Related papers: Feeling the Grass Grow: Making Midair Haptic Param…
Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…
The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…
Real-time rendering of photorealistic and controllable human avatars stands as a cornerstone in Computer Vision and Graphics. While recent advances in neural implicit rendering have unlocked unprecedented photorealism for digital avatars,…
We present Ghostfinger, a technology for highly dynamic up/down fingertip haptics and control. The overall user experience offered by the technology can be described as that of tangibly and audibly interacting with a small hologram. More…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Recently, 3D Gaussian splatting has gained attention for its capability to generate high-fidelity rendering results. At the same time, most applications such as games, animation, and AR/VR use mesh-based representations to represent and…
When humans grasp an object, they naturally form trajectories in their minds to manipulate it for specific tasks. Modeling hand-object interaction priors holds significant potential to advance robotic and embodied AI systems in learning to…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
Advances in unmanned synthetic aperture sonar (SAS) imaging platforms allow for the simultaneous collection of multiband SAS imagery. The imagery is collected over several octaves and the phenomenology's interactions with the sea floor vary…
Holistic understanding of urban scenes based on RGB images is a challenging yet important problem. It encompasses understanding both the geometry and appearance to enable novel view synthesis, parsing semantic labels, and tracking moving…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
Controllable affordance Hand-Object Interaction (HOI) generation has become an increasingly important area of research in computer vision. In HOI generation, the hand grasp generation is a crucial step for effectively controlling the…
Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…
We propose a concept of a novel interaction strategy for providing rich haptic feedback in Virtual Reality (VR), when each user's finger is connected to micro-quadrotor with a wire. Described technology represents the first flying wearable…
This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…
Some forces in nature are difficult to comprehend due to their non-intuitive and abstract nature. Forces driving gyroscopic precession are invisible, yet their effect is very important in a variety of applications, from space navigation to…
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…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…