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To achieve high fidelity haptic rendering of soft objects in a high mobility virtual environment, we propose a novel haptic display DandelionTouch. The tactile actuators are delivered to the fingertips of the user by a swarm of drones.…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
In this paper, we present an ultrasound mid-air haptic interaction system that integrates a designed visualization of haptic parameters while maintaining ease of control. The design of corresponding haptic parameters for real-world tactile…
Human crowd simulation in virtual reality (VR) is a powerful tool with potential applications including emergency evacuation training and assessment of building layout. While haptic feedback in VR enhances immersive experience, its effect…
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…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
Hand-tracking enables controller-free XR interaction but does not have the tactile feedback controllers provide. Rather than treating this solely as a missing-sensation problem, we explore whether pseudo-haptic cues on an embodied virtual…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…
The advent of cyber-physical systems, such as robots and autonomous vehicles (AVs), brings new opportunities and challenges for the domain of interaction design. Though there is consensus about the value of human-centred development, there…
This study introduces a novel haptic device for enhancing dexterous manipulation in virtual reality. By stimulating mechanoreceptors on both sides of the fingernail, our lightweight system simulates tangential force sensations. We employ…
The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Existing methods of haptic feedback for virtual fluids are challenging to scale, lack durability for long-term rough use, and fail to fully capture the expressive haptic qualities of fluids. To overcome these limitations, we present…
Previous studies have aimed at creating a simple hardware implementation of surface friction display. In this study, we propose a new method for presenting static frictional sensation using the pseudo-haptic effect as a first attempt, which…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
Human sensing information such as audio (hearing) and visual (sight) or a combination thereof audiovisual are transferred over communication networks. Yet interacting sense of touch (haptic) and particularly the kinaesthetic (muscular…