Hasti Seifi · Astrid M. L. Kappers · Oliver Schneider · Knut Drewing · Claudio Pacchierotti · Alireza Abbasimoshaei · Gijs Huisman · Thorsten A. Kern (Eds.) Haptics: Science, 5 3 Technology, 2 3 1 S Applications C N L 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022 Hamburg, Germany, May 22–25, 2022, Proceedings Lecture Notes in Computer Science 13235 Founding Editors Gerhard Goos Karlsruhe Institute of Technology, Karlsruhe, Germany Juris Hartmanis Cornell University, Ithaca, NY, USA Editorial Board Members Elisa Bertino Purdue University, West Lafayette, IN, USA Wen Gao Peking University, Beijing, China Bernhard Steffen TU Dortmund University, Dortmund, Germany Moti Yung Columbia University, New York, NY, USA More information about this series at https://link.springer.com/bookseries/558 fi Hasti Sei Astrid M. L. Kappers (cid:129) (cid:129) Oliver Schneider Knut Drewing (cid:129) (cid:129) Claudio Pacchierotti Alireza Abbasimoshaei (cid:129) (cid:129) Gijs Huisman Thorsten A. Kern (Eds.) (cid:129) Haptics: Science, Technology, Applications 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022 Hamburg, Germany, May 22–25, 2022 Proceedings 123 Editors Hasti Seifi Astrid M.L. Kappers University of Copenhagen Eindhoven University of Technology Copenhagen, Denmark Eindhoven,The Netherlands Oliver Schneider KnutDrewing University of Waterloo Justus-Liebig-University Waterloo, ON,Canada Giessen, Germany Claudio Pacchierotti Alireza Abbasimoshaei IRISA, Inria Rennes– Bretagne Atlantique Hamburg University of Technology Rennes,France Hamburg,Germany Gijs Huisman ThorstenA.Kern Delft University of Technology Hamburg University of Technology Delft, TheNetherlands Hamburg,Germany ISSN 0302-9743 ISSN 1611-3349 (electronic) Lecture Notesin Computer Science ISBN 978-3-031-06248-3 ISBN978-3-031-06249-0 (eBook) https://doi.org/10.1007/978-3-031-06249-0 ©TheEditor(s)(ifapplicable)andTheAuthor(s)2022.Thisbookisanopenaccesspublication. OpenAccessThisbookislicensedunderthetermsoftheCreativeCommonsAttribution4.0International License (http://creativecommons.org/licenses/by/4.0/), which permits use, sharing, adaptation, distribution andreproductioninanymediumorformat,aslongasyougiveappropriatecredittotheoriginalauthor(s)and thesource,providealinktotheCreativeCommonslicenseandindicateifchangesweremade. Theimagesorotherthirdpartymaterialinthisbookareincludedinthebook’sCreativeCommonslicense, unlessindicatedotherwiseinacreditlinetothematerial.Ifmaterialisnotincludedinthebook’sCreative Commonslicenseandyourintendeduseisnotpermittedbystatutoryregulationorexceedsthepermitteduse, youwillneedtoobtainpermissiondirectlyfromthecopyrightholder. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookare believedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictionalclaimsin publishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface Inthisvolume,youwillfindtheproceedingsoftheEuroHaptics2022conference,held duringMay22–24,2022,inHamburg,Germany.EuroHapticsisamajorinternational conference, organized every two years, that features the latest advances in haptics science, technology, and applications. This year’s proceedings are open access. We followtheexamplegivenbytheEuroHaptics2020teaminLeidenandhopethatfuture organizers will decide to do the same. Organizing a conference of this size and international impact is always special and unique, but our conference in particular faced many challenges due to the circum- stances. When Hamburg applied to host the event in 2020, we all assumed that the COVID-19pandemicwouldbeoverby2022.So,weoriginallyplannedoptimistically for an on-site conference with global participation. However, the virus proved to be more persistent than expected, so we had to plan three versions of the conference in parallel: an on-site conference, a hybrid conference, and a virtual conference. Fortu- nately, the situation stabilized such that, with some reassurance from the scientific community, we were able to decide on an on-site conference. However, just as deci- sions were being made, geopolitical challenges arose from Russia’s war in Ukraine. Since this scientific community is traditionally more interested in interaction than in exclusionandseparation,we again decided tokeepopen theopportunity for scientific cross-cultural exchanges. At the time of submitting this conference volume to pro- duction,morethan180participantshaveconfirmedtheirattendance,andaconference programhasbeendesignedwithmorethan140papersrangingfromoralpresentations and posters to numerous hands-on demonstrations. Morethan350(co-)authorssubmittedtheircontributionstotheconference.Inthese uncertaintimesandafteralmosttwoyearsoftheCOVID-19pandemic,thelongpaper category was comparatively small, with 65 papers, 36 of which were accepted for publication, yielding an acceptance rate of 55%. Impressively, 62 Work-In-Progress (WIP) short papers were submitted, of which 51 were accepted for inclusion in the conference, yielding an acceptance rate of 82%. In addition, we received 39 submis- sions for hands-on demonstrations and several industry exhibitors at the conference. We are excited to see how our scientific communication will evolve in the coming years, what will remain and what will revert to earlier times. The entire evaluation and peer review process could not have been accomplished