相关论文: Masking Effects in Combined Hardness and Stiffness…
Traditionally, video conferencing is a widely adopted solution for telecommunication, but a lack of immersiveness comes inherently due to the 2D nature of facial representation. The integration of Virtual Reality (VR) in a…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Shape displays are a class of haptic devices that enable whole-hand haptic exploration of 3D surfaces. However, their scalability is limited by the mechanical complexity and high cost of traditional actuator arrays. In this paper, we…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Surface roughness emerges naturally during mechanical removal of material, fracture, chemical deposition, plastic deformation, indentation, and other processes. Here, we use continuum simulations to show how roughness which is neither…
The incorporation of empathic systems in everyday life draws a lot of attention from society. Specifically, the use of wearables to perform stress regulation is a growing field of research. Among techniques explored, the haptic emulation of…
Facial expression editing methods can be mainly categorized into two types based on their architectures: 2D-based and 3D-based methods. The former lacks 3D face modeling capabilities, making it difficult to edit 3D factors effectively. The…
The primary interface of contact between a robotic or prosthetic hand and the external world is through the artificial skin. To make sense of that contact, tactile sensors are needed. These sensors are normally embedded in soft, synthetic…
Handheld Augmented Reality commonly implements some variant of magic lens rendering, which turns only a fraction of the user's real environment into AR while the rest of the environment remains unaffected. Since handheld AR devices are…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Compared with full volume rendering, isosurface rendering has several well recognized advantages in efficiency and accuracy. However, standard isosurface rendering has some limitations in effectiveness. First, it uses a monotone colored…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
We review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential…
We consider an elastic composite material containing particulate inclusions in a soft elastic matrix that is bounded by a rigid wall, e.g., the substrate. If such a composite serves as a soft actuator, forces are imposed on or induced…
Successful robot-mediated rehabilitation requires designing games and robot interventions that promote healthy motor practice. However, the interplay between a given user's neuromotor behavior, the gaming interface, and the physical robot…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Confined geometries offer useful and experimentally amenable mechanical testing arrangements in which to study the molecular and micro-structural processes which govern plastic yield in stress environments dominated by hydrostatic pressure…
Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…
The field of generative image inpainting and object insertion has made significant progress with the recent advent of latent diffusion models. Utilizing a precise object mask can greatly enhance these applications. However, due to the…