Related papers: Haptic devices and objects, robots and mannequin s…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
Challenges of enhancing productivity by amplifying efficiency and man-machine compatibility of equipment can be achieved by adopting advanced technologies. This study aims to present and exemplify methodology for incorporating ergonomics…
We propose JetUnit, a water-based VR haptic system designed to produce force feedback with a wide spectrum of intensities and frequencies through water jets. The key challenge in designing this system lies in optimizing parameters to enable…
Automotive user interfaces constantly change due to increasing automation, novel features, additional applications, and user demands. While in-vehicle interaction can utilize numerous promising modalities, no existing overview includes an…
People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…
Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…
Multimodal foundation models that can holistically process text alongside images, video, audio, and other sensory modalities are increasingly used in a variety of real-world applications. However, it is challenging to characterize and study…
We introduce HoME: a Household Multimodal Environment for artificial agents to learn from vision, audio, semantics, physics, and interaction with objects and other agents, all within a realistic context. HoME integrates over 45,000 diverse…
Using Atomic Force Microscopes (AFM) to manipulate nano-objects is an actual challenge for surface scientists. Basic haptic interfacesbetween the AFM and experimentalists have already been implemented. Themulti-sensory renderings (seeing,…
As AI agents increasingly operate in open, real-world environments, they require a deep synergy of multimodal perception, tool invocation with multi-hop reasoning, and dynamic interaction with users. However, existing benchmarks fail to…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we…
Walking-in-place (WIP) is a locomotion technique that enables users to "walk infinitely" through vast virtual environments using walking-like gestures within a limited physical space. This paper investigates alternative interaction schemes…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…
Haptic feedback contributes to immersive virtual reality (VR) experiences. However, designing such feedback at scale for all objects within a VR scene remains time-consuming. We present Scene2Hap, an LLM-centered system that automatically…