Related papers: Revisiting Walking-in-Place by Introducing Step-He…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
This work investigates how weight and pressure can function as haptic metaphors to support user interface notifications in Virtual Reality (VR). While prior research has explored ungrounded weight simulation and pneumatic feedback, their…
Personal computers and handheld devices provide keyboard shortcuts and swipe gestures to enable users to efficiently switch between applications, whereas today's virtual reality (VR) systems do not. In this work, we present an exploratory…
With the recent rise of Metaverse, online multiplayer VR applications are becoming increasingly prevalent worldwide. Allowing users to move easily in virtual environments is crucial for high-quality experiences in such collaborative VR…
Since wearable technology was first conceptualized in 1960, it has become a crucial aspect of our daily life. People's daily lives have been made better and their health and well-being have improved because of its convenience, real-time,…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
Using virtual reality setups, users can fade out of their surroundings and dive fully into a thrilling and appealing virtual environment. The success of such immersive experiences depends heavily on natural and engaging interactions with…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
People with blindness and low vision (pBLV) face challenges in navigating. Mobility aids are crucial for enhancing independence and safety. This paper presents an electronic travel aid that leverages a haptic-based, higher-order sensory…
Objective: This paper proposes a novel type of stimulus in the shape of sinusoidal gratings displayed with an imperceptibly high-frequency motion. The stimulus has been designed for use in BCI (Brain Computer Interface) applications that…
Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…
Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…