Nasogastric tube (NGT) placement is an essential clinical skill. The training is conventionally performed on rubber mannequins albeit practical limitations. Computer simulation with haptic feedback can potentially offer a more realistic and accessibl...
Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exis...
In the design of a compliant admittance controller for physical human-robot interaction, it is necessary to ensure stable and effective cooperation. The stability of the admittance controller is mainly threatened by a stiff environment. Many methods ...
As robots become more involved in underwater operations, understanding underwater contact sensing with compliant systems is fundamental to engineering useful haptic interfaces and vehicles. Despite knowledge of contact sensation in air, little is kno...
This paper presents a haptic telepresence system that enables visually impaired users to explore locations with rich visual observation such as art galleries and museums by using a telepresence robot, a RGB-D sensor (color and depth camera), and a ha...
Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remot...
This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to pa...
The combination of particle jamming and pneumatics allows the simultaneous control of shape and mechanical properties in a tactile display. A hollow silicone membrane is molded into an array of thin cells, each filled with coffee grounds such that ad...
This paper proposes a scheme for human force manipulability (HFM) based on the use of isometric joint torque properties to simulate the spatial characteristics of human operation forces at an end-point of a limb with feasible magnitudes for a specifi...
This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with p...