Elodie Bouzbib; Marc Teyssier; Thomas Howard; Claudio Pacchierotti; Anatole Lécuyer
PalmEx: Adding Palmar Force-Feedback for 3D Manipulation with Haptic Exoskeleton Gloves Journal Article
In: Ieee Transactions On Visualization And Computer Graphics, vol. 30, no. 7, pp. 3973-3980, 2024.
@article{bouzbib_2109,
title = {PalmEx: Adding Palmar Force-Feedback for 3D Manipulation with Haptic Exoskeleton Gloves},
author = {Elodie Bouzbib and Marc Teyssier and Thomas Howard and Claudio Pacchierotti and Anatole Lécuyer},
url = {https://ieeexplore.ieee.org/document/10041940/},
year = {2024},
date = {2024-07-01},
journal = {Ieee Transactions On Visualization And Computer Graphics},
volume = {30},
number = {7},
pages = {3973-3980},
abstract = {Haptic exoskeleton gloves are a widespread solution for providing force-feedback in Virtual Reality (VR), especially for 3D object manipulations. However, they are still lacking an important feature regarding in-hand haptic sensations: the palmar contact.
In this paper, we present PalmEx, a novel approach which incorporates palmar force-feedback into exoskeleton gloves to improve the overall grasping sensations and manual haptic interactions in VR. PalmEx's concept is demonstrated through a self-contained hardware system augmenting a hand exoskeleton with an encountered palmar contact interface -- physically encountering the users' palm.
We build upon current taxonomies to elicit PalmEx's capabilities for both the exploration and manipulation of virtual objects.
We first conduct a technical evaluation optimising the delay between the virtual interactions and their physical counterparts.
We then empirically evaluate PalmEx's proposed design space in a user study (n=12) to assess the potential of a palmar contact for augmenting an exoskeleton. Results show that PalmEx offers the best rendering capabilities to perform believable grasps in VR.
PalmEx highlights the importance of the palmar stimulation, and provides a low-cost solution to augment existing high-end consumer hand exoskeletons.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Brice Parilusyan; Marc Teyssier; Valentin Martinez-Missir; Clément Duhart; Marcos Serrano
Sensurfaces: A Novel Approach for Embedded Touch Sensing on Everyday Surfaces Journal Article
In: Proceedings of the ACM on interactive, mobile, wearable and ubiquitous technologies, vol. 6, no. 2, pp. 67, 2022.
@article{parilusyan_1808,
title = {Sensurfaces: A Novel Approach for Embedded Touch Sensing on Everyday Surfaces},
author = {Brice Parilusyan and Marc Teyssier and Valentin Martinez-Missir and Clément Duhart and Marcos Serrano},
url = {https://dl.acm.org/doi/10.1145/3534616},
year = {2022},
date = {2022-07-01},
journal = {Proceedings of the ACM on interactive, mobile, wearable and ubiquitous technologies},
volume = {6},
number = {2},
pages = {67},
abstract = {Ubiquitous touch sensing surfaces are largely influenced by touchscreens' look and feel and fail to express the physical richness of existing surrounding materials. We introduce Sensurfaces, a plug-and-play electronic module that allows to rapidly experiment with touch-sensitive surfaces while preserving the original appearance of materials. Sensurfaces is composed of plug-and-play modules that can be connected together to expand the size and number of materials composing a sensitive surface. The combination of Sensurfaces modules allows the creation of small or large multi-material sensitive surfaces that can detect multi-touch but also body proximity, pose, pass, or even human steps. In this paper, we present the design and implementation of Sensurfaces. We propose a design space describing the factors of Sensurfaces interfaces. Then, through a series of technical evaluations, we demonstrate the capabilities of our system. Finally, we report on two workshops validating the usability of our system.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Zacharie Guillaume; Théo Richalet; Marc Teyssier; Sylvain Pauchet; Jérémie Garcia; Benoit Roman
Make-A-Morph: Exploring the design space of inflatable devices made from planar fabric Conference
Fifth European Tangible Interaction Studio, Toulouse, France, 2022.
@conference{guillaume_2051,
title = {Make-A-Morph: Exploring the design space of inflatable devices made from planar fabric},
author = {Zacharie Guillaume and Théo Richalet and Marc Teyssier and Sylvain Pauchet and Jérémie Garcia and Benoit Roman},
url = {https://etis.lii.enac.fr/},
year = {2022},
date = {2022-11-01},
booktitle = {Fifth European Tangible Interaction Studio},
address = {Toulouse, France},
abstract = {Developing inflatable devices from planar fabric is a new versatile fabrication process that allows
the development of complex geometric shapes with a beneficial mass to robustness ratio. However,
designing and fabricating with this matter is complex, and the existing design primitives for shape
change can constrain designers' creativity. We present a pipeline that allows users and designers to
explore and compose with various shape-change primitives. To this extent, we rely on digital simulation
combined with a simple digital fabrication tool. This pipeline allows to explore and visualize deformation
and develop new application cases for shape-changing interfaces. We propose a workshop around
manipulating these tools to foster discussion between designers and researchers around the future of
shape-changing interface fabrication},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Madalena Nicolae; Valentin