Related papers: Feel the Static and Kinetic Friction
This study introduces a novel haptic device for enhancing dexterous manipulation in virtual reality. By stimulating mechanoreceptors on both sides of the fingernail, our lightweight system simulates tangential force sensations. We employ…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degrees…
This work investigates how weight and pressure can function as haptic metaphors to support user interface notifications in Virtual Reality (VR). While prior research has explored ungrounded weight simulation and pneumatic feedback, their…
We introduce a method for manipulating objects in three-dimensional space using controlled fluid streams. To achieve this, we train a neural network controller in a differentiable simulation and evaluate it in a simulated environment…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
One of the major difficulties in learning physics is for students to develop a conceptual understanding of the core concepts of physics. Many authors have argued that student conceptions of basic physical phenomena are rooted in basic…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…
Modern physics is now a regular course for non-physics majors who do not have to take the accompanying laboratory. This lack of an experimental component puts the engineering students at a disadvantage. A possible solution is the use of…
The impossibility of experiencing the molecular world with our senses hampers teaching and understanding chemistry because very abstract concepts (such as atoms, chemical bonds, molecular structure, reactivity) are required for this…
Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…
We develop an Easy Java Simulation (EJS) model for students to experience the physics of idealized one-dimensional collision carts. The physics model is described and simulated by both continuous dynamics and discrete transition during…
While students may find spline interpolation quite digestible, based on their familiarity with continuity of a function and its derivatives, some of its inherent value may be missed when students only see it applied to standard data…
This report describes a new experimental setup for human-in-the-loop simulations. A force feedback simulator with four axis motion has been setup for real-time driving experiments. The simulator will move to simulate the forces a driver…
Ultrasound midair haptics (UMH) can present non-contact tactile stimuli using focused ultrasound without any wearables. Recently, UMH has been shown to present not only conventional vibration stimulus but also static pressure stimulus by…
To enhance motion comfort in (automated) driving we present biomechanical models and demonstrate their ability to capture vibration transmission from seat to trunk and head. A computationally efficient full body model is presented, able to…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…