Related papers: ForcePinch: Force-Responsive Spatial Interaction f…
This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with…
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses…
Force estimation in human-object interactions is crucial for various fields like ergonomics, physical therapy, and sports science. Traditional methods depend on specialized equipment such as force plates and sensors, which makes accurate…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
We present a controlled, quantitative study with 12 participants comparing interaction with a haptically enhanced mixing board against interaction with a mouse in an abstract task that is motivated by several practical parameter space…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure…
High fidelity digital 3D environments have been proposed in recent years, however, it remains extremely challenging to automatically equip such environment with realistic human bodies. Existing work utilizes images, depth or semantic maps…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
The gaze-and-pinch framework offers a high-fidelity interaction modality for spatial computing in virtual reality (VR), yet it remains vulnerable to coordination errors--timing misalignments between gaze fixation and pinch gestures. These…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
A well-designed control-to-display gain function can improve pointing performance with indirect pointing devices like trackpads. However, the design of gain functions is challenging and mostly based on trial and error. AutoGain is a novel…
Grasp User Interfaces (grasp UIs) enable dual-tasking in XR by allowing interaction with digital content while holding physical objects. However, current grasp UI design practices face a fundamental challenge: existing approaches either…
This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive design with an active fingertip that folds inward after…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…