Related papers: Cutaneous Force Feedback as a Sensory Subtraction …
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
This paper presents a novel haptic device DeltaFinger designed to deliver the force of interaction with virtual objects by guiding user's finger with wearable delta mechanism. The developed interface is capable to deliver 3D force vector to…
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque…
Pseudo-haptic techniques are used to modify haptic perception by appropriately changing visual feedback to body movements. Based on the knowledge that tendon vibration can affect our somatosensory perception, this paper proposes a method…
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…
Some forces in nature are difficult to comprehend due to their non-intuitive and abstract nature. Forces driving gyroscopic precession are invisible, yet their effect is very important in a variety of applications, from space navigation to…
In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image rendering quality while providing overly simplistic models of…
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
In this thesis, we present an articulated, empirical view on what human music making is, and on how this fundamentally relates to computation. The experimental evidence which we obtained seems to indicate that this view can be used as a…
We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
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…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
During social interactions, people use auditory, visual, and haptic cues to convey their thoughts, emotions, and intentions. Due to weight, energy, and other hardware constraints, it is difficult to create devices that completely capture…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…