Related papers: SPHaptics: A Real-Time Bidirectional Haptic Intera…

This paper presents I-nteract, a cyber-physical system that enables real-time interaction with real and virtual objects in a mixed augmented reality environment to design 3D models for additive manufacturing. The system has been developed…

Smooth-Particle-Hydrodynamics is gaining popularity for the simulation of solids subjected to machining, wear, and impacts. Its attractiveness is due to its abilities to simulate problems involving large deformations resulting from the…

I present a review of Smoothed Particle Hydrodynamics (SPH), with the aim of providing a mathematically rigorous, clear derivation of the algorithms from first principles. The method of discretising a continuous field into particles using a…

Physical interaction between individuals plays an important role in human motor learning and performance during shared tasks. Using robotic devices, researchers have studied the effects of dyadic haptic interaction mostly focusing on the…

Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…

Humanity is at the forefront of yet another digital revolution, where the lines between real and virtual worlds are dissolving, reshaping how we perceive and interact with our surroundings. In this context, we introduce a transformative…

While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…

Physics-based simulation underpins engineering analysis but remains difficult to deploy in practice due to complex setup, parameterization, and interpretation. While Large Language Model-based agentic systems have shown promise in…

VR/AR technology is a key enabler for new ways of immersively experiencing cultural heritage artifacts based on their virtual counterparts obtained from a digitization process. In this paper, we focus on enriching VR-based object inspection…

A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…

Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…

Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…

Capturing the interaction between objects that have an extreme difference in Young s modulus or geometrical scale is a highly challenging topic for numerical simulation. One of the fundamental questions is how to build an accurate…

When the effects of relative motion at the solid object interfaces are not negligible, the contact method is required in the smoothed particle hydrodynamics (SPH) method to prevent virtual shear and tensile stresses. However, there is still…

Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for…

We introduce a full-Lagrangian heterogeneous multiscale method (LHMM) to model complex fluids with microscopic features that can extend over large spatio-temporal scales, such as polymeric solutions and multiphasic systems. The proposed…

We propose a novel three-way coupling method to model the contact interaction between solid and fluid driven by strong surface tension. At the heart of our physical model is a thin liquid membrane that simultaneously couples to both the…

This paper proposes a novel concept of a hybrid tactile display with multistimulus feedback, allowing the real-time experience of the position, shape, and texture of the virtual object. The key technology of the TeslaMirror is that we can…

Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…