without the enthusiastic help of our haptics research community. In addition to the editorial board, 39 associate editors and 140 reviewers invested their time to provide valuable input to the organizers and authors. We are grateful for everyone’s help, especially with so many things happening around us. Haptics research is a growing community. There is no conference or journal on robotics, actuators, psychology, neurology, or human-computer interaction without at leastafewpapersrelatedtoourresearcharea.Thisproliferationcanbeseenasathreat togeneralhapticsconferences.However,weseeitasanopportunity,sincethereareno vi Preface conferences like EuroHaptics where technology, psychology, neuroscience, and applications coexist on an equal footing in a single-track event that promotes true interdisciplinary exchange. We are grateful to have been able to contribute to the progress of this community with a great team of editors and reviewers. April 2022 Thorsten A. Kern Hasti Seifi Astrid M. L. Kappers Oliver Schneider Knut Drewing Claudio Pacchierotti Alireza Abbasimoshaei Gijs Huisman Organization General Chair Thorsten A. Kern Hamburg University of Technology, Germany Program Chairs Hasti Seifi University of Copenhagen, Denmark Astrid M. L. Kappers EindhovenUniversityofTechnology,TheNetherlands Conference Editorial Board Oliver Schneider University of Waterloo, Canada Knut Drewing Justus Liebig University Giessen, Germany Claudio Pacchierotti CNRS, France Alireza Abbasimoshaei Hamburg University of Technology, Germany Publication Chair Fady Youssef Hamburg University of Technology, Germany Work-In-Progress Chair Gijs Huisman Delft University of Technology, The Netherlands Workshop Chair Ilana Nisky Ben Gurion University of the Negev, Israel Demo Chair William Frier Ultraleap, UK Awards Committee Chair Jan van Erp University of Twente, The Netherlands Local Chairs Frank Steinicke University of Hamburg, Germany Dennis Kähler Hamburg University of Technology, Germany viii Organization Student-Volunteer Chairs Femke van Beek EindhovenUniversityofTechnology,TheNetherlands Sabrina Panëels University of Kent, UK Communication Chairs Jana Ihrens Hamburg University of Technology, Germany Timon Hartwich Hamburg University of Technology, Germany Sravan Shelam Hamburg University of Technology, Germany Industry and Sponsorship Chairs Julius Harms Hamburg University of Technology, Germany Elisa Santella Grewus, Germany Registration and Finance Janick Lokocz Hamburg University of Technology, Germany Petra Schlegel Hamburg University of Technology, Germany Associate Editors Yuki Ban University of Tokyo, Japan Cagatay Basdogan Koc University, Turkey Matteo Bianchi University of Pisa, Italy Mike Chen National Taiwan University, Taiwan Ildar Farkhatdinov Queen Mary University of London, UK Francesco Ferrise Politecnico di Milano, Italy William Frier University of Sussex, UK Greg Gerling University of Virginia, USA David Gueorguiev Sorbonne University, France Matthias Harders University of Innsbruck, Austria Keyvan Hastrudi-Zaad University of British Columbia, Canada Ali Israr Purdue University, USA Seokhee Jeon Kyung Hee University, South Korea Hiroyuki Kajimoto University of Electro-Communications, Japan Ayse Kucukyilmaz University of Nottingham, UK Yoshihiro Kuroda University of Tsukuba, Japan Scinob Kuroki NTT Communication Science Laboratories, Japan Vincent Levesque McGill University, Canada Pedro Lopes University of Chicago, USA Monica Malvezzi University of Siena, Italy Anna Metzger Justus-Liebig-Universität Gießen, Germany Kouta Minamizawa Keio University, Japan Alessandro Moscatelli University of Rome Tor Vergata, Italy Organization ix Shogo Okamoto Nagoya Institute of Technology, Japan Melisa Orta Martinez Carnegie Mellon University, USA Hannes P. Saal University of Sheffield, UK Sabrina Panëels University of Kent, UK Gunhyuk Park Gwangju Institute of Science and Technology, South Korea Evren Samur Boğaziçi University, Turkey Jeroen Smeets Vrije University Amsterdam, The Netherlands Massimiliano Solazzi InstituteofCommunicationInformationandPerception Technologies, Italy Eckehard Steinbach Technical University of Munich, Germany Yoshihiro Tanaka Nagoya Institute of Technology, Japan Jean-Louis Thonnard University of Louvain, Belgium Yasemin Vardar Delft University of Technology, The Netherlands Dangxiao Wang Beihang University, China Mounia Ziat Northern Michigan University, USA Femke van Beek EindhovenUniversityofTechnology,TheNetherlands Jan van Erp University of Twente, The Netherlands Reviewers Yusuf Aydin Massimiliano Di Luca Arsen Abdulali Catherine Dowell Rochelle Ackerley Mihai Dragusanu Mehmet Ayyildiz Knut Drewing Hector Barreiro Basil Duvernoy Edoardo Battaglia Jonathan Eden Alexis Block Mohamad Eid Rebecca Boehme Sonia Elizondo Jonathan Browder Sara Falcone Rachael Burns Simone Fani Antonio Cataldo Shane Forbrigger Nathalia Cespedes Euan Freeman Francesco Chinello Rebecca Friesen Seungmoon Choi Bruno Fruchard Giorgos Christopoulos Gregory Gerling Simone Ciotti Kaj Gijsbertse Ed Colgate Frederic Giraud Giulia Corniani Lili Golmohammadi Luke Cox David Gueorguiev Heather Culbertson Taku Hachisu Nicole D’Aurizio Reza Haghighi Osgouei Thomas Daunizeau Amy Kyungwon Han Yuri De Pra Jess Hartcher-O’Brien Jonathan Delafield-Butt Waseem Hassan Benoit Delhaye Alice Haynes