Web keyword search. Google it... this is the single most effective mechanism to discover past work from all possible sources (commercial, academic) on a specific subject, with the usual noise. Be creative about your keywords, and try as many variations as you can think of.

Compilations of IMECE Symposium on Haptic Interfaces. Proceedings from 1992-1998 are on reserve. Good for browsing, both for hardware design and psychophysics references.

ACM Digital Library The Association for Computing Machinery sponsors major user-interface conferences such as CHI, SIGGRAPH, UIST, DIS, IUI; and journals such as ACM Transactions on Computer-Human Interaction. While not focussed on haptics, there is a great deal of relevant material here, and searchable by keyword.

Bibliographies of papers you locate elsewhere (e.g. in this list).

[Brooks 1990] F. Brooks, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick, “Project GROPE -- haptic displays for scientific visualization,” Computer Graphics, vol. 24:4, pp. 177-185, 1990, RDR.

[MacKenzie 1995] I. S. MacKenzie, “Input devices and interaction techniques for advanced computing.,” Virtual environments and advanced interface design, pp. 437-470, 1995, URL.

[Massie 1994] T. H. Massie and J. K. Salisbury, “The PHANToM haptic interface: a device for probing virtual objects,” in Proc. of the Third Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME/IMECE, 1994, PDF -- early description of first commercial haptic device

[Srinivasan 1999] M. A. Srinivasan, C. Basdogan, and C. H. Ho, “Haptic Interactions in Virtual Worlds: Progress and Prospects,” in Proc. of Proceedings of the International Conference on Smart Materials, Structures, and Systems, Bangalore, India, 1999, PDF.

[Gaver 1996] W. Gaver, “Affordances for interaction: The social is material for design,” Ecological Psychology, vol. 8:2, pp. 112-129, 1996, PDF.

[MacLean 2000] K. E. MacLean, “Designing with Haptic Feedback,” in Proc. of IEEE Robotics and Automation (ICRA'2000), San Francisco, CA, 2000, PDF.

R. Parasuraman, T. B. Sheridan, and C. D. Wickens, “A Model for Types and Levels of Human Interaction with Automation,” IEEE Trans. on Systems, Man & Cybernetics Part A: Systems & Humans, vol. 30:3, pp. 286-297, 2000.

[Patkin 1997] M. Patkin, “A checklist for handle design,” Ergonomics Australia On-Line (EAOL), vol. 11:2, http://www.uq.edu.au/eaol/apr97/handle.html, 1985, 1997.

[Rosenberg 1993] L. B. Rosenberg, “The use of Virtual Fixtures to enhance telemanipulation with time delay,” in Proc. of Advances in Robotics, Mechatronics, and Haptic Interfaces, ASME, DSC-Vol. 49, 1993.

[Haans 2006] A. Haans, W. IJsselsteijn, "Mediated social touch: a review of current research and future directions," Virtual Reality, vol. 9:2-3, pp. 149-159, (March) 2006.

[Chu 1996] L. Chu, "Haptics in computer music," in Proc. of International Computer Music Conference, pp. 57-58, 1996. -- requirements for computer music interfaces

[Chu 1999] L. Chu, "MusiCloth: a design methodology for the development of a performance interface," in Proc. of International Computer Music Conference, pp. 449-452, 1999.

[Wensveen 2000] S. Wensveen, K. Overbeeke, and T. Djajadiningrat, “Touch me, hit me and I know how you feel: a design approach to emotionally rich interaction,” in Proc. of ACM Conference on Designing Interactive Systems, Brooklyn, NY, pp. 48-52, 2000, PDF.

[Fogg 1998] B. Fogg, L. D. Cutler, P. Arnold, and C. Eisbach, “HandJive: A device for interpersonal haptic entertainment,” in Proc. of Conference proceedings on Human Factors in Computing Systems, pp. 57-64, 1998.

Examples of Affective Controllers:

[Anderson 1999a] L. Anderson, Review: Songs and Stories from Moby Dick. 1999, The City Review.

[Anderson 1999b] L. Anderson, Pictures: Songs and Stories from Moby Dick. 1999, laurieanderson.com.

[Menzies 2000] D. Menzies, The CyberWhistle. 2000.

[Burdea 1996] G. Burdea, Force and Touch Feedback for Virtual Reality: John Wiley & Sons, 1996, RES (Ch. 3: Actuators)

[Busch-Vishniac 1999] I. J. Busch-Vishniac, Electromechanical Sensors and Actuators. New York: Springer-Verlag, 1999, RES. -- how a whole lot of sensors and actuators work. lots on piezos.

