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Tracking object poses in 3D is a crucial building block for Augmented Reality applications. We propose an instant motion tracking system that tracks an object's pose in space (represented by its 3D bounding box) in real-time on mobile…
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 technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Visual impairments create barriers to learning physical activities, since conventional training methods rely on visual demonstrations or often inadequate verbal descriptions. This research explores 3D-printed human body models to enhance…
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…
We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…
3D printed models have been used to improve access to graphical information by people who are blind, offering benefits over conventional accessible graphics. Here we investigate an interactive 3D printed model (I3M) that combines a…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…
Social touch is essential for our social interactions, communication, and well-being. It has been shown to reduce anxiety and loneliness; and is a key channel to transmit emotions for which words are not sufficient, such as love, sympathy,…
3D photography is a new medium that allows viewers to more fully experience a captured moment. In this work, we refer to a 3D photo as one that displays parallax induced by moving the viewpoint (as opposed to a stereo pair with a fixed…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Around-device interaction promises to extend the input space of mobile and wearable devices beyond the common but restricted touchscreen. So far, most around-device interaction approaches rely on instrumenting the device or the environment…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…