Related papers: A Hybrid Soft Haptic Display for Rendering Lump St…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity signals for intuitive perception. We present ArrayTac, a…
This paper has introduced a novel approach for the real-time estimation of 3D tactile forces exerted by human fingertips via vision only. The introduced approach is entirely monocular vision-based and does not require any physical force…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
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, designed with thin…
We present HapTable; a multimodal interactive tabletop that allows users to interact with digital images and objects through natural touch gestures, and receive visual and haptic feedback accordingly. In our system, hand pose is registered…
We propose HYBRIDDEPTH, a robust depth estimation pipeline that addresses key challenges in depth estimation,including scale ambiguity, hardware heterogeneity, and generalizability. HYBRIDDEPTH leverages focal stack, data conveniently…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
This study introduces an innovative vibrotactile display that harnesses audio speakers to convey tactile information to the fingertips while preserving the display's softness and flexibility. Our proposed system integrates a flexible…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
In the real world, we often come across soft objects having spatially varying stiffness, such as human palm or a wart on the skin. In this paper, we propose a novel approach to render thin, deformable objects having spatially varying…
Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…
With the increasing computational power of today's workstations, real-time physically-based rendering is within reach, rapidly gaining attention across a variety of domains. These have expeditiously applied to medicine, where it is a…
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…