J. Craig, Introduction to Robotics: Mechanics and Control: Addison-Wesley, 1989.

[Hinckley 1999] K. Hinckley and M. Sinclair, “Touch-Sensing Input Devices,” in Proc. of ACM CHI'99 Conference on Human Factors in Computing Systems, pp. 223-230, 1999, PDF.

[Igoe 1999] T. Igoe, ITP Physical Computing Course. 1999, Interactive Telecommunications Program, New York University, URL. -- excellent mechatronic fabrication page.

[Immersion 1999] Immersion, “Impulse Engine 2000 Software Development Kit,”, San Jose, CA 1999, PDF.

[O'Sullivan 1998] D. O'Sullivan, Physical computing: - A Hands On How To Guide for Artists. 1998, Interactive Telecommunications Program, New York University, URL. -- excellent mechatronic fabrication page.

[Tan 1994] H. Z. Tan, M. A. Srinivasan, B. Eberman, and B. Cheng, “Human Factors for the Design of Force-Reflecting Haptic Interfaces,” in Proc. of the 3rd Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME/IMECE, Chicago, IL, DSC:55-1, 1994, PDF.

[Burdea 1996a] G. Burdea, Force and Touch Feedback for Virtual Reality: John Wiley & Sons, 1996, RES (Ch. 6: Tactile Feedback Interfaces)

D. G. Caldwell, N. Tsagarakis, and A. Wardle, “Mechano Thermo and Proprioceptor Feedback for Integrated Haptic Feedback,” in Proc. of IEEE Int'l Conf. on Robotics and Automation (ICRA), Albuquerque, NM, 1997.

[Kontarinis 1995a] D. A. Kontarinis and R. D. Howe, “Tactile display of vibratory information in teleoperation and virtual environments,” Presence, vol. 4, pp. 387-402, 1995.

[Berkelman 1999] Berkelman, P. J., Hollis, R. L., and Baraff, D., "Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device," in Proc. of IEEE Int'l Conf. on Robotics & Automation, Detroit, MI, 1999.

[Choi 2000] S. Choi and H. Z. Tan, “A parameter space for perceptually stable haptic texture rendering,” in Proc. of Fifth PHANToM Users Groups Workshop, Aspen, CO, 2000.

[Gillespie 1996] B. Gillespie and M. Cutkosky, “Stable user-specific haptic rendering of the virtual wall,” in Proc. of Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 58, pp. 397-406, 1996, PDF.

[Hollerbach 2000] J. M. Hollerbach and D. E. Johnson, “Virtual Environment Rendering,” in to appear in Human and Machine Haptics: MIT Press, 2000.

[Laszlo 2000] Laszlo, J. F., Panne, M. v. d., and Fiume, E., "Interactive Control For Physically-Based Animation," in Proc. of SIGGRAPH, pp. 201-208, 2000.

[Morgenbesser 1996] H. B. Morganbesser and M. A. Srinivasan, “Force shading for shape perception in haptic virtual environments,” in Proc. of the 5th Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME/IMECE, Atlanta, GA, DSC:58, 1996.

[O.Khatib 2001] O.Khatib, O.Brock, et al., ?Human-Centered Robotics and Interactive Haptic Simulation,? in Proc. of submitted to ISRR International Symposium of Robotics Research, 2001.

[Popescu 1998]Popescu, V. and Burdea, G., "Dextrous Haptic Interface for Jack," in Proc. of ASME WAM, 7th Ann. Symp. on Haptic Interfaces for Virtual Environments, Anaheim CA, DSC Vol. 64, pp. 189-194, 1998.

[Ruspini 2000]Ruspini, D. and Khatib, O., "A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display," IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems,:, 2000.

[Troy 2000]Troy, J. J., "Haptic Control of a Simplified Human Model with Multibody Dynamics," in Proc. of Fifth Phantom User's Group Workshop (PUG '00), 2000.

[Zilles 1995] C. B. Zilles and J. K. Salisbury, “A Constraint-based God-Object Method for Haptic Display,” in Proc. of IEEE Conference on Intelligent Robots and Systems (IROS '95), 1995, PDF.

[Baraff 1997] D. Baraff, “An introduction to physically based modeling: Rigid body simulation I – Unconstrained rigid body dynamics,” in An Introduction to Physically Based Modeling, SIGGRAPH'97 Course Note, 1997, PDF. -- thorough background on rigid-body simulation for haptic rendering

[Gillespie 1994] B. Gillespie, “The Virtual Piano Action: Design and Implementation,” in Proc. of Int'l Computer Music Conf., Auhus, Denmark, pp. 167-170, 1994, PDF.

