相关论文: The CUFF, Clenching Upper-limb Force Feedback wear…
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
The use of static human body dimensions to assess the human accessibility is an essential part of an ergonomic approach in user-centered design. Assessments of reach capability are commonly performed by exercising external anthropometry of…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
Rendering stable hard surfaces is an important problem in haptics for many tasks, including training simulators for orthopedic surgery or dentistry. Current impedance devices cannot provide enough force and stiffness to render a wall, and…
Vibro-tactile feedback is, by far the most common haptic interface in wearable or touchable devices. This feedback can be amplified by controlling the wave propagation characteristics in devices, by utilizing phenomena such as structural…
Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback, and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force…
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
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…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…