The synthesis of realistic robot grasps in a simulated environment is pivotal in generating datasets that support sim-to-real transfer learning. In a step toward achieving this goal, we propose PrendoSim, an open-source grasp generator based on a …
A method of creating localized haptic stimulations on a user includes a wearable device including a plurality of transducers that can each generate one or more waves that propagate away from the wearable device through a medium. The method includes …
In this work, we investigate the influence of different visualizations on a manipulation task in virtual reality (VR). Without the haptic feedback of the real world, grasping in VR might result in intersections with virtual objects. As people are …
The goal of this work is to establish the range of visual-haptic asynchronies that go unnoticed when touching an object. To perform a psychophysical study, however, we would need asynchronous visual-haptic stimuli, but because the contact of the …
We present Tactile Echoes, a wearable system for augmenting tactile interactions with any object. This system senses vibrations in the fingertip that are produced by interactions of the finger with a touched object. It processes the vibration signals …
Most commercial virtual reality applications with self avatars provideusers with a 'one-size fits all' avatar. While the height of this body may be scaled to the user's height, other body proportions, such as limb length and hand size, are rarely …
It has been suggested that the integration of multiple body-related sources of information within the peri-personal space (PPS) scaffolds body ownership. However, a normative computational framework detailing the functional role of PPS is still …
Hand tracking and haptics are gaining more importance as key technologies of virtual reality (VR) systems. For designing such systems, it is fundamental to understand how the appearance of the virtual hands influences user experience and how the …
In this paper we discuss the concept of co-adaptation between a human operator and a machine interface and we summarize its application with emphasis on two different domains, teleoperation and assistive technology. The analysis of the literature …
This chapter discusses the sensory systems that have been shown to contribute to spatial perception – vestibular, body-based, audition, and vision. We then present how spatial information is typically multisensory and estimates are integrated within …