**Part 2**

**Haptic Rendering** 

94 Haptics Rendering and Applications

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**0**

**5**

*Japan*

**Abstract Feelings Emerging**

Kohske Takahashi1, Hideo Mitsuhashi2, Kazuhito Murata2,

<sup>1</sup>*Research Center for Advanced Science and Technology, The University of Tokyo*

<sup>3</sup>*Research Center for Advanced Science and Technology, The University of Tokyo*

Haptic stimulation yields diverse sensations such as pressure, softness and hardness, vibration, and roughness of surface (Katz, 1989). These sensations originate from the sensory process through mechanoreceptors on the skin, such as Pacinian corpuscles, Meissner's corpuscles, Merkel's discs, and Ruffini corpuscles (Fig. 1.). The mechanoreceptors work interactively to build up haptics as an elaborate sensory system. Thus far, a number of studies have investigated the characteristics of the mechanoreceptors, yet the mechanisms have not been fully understood. Instead, these studies have exposed the complexity of the

Apart from the mechanoreceptors and the sensory system, cognitive scientists have investigated perceptual processing for haptic stimulation. They have revealed how haptic


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