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This paper outlines the development of a sensory feedback device providing a tangible interface for controlling digital environments, in this example a flight simulator, where the intention for the device is that it is relatively low cost,…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

We propose the next evolution of the artificial sense of touch, including an in-depth examination of the latest advancements in tactile sensing technology and the challenges that remain. We delve into the forefront of DNA and nanomaterials…

Quantifying human movement (kinematics) and musculoskeletal forces (kinetics) at scale, such as estimating quadriceps force during a sit-to-stand movement, could transform prediction, treatment, and monitoring of mobility-related…

Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…

Recently, there has been growing interest in investigating the effects of self-representation on user experience and perception in virtual environments. However, few studies investigated the effects of levels of body representation…

Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…

Wearable devices that relocate tactile feedback from fingertips can enable users to interact with their physical world augmented by virtual effects. While studies have shown that relocating same-modality tactile stimuli can influence the…

As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…

In this thesis, we present an articulated, empirical view on what human music making is, and on how this fundamentally relates to computation. The experimental evidence which we obtained seems to indicate that this view can be used as a…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…

We present TelEdge, a novel method of remote haptic communication using electrical stimulation through the edges of the smartphone. The aim of this study is to explore communications that can be created by adding touch sensing and haptic…

We describe tap tips, a technique for providing touch-screen target location hints. Tap tips are lightweight in that they are non-modal, appear only when needed, require a minimal number of user gestures, and do not add to the standard…

Hand-tracking enables controller-free XR interaction but does not have the tactile feedback controllers provide. Rather than treating this solely as a missing-sensation problem, we explore whether pseudo-haptic cues on an embodied virtual…

In this paper, we propose the concept of sensorimotor tappings, a new graphical technique that explicitly represents relations between the time steps of an agent's sensorimotor loop and a single training step of an adaptive internal model.…

Breathing is a spontaneous but controllable body function that can be used for hands-free interaction. Our work introduces "iBreath", a novel system to detect breathing gestures similar to clicks using bio-impedance. We evaluated iBreath's…

This paper reports on work in progress on a finger-based tactile I/O device for musical interaction. Central to the device is the ability to set up cyclical relationships between tactile input and output. A direct practical application of…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…