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Haptics in virtual reality is the emerging dimension after audiovisual experiences. Researchers designed several handheld VR controllers to simulate haptic experiences in virtual reality environments. Some of these devices, equipped to…
The sensation of self-motion is essential in many virtual reality applications, from entertainment to training, such as flying and driving simulators. If the common approach used in amusement parks is to actuate the seats with cumbersome…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
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…
Surface visualizations are essential in analyzing three-dimensional spatiotemporal phenomena. Given its ability to provide enhanced spatial perception and scene maneuverability, virtual reality (VR) is an essential medium for surface…
Thermal comfort in shared spaces is essential to occupants well-being and necessary in the management of energy consumption. Existing thermal control systems for indoor shared spaces adjust temperature set points mechanically, making it…
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual…
Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Zoomorphic Socially Assistive Robots (SARs) offer an alternative source of social touch for individuals who cannot access animal companionship. However, current SARs provide only limited, passive touch-based interactions and lack the rich…
Comparative to conventional 2D interaction methods, virtual reality (VR) demonstrates an opportunity for unique interface and interaction design decisions. Currently, this poses a challenge when developing an accessible VR experience as…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…