Related papers: STEM: Soft Tactile Electromagnetic Actuator for Vi…
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…
Sensory substitution has influenced the design of many tactile visual substitution systems with the aim of offering visual aids for the blind. This paper focuses on whether a novel electromagnetic vibrotactile display, a four by four…
The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten…
This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM leverages a ConvNeXt-based material recognition module to…
The tactile sensation of stroking soft fur, known for its comfort and emotional benefits, has numerous applications in virtual reality, animal-assisted therapy, and household products. Previous studies have primarily utilized actual fur to…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
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's design utilizes thin…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
This is the preprint version of our paper on IEEE Virtual Reality Conference 2015. A touch-less interaction technology on vision based wearable device is designed and evaluated. Users interact with the application with dynamic hands/feet…
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
In this paper, we present the design of a multimodal interaction framework for intelligent virtual agents in wearable mixed reality environments, especially for interactive applications at museums, botanical gardens, and similar places.…
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…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…