相关论文: Wrist-Squeezing Force Feedback Improves Accuracy a…
This study investigates the role of haptic feedback in a car-following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated…
Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…
In guide dog training, trainers use haptic information transmitted through the handle of the harness worn by the guide dog to understand the dog's state. They then apply appropriate force to the handle to train the dog to make correct…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
A host of medical conditions, including amputations, diabetes, stroke, and genetic disease, result in loss of touch sensation. Because most types of sensory loss have no pharmacological treatment or rehabilitative therapy, we propose a…
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability to sense, interpret, and respond to changes during…
Precision rehabilitation aims to tailor movement training to improve outcomes. We tested whether proprioceptively-tailored robotic training improves hand function and neural processing in stroke survivors. Using a robotic finger…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Individuals living with paralysis or amputation can operate robotic prostheses using input signals based on their intent or attempt to move. Because sensory function is lost or diminished in these individuals, haptic feedback must be…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current robot learning algorithms primarily focus on…
Error feedback is known to improve performance by correcting control signals in response to perturbations. Here we show how adding simple error feedback can also accelerate and robustify autonomous learning in a tendon-driven robot. We…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
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…
Learning to lift and rotate objects with the fingertips is necessary for autonomous in-hand dexterous manipulation. In our study, we explore the impact of various factors on successful learning strategies for this task. Specifically, we…
This paper investigates the integration of force feedback in Digital Musical Instruments (DMI), specifically evaluating the reproduction of intricate vibrato techniques using haptic feedback controllers. We introduce our system for vibrato…