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In most VR experiences, the visual sense dominates other modes of sensory input, encouraging non-visual senses to respond as if the visual were real. The simulated visual world thus becomes a sort of felt actuality, where the 'actual'…
VR/AR technology is a key enabler for new ways of immersively experiencing cultural heritage artifacts based on their virtual counterparts obtained from a digitization process. In this paper, we focus on enriching VR-based object inspection…
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…
Retargeting methods that modify the visual representation of real movements have been widely used to expand the interaction space and create engaging virtual reality experiences. For optimal user experience and performance, it is essential…
This work presents novel robot-mediated immersive experiences enabled by an encountered-type haptic display (ETHD) that introduces direct physical contact in virtual environments. We focus on social-physical interactions, a class of…
Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
We evaluate the performance and usability of mouse-based, touch-based, and tangible interaction for manipulating objects in a 3D virtual environment. This comparison is a step toward a better understanding of the limitations and benefits of…
Learning to lift and rotate objects with the fingertips is necessary for autonomous in-hand dexterous manipulation. In our study, we explore the impact of various factors on successful learning strategies for this task. Specifically, we…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
High-fidelity haptic feedback is essential for immersive virtual environments, yet authoring realistic tactile textures remains a significant bottleneck for designers. We introduce HapticMatch, a visual-to-tactile generation framework…
This paper outlines the development and evaluation of a wearable haptic game interface. The device differs from many traditional haptic feedback implementation in that it combines vibrotactile feedback with gesture based input, thus…
Interaction methods based on computer-vision hold the potential to become the next powerful technology to support breakthroughs in the field of human-computer interaction. Non-invasive vision-based techniques permit unconventional…
Haptic feedback is critical in a broad range of human-machine/computer-interaction applications. However, the high cost and low portability/wearability of haptic devices remain unresolved issues, severely limiting the adoption of this…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
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…
This research investigates whether the interaction methods of XR headsets can be improved by using haptic feedback. As a first and most common technique, indirect interactions are considered. Indirect interactions correspond to…
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…