Related papers: Shape-Haptics: Planar & Passive Force Feedback Mec…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
Authoring realistic haptic textures typically requires low-level parameter tuning and repeated trial-and-error, limiting speed, transparency, and creative reach. We present a language-driven authoring system that turns natural-language…
An important application of haptic technology to digital product development is in virtual prototyping (VP), part of which deals with interactive planning, simulation, and verification of assembly-related activities, collectively called…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
The study of the shape of droplets on surfaces is an important problem in the physics of fluids and has applications in multiple industries, from agrichemical spraying to microfluidic devices. Motivated by these real-world applications,…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
A flat sheet programmed with a planar pattern of spontaneous shape change will morph into a curved surface. Such metric mechanics is seen in growing biological sheets, and may be engineered in actuating soft matter sheets such as…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
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…
This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive design with an active fingertip that folds inward after…
This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of…
We introduce Curvy-an interactive design tool to generate varying density support structures for 3D printing. Support structures are essential for printing models with extreme overhangs. Yet, they often cause defects on contact areas,…