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In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the motion of the joint is approximated by D\"uffing's equation. We…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of ``Excess of…
Sonomyography (SMG) is a non-invasive technique that uses ultrasound imaging to detect the dynamic activity of muscles. Wearable SMG systems have recently gained popularity due to their potential as human-computer interfaces for their…
Hyperthermia therapy (HT) is used to treat diseases through heating of high temperature usually in conjunction with some other medical therapeutics like chemotherapy and radiotherapy. In this study, we propose a promising thermostatic…
Due to the mass advancement in ubiquitous technologies nowadays, new pervasive methods have come into the practice to provide new innovative features and stimulate the research on new human-computer interactions. This paper presents a hand…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
In this study, we propose a non-contact thermal presentation method using airborne ultrasound. We generate strong sound field directly on the human skin and present a perceivable temperature rise. The proposed method enables simultaneous…
The realistic modelling of medical interventions is the key requirement for development of high-fidelity medical simulators. In this work, a parameterized model suitable for real-time haptic feedback of needle interaction with tissue has…
This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…
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…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hardware increases cost and reduces…
A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently,…
Mid-air ultrasound haptic technology can enhance user interaction and immersion in extended reality (XR) applications through contactless touch feedback. Yet, existing design tools for mid-air haptics primarily support creating tactile…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
Comparative to conventional 2D interaction methods, virtual reality (VR) demonstrates an opportunity for unique interface and interaction design decisions. Currently, this poses a challenge when developing an accessible VR experience as…
Tactile perception plays an important role in medical simulation and training, specifically in surgery. The surgeon must feel organic tissue hardness, evaluate anatomical structures, measure tissue properties, and apply appropriate force…
Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…