相关论文: Fingerpad Contact Evolution Under Electrovibration
We present an ab-initio method to simulate the current noise in the presence of electron-vibration interactions in atomic and molecular junctions at finite temperature. Using a combination of nonequilibrium Keldysh Green's function…
Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three…
We show that application of voltage between two electrically conducting bodies separated by a thin dielectric layer is equivalent to an adhesive contact with an effective separation energy depending quadratically on the applied stress.…
TactileWalk evaluates dynamic electrotactile patterns on fingertips for wearable navigation. We developed a fingertip stimulation prototype featuring a 10x6 electrode grid driven by an ESP32 microcontroller and high-voltage drivers to…
The airborne ultrasound tactile display can present tactile information without direct contact. Using this technology, we developed two methods for simulating the tactile sensation of tapping an object with a finger: the Amplitude…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
The influence of lateral vibrations on the stick-slip motion of a nanotip elastically pulled on a flat crystal surface is studied by atomic force microscopy (AFM) measurements on a NaCl(001) surface in ultra-high vacuum. The slippage of the…
Hydrodynamic behavior at the vicinity of a confining wall is closely related to the friction properties of the liquid/solid interface. Here we consider, using Molecular Dynamics simulations, the electric contribution to friction for charged…
This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation input to the gripper. Previous approaches assumed…
Fingernail imaging has been proven to be effective in prior works [1],[2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
The morphology of an elastic strip subject to vertical compressive stress on a frictional rigid substrate is investigated by a combination of theory and experiment. We find a rich variety of morphologies, which -when the bending elasticity…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
By presenting curved surfaces of various curvatures including edges to the fingertip, it is possible to reproduce the haptic sensation of object shapes that cannot be reproduced by flat surfaces alone, such as spheres and rectangular…
Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…
Operators want to maintain awareness of the structure being tested while observing sensor data. Normally the human's gaze shifts to a separate device or screen during the experiment for data information, missing the structure's physical…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
Variable power transmission in mechanical systems is often achieved by devices, e.g., clutches and brakes, that use dry friction. In these systems, the variability in power transmission is brought about by engaging and disengaging the…
Electrodermal activity (EDA) reflects changes in skin conductance, which are closely tied to human psychophysiological states. For example, EDA sensors can assess stress, cognitive workload, arousal, or other measures tied to the…