相关论文: Adaptic: A Shape Changing Prop with Haptic Retarge…

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…

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…

Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…

Human crowd simulation in virtual reality (VR) is a powerful tool with potential applications including emergency evacuation training and assessment of building layout. While haptic feedback in VR enhances immersive experience, its effect…

Virtual co-embodiment enables two users to share a single avatar in Virtual Reality (VR). During such experiences, the illusion of shared motion control can break during joint-action activities, highlighting the need for position-aware…

While user's perception & performance are predominantly examined independently in virtual reality, the Action-Specific Perception (ASP) theory postulates that the performance of an individual on a task modulates this individual's spatial &…

High-fidelity haptic feedback is essential for immersive virtual environments, yet authoring realistic tactile textures remains a significant bottleneck for designers. We introduce HapticMatch, a visual-to-tactile generation framework…

In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…

Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…

Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key for the next horizon of autonomous…

Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

We present HARP (HAnd Reconstruction and Personalization), a personalized hand avatar creation approach that takes a short monocular RGB video of a human hand as input and reconstructs a faithful hand avatar exhibiting a high-fidelity…