Quantifying the Quality of Haptic Interfaces
Shape-Changing Haptic Interfaces
Generating Clear Vibrotactile Cues with Magnets Embedded in a Soft Finger Sheath
Salient Full-Fingertip Haptic Feedback Enabled by Wearable Electrohydraulic Actuation
Cutaneous Electrohydraulic (CUTE) Wearable Devices for Pleasant Broad-Bandwidth Haptic Cues
Modeling Finger-Touchscreen Contact during Electrovibration
Perception of Ultrasonic Friction Pulses
Vibrotactile Playback for Teaching Sensorimotor Skills in Medical Procedures
CAPT Motor: A Two-Phase Ironless Motor Structure
4D Intraoperative Surgical Perception: Anatomical Shape Reconstruction from Multiple Viewpoints
Visual-Inertial Force Estimation in Robotic Surgery
Enhancing Robotic Surgical Training
AiroTouch: Naturalistic Vibrotactile Feedback for Large-Scale Telerobotic Assembly
Optimization-Based Whole-Arm Teleoperation for Natural Human-Robot Interaction
Finger-Surface Contact Mechanics in Diverse Moisture Conditions
Computational Modeling of Finger-Surface Contact
Perceptual Integration of Contact Force Components During Tactile Stimulation
Dynamic Models and Wearable Tactile Devices for the Fingertips
Novel Designs and Rendering Algorithms for Fingertip Haptic Devices
Dimensional Reduction from 3D to 1D for Realistic Vibration Rendering
Prendo: Analyzing Human Grasping Strategies for Visually Occluded Objects
Learning Upper-Limb Exercises from Demonstrations
Minimally Invasive Surgical Training with Multimodal Feedback and Automatic Skill Evaluation
Efficient Large-Area Tactile Sensing for Robot Skin
Haptic Feedback and Autonomous Reflexes for Upper-limb Prostheses
Gait Retraining
Modeling Hand Deformations During Contact
Intraoperative AR Assistance for Robot-Assisted Minimally Invasive Surgery
Immersive VR for Phantom Limb Pain
Visual and Haptic Perception of Real Surfaces
Haptipedia
Gait Propulsion Trainer
TouchTable: A Musical Interface with Haptic Feedback for DJs
Exercise Games with Baxter
Intuitive Social-Physical Robots for Exercise
How Should Robots Hug?
Hierarchical Structure for Learning from Demonstration
Fabrication of HuggieBot 2.0: A More Huggable Robot
Learning Haptic Adjectives from Tactile Data
Feeling With Your Eyes: Visual-Haptic Surface Interaction
S-BAN
General Tactile Sensor Model
Insight: a Haptic Sensor Powered by Vision and Machine Learning
Cutaneous Electrohydraulic (CUTE) Wearable Devices for Pleasant Broad-Bandwidth Haptic Cues
].]. Ongoing work is investigating how to use these rich tactile sensations to create more engaging interactions in virtual reality [].
Human skin can feel a wide variety of sensations, such as a gentle squeeze, quick taps, or the thud-thud of a heartbeat. In contrast, phones, game controllers, and watches often rely solely on vibrations to get the user's attention. Unfortunately, this sudden fast shaking feels different from most everyday touch interactions and can quickly become annoying.
This project proposes cutaneous electrohydraulic (CUTE) wearable devices [] that can richly communicate with the user's sense of touch, providing expressive and pleasant tactile sensations []. These devices are electrically driven and can produce a remarkable range of tactile sensations, including pressure, slow and calming touch, and vibrations at a wide variety of frequencies, from low to high []. This new approach to wearable haptic feedback offers unprecedented control over the tactile sensations that can be presented to users.
By combining high-performance actuation with a compact form factor, CUTE devices provide an elegant solution for delivering nuanced and engaging haptic feedback to the skin. A perceptual study confirms that users can identify diverse cutaneous signals with near-perfect accuracy and that almost all tactile cues are perceived as pleasant: except for a continuous high-frequency vibration, like those produced by many of today's consumer devices []. We are investigating the use of these rich tactile sensations to create more engaging interactions in virtual reality applications [].
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