[Cohen 1999] J. Cohen, M. Withgott, and P. Piernot, “Logjam: a tangible multi-person interface for video logging,” in Proc. of the Conference on Human Factors in Computing Systems (CHI '99), Pittsburgh, PA, 1999.

[Fitzmaurice 1995] G. Fitzmaurice, H. Ishii, and W. Buxton, “Bricks: laying the foundations for graspable user interfaces,” in Proc. of Conference on Human Factors in Computing Systems (CHI '95), Denver, CO, pp. 442-449, 1995.

[Gorbet 1998] M. G. Gorbet, M. Orth, and H. Ishii, “Triangles: Tangible Interface for Manipulation and Exploration of Digital Information Topography,” in Proc. of the Conference on Human Factors in Computing Systems (CHI '98), Los Angeles, CA, pp. 49-56, 1998.

[Ishii 1997] [html] H. Ishii and B. Ullmer, “Tangible Bits: Towards Seamless Interfaces between People, Bits and Atoms,” in Proc. of The Conference on Human Factors in Computing Systems (CHI '97), Atlanta, GA, pp. 234-341, 1997.

[Maclean 2000b] K. E. MacLean, S. S. Snibbe, and G. Levin, “Tagged Handles: Merging Discrete and Continuous Control,” in Proc. of the Conference on Human Factors in Computing Systems (CHI '2000), The Hague, Netherlands, 2000.

[Rekimoto 2000] J. Rekimoto and E. Sciammarella, “ToolStone: Effective Use of the Physical Manipulation Vocabularies of Input Devices,” in Proc. of UIST 2000, San Diego, CA, pp. 109-117, 2000.

[Ullmer 1998] B. Ullmer, H. Ishii, and D. Glass, “mediaBlocks: Physical Containers, Transports, and Controls for Online Media,” in Proc. of Siggraph '98, 1998.

Definitions and References for Psychophysics

[Chudler 2001] E. H. Chudler, “Neuroscience for Kids", http://faculty.washington.edu/chudler/neurok.html, 2001.

[Ernst 2002] Ernst, M. O. and Banks, M. S., "Humans Integrate Visual and
Haptic Information in a Statistically Optimal Fashion,"
Nature, vol. 415, pp. 429-433, 2002.

[Gescheider 1985] G. Gescheider, Psychophysics: Method, Theory and Application, 2nd ed. Hillsdale, NJ: Lawrence Erlbaum Associates, 1985.

[Hillis 2002] Hillis, J. M., Ernst, M. O., Banks, M. S., and Landy, M. S.,
"Combining Sensory Information: Mandatory Fusion Within, but
Not Between, Senses," Science, vol. 298, pp. 1627-1630, 2002.
http://www.kyb.tuebingen.mpg.de/publication.html?publ=1631.

[ISP] International Society for Psychophysics - Definition

E. R. Kandel, J. H. Schwartz, and T. M. Jessell, “Principles of neural science,” 4th ed. New York: McGraw-Hill, 2000.

[Lederman 1996a] S. J. Lederman, “An Introduction to Human Psychophysics,” in The Haptics Community Web Page: Northwestern University, 1996.

[Shimojo 2002] Shimojo, S. and Shams, L., "Sensory modalities are not separate modalities: plasticity and interactions," Current Opinion in Neurobiology, vol. 11, pp. 505-509, 2002.

[Watanabe 2001] Watanabe, K., Crossmodal Interaction in Humans, Thesis,
California Institute of Technology, 2001.

Representative Studies

[Auer 1998] E. T. Auer, Jr., L. E. Bernstein, and D. C. Coulter, “Sensory substitution to enhance language comprehension by deaf people: Acoustic-to-tactile transformations of fundamental frequency,” Journal of the Acoustical Society of America, vol. 104, http://www.hei.org/htm/bernbio.htm, pp. 2477-2489, 1998.

[DiFranco 1997] D. E. DiFranco, G. L. Beauregard, and M. A. Srinivasan, “The effect of auditory cues on the haptic perception of stiffness in virtual environments,” in Proc. of the 6th Ann. Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, ASME/IMECE, DSC-Vol. 61, pp. 17-22, 1997.

[Lederman 1996b] S. J. Lederman and R. L. Klatzky, “Action for perception: Manual exploratory movements for haptically processing objects and their features,” in Hand and Brain: Neurphysiology and Psychology of Hand, A. Wing, P. Haggard, and R. Flanagan, Eds. San Diego: Academic Press, 1996, pp. 431-446.

[Moy 2000] G. Moy, U. Singh, E. Tan, and R. S. Fearing, “Human Psychophysics for Teletaction System Design,” Haptics-e, vol. 1:3, http://www.haptics-e.org, pp. 1-20, 2000.

[Rinker 1998] M. A. Rinker, J. C. Craig, and L. E. Bernstein, “Frequency and amplitude discrimination of haptic stimuli,” Journal of the Acoustical Society of America, vol. 104, pp. 453-463, 1998.

[Srinivasan 1996] M. A. Srinivasan, G. L. Beauregard, and D. Brock, “The Impact of Visual Information on the Haptic Perception of Stiffness in Virtual Environments,” in Proc. of the 5th Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IMECE, Atlanta, GA, DSC:58, 1996.

[Tan 2000] H. Z. Tan, A. Lim, and R. Traylor, “A psychophysical study of sensory saltation with an open response paradigm,” in Proc. of Symposium on Haptic Interfaces & Teleoperator Systems (ASME/IMECE), Orlando, FL, DSC-69, 2000.

[Wu 1999] W.-C. Wu, C. Basdogan, and M. A. Srinivasan, “Visual, Haptic and Bimodal Perception of Size and Stiffness in Virtual Environments,” in Proc. of the 8th Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME/IMECE, Nashville, TN, DSC:67, pp. 19-26, 1999.

[Zhai 96] S. Zhai, P. Milgram, and W. Buxton, “The Influence of Muscle Groups on Performance of Multiple Degree-of-Freedom Input,” in Proc. of SIGCHI96, pp. 308-315, 1996.

References

[Box 1978] G. Box, W. Hunter, and J. Hunter, Statistics for Experimenters. New York, NY: John Wiley & Sons, 1978.

[Montgomery 1991] D. Montgomery, Design and Analysis of Experiments, vol. 3rd. New York, NY: John Wiley & Sons, 1991.

[Statsoft 1999] StatSoft, Inc. (1999). Electronic Statistics Textbook. Tulsa, OK: Statsoft. http://www.statsoft.com/textbook/stathome.html. Online; includes statistics tables.

Methods

[Accot 1997] J. Accot and S. Zhai, “Beyond Fitt's Law: Models for Trajectory-Based HCI Tasks,” in Proc. of Proc. CHI'97, Pittsburgh, PA, pp. 295-302, 1997.

[MacKenzie 1995] I. S. MacKenzie, “Movement Time Prediction in Human-Computer Interfaces,” in Readings in Human-Computer Interaction, R. M. Baecker, W. A. S. Buxton, J. Grudin, and S. Greenberg, Eds., 2nd ed. Los Altos, CA: Kaufmann, 1995, pp. 483-493.

Examples

[Accot 1999] J. Accot and S. Zhai, “Performance Evaluation of Input Devices in Trajectory-based Tasks: An Application of Steering Law,” in Proc. of Proc. CHI'99, Pittsburgh, PA, pp. 466-472, 1999.

[Auer 1998] E. T. Auer, Jr., L. E. Bernstein, and D. C. Coulter, “Sensory substitution to enhance language comprehension by deaf people: Acoustic-to-tactile transformations of fundamental frequency,” Journal of the Acoustical Society of America, vol. 104, http://www.hei.org/htm/bernbio.htm, pp. 2477-2489, 1998.

[Dennerlein 2000] J. T. Dennerlein, D. Martin, and C. J. Hasser, “Force-Feedback Improves Performance For Steering And Combined Steering-Targeting Tasks,” in Proc. of the Conference on Human Factors in Computing Systems (CHI '2000), The Hague, Netherlands, 2000.

[DiFranco 1997] D. E. DiFranco, G. L. Beauregard, and M. A. Srinivasan, “The effect of auditory cues on the haptic perception of stiffness in virtual environments,” in Proc. of the 6th Ann. Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, ASME/IMECE, DSC-Vol. 61, pp. 17-22, 1997.

[Wu 1999] W.-C. Wu, C. Basdogan, and M. A. Srinivasan, “Visual, Haptic and Bimodal Perception of Size and Stiffness in Virtual Environments,” in Proc. of the 8th Ann. Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME/IMECE, Nashville, TN, DSC:67, pp. 19-26, 1999.

[Zhai 96] S. Zhai, P. Milgram, and W. Buxton, “The Influence of Muscle Groups on Performance of Multiple Degree-of-Freedom Input,” in Proc. of SIGCHI96, pp. 308-315, 1996.