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Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
Recent advancements in image animation have utilized diffusion models to breathe life into static images. However, existing controllable frameworks typically rely on Lagrangian motion guidance, where optical flow is estimated relative to…
We propose a data-driven pressure distribution rendering method that uses the interpolation of experimentally obtained pressure values. The pressure data were collected using a pressure sensor array. The prediction was performed using…
In this paper a neural network heuristic dynamic programing (HDP) is used for optimal control of the virtual inertia based control of grid connected three phase inverters. It is shown that the conventional virtual inertia controllers are…
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…
The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…
We present a technique for dynamically projecting 3D content onto human hands with short perceived motion-to-photon latency. Computing the pose and shape of human hands accurately and quickly is a challenging task due to their articulated…
We present a novel method for real-time pose and shape reconstruction of two strongly interacting hands. Our approach is the first two-hand tracking solution that combines an extensive list of favorable properties, namely it is marker-less,…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. In this work, we consider a well investigated phase field model including contact line…
Drag-based image editing has recently gained popularity for its interactivity and precision. However, despite the ability of text-to-image models to generate samples within a second, drag editing still lags behind due to the challenge of…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Manipulating the shape of a liquid droplet is essential for a wide range of applications in medicine and industry. However, existing methods are typically limited to generating simple shapes, such as ellipses, or rely on predefined…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while…