Related papers: A Soft Fabric-Based Thermal Haptic Device for VR a…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
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…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand,…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
This paper investigates how visual texture presentation influences tactile perception when interacting with electrostatic cloth displays. We propose a visuo-haptic system that allows users to pinch and rub virtual fabrics while feeling…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
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…
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…
Haptic feedback in virtual reality (VR) allows users to perceive the physical properties of virtual objects (e.g., their weight and motion patterns). However, the lack of haptic sensations deteriorates users' immersion and overall…
Our system introduces a modularized pneumatic actuating unit capable of delivering vibration, pressure, and impact feedback. Designed for adaptability, these modular tactile actuating units can be rapidly customized and reconfigured to suit…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Extensive research has been done in haptic feedback for texture simulation in virtual reality (VR). However, it is challenging to modify the perceived tactile texture of existing physical objects which usually serve as anchors for virtual…
Thermal sensation is crucial to enhancing our comprehension of the world and enhancing our ability to interact with it. Therefore, the development of thermal sensation presentation technologies holds significant potential, providing a novel…