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Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
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…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
With a stylus, users can both sweep sketches across models and pinpoint locations with precision. Building on this dual capability, we explore how teleportation can be integrated into stylus interaction without disrupting the flow of common…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist…
Rendering stable hard surfaces is an important problem in haptics for many tasks, including training simulators for orthopedic surgery or dentistry. Current impedance devices cannot provide enough force and stiffness to render a wall, and…
This work investigates how weight and pressure can function as haptic metaphors to support user interface notifications in Virtual Reality (VR). While prior research has explored ungrounded weight simulation and pneumatic feedback, their…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
This paper proposes a novel concept of a hybrid tactile display with multistimulus feedback, allowing the real-time experience of the position, shape, and texture of the virtual object. The key technology of the TeslaMirror is that we can…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
We present RealPen, an augmented stylus for capacitive tablet screens that recreates the physical sensation of writing on paper with a pencil, ball-point pen or marker pen. The aim is to create a more engaging experience when writing on…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…
Tracing sensation plays an important role in discriminating friction and texture of objects. We have been studying a method of presenting the tracing sensation by contacting the center of a rotating disk with the fingertip. Although this…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…