Related papers: SPHaptics: A Real-Time Bidirectional Haptic Intera…
Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
Modeling and direct numerical simulation of particle-laden flows have a tremendous variety of applications in science and engineering across a vast spectrum of scales from pollution dispersion in the atmosphere, to fluidization in the…
This paper presents a unified and computationally efficient framework for predicting incompressible, irrotational (potential) flow around multiple immersed bodies in two-dimensional domains, with particular emphasis on quantifying…
We develop a method for simulating colloidal suspensions using multiparticle collision dynamics (MPCD) with a discrete particle model represented as a rigid body. The key steps for incorporating the rigid-body constraints are to thermalize…
Creating realistic droplet simulations and animations has long been a formidable challenge for researchers and developers due to the inherent complexity of fluid dynamics. Achieving lifelike droplet splash simulations while managing…
We review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
In this work we consider how surface-adherent bacterial biofilm communities respond in flowing systems. We simulate the fluid-structure interaction and separation process using the immersed boundary method. In these simulations we model and…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
Wave Energy Converters, particularly point absorbers, have emerged as one of the most promising technologies for harvesting ocean wave energy. Nevertheless, achieving high conversion efficiency remains challenging due to the inherently…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
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…
This study introduces a Riemann-based Smoothed Particle Hydrodynamics (SPH) framework for the stable and accurate simulation of surface tension in multiphase flows, with density and viscosity ratios as high as 1000 and 100, respectively.…
We outline a 2D algorithm for solving incompressible flow--structure interaction problems for mixed rigid/soft body representations, within a consistent framework based on the remeshed vortex method. We adopt the one--continuum formulation…
A unified Smoothed Particle Hydrodynamics (SPH) simulation framework for coronary stent implantation is developed, which unifies weakly compressible hemodynamics, Neo-Hookean solids, and stent-artery contacts, based on a multi-resolution…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a…
Mixed Reality aims to merge the digital and physical worlds to create immersive human-computer interactions. Despite notable advancements, the absence of realistic haptic feedback often breaks the immersive experience by creating a…
This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…