Related papers: A Hybrid Soft Haptic Display for Rendering Lump St…
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…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
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…
Preoperative gestures include tactile sampling of the mechanical properties of biological tissue for both histological and pathological considerations. Tactile properties used in conjunction with visual cues can provide useful feedback to…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Previous studies have aimed at creating a simple hardware implementation of surface friction display. In this study, we propose a new method for presenting static frictional sensation using the pseudo-haptic effect as a first attempt, which…
This paper describes a combined haptic and graphical interactive system in which a grasped handle is levitated and controlled so that its dynamic rigid-body motion and the forces and torques generated upon it match those of a tool in a…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
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…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Haptic sensations that align with virtual reality (VR) experiences have a profound impact on presence and enjoyment. There is potential to explore the dynamic capabilities of pneumatic inflatables to offer immersive sensations in virtual…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…