Publication

Towards multimodal Haptics for teleoperation: Design of a Tactile Thermal Display

Publications associées (31)

Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...

EPFL2021

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Jamie Paik, Frédéric Henri Vaskin Giraud, Sagar Dattatray Joshi

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

2022

Electronic Skins for Healthcare Monitoring and Smart Prostheses

Laurent Mirko Dejace, Stéphanie Lacour, Haotian Chen

The human skin is a unique organ that embeds multiple functions that no artificial systems can currently replicate. Advances in materials science and engineering are driving the design of electronic skins-large-area sensor arrays that mimic some sensory mo ...

ANNUAL REVIEWS2021

Preventing Breaks in Embodiment in Immersive Virtual Reality

Thibault Serge Mario Porssut

Virtual reality (VR) is immersive not only because of visual integration, but because we can act and perform in a virtual environment (VE). Beyond the mere fact that a VR system provides images computed directly from the users' viewpoint in stereoscopy, it ...

EPFL2021

Motor state transitions and Breathing in Brain Machine Interfaces

Bastien Orset

Brain-Machine interfaces aim to create a direct neural link between user's brain and machines. This goal has pushed scientists to investigate a large spectrum of applications in the realm of assistive and rehabilitation technologies. However, despite great ...

EPFL2021

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

Harshal Arun Sonar

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

EPFL2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Tactile spatial discrimination on the torso using vibrotactile and force stimulation

Olaf Blanke, Oliver Alan Kannape, Masayuki Hara, Matteo Franza

There is a steadily growing number of mobile communication systems that provide spatially encoded tactile information to the humans’ torso. However, the increased use of such hands-off displays is currently not matched with or supported by systematic perce ...

2021

Towards versatile conversations with data-driven dialog management and its integration in commercial platforms

Conversational interfaces have recently become a ubiquitous element in both the personal sphere by easing access to services, and industrial environments by the automation of services, improved customer support and its corresponding cost savings. However, ...

2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Rohan Budhiraja, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021