相关论文: FiDTouch: A 3D Wearable Haptic Display for the Fin…

Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…

Sophisticated 3D visualization applications usually provide coordinated 2D and 3D views. Normally 3D input device is used for 3D tasks since they perform better than traditional 2D input devices. However, they do not perform better for 2D…

The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…

Mid-air interaction is one of the promising interaction modalities in virtual reality (VR) due to its merits in naturalness and intuitiveness, but the interaction suffers from the lack of haptic feedback as no force or vibrotactile feedback…

Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…

We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In contrast to prior tactile simulators which primarily focus…

We present Ghostfinger, a technology for highly dynamic up/down fingertip haptics and control. The overall user experience offered by the technology can be described as that of tangibly and audibly interacting with a small hologram. More…

Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

We present BubbleTouch, an open source quasi-static simulator for robotic tactile skins. BubbleTouch can be used to simulate contact with a robot's tactile skin patches as it interacts with humans and objects. The simulator creates detailed…

Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…

Social touch is essential for our social interactions, communication, and well-being. It has been shown to reduce anxiety and loneliness; and is a key channel to transmit emotions for which words are not sufficient, such as love, sympathy,…

Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this letter,…

Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn…

3D data from high-resolution volumetric imaging is a central resource for diagnosis and treatment in modern medicine. While the fast development of AI enhances imaging and analysis, commonly used visualization methods lag far behind. Recent…

Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…

Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…

Extensive research has been done in haptic feedback for texture simulation in virtual reality (VR). However, it is challenging to modify the perceived tactile texture of existing physical objects which usually serve as anchors for virtual…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

Augmented Reality (AR) and Mobile Augmented Reality (MAR) applications have gained much research and industry attention these days. The mobile nature of MAR applications limits users' interaction capabilities such as inputs, and haptic…