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
Natalia Sanchez-Tamayo, Zachary Yoder, Philipp Rothemund, Giulia Ballardini, Christoph Keplinger and Katherine J. Kuchenbecker, Science Advances, 2023 [
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Human skin can sense diverse mechanical stimuli, including new contacts, variable pressure, and broad-bandwidth vibrations. However, most wearable haptic devices provide only vibrotactile feedback, under-utilizing the perceptual capabilities of the skin. Further, prolonged vibrations have often been reported as unpleasant, uncomfortable, and causing lasting tingling sensations, thus motivating the creation of haptic devices that can deliver a wider range of cutaneous sensations for richer communication and more pleasant haptic feedback. Such devices have been developed in a relatively compact form for use on high-sensitivity glabrous skin, such as the fingertips. However, over 90% of the body is covered by the hairy skin, which has lower sensitivity than the glabrous skin and therefore requires higher forces and displacements to sense haptic cues. For this reason, it is challenging to create compact devices that deliver a wide range of salient sensations to the hairy skin.
In this project, we showcase cutaneous electrohydraulic (CUTE) wearable devices, which are powered by soft, electrically driven actuators that output expressive haptic feedback on hairy skin in a compact form factor.
Our CUTE wearable device overcomes these challenges by using a multi-layer stack of expanding hydraulically amplified self-healing electrostatic (HASEL) actuators. The custom materials design of these actuators enables high stroke (2.44 mm) and high force (exceeding 2 N) in a small footprint (14 mm × 14 mm). Further, it doubly electrically insulates the high-voltage components of the actuators, rendering them safe to operate in close contact with the skin. Our CUTE wearable device harness electrohydraulic actuation to deliver rich and pleasant haptic sensations to the hairy skin.
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