Leland Stanford Junior University

Massachusetts Institute of Technology

Hyundai Motor Company

Kia Motors Corporation

Sean Follmer

Inrak Choi

Hiroshi Ishii

Seunghwan Lee

Jifei Ou

Elliot Wright Hawkes

Lining Yao

Heather Culbertson

Ryuma Niiyama

Alex Olwal

Allison Mariko Okamura

Mac Schwager

Daniel Leithinger

Nathan Scot Usevitch

James Ballard

Zachary Hammond

Adaptable and customizable truss-like robots are provided. The robotic truss has robotic roller modules configured to translate along one or more pliable member and therewith control the shape or design of the robot.

Reconfigurable, adaptable robotic structures

A vehicle is configured to enable precise control while minimizing distractions during driving and improving user convenience by receiving a user input that combines the user's gaze or speech with a physical operation. The vehicle includes a first input device configured to receive a first user input by at least one of the user's speech or user's gaze; a second input device configured to receive a second user input by the physical operation of the user; and a controller configured to determine a control item corresponding to the first user input among a plurality of control items when the first input device receives the first user input, and to determine a sub-control item for the determined control item based on the second user input when the second input device receives the second user input.

Vehicle and method of controlling the same

An input device provides an improved feeling of operation to a user and allows the user to recognize an operation of a handle by providing haptic feedback by limiting a direction of movement of the handle of the input device provided in a vehicle according to a control item, applying a reaction force to the handle, or generating a vibration. The input device includes the handle that is movable in a first direction and a second direction and a motor that is configured to generate force related to a movement of the handle. A driver is configured to operate the motor. A controller operates the driver to limit a moving direction of the handle to the first direction or the second direction according to a control item controlled by the movement of the handle.

Input device and vehicle including the same, and method of controlling input device

A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.

Grabity: A virtual reality haptic controller for creating gravity and stiffness during grasping motions through asymmetric vibrations

Grabity: a virtual reality haptic controller for creating gravity and stiffness during grasping motions through asymmetric vibrations

In exemplary implementations of this invention, a shape controller controls the shape of a bladder as the bladder inflates. The shape controller includes a first set of regions and a second set of regions. The second set of regions is more flexible than the first set of regions. The shape controller is embedded within, or adjacent to, a wall of the bladder. When the bladder is inflated, the overall shape of the bladder bends in areas adjacent to the more flexible regions of the shape controller. For example, the shape controller may comprise paper and the more flexible regions may comprise creases in the paper. Or, for example, the more flexible regions may comprise notches or indentations. In some implementations of this invention, a multi-state shape display changes shape as it inflates, with additional bumps forming as pressure in the display increases.

Methods and apparatus for shape control

A mobile, wearable haptic device (the Wolverine) designed for simulating the grasping of objects in a virtual reality interface is disclosed. The Wolverine renders a force directly between the thumb and at least one finger to simulate opposition type grasps of the objects. Mechanical design, control strategy, and performance analysis of the Wolverine system are disclosed.

Wolverine: a wearable haptic interface for grasping in virtual reality

In exemplary implementations of this invention, a jammable structure functions as an HCI interface. A user provides input by changing the shape of a flexible layer of the jammable structure (e.g., by pressing against it or stretching, twisting or bending it) and receives haptic feedback (e.g., varying stiffness). Sensors are used to determine the shape of the flexible layer. The sensors output data that is indicative of electromagnetic waves that have traveled through the jammable media or of electrical or magnetic phenomena that are produced by the waves. For example, visible or infrared light may be shone through a transparent jammable media to the flexible layer and reflect back to a camera. The media may comprise granular particles (e.g., glass beads) and a liquid (e.g., oil) with matching indices of refraction. Or capacitive sensing may be used to detect the shape of the flexible layer.

Methods and apparatus for jammable HCI interfaces

Growing community of inventors

San Francisco, CA, United States of America

Sean Follmer