Related papers: HapKnob -- A Motorized Shape-changing Haptic Knob …
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
Tapping is an immensely important gesture in mobile touchscreen interfaces, yet people still frequently are required to learn which elements are tappable through trial and error. Predicting human behavior for this everyday gesture can help…
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…
The paper addresses the following problem: given a set of man-made shapes, e.g., chairs, can we quickly rank and explore the set of shapes with respect to a given avatar pose? Answering this question requires identifying which shapes are…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…
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…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
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…
Automotive user interfaces constantly change due to increasing automation, novel features, additional applications, and user demands. While in-vehicle interaction can utilize numerous promising modalities, no existing overview includes an…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Digital communication tools are limited to visual and auditory information and lack non-verbal information such as touch, which is important for communicating intentions and emotions. In order to solve this problem, the use of haptic…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
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…
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
This paper introduces a new prototype system for controlling a PC by head movements and also with voice commands. Our system is a multimodal interface concerned with controlling the computer. The selected modes of interaction are speech and…
Mobile devices' user interfaces are still quite similar to traditional interfaces offered by desktop computers, but those can be highly problematic when used in a mobile context. Human gesture recognition in mobile interaction appears as an…