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In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Frictional properties of contacts between a smooth viscoelastic rubber and rigid surfaces are investigated using a torsional contact configuration where a glass lens is continuously rotated on the rubber surface. From the inversion of the…
People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degrees…
Sensor gloves are popular input devices for a large variety of applications including health monitoring, control of music instruments, learning sign language, dexterous computer interfaces, and tele-operating robot hands. Many commercial…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Medical electrophysiological sensors that can study the body and diagnose diseases depend on consistently low impedance electrode-skin interfaces. Clinical-standard wet electrodes use hydrogels and skin abrasion to improve the interface and…
Catch bonds are interactions whose lifetimes increase under mechanical load, a counterintuitive behaviour that underlies diverse biological processes. Translating this mechanism to synthetic materials offers the potential to create systems…
Robotic systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs are bulky, force-limited, or restricted…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
In this paper, we present a low-cost virtual reality (VR) collaborative system equipped with a haptic feedback sensation system. This system is composed of a Kinect sensor for bodies and gestures detection, a microcontroller and vibrators…
We present HapTable; a multimodal interactive tabletop that allows users to interact with digital images and objects through natural touch gestures, and receive visual and haptic feedback accordingly. In our system, hand pose is registered…
Multimodal simulations augment the presentation of abstract concepts facilitating theoretical models understanding and learning. Most simulations only engage two of our five senses: sight and hearing. If we employ additional sensory…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…