Research · Theme

Haptics & Human–Robot Interaction

Giving operators a sense of robotic touch — on the fingertip, the palm, and beyond.

When operators control robots remotely, they lose the forces of interaction with the environment, which degrades performance. We develop wearable and world-grounded haptic devices that render kinesthetic and tactile cues, and study how device design shapes operator performance across teleoperation, skill training, and mixed-reality interfaces.

Our HaptLinX haptic-enabled mixed-reality framework for fine telemanipulation training was presented at the 43rd Annual Conference of the Robotics Society of Japan (RSJ 2025). View the paper →

Projects

Wearable fingertip & palmar devices

Electrotactile and squeeze-based feedback designs evaluated for perception and performance.

wearableelectrotactile

HaptLinX — MR training glove

A vibrotactile haptic glove and mixed-reality framework for precision-task training.

mixed realitytraining

Haptics for safety-critical teleoperation

Applying kinesthetic feedback to surgical robots and space teleoperation systems, comparing wearable vs. world-grounded rendering for fine telemanipulation and berthing.

surgical robotsspace teleoperationtelemanipulation

Publications in Haptics & Human–Robot Interaction

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2026
1
Vehicle-Embedded Vibrotactile Haptic Feedback for Improved Driving Safety in Power Wheelchairs Journal
S. Phamornsuwana, S. Nisar
IEEE Transactions on Neural Systems and Rehabilitation Engineering
DOI
2
3
Wearable vs. World-Grounded Haptics for Space Teleoperation: A VR-Based Comparative Analysis of Kinesthetic Feedback for Fine Telemanipulation
K. H. Joshi, R. M. Suarez Flores, M. A. Zahid, S. Nisar
31st Int. Symposium on Artificial Life and Robotics (AROB 2026)
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2025
4
Design of an Electromagnetically Modulated Resistance Mechanism to Realize Compact Passive Force-Feedback Wearable Devices
R. M. Suarez Flores, K. K. C., S. Nisar
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2025, pp. 13949–13954
DOI
5
Developing a Haptic-Enabled Mixed-Reality System for Fine Robotic Telemanipulation Training
M. A. Zahid, R. M. Suarez Flores, K. K. C., A. Majumder, K. Meitani, S. Nisar
Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025)
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6
Comparative Analysis of Haptic Feedback in VR-Based Spacecraft Berthing Procedures Using a World-Grounded Device
K. H. Joshi, K. Coleman, S. Nisar
Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025)
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7
HaptLinX: Mixed-Reality Framework for Precision-Task Training Utilizing a Vibrotactile Haptic Glove Poster
K. K. C., R. M. Suarez Flores, A. Majumder, K. Meitani, M. A. Zahid, S. Nisar
IEEE World Haptics Conference (WHC) 2025 — Poster
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8
Design and Evaluation of a Non-Adhesive Wearable Electrotactile Haptic Device for the Palmar Hand Region
K. K. Karan, S. Nisar
11th Int. Conf. on Control, Automation and Robotics (ICCAR) 2025, pp. 322–327
DOI
9
Training Core Muscle Endurance With Vibrotactile Haptic Feedback
N. N. Ranadive, C. W. McGregor, S. Nisar
30th Int. Symposium on Artificial Life and Robotics (AROB) 2025
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10
Realization of an Auto-Calibrating Squeeze Haptic Feedback Device for Supernumerary Robotic Fingers
C. W. McGregor, J. Char, F. Haque, S. Nisar
30th Int. Symposium on Artificial Life and Robotics (AROB) 2025
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11
Realization of a Supernumerary Robotic Finger for Grasping and Its Evaluation with Vibrotactile and Squeeze Haptic Feedback
F. Haque, J. Char, C. W. McGregor, S. Nisar
30th Int. Symposium on Artificial Life and Robotics (AROB) 2025
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12
Design and Evaluation of a Wearable Electromagnetic Tendon-Driven Module for Kinesthetic Haptic Feedback
R. M. Suarez Flores, Karan K. C., S. Nisar
30th Int. Symposium on Artificial Life and Robotics (AROB) 2025
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13
Evaluation of Haptic Feedback Modalities for Enhanced Locomotor Stability in Lower-Limb Prosthetic Training
P. Suriyasomboon, A. Majumder, R. M. Suarez Flores, S. Nisar
30th Int. Symposium on Artificial Life and Robotics (AROB) 2025
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2024
14
Design and Development of a Bio-Inspired Lower-Limb Prosthesis with Real-Time Haptic Feedback
P. Suriyasomboon, R. M. Suarez Flores, S. Nisar
Int. Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM) 2024 — Best Paper Award
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15
World-Grounded vs. Wearable: A Comparative Analysis of Kinesthetic Haptic Feedback Devices for Fine Telemanipulation Tasks in Virtual Reality
K. M. Swami, K. Hosotani, F. Shabani, S. Nisar
29th Int. Symposium on Artificial Life and Robotics (AROB) 2024
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16
Effects of Polarity and Signal Type on Electro-Tactile Feedback from Palmar Mechanoreceptors in Human Hand
Karan K. C., S. Nisar
42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024
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17
Studying Vehicle-Based Vibrotactile Haptic Feedback for Collision Avoidance on a Power Wheelchair
S. Phamornsuwana, S. Nisar
42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024
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2023
18
Assisted-Wheelchair Navigation Using Haptic Assistance
S. Phamornsuwana, S. Nisar
28th Int. Symposium on Artificial Life and Robotics (AROB) 2023
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2022
19
Human-Centered Design of a Wearable Kinesthetic Haptic Device for Surgical Teleoperation Journal
F. Shabani, S. Nisar, F. Matsuno
Artificial Life and Robotics, vol. 28, no. 1, pp. 253–263
DOI
2021
20
Haptic vs. Visual Neurofeedback for Brain Training: A Proof-of-Concept Study Journal
F. Shabani, S. Nisar, H. Philamore, F. Matsuno
IEEE Transactions on Haptics, vol. 14, no. 2, pp. 297–302
DOI
21
2020
22
Design of a Wearable Hand-Grounded Kinesthetic Haptic Device for Multi-Directional Force Display
K. Hosotani, S. Nisar, T. Endo, F. Matsuno
IEEE Haptics Symposium 2020
2019
23
Fingertip Force Learning with Enhanced Haptic Sensation Using Stochastic Resonance
K. Chamnongthai, T. Endo, S. Nisar, F. Matsuno, K. Fujimoto, M. Kosaka
IEEE World Haptics Conference (WHC) 2019, pp. 539–544
DOI
24
Effects of Different Hand-Grounding Locations on User Performance with a Wearable Kinesthetic Haptic Device Journal
S. Nisar, M. O. Martinez, T. Endo, F. Matsuno, A. M. Okamura
IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 351–358 · Presented at IEEE ICRA 2019
DOI
25
Neuro-Hapband: A Portable Haptic Solution for Neurofeedback Therapy
F. Shabani, S. Nisar, H. Philamore, F. Matsuno
IEEE World Haptics Conference (WHC) 2019 — Work-in-Progress
2018
26
Design of a Wearable Kinesthetic Feedback Device to Study the Effects of Different Hand-Grounding Locations on User Performance
S. Nisar, T. Endo, F. Matsuno, A. M. Okamura
IEEE Haptics Symposium 2018 — Work-in-Progress
2015
27
Design and Control of a Haptic Enabled Robotic Manipulator Journal
M. Yaqoob, S. R. Qaisrani, M. Waqas, Y. Ayaz, S. Iqbal, S. Nisar
International Journal of Advanced Robotic Systems, vol. 12, 109
DOI

Other research themes

Medical & Surgical Robotics

Robots that bring the surgeon and patient closer together — safer, more reliable, and more accessible.

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Soft Manipulators & Actuators

Compliant, adaptive mechanisms for safe and versatile manipulation.

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AI-Powered & Assistive Robotics

Human-centered systems for mobility, rehabilitation, and everyday autonomy.

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Interested in haptics & human–robot interaction?

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