相关论文: Haptic Information Feedback Given to Handles in Gu…
This paper presents a VR-based guide dog training system designed to assist novice trainers in understanding guide dog behavior and issuing appropriate training commands. Guide dogs play a vital role in supporting independent mobility for…
BACKGROUND: Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…
The provision of robotic assistance during motor training has proven to be effective in enhancing motor learning in some healthy trainee groups as well as patients. Personalizing such robotic assistance can help further improve motor…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
A human operator using a manual control interface has ready access to their own command signal, both by efference copy and proprioception. In contrast, a human supervisor typically relies on visual information alone. We propose supplying a…
The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation…
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…
The current generation of surgeons requires extensive training in teleoperation to develop specific dexterous skills, which are independent of medical knowledge. Training curricula progress from manipulation tasks to simulated surgical…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, supporting people with…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…