Related papers: HapMorph: A Pneumatic Framework for Multi-Dimensio…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…
Parametric 3D models have enabled a wide variety of tasks in computer graphics and vision, such as modeling human bodies, faces, and hands. However, the construction of these parametric models is often tedious, as it requires heavy manual…
HapticLever is a new kinematic approach for VR haptics which uses a 3D pantograph to stiffly render large-scale surfaces using small-scale proxies. The HapticLever approach does not consume power to render forces, but rather puts a…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
In the real world, we often come across soft objects having spatially varying stiffness, such as human palm or a wart on the skin. In this paper, we propose a novel approach to render thin, deformable objects having spatially varying…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…
We present CaPhy, a novel method for reconstructing animatable human avatars with realistic dynamic properties for clothing. Specifically, we aim for capturing the geometric and physical properties of the clothing from real observations.…