相关论文: HapticGiant: A Novel Very Large Kinesthetic Haptic…
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Touch plays a central role in how humans perceive and recognize materials through physical contact. Despite decades of research, the mechanisms by which tactile signals are transformed into meaningful perceptual representations remain…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
Adaptive interfaces can help users perform sequential decision-making tasks like robotic teleoperation given noisy, high-dimensional command signals (e.g., from a brain-computer interface). Recent advances in human-in-the-loop machine…
Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as…
During the last years, the emerging field of Augmented and Virtual Reality (AR-VR) has seen tremendous growth. An interface that has also become very popular for the AR systems is the tangible interface or passive-haptic interface.…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force. While hierarchical gecko-inspired adhesives…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
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…
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…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…