相关论文: Vibr-eau: Emulating Fluid Behavior in Vessel Handl…
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two…
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…
We introduce a method for manipulating objects in three-dimensional space using controlled fluid streams. To achieve this, we train a neural network controller in a differentiable simulation and evaluate it in a simulated environment…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
Haptic sensory feedback has been shown to complement the visual and auditory senses, improve user performance and provide a greater sense of togetherness in collaborative and interactive virtual environments. However, we are faced with…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
In a companion study \cite{patterson2020computing2D}, we present a numerical method for simulating 2D viscous flow through an open compliant closed channel, drive by pressure gradient. We consider the highly viscous regime, where fluid…
Improving object manipulation skills through hand-object interaction exercises is crucial for rehabilitation. Despite limited healthcare resources, physical therapists propose remote exercise routines followed up by remote monitoring.…
User embodiment is important for many virtual reality (VR) applications, for example, in the context of social interaction, therapy, training, or entertainment. However, there is no validated instrument to empirically measure the perception…
In virtual reality, it is widely assumed that increased realism in hand-object interactions enhances user immersion and overall experience. However, recent studies challenge this assumption, suggesting that faithfully replicating real-world…
Modeling the mechanics of fluid in complex scenes is vital to applications in design, graphics, and robotics. Learning-based methods provide fast and differentiable fluid simulators, however most prior work is unable to accurately model how…
In augmented reality (AR), where digital content is overlaid onto the real world, realistic thermal feedback has been shown to enhance immersion. Yet current thermal feedback devices, heavily influenced by the needs of virtual reality,…
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed search stages. Calibrating soft aquatic robots is…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
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…
High-accuracy, high-efficiency physics-based fluid-solid interaction is essential for reality modeling and computer animation in online games or real-time Virtual Reality (VR) systems. However, the large-scale simulation of incompressible…
Haptic signals, from smartphone vibrations to virtual reality touch feedback, can effectively convey information and enhance realism, but designing signals that resonate meaningfully with users is challenging. To facilitate this, we…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…