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Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch…
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…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
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…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
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…
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…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
The last two decades have seen the emergence and steady development of tangible user interfaces. While most of these interfaces are applied for input - with output still on traditional computer screens - the goal of programmable matter and…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation…