Related papers: Adaptic: A Shape Changing Prop with Haptic Retarge…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
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…
Digital communication tools are limited to visual and auditory information and lack non-verbal information such as touch, which is important for communicating intentions and emotions. In order to solve this problem, the use of haptic…
Surface visualizations are essential in analyzing three-dimensional spatiotemporal phenomena. Given its ability to provide enhanced spatial perception and scene maneuverability, virtual reality (VR) is an essential medium for surface…
In this work, we develop a multi-modal rendering framework comprising of hapto-visual and auditory data. The prime focus is to haptically render point cloud data representing virtual 3-D models of cultural significance and also to handle…
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…
VR/AR technology is a key enabler for new ways of immersively experiencing cultural heritage artifacts based on their virtual counterparts obtained from a digitization process. In this paper, we focus on enriching VR-based object inspection…
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, designed with thin…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Current digital human studies focusing on lip-syncing and body movement are no longer sufficient to meet the growing industrial demand, while human video generation techniques that support interacting with real-world environments (e.g.,…
This paper presents an assisted telemanipulation framework for reaching and grasping desired objects from clutter. Specifically, the developed system allows an operator to select an object from a cluttered heap and effortlessly grasp it,…
Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because…
Retargeting methods that modify the visual representation of real movements have been widely used to expand the interaction space and create engaging virtual reality experiences. For optimal user experience and performance, it is essential…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
In immersive Virtual Reality (VR), your brain can trick you into believing that your virtual hands are your real hands. Manipulating the representation of the body, namely the avatar, is a potentially powerful tool for the design of…
Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…
Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a…