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
Salient Full-Fingertip Haptic Feedback Enabled by Wearable Electrohydraulic Actuation
]. Haptic feedback systems constructed with this approach are comfortable to wear and allow unrestricted hand motions to enhance user experience for a broad range of cyber-physical applications.
To create an immersive experience in extended reality (XR), providing effective and versatile touch feedback is essential but remains a technical challenge. Specifically, imitating everyday touch interactions, such as grasping and pressing, poses considerable challenges and requires highly interdisciplinary research approaches. Current solutions in research and industry rely on devices that are bulky, burdensome, tethered, limited in haptic expressiveness, and costly, degrading the system's wearability and resulting in a less-immersive experience.
Our work introduces a design strategy for compact, flexible, and salient haptic feedback centered on a 30-μm-thick inflatable chamber that naturally conforms to the fingertip []. We leverage the benefits of soft electrohydraulic actuators, including high speed, broadband, energy efficiency, and untethered operation, while using soft flexible materials that are widely available and inexpensive. To minimize fluidic losses and enable high bandwidth, a soft electrohydraulic pump mounted close to the fingertip actuates the chamber through a mechanically transparent fluidic channel. We demonstrate an exemplary feedback system with a wide actuation bandwidth from steady state to 500 Hz, well-matched to the human sense of touch. It can generate tunable hydraulic forces easily perceivable at the fingertip, with a peak force of 8 N and a steady-state force of 3 N. These capabilities enable the proposed actuation paradigm to deliver tactile sensations mechanically comparable to real touch experiences. Our design can enrich various applications in XR, including medical training, online shopping, and social interactions.
Additionally, we propose a novel method to assess the quality of fingertip haptic feedback by employing a commercially available artificial finger that closely emulates the form factor and sensing capabilities of real human fingers. Attaching the actuation system directly to this artificial fingertip enables a direct comparison between the haptic sensations it can create and those generated during typical hand interactions. This assessment method can standardize evaluation protocols for haptic devices, enabling rigorous comparisons between actuation paradigms.
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