相关论文: Pneumatic Multi-mode Silicone Actuator with Pressu…

As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…

Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…

Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…

This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…

We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the composite…

The sensation of self-motion is essential in many virtual reality applications, from entertainment to training, such as flying and driving simulators. If the common approach used in amusement parks is to actuate the seats with cumbersome…

Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based…

This paper presents the simple synergistic combination of a novel contracting soft pneumatic actuator with a soft clutch (linear brake). The device is designated the Inverting-tube Vacuum ACtuator with Clutch (InVACC). The actuator alone…

Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to…

In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degree…

Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of device occlude the hand detection by some tracking systems, or in other…

This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…

Mid-air haptic interfaces employ focused ultrasound waves to generate touchless haptic sensations on the skin. Prior studies have demonstrated the potential positive impact of mid-air haptic feedback on virtual experiences, enhancing…

This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…

Automotive user interfaces constantly change due to increasing automation, novel features, additional applications, and user demands. While in-vehicle interaction can utilize numerous promising modalities, no existing overview includes an…

Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual…

Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…

We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…

The importance of haptic in-sensor computing devices has been increasing. In this study, we successfully fabricated a haptic sensor with a hierarchical structure via the sacrificial template method, using carbon…