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The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
Tracing sensation plays an important role in discriminating friction and texture of objects. We have been studying a method of presenting the tracing sensation by contacting the center of a rotating disk with the fingertip. Although this…
Haptic feedback has been integrated into Virtual and Augmented Reality, complementing acoustic and visual information and contributing to an all-round immersive experience in multiple fields, spanning from the medical domain to…
Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…
A unique challenge in creating high-quality animatable and relightable 3D avatars of people is modeling human eyes. The challenge of synthesizing eyes is multifold as it requires 1) appropriate representations for the various components of…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
Ultrasound midair haptics (UMH) can present non-contact tactile stimuli using focused ultrasound without any wearables. Recently, UMH has been shown to present not only conventional vibration stimulus but also static pressure stimulus by…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
Photoelasticity is employed to investigate the stress state near stiff rectangular and rhombohedral inclusions embedded in a 'soft' elastic plate. Results show that the singular stress field predicted by the linear elastic solution for the…
Vertebrate animals benefit from a combination of rigidity for structural support and softness for adaptation. Similarly, integrating rigidity and softness can enhance the versatility of soft robotics. However, the challenges associated with…
Due to their performance and simplicity, rigid body simulators are often used in applications where the objects of interest can considered very stiff. However, no material has infinite stiffness, which means there are potentially cases…
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
Implicit neural rendering, especially Neural Radiance Field (NeRF), has shown great potential in novel view synthesis of a scene. However, current NeRF-based methods cannot enable users to perform user-controlled shape deformation in the…
A key challenge in performing experiments with microparticles is controlling their adhesion to substrates. For example, levitation of a microparticle initially resting on a surface requires overcoming the surface adhesion forces to deliver…
Incorporating accurate physics-based simulation into interactive design tools is challenging. However, adding the physics accurately becomes crucial to several emerging technologies. For example, in virtual/augmented reality (VR/AR) videos,…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
In the everyday context, e.g., a household, HMD users remain a part of the social life for Non-HMD users being co-located with them. Due to the social context situations arise that demand interaction between the HMD and the Non-HMD user. We…
We propose a new approach for controlling the characteristics of certain mesh faces during optimization of high-order curved meshes. The practical goals are tangential relaxation along initially aligned curved boundaries and internal…
Multimodal simulations augment the presentation of abstract concepts facilitating theoretical models understanding and learning. Most simulations only engage two of our five senses: sight and hearing. If we employ additional sensory…