Related papers: HapMorph: A Pneumatic Framework for Multi-Dimensio…
Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
We introduce HumMorph, a novel generalized approach to free-viewpoint rendering of dynamic human bodies with explicit pose control. HumMorph renders a human actor in any specified pose given a few observed views (starting from just one) in…
Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Virtual try-on technology has become increasingly important in the fashion and retail industries, enabling the generation of high-fidelity garment images that adapt seamlessly to target human models. While existing methods have achieved…
During the design phase of products and before going into production, it is necessary to verify the presence of mechanical plays, tolerances, and encumbrances on production mockups. This work introduces a multi-modal system that allows…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
The landscape of Deep Learning has experienced a major shift with the pervasive adoption of Transformer-based architectures, particularly in Natural Language Processing (NLP). Novel avenues for physical applications, such as solving Partial…
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…
Accurate characterization of hippocampal substructure is crucial for detecting subtle structural changes and identifying early neurodegenerative biomarkers. However, high inter-subject variability and complex folding pattern of human…
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
Generating human grasping poses that accurately reflect both object geometry and user-specified interaction semantics is essential for natural hand-object interactions in AR/VR and embodied AI. However, existing semantic grasping approaches…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…