Related papers: Encountered-Type Haptic Display via Tracking Calib…

Mixed Reality (MR) aims to blend digital and physical worlds, but the absence of haptic feedback often breaks visual-tactile consistency. We introduce Prop-Chromeleon, a MR system based on generative artificial intelligence (AI) that…

This work represents the initial development of a haptic display system for increased presence in virtual experiences. The developed system creates a two-way connection between a virtual space, mediated through a virtual reality headset,…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…

Mixed Reality (MR) and Virtual Reality (VR) simulations are hampered by requirements for hand controllers or attempts to perseverate in use of two-dimensional computer interface paradigms from the 1980s. From our efforts to produce more…

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…

Mixed Reality aims to merge the digital and physical worlds to create immersive human-computer interactions. Despite notable advancements, the absence of realistic haptic feedback often breaks the immersive experience by creating a…

In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…

The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…

We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve…

This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…

Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…

The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…

Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…

Autonomous driving simulators still lack high-fidelity radar, even though radar is critical for robust perception in adverse weather. A key obstacle is that raw radar point clouds are extremely sparse and stochastic, making it difficult to…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Previous work has shown that the addition of haptic feedback to the hands can improve awareness of tool-tissue interactions and enhance performance of teleoperated tasks in robot-assisted minimally invasive surgery. However, hand-based…

In recent years, an increasing number of Human-Robot Interaction (HRI) approaches have been implemented and evaluated in Virtual Reality (VR), as it allows to speed-up design iterations and makes it safer for the final user to evaluate and…

Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot co-adaptation…