相关论文: HapticBots: Distributed Encountered-type Haptics f…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
In this research, we have developed a haptic situational awareness device that presents users with directional cues through continuous vibrotactile sensations. Using the device, we present user studies on the effectiveness of a…
As collaborative robots become more common in manufacturing scenarios and adopted in hybrid human-robot teams, we should develop new interaction and communication strategies to ensure smooth collaboration between agents. In this paper, we…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
We propose SlingDrone, a novel Mixed Reality interaction paradigm that utilizes a micro-quadrotor as both pointing controller and interactive robot with a slingshot motion type. The drone attempts to hover at a given position while the…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
This paper presents a comprehensive study of virtual 3D object manipulation along 4DoF on real surfaces in mixed reality (MR), using hand-based and tangible interactions. A custom cylindrical tangible proxy leverages affordances of physical…
The last two decades have seen the emergence and steady development of tangible user interfaces. While most of these interfaces are applied for input - with output still on traditional computer screens - the goal of programmable matter and…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
Mid-air interaction is one of the promising interaction modalities in virtual reality (VR) due to its merits in naturalness and intuitiveness, but the interaction suffers from the lack of haptic feedback as no force or vibrotactile feedback…
Mid-air haptics create a new mode of feedback to allow people to feel tactile sensations in the air. Ultrasonic arrays focus acoustic radiation pressure in space, to induce tactile sensation from the resulting skin deflection. In this work,…
Mid-air haptic interfaces employ focused ultrasound waves to generate touchless haptic sensations on the skin. Prior studies have demonstrated the potential positive impact of mid-air haptic feedback on virtual experiences, enhancing…