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Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…
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…
Restricted by the limited interaction area of native AR glasses (e.g., touch bars), it is challenging to create sketches in AR glasses. Recent works have attempted to use mobile devices (e.g., tablets) or mid-air bare-hand gestures to…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…
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…
Perceiving spatial information of a virtual object (e.g, direction, distance) is critical yet challenging for blind users seeking an immersive virtual reality (VR) experience. To facilitate VR accessibility for blind users, in this paper,…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
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…
Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of device occlude the hand detection by some tracking systems, or in other…
In augmented and virtual reality (AR/VR) experiences, a user's arms and hands can provide a convenient and tactile surface for touch input. Prior work has shown on-body input to have significant speed, accuracy, and ergonomic benefits over…
We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or…
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two…
In recent years, quadruped robots have attracted significant attention due to their practical advantages in maneuverability, particularly when navigating rough terrain and climbing stairs. As these robots become more integrated into various…
Mid-air interaction is one of the promising interaction modalities in virtual reality (VR) due to its merits in naturalness and intuitiveness, but the interaction suffers from the lack of haptic feedback as no force or vibrotactile feedback…
In virtual reality, it is widely assumed that increased realism in hand-object interactions enhances user immersion and overall experience. However, recent studies challenge this assumption, suggesting that faithfully replicating real-world…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
From colored pixels to hyper-realistic 3D landscapes of virtual reality, video games have evolved immensely over the last few decades. However, video game input still requires two-handed dexterous finger manipulations for simultaneous…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch…