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Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…

Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…

We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…

This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…

Cardiopulmonary resuscitation (CPR) is a critical life-saving procedure, and effective training benefits from self-directed practice beyond instructor-led sessions. In this paper, we propose a closed-loop CPR training glove that integrates…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

Surface vibration tactile feedback is capable of conveying various semantic information to humans via the handheld electronic devices, like smartphone, touch panel,and game controller. However, covering the whole device contacting surface…

Mid-air interaction is one of the promising interaction modalities in virtual reality (VR) due to its merits in naturalness and intuitiveness, but the interaction suffers from the lack of haptic feedback as no force or vibrotactile feedback…

Although it has been shown that augmented multimodal feedback has a facilitatory effect on motor performance for motor learning and music training, the functionality of haptic feedback combined with other modalities in rhythmic movement…

Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…

We present Ghostfinger, a technology for highly dynamic up/down fingertip haptics and control. The overall user experience offered by the technology can be described as that of tangibly and audibly interacting with a small hologram. More…

Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…

Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…

In a typical mid-air haptics system, focused airborne ultrasound provides vibrotactile sensations to localized areas on a bare skin. Herein, a method for displaying thermal sensations to hands where mesh fabric gloves are worn is proposed.…

Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…

In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…

The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…

Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…

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…

Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with…