Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applicatio...
Humans can perceive tactile directionality with angular perception thresholds of 14-40° via fingerpad skin displacement. Using deformable, artificial tactile sensors, the ability to perceive tactile directionality was developed for a robotic system t...
In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, rec...
The design and control of a new series-viscous-elastic joint are presented. The proposed joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of silicone springs is the main novelty of the system; they exhibit in...
Haptic shared control enables a human operator and an autonomous controller to share the control of a robotic system using haptic active constraints. It has been used in robotic teleoperation for different purposes, such as navigating along paths min...
Limited physical access to target organs of patients inside an MRI scanner is a major obstruction to real-time MRI-guided interventions. Traditional teleoperation technologies are incompatible with the MRI environment and although several solutions h...
This article presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output a contr...
While prosthetic fitting after upper-limb loss allows for restoration of motor functions, it deprives the amputee of tactile sensations that are essential for grasp control in able-bodied subjects. Therefore, it is commonly assumed that restoring the...
Fast playback allows quick video exploration, but it also decreases the saliency of short events. We propose a haptic exploration for detection of short events during fast video playback, considering that event-related information in vibrotactile fee...
Interactions with an object during within-hand manipulation (WIHM) constitutes an assortment of gripping, sliding, and pivoting actions. In addition to manipulation benefits, the re-orientation and motion of the objects within-the-hand also provides ...