Nishida S. Physical-perceptual correspondence for dynamic thermal stimulation. IEEE Trans Haptics. 2017;10(1):84-93. https://doi.org/10.1109/TOH.2016.2583424. PMID:27483490
   PubMed Web of Science ®Google Scholar
• Ho H-N, Jones LA. Material identification using real and simulated thermal cues. Proceedings of 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society; 2004.
   Google Scholar
• Ino S, Shimizu S, Odagawa T, Sato M, Takahashi M, Izumi T, Ifukube T. A tactile display for presenting quality of materials by changing the temperature of skin surface. IEEE International Workshop on Robot and Human Communication; 1993.
   Google Scholar
• Caldwell DG, Gosney C. Enhanced tactile feedback (tele-taction) using a multi-functional sensory system. Proceedings of the IEEE International Conference on Robotics and Automation; 1993.
   Google Scholar
• Wandell BA. Foundations of vision. Sunderland, MA: Sinauer Associates; 1995.
   Google Scholar
• Sato K, Augmentation of thermal sensation on finger pad using stimuli for finger side. In: EuroHaptics 2016. London: Springer; 2016.
   Google Scholar
• Sato K, Maeno T. Presentation of Sudden Temperature Change Using Spatially Divided Warm and Cool Stimuli. In: Isokoski P, Springare J, editors. Haptics: Perception, Devices, Mobility, and Communication. EuroHaptics 2012. Lecture Notes in Computer Science. Berlin, Heidelberg: Springer; 2012. p.457-468.
   Google Scholar
• Lee MH, Nicholls HR. Tactile sensing for mechatronics–a state of the art survey. Mechatronics. 1999;9(1):1-31. https://doi.org/10.1016/S0957-4158(98)00045-2
   Web of Science ®Google Scholar
• Russell RA. A thermal sensor array to provide tactile feedback for robots. Int J Rob Res. 1985;4(3):35-39. https://doi.org/10.1177/027836498500400303
   Web of Science ®Google Scholar
• Monkman GJ, Taylor PM. Thermal tactile sensing. IEEE International Conference on Robotics and Automation. 1993. p. 313-318.
   Web of Science ®Google Scholar
• Siegel D, Garabieta I, Hollerbach JM. An integrated tactile and thermal sensor. IEEE International Conference on Robotics and Automation. 1986. p. 1286-1291.
   Google Scholar
• Lin CH, Erickson TW, Fishel JA, Wettels N, Loeb GE. Signal processing and fabrication of a biomimetic tactile sensor array with thermal, force and microvibration modalities. 2009 IEEE International Conference on Robotics and Biomimetics; 2009.
   Google Scholar
• Mittendorfer P, Cheng G. Humanoid multimodal tactile-sensing modules. IEEE Transactions on Robotics. 2011;27(3):401-410. https://doi.org/10.1109/TRO.2011.2106330
   Web of Science ®Google Scholar
• Yuji JI, Shida K. A new multifunctional tactile sensing technique by selective data processing. IEEE Trans Instrum Meas. 2000;49(5):1091-1094. https://doi.org/10.1109/19.872935
   Web of Science ®Google Scholar
• Takamuku S, Iwase T, Hosoda K. Robust material discrimination by a soft anthropomorphic finger with tactile and thermal sense. IEEE/RSJ International Conference on Intelligent Robots and Systems; 2008. p. 3977-3982.
   Google Scholar
• Engel J, Chen N, Tucker C, Liu C, Kim S, Jones D. Flexible multimodal tactile sensing system for object identification. IEEE Conference on Sensors; 2006. p. 563-566.
   Google Scholar
• Xu D, Loeb GE, Fishel JA. Tactile identification of objects using bayesian exploration. IEEE International Conference on Robotics and Automation; 2013. p. 2056-3061.
   Google Scholar
• Kerr E, McGinnity TM, Coleman S. Material classification based on thermal properties – a robot and human evaluation. IEEE International Conference on Robotics and Biomimetics; 2003. p. 1048-1053.
   Google Scholar
• Bhattacharjee T, Wade J, Kemp CC. Material recognition from heat transfer given varying initial conditions and short-duration contact. In: Robotics: Science and systems. Rome, Italy; 2015.
   Google Scholar