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Perceptualizing tool interactions with deformable structures in surgical procedures remains challenging, as unimodal visualization techniques often fail to capture the complexity of these interactions due to constraints such as occlusion…

Dry solid friction is often accompanied by force modulations originating from stick-slip instabilities. Here a distinct, quasi-static mechanism is evidenced leading to quasi-periodic force oscillations during sliding contact between an…

The central role of the face in social interaction and non-verbal communication suggests we explore facial action as a means of musical expression. This paper presents the design, implementation, and preliminary studies of a novel system…

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…

Generating sound effects with controllable variations is a challenging task, traditionally addressed using sophisticated physical models that require in-depth knowledge of signal processing parameters and algorithms. In the era of…

Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the…

Magnetic skyrmions are topologically-distinct swirls of magnetic moments which display particle-like behaviour, including the ability to undergo thermally-driven diffusion. In this paper we study the thermally activated motion of arrays of…

Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…

We investigate the origin of the experimentally observed varying current-frequency nonlinearity of the propagating spin wave mode in nano-contact spin torque oscillators. Nominally identical devices with 100 nm diameter are characterized by…

Using pulsed acoustic waves could provide a superior selectivity for microscale acoustic tweezers. However, the theory for the radiation force of pulsed acoustic waves has only been recently derived and no numerical implementations are…

Many existing AI music generation tools rely on text prompts, complex interfaces, or instrument-like controls, which may require musical or technical knowledge that non-musicians do not possess. This paper introduces DeformTune, a prototype…

This research investigates the feasibility of producing affordable, functional acoustic guitars using 3D printing, with a focus on producing structural designs with proper tonal performance. Conducted in collaboration with William…

The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…

A learning path is proposed starting from the characterization of a sound wave, showing how human beings emit articulate sounds in the language, introducing psychoacoustics, i.e. how the sound interacts with ears and it is transduced into…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

In recent decades, neuroscientific and psychological research has traced direct relationships between taste and auditory perceptions. This article explores multimodal generative models capable of converting taste information into music,…

This paper introduces a novel interface for experiencing music through haptic impulses to the palm of the hand. It presents a practical implementation of the system exploring the realm of musical haptics through the translation of MIDI data…

Accurately estimating and simulating the physical properties of objects from real-world sound recordings is of great practical importance in the fields of vision, graphics, and robotics. However, the progress in these directions has been…

Most generative models of audio directly generate samples in one of two domains: time or frequency. While sufficient to express any signal, these representations are inefficient, as they do not utilize existing knowledge of how sound is…

This paper outlines the development of a sensory feedback device providing a tangible interface for controlling digital environments, in this example a flight simulator, where the intention for the device is that it is relatively low cost,…