相关论文: Shape-Haptics: Planar & Passive Force Feedback Mec…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…
This paper investigates the influence of interfaces on the performance of finite-sized mechanical metamaterial structures for vibration damping applications. The metamaterial structures are designed in a sandwich configuration in which two…
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…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical…
In applications that involve interactive curve and surface modeling, the intuitive manipulation of shapes is crucial. For instance, user interaction is facilitated if a geometrical object can be manipulated through control points that…
The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Mobile user interfaces abundantly feature so-called 'dark patterns'. These deceptive design practices manipulate users' decision making to profit online service providers. While past research on dark patterns mainly focus on visual design,…
3D shape creation and modeling remains a challenging task especially for novice users. Many methods in the field of computer graphics have been proposed to automate the often repetitive and precise operations needed during the modeling of…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
We present advancements in the design and development of in-vehicle infotainment systems that utilize gesture input and ultrasonic mid-air haptic feedback. Such systems employ state-of-the-art hand tracking technology and novel haptic…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Recent experiments and simulations have demonstrated that particle-covered interfaces can exist in stable non-spherical shapes as a result of the steric jamming of the interfacially trapped particles, which confers the interface with…
In this position paper, we present a collection of four different prototyping approaches which we have developed and applied to prototype and evaluate interfaces for and interactions around autonomous physical systems. Further, we provide a…