Related papers: Co-Located Magnetic Levitation Haptic and Graphic …
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
As digital worlds become ubiquitous via video games, simulations, virtual and augmented reality, people with disabilities who cannot access those worlds are becoming increasingly disenfranchised. More often than not the design of these…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
By presenting curved surfaces of various curvatures including edges to the fingertip, it is possible to reproduce the haptic sensation of object shapes that cannot be reproduced by flat surfaces alone, such as spheres and rectangular…
Realistic display of tactile textures on touch screens is a big step forward for haptic technology to reach a wide range of consumers utilizing electronic devices on a daily basis. Since the texture topography cannot be rendered explicitly…
During virtual interactions, rendering haptic feedback on a remote location (like the wrist) instead of the fingertips freeing users' hands from mechanical devices. This allows for real interactions while still providing information…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
This paper presents the development of a system for realizing interactive exhibitions in the context of a science and technology center. The core functionality of the system is provided by a positioning subsystem comprised of a fixed…
We present a framework that integrates EEG-based visual and motor imagery (VI/MI) with robotic control to enable real-time, intention-driven grasping and placement. Motivated by the promise of BCI-driven robotics to enhance human-robot…
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…
Levitated optomechanics, a rapidly expanding field that employs light to monitor and manipulate the mechanical motion of levitated objects, is increasingly relevant across physics, engineering, and other fields. This technique, which…
Haptic sensations that align with virtual reality (VR) experiences have a profound impact on presence and enjoyment. There is potential to explore the dynamic capabilities of pneumatic inflatables to offer immersive sensations in virtual…
We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or…
This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…