Real-time haptic interactions occur under two exploration modes: active and passive. In this paper, we present a series of experiments that evaluate the main perceptual characteristics of both exploration modes. In particular, we focus on haptic shap...
Recent advances in virtual reality (VR) technologies such as immersive head-mounted display (HMD), sensing devices, and 3D printing-based props have become much more feasible for providing improved experiences for users in virtual environments. In pa...
This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chi...
In this work, an organ pipe instrument with a mechatronic control system including the Passive Haptic Feedback technology is implemented. The test bed consists of a motorized positioning stage mounted to a brace that is attached to a bridge on a plat...
Haptic surgical simulators assign a constitutive force law to each tissue class segmented from volumetric images and switch between laws, unsmoothed, as the instrument advances. This study characterizes the resulting force discontinuities and derives...
The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive...
Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combina...
The availability and affordability of consumer virtual reality (VR) devices have fueled their adoption during the product design process. High fidelity virtual prototypes can be created more quickly and are more cost-effective than using traditional...
Nowadays, the presentation of products through virtual reality and other online media coexists with traditional means. However, while some products may be perceived correctly in digital media, others may need physical contact. In this scenario, this...
We propose a novel wearable haptic device that can provide kinesthetic haptic feedback for stiffness rendering of virtual objects in augmented reality (AR). Rendering stiffness of objects using haptic feedback is crucial for realistic finger-based ob...
In this narrative historical review, we take a closer look at the role of tactile/haptic stimulation in enhancing people’s immersion (and sense of presence) in a variety of entertainment experiences, including virtual reality (VR). An important...
In recent years, master–slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the sys...
The physics-based design and realization of a digital musical interface asks for the modeling and implementation of the contact-point interaction with the performer. Musical instruments always include a resonator that converts the input energy into s...
This study presents a wearable haptic feedback system designed to support speech training for individuals with speech and hearing impairments. The system provides real-time tactile cues based on detected phonemes, helping users correct their pronunci...
Haptic devices are applied as masters to provide force displays for telemedicinal robots. Gravity compensation has been proven to be crucial for the accuracy and capability of force displays, which are critical for haptic devices to assist operators....
Haptic interfaces convey force between an operator and a physical or virtual environment, yet passive devices encode a single force behavior in dedicated mechanical hardware and cannot emulate qualitatively different phenomena without physical modifi...
Force feedback gloves allow users to touch and manipulate virtual objects intuitively. Compared with gloves providing active feedback force, gloves with passive feedback force are promising in terms of safety and low weight, but simulating the variab...
Accurate needle insertion during epidural anesthesia is challenging due to strong dependence on clinician experience and the limited integration of guidance modalities that simultaneously provide visual feedback and physical motion constraints. Curre...
Background: Accurate three-dimensional positioning of dental implants is critical for ensuring biomechanical stability, prosthetic passivity, and long-term clinical success. While computer-assisted navigation systems achieve high precision, their com...
Entering the 5G and internet of things (IoT) era, human–machine interfaces (HMIs) capable of providing humans with more intuitive interaction with the digitalized world have experienced a flourishing development in the past few years. Although the ad...
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interactio...
This study presents an assessment scheme for haptic interaction systems based on Hamiltonian energy prediction, which contributes to procedures applied to neurorehabilitation. It focuses on robotic systems involving human participation in the control...
The remote perception of teleoperated surgical robotics has been a critical issue for surgeons in fulfilling their remote manipulation tasks. In this article, an adaptive teleoperation control framework is proposed. It provides a physical human&ndash...
Wearable robotics has expanded beyond conventional exoskeletons and prosthetic devices toward compact systems that attach to or move along the human body. Within this field, on-body mobile robots have emerged as a promising platform for healthcare mo...
In conditionally automated driving, the engagement of non-driving activities (NDAs) can be regarded as the main factor that affects the driver’s take-over performance, the investigation of which is of great importance to the design of an intell...
Thermal technologies that effectively deliver thermal stimulation through skin-integrated systems and enable temperature perception via the activation of cutaneous thermoreceptors are key to enhancing immersive experiences in virtual and augmented re...
Emerging research trends in smart healthcare, smart manufacturing, and Industrial Internet-of-Things (IIoT) applications are based on 5G services, which can achieve ultra-reliable and low-latency communication networks. In such fields of application,...
Master–slave bilateral teleoperation systems face several practical challenges, including model uncertainties, time-varying communication delays, and environment-induced force disturbances. To address these issues, this paper proposes an adapti...
Background: When engaging with the environment, multisensory cues interact and are integrated to create a coherent representation of the world around us, a process that has been suggested to be affected by the lack of visual feedback in blind individ...
In recent years, tasks regarding autonomous mobility favoredthe use of legged robots rather than wheeled ones thanks to their higher mobility on rough and uneven terrains. This comes at the cost of more complex motion planners and controllers to ensu...