Related papers: A Tactile Void
We experimentally study the viscous fingering instability in a fluid-fluid phase separated colloid-polymer mixture by means of laser scanning confocal microscopy and microfluidics. We focus on three aspects of the instability. (i) The…
Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, whilst…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Tactile displays based on friction modulation offer wide-bandwidth forces rendered directly on the fingertip. However, due to a number of touch conditions (e.g., normal force, skin hydration) that result in variations in the friction force…
We study two dimensional tactoids in nematic liquid crystals by using a $\mathbf{Q}$-tensor representation. A bulk free energy of the Maier-Saupe form with eigenvalue constraints on $\mathbf{Q}$, plus elastic terms up to cubic order in…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
Non linear dynamic behaviour of a normally excited preloaded Hertzian contact (including possible contact losses) is investigated using an experimental test rig. It consists on a double sphere plane contact loaded by the weight of a rigid…
We examine the response of a dense colloidal suspension to a local force applied by a small magnetic bead. For small forces, we find a linear relationship between the force and the displacement, suggesting the medium is elastic, even though…
For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
A sessile liquid drop can deform the substrate on which it rests if the solid is sufficiently "soft". In this paper we compute the detailed spatial structure of the capillary forces exerted by the drop on the solid substrate using a model…
A rigid cylinder placed on a soft gel deforms its surface. When multiple cylinders are placed on the surface, they interact with each other via the topography of the deformed gel which serves as an energy landscape; as they move, the…
We propose a robust simulation method for phospholipid membranes. It is based on a mixed three-field formulation that accounts for tangential fluidity (Boussinesq-Scriven law), bending elasticity (Canham-Helfrich model) and inextensibility.…
We study interactions between biological cells that apply anisotropic active mechanical forces on an elastic substrate. We model the cells as thin discs that along their perimeters apply radial, but angle-dependent forces on the substrate.…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal…
In this paper, we present a novel approach to model the fluid/solid interaction forces in a direct solver of the Navier-Stokes equations based on the volume of fluid interface tracking method. The key ingredient of the model is the explicit…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…