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Haptic displays play an important role in enhancing the sense of presence in VR and telepresence. Displaying the tactile properties of fabrics has potential in the fashion industry, but there are difficulties in dynamically displaying…
Wearable electronics are emerging as essential tools for health monitoring, haptic feedback, and human-computer interactions. While stable contact at the device-body interface is critical for these applications, it remains challenging due…
Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in literature due to the high complexity involved in…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
With the increasing computational power of today's workstations, real-time physically-based rendering is within reach, rapidly gaining attention across a variety of domains. These have expeditiously applied to medicine, where it is a…
In this technical report, we document our attempt to visualize adaptive heightfields with smooth interpolation using ray casting in real time. The performance of ray casting depends strongly on the used interpolant and its efficient…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Some forces in nature are difficult to comprehend due to their non-intuitive and abstract nature. Forces driving gyroscopic precession are invisible, yet their effect is very important in a variety of applications, from space navigation to…
In this work, we develop a multi-modal rendering framework comprising of hapto-visual and auditory data. The prime focus is to haptically render point cloud data representing virtual 3-D models of cultural significance and also to handle…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…
We summarise three applications of the obstacle problem to membrane contact, elastoplastic torsion and cavitation modelling, and show how the resulting models can be solved using mixed finite elements. It is challenging to construct fixed…
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…
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…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
Smartphone use has grown rapidly, but the ways it shapes concurrent face-to-face interaction remains scarcely studied. In our research we have formulated two new concepts to depict this: 1) Sticky media device illustrates situations in…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…