相关论文: Cutaneous Force Feedback as a Sensory Subtraction …

Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when…

Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip…

Mid-air ultrasound haptic technology offers a myriad of temporal and spatial parameters for contactless haptic design. Yet, predicting how these parameters interact to render an ultrasound signal is difficult before testing them on a…

The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Soft tissue simulation in virtual environments is becoming increasingly important for medical applications. However, the high deformability of soft tissue poses significant challenges. Existing methods rely on segmentation, meshing and…

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

Perceiving spatial information of a virtual object (e.g, direction, distance) is critical yet challenging for blind users seeking an immersive virtual reality (VR) experience. To facilitate VR accessibility for blind users, in this paper,…

Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…

Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…

Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…

In distributed target-tracking sensor networks, efficient data gathering methods are necessary to save communication resources and assure information accuracy. This paper proposes a Feedback (FB) distributed data-gathering method which lets…

Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and…

This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…

Tele-operated robots rely on real-time user behavior mapping for remote tasks, but ensuring secure authentication remains a challenge. Traditional methods, such as passwords and static biometrics, are vulnerable to spoofing and replay…

Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…

In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…

Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…

Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…

Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…