相关论文: Fingerpad Contact Evolution Under Electrovibration

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…

The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…

We study in detail the recent suggestions by Tshiprut et al. [Phys. Rev. Lett. 95, 016101 (2005)] to tune tribological properties at the nanoscale by subjecting a substrate to periodic mechanical oscillations. We show that both in…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

To touch and be touched are vital to human development, well being, and relationships. However, to those who have lost their arms and hands due to accident or war, touching becomes a serious concern that often leads to psychosocial issues…

We present calculations of the inelastic vibrational signals in the electrical current through a graphene nanoconstriction. We find that the inelastic signals are only present when the Fermi-level position is tuned to electron transmission…

As technologies and interfaces for the instrumental control of musical sound get ever better at tracking aspects of human position and motion in space, a fundamental problem emerges: Unintended or even counter-intentional control may result…

Casimir and electrostatic non-contact friction between two gold plates, and a gold tip and a gold plate, are calculated taking into account the contribution of the electrical double layer. It is shown that in an extreme-near field…

To foster an immersive and natural human-robot interaction, the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual-modal electronic skin…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

During daily activities, humans use their hands to grasp surrounding objects and perceive sensory information which are also employed for perceptual and motor goals. Multiple cortical brain regions are known to be responsible for sensory…

When two surfaces are brought into contact and slide against each other, junctions are formed at the interface. The dynamics of formation, rupture and evolution of these junctions governs the tribological response of the macro-contact.…

A pair of flat parallel surfaces, each freely diffusing along the direction of their separation, will eventually come into contact. If the shapes of these surfaces also fluctuate, then contact will occur when their centers of mass remain…

This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of…

When two solids start rubbing together, frictional sliding initiates in the wake of slip fronts propagating along their surfaces in contact. This macroscopic rupture dynamics can be successfully mapped on the elastodynamics of a moving…

The dynamic of contact formation between soft materials immersed in a fluid is accompanied by fluid drainage and elastic deformation. As a result, controlling the coupling between lubrication pressure and elasticity provides strategies to…

We perform physical and numerical experiments to study the stick-slip response of a stack of slabs in contact through dry frictional interfaces driven in quasistatic shear. The ratio between the drive's stiffness and the slab's shear…

Extended reality technology has become a useful tool in many applications, but still suffers from visual deviations that can hamper the utility of the technology. This paper discusses the types of persisting visual deviations experienced…

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…

The real area of contact governs, in part, the magnitude of the friction force, yet its time evolution in rough viscoelastic interfaces remains incompletely understood. In experiments of contact between polymethylmethacrylate blocks under…