{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/138561"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/138561","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"From Waves to Touch: Advancing Ultrasound Haptics through Novel Modulation","abstract":"Ultrasound-based mid-air contactless haptics have been an increasingly popular area of development in the past decade for their highly valuable applications in VR environments, automobile safety systems, surgical training environments, and public displays. While currently applied modulation techniques such as amplitude- and spatiotemporal-modulation (AM and STM) can elicit sensations in the human skin for 2D shapes, there is still much to be desired in terms of spatial precision for high-speed scanning points. Specifically, when points are scanned across the human palm at speeds greater than the shear speed of sound, a trailing Mach cone is produced behind the focal point, leading to poor localization and inaccurate shape perception. In this work, time-domain acoustic simulations of an approximate elastic skin model are used to i) characterize a pre-existing modulation technique termed AM-STM and display its increased localization capabilities in comparison to the other preexisting methods, and ii) introduce and define a new modulation technique termed SM-STM which has displayed further increased localization and improved perception.","abstract_html":"Ultrasound-based mid-air contactless haptics have been an increasingly popular area of development in the past decade for their highly valuable applications in VR environments, automobile safety systems, surgical training environments, and public displays. While currently applied modulation techniques such as amplitude- and spatiotemporal-modulation (AM and STM) can elicit sensations in the human skin for 2D shapes, there is still much to be desired in terms of spatial precision for high-speed scanning points. Specifically, when points are scanned across the human palm at speeds greater than the shear speed of sound, a trailing Mach cone is produced behind the focal point, leading to poor localization and inaccurate shape perception. In this work, time-domain acoustic simulations of an approximate elastic skin model are used to i) characterize a pre-existing modulation technique termed AM-STM and display its increased localization capabilities in comparison to the other preexisting methods, and ii) introduce and define a new modulation technique termed SM-STM which has displayed further increased localization and improved perception.","abstract_has_math":false,"creators":["Rasheed, Mohammed Hayder"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Shahab, Shima"],"committee_members":["De Vita, Raffaella","Maxwell, Adam Douglas","Legon, Wynn"],"year":2025,"date_issued":"2025-10-22","date_published":"2025-10-22","updated_at":"2026-07-22T22:20:32Z","subjects":["Ultrasound haptics","Ultrasound","Touch sensation","Elastic waves","Modulation techniques"],"languages":["en"],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:44842"],"render_values":[{"text":"vt_gsexam:44842","href":null,"code":true}]}]},"links":{"outbound_url":"https://hdl.handle.net/10919/138561","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Shahab, Shima"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["De Vita, Raffaella","Maxwell, Adam Douglas","Legon, Wynn"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Rasheed, Mohammed Hayder"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-10-23T08:00:08Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-10-23T08:00:08Z"]},{"key":"dc:date.issued","label":"Date","values":["2025-10-22"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Ultrasound haptics","Ultrasound","Touch sensation","Elastic waves","Modulation techniques"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:44842"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10919/138561"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Ultrasound-based mid-air contactless haptics have been an increasingly popular area of development in the past decade for their highly valuable applications in VR environments, automobile safety systems, surgical training environments, and public displays. While currently applied modulation techniques such as amplitude- and spatiotemporal-modulation (AM and STM) can elicit sensations in the human skin for 2D shapes, there is still much to be desired in terms of spatial precision for high-speed scanning points. Specifically, when points are scanned across the human palm at speeds greater than the shear speed of sound, a trailing Mach cone is produced behind the focal point, leading to poor localization and inaccurate shape perception. In this work, time-domain acoustic simulations of an approximate elastic skin model are used to i) characterize a pre-existing modulation technique termed AM-STM and display its increased localization capabilities in comparison to the other preexisting methods, and ii) introduce and define a new modulation technique termed SM-STM which has displayed further increased localization and improved perception."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["Haptic devices are instruments which give interactive feedback to a user based on certain commands, primarily through the sense of touch. Humans in the modern day interact with haptic devices on a regular basis, whether that be the simple vibration experienced from a cellphone notification or gaming controller, or an interactive display at a museum. However, haptics have many other applications which are not as common, such as touch-based feedback for prosthetics, surgical training for doctors, automobile feedback safety systems, and devices for the sensationally impaired. Recently, ultrasound-based mid-air haptic systems have been developed with the purpose of creating a more immersive experience. These systems have shown to elicit the sense of touch in humans by generating acoustic pressure fields in midair which can be felt by a user. This allows the user to seemingly feel an object, while no object is \"truly there.\" However, the acoustic pressure points alone cannot be felt by the neural mechanisms in our skin, and thus, various modulation techniques must be applied in order for a sensation to be felt. In this work, a time-domain model is used to characterize and further understand a previously established modulation technique, and define a new modulation technique that can further improve sensation."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["From Waves to Touch: Advancing Ultrasound Haptics through Novel Modulation"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Shahab, Shima"],"dc:contributor.committeemember":["De Vita, Raffaella","Maxwell, Adam Douglas","Legon, Wynn"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Rasheed, Mohammed Hayder"],"dc:date.accessioned":["2025-10-23T08:00:08Z"],"dc:date.available":["2025-10-23T08:00:08Z"],"dc:date.issued":["2025-10-22"],"dc:description.abstract":["Ultrasound-based mid-air contactless haptics have been an increasingly popular area of development in the past decade for their highly valuable applications in VR environments, automobile safety systems, surgical training environments, and public displays. While currently applied modulation techniques such as amplitude- and spatiotemporal-modulation (AM and STM) can elicit sensations in the human skin for 2D shapes, there is still much to be desired in terms of spatial precision for high-speed scanning points. Specifically, when points are scanned across the human palm at speeds greater than the shear speed of sound, a trailing Mach cone is produced behind the focal point, leading to poor localization and inaccurate shape perception. In this work, time-domain acoustic simulations of an approximate elastic skin model are used to i) characterize a pre-existing modulation technique termed AM-STM and display its increased localization capabilities in comparison to the other preexisting methods, and ii) introduce and define a new modulation technique termed SM-STM which has displayed further increased localization and improved perception."],"dc:description.abstractgeneral":["Haptic devices are instruments which give interactive feedback to a user based on certain commands, primarily through the sense of touch. Humans in the modern day interact with haptic devices on a regular basis, whether that be the simple vibration experienced from a cellphone notification or gaming controller, or an interactive display at a museum. However, haptics have many other applications which are not as common, such as touch-based feedback for prosthetics, surgical training for doctors, automobile feedback safety systems, and devices for the sensationally impaired. Recently, ultrasound-based mid-air haptic systems have been developed with the purpose of creating a more immersive experience. These systems have shown to elicit the sense of touch in humans by generating acoustic pressure fields in midair which can be felt by a user. This allows the user to seemingly feel an object, while no object is \"truly there.\" However, the acoustic pressure points alone cannot be felt by the neural mechanisms in our skin, and thus, various modulation techniques must be applied in order for a sensation to be felt. In this work, a time-domain model is used to characterize and further understand a previously established modulation technique, and define a new modulation technique that can further improve sensation."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:44842"],"dc:identifier.uri":["https://hdl.handle.net/10919/138561"],"dc:language.iso":["en"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Ultrasound haptics","Ultrasound","Touch sensation","Elastic waves","Modulation techniques"],"dc:title":["From Waves to Touch: Advancing Ultrasound Haptics through Novel Modulation"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:32Z"}