相关论文: KinesCeTI: A Modular and Size-Adaptable Force Feed…

Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…

This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…

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…

This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin…

Cardiopulmonary resuscitation (CPR) is a critical life-saving procedure, and effective training benefits from self-directed practice beyond instructor-led sessions. In this paper, we propose a closed-loop CPR training glove that integrates…

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…

Recent advancements in virtual reality and robotic teleoperation have greatly increased the variety of haptic information that must be conveyed to users. While existing haptic devices typically provide unimodal feedback to enhance…

The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we…

We present Glovity, a novel, low-cost wearable teleoperation system that integrates a spatial wrench (force-torque) feedback device with a haptic glove featuring fingertip Hall sensor calibration, enabling feedback-rich dexterous…

Upper-extremity amputees who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information,…

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…

Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…

With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…

Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…

As interest in Virtual Reality (VR) and Augmented Reality (AR) increases, the demand for kinesthetic haptic feedback devices is rapidly rising. Motor based haptic interfaces are heavy and bulky, leading to discomfort for the user. To…

Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…

We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger…

We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…