Related papers: A Hybrid Soft Haptic Display for Rendering Lump St…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
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…
Rendering stable hard surfaces is an important problem in haptics for many tasks, including training simulators for orthopedic surgery or dentistry. Current impedance devices cannot provide enough force and stiffness to render a wall, and…
In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…
The growing importance of real-time simulation in the medical field has exposed the limitations and bottlenecks inherent in the digital representation of complex biological systems. This paper presents a novel methodology aimed at advancing…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
One of the key challenges in the field of haptic research is designing plausible stimuli using haptic interfaces with limited degrees of freedom. Although the plausible approach, which simplifies and/or exaggerates stimuli to enhance…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…