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Biological soft tissues exhibit elastic properties which can be dramatically different from rubber-type materials (elastomers). To gain a better understanding of the role of constitutive relationships in determining material responses under…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
One way to reduce the lattice thermal conductivity of solids is to induce additional phonon surface scattering through nanostructures. However, how phonons interact with boundaries, especially at the atomic level, is not well understood. In…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
The way the topological structure goes from a decoupled state into a coupled one in multiplex networks has been widely studied by means of analytical and numerical studies, involving models of artificial networks. In general, these…
This paper investigates the effects of plasticity on the effective fracture toughness. A layered material is considered as a modelling system. An elastic-plastic phase-field model and a surfing boundary condition are used to study how the…
Suction cups are widely used in applications such as in measurement of mechanical properties of skin in vivo, in drug delivery devices or in acupuncture treatment. Understanding the mechanical response of skin under hypobaric pressure are…
Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which closely aligns with natural proprioception mechanisms, presents a promising method for…
In order to design haptic icons or build a haptic vocabulary, we require a set of easily distinguishable haptic signals to avoid perceptual ambiguity, which in turn requires a way to accurately estimate the perceptual (dis)similarity of…
Even during fixation the human eye is constantly in low amplitude motion, jittering over small angles in random directions at up to 100Hz. This motion results in all features of the image on the retina constantly traversing a number of…
Long range order and symmetry in heterogeneous materials architected on crystal lattices lead to elastic and inelastic anisotropies and thus limit mechanical functionalities in particular crystallographic directions. Here, we present a…
This paper investigates how visual texture presentation influences tactile perception when interacting with electrostatic cloth displays. We propose a visuo-haptic system that allows users to pinch and rub virtual fabrics while feeling…
Some mixtures, such as colloids like milk, blood, and gelatin, have homogeneous appearance when viewed with the naked eye, however, to observe them at the nanoscale is possible to understand the heterogeneity of its components. The same…
The present research was designed to examine how patterns of illumination influence the perceptual categorization of metal, shiny black, and shiny white materials. The stimuli depicted three possible objects that were illuminated by five…
The human visual system contains a hierarchical sequence of modules that take part in visual perception at different levels of abstraction, i.e., superordinate, basic, and subordinate levels. One important question is to identify the…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
We have a limited understanding of how we integrate haptic information in real-time from our upper limbs to perform complex bimanual tasks, an ability that humans routinely employ to perform tasks of varying levels of difficulty. In order…
We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or…
We study the relation between short-time vibrational modes and long-time relaxational dynamics in a kinetically constrained lattice gas with harmonic interactions between neighbouring particles. We find a correlation between the location of…