Related papers: A Closed-Loop CPR Training Glove with Integrated T…
Sensing gloves have become important tools for teleoperation and robotic policy learning as they are able to provide rich signals like speed, acceleration and tactile feedback. A common approach to track gloved hands is to directly use the…
We introduce a real-time, human-in-the-loop gesture control framework that can dynamically adapt audio and music based on human movement by analyzing live video input. By creating a responsive connection between visual and auditory stimuli,…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
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 study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
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…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for…
Recently, haptic gloves have been extensively explored for various practical applications, such as manipulation learning. Previous glove devices have different force-driven systems, such as shape memory alloys, servo motors and pneumatic…
Sensor gloves are popular input devices for a large variety of applications including health monitoring, control of music instruments, learning sign language, dexterous computer interfaces, and tele-operating robot hands. Many commercial…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque…
Teaching motor skills such as playing music, handwriting, and driving, can greatly benefit from recently developed technologies such as wearable gloves for haptic feedback or robotic sensorimotor exoskeletons for the mediation of effective…