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In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…
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…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…
Haptic sensations that align with virtual reality (VR) experiences have a profound impact on presence and enjoyment. There is potential to explore the dynamic capabilities of pneumatic inflatables to offer immersive sensations in virtual…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…
The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…
Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
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…
Mathematically representing the shape of an object is a key ingredient for solving inverse rendering problems. Explicit representations like meshes are efficient to render in a differentiable fashion but have difficulties handling topology…
Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…
Surface visualizations are essential in analyzing three-dimensional spatiotemporal phenomena. Given its ability to provide enhanced spatial perception and scene maneuverability, virtual reality (VR) is an essential medium for surface…
The present contribution focuses on the effect of adherend surface roughness on the strength of adhesive joints, which are particularly cost-effective and extensively applied in a wide range of industrial applications. However, the…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Vibro-tactile feedback is, by far the most common haptic interface in wearable or touchable devices. This feedback can be amplified by controlling the wave propagation characteristics in devices, by utilizing phenomena such as structural…
Many objects in nature and industry are wrapped in a thin sheet to enhance their chemical, mechanical, or optical properties. There are similarly a variety of methods for wrapping, from pressing a film onto a hard substrate, to using…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…