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Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Understanding the physical interaction with wearable robots is essential to ensure safety and comfort. However, this interaction is complex in two key aspects: (1) the motion involved, and (2) the non-linear behaviour of soft tissues.…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Accurate sound propagation simulation is essential for delivering immersive experiences in virtual applications, yet industry methods for acoustic modeling often do not account for the full breadth of acoustic wave phenomena. This paper…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Diffusion models have shown preliminary success in virtual try-on (VTON) task. The typical dual-branch architecture comprises two UNets for implicit garment deformation and synthesized image generation respectively, and has emerged as the…
Haptics in virtual reality is the emerging dimension after audiovisual experiences. Researchers designed several handheld VR controllers to simulate haptic experiences in virtual reality environments. Some of these devices, equipped to…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…
In most VR experiences, the visual sense dominates other modes of sensory input, encouraging non-visual senses to respond as if the visual were real. The simulated visual world thus becomes a sort of felt actuality, where the 'actual'…
Virtual try-on has emerged as a pivotal task at the intersection of computer vision and fashion, aimed at digitally simulating how clothing items fit on the human body. Despite notable progress in single-image virtual try-on (VTO), current…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Response of the mechanoreceptors underlying the skin is greatly affected by its mechanical properties. Knowledge of this response is essential in designing artificial tactile devices such as minimally invasive tools and tactile displays.…
One of the difficulties of applying a SEA force control is the complexity that exists when implementing its three main components, which must work together one after the other. To facilitate the implementation of a force control by SEA, in…
The sensation of self-motion is essential in many virtual reality applications, from entertainment to training, such as flying and driving simulators. If the common approach used in amusement parks is to actuate the seats with cumbersome…
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…
Learning contact-rich manipulation is difficult from cameras and proprioception alone because contact events are only partially observed. We test whether training-time instrumentation, i.e., object sensorisation, can improve policy…
Human sensory processing is sensitive to the proximity of stimuli to the body. It is therefore plausible that these perceptual mechanisms also modulate the detectability of content in VR, depending on its location. We evaluate this in a…
In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and evaluating a Learning from Demonstration (LfD) algorithm…
The imitation of percussive sounds via the human voice is a natural and effective tool for communicating rhythmic ideas on the fly. Thus, the automatic retrieval of drum sounds using vocal percussion can help artists prototype drum patterns…
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…