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While user's perception & performance are predominantly examined independently in virtual reality, the Action-Specific Perception (ASP) theory postulates that the performance of an individual on a task modulates this individual's spatial &…
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…
Medical palpation is more than force transmission. It is a bidirectional cognitive and emotional exchange between doctor and patient. We model two complementary touch pathways: active touch by the doctor (kinesthetic and tactile) and…
The sense of touch, being the earliest sensory system to develop in a human body [1], plays a critical part of our daily interaction with the environment. In order to successfully complete a task, many manipulation interactions require…
As Extended Reality (XR) devices become increasingly prevalent in everyday settings, they raise significant privacy concerns for bystanders: individuals in the vicinity of an XR device during its use, whom the device sensors may…
Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…
This is the preprint version of our paper on IEEE Virtual Reality Conference 2015. A touch-less interaction technology on vision based wearable device is designed and evaluated. Users interact with the application with dynamic hands/feet…
We present SimXR, a method for controlling a simulated avatar from information (headset pose and cameras) obtained from AR / VR headsets. Due to the challenging viewpoint of head-mounted cameras, the human body is often clipped out of view,…
The tactile sensation of stroking soft fur, known for its comfort and emotional benefits, has numerous applications in virtual reality, animal-assisted therapy, and household products. Previous studies have primarily utilized actual fur to…
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…
Although the relationship between temperature and emotional states has been investigated in the field of haptics, it remains unknown if, or in what direction, temperature affects emotional states. We approach this question at the…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Current technologies have enabled us to track and quantify our physical state and behavior. Self-tracking aims to achieve increased awareness to decrease undesired behaviors and lead to a healthier lifestyle. However, inappropriately…
During the last years, the emerging field of Augmented and Virtual Reality (AR-VR) has seen tremendous growth. An interface that has also become very popular for the AR systems is the tangible interface or passive-haptic interface.…
Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…
This chapter gives an overview of interaction techniques for mixed reality including augmented and virtual reality (AR/VR). Various modalities for input and output are discussed. Specifically, techniques for tangible and surface-based…
In recent years 360$^{\circ}$ videos have been becoming more popular. For traditional media presentations, e.g., on a computer screen, a wide range of assessment methods are available. Different constructs, such as perceived quality or the…
Mixed Reality (MR) enables rich, embodied collaboration; however, it is uncertain whether sensor- and system-logged behavioral signals capture how users experience that collaboration. This disconnect stems from a fundamental gap. Behavioral…