Related papers: Fingernail-Based Tangential Force Simulation for E…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
We propose a visuo-tactile feedback method that combines virtual hand visualization and fingertip vibrations to modulate affective roughness perception in VR. While prior work has focused on object-based textures and vibrotactile feedback,…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Virtual reality (VR) glove technology is increasingly important for professional training, industrial applications, and teleoperation in hazardous environments, since it enables more natural and immersive interactions than controllers.…
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…
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…
Multi-mode haptic feedback is essential to achieve high realism and immersion in virtual environments. This paper proposed a novel silicone fingertip actuator integrated with a hot thermal fabric finger sleeve to render pressure, vibration,…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
Existing methods of haptic feedback for virtual fluids are challenging to scale, lack durability for long-term rough use, and fail to fully capture the expressive haptic qualities of fluids. To overcome these limitations, we present…
Mid-air haptic interfaces employ focused ultrasound waves to generate touchless haptic sensations on the skin. Prior studies have demonstrated the potential positive impact of mid-air haptic feedback on virtual experiences, enhancing…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…