Ultrasound transducer arrays are capable of producing tactile sensations on the hand, promising hands-free haptic interaction for virtual environments. However, controlling such an array with respect to reproducing a desired perceived interaction remains a challenging problem. In this work we approach this problem as a dynamic mapping of virtual interactions to existing control metaphors of ultrasound devices, namely, the modulation of focal point positions and intensities over time, a method known as Spatiotemporal Modulation (STM). In particular, we propose an optimization approach that takes into account known perceptual parameters and limitations of the STM method. This results in a set of focal point paths optimized to best reconstruct an arbitrary target pressure field.

@Article\{BSO20,
  author       = "Barreiro, Héctor and Sinclair, Stephen and Otaduy, Miguel A.",
  title        = "Path Routing Optimization for STM Ultrasound Rendering",
  journal      = "IEEE Transactions on Haptics",
  year         = "2020",
  url          = "http://www.gmrv.es/Publications/2020/BSO20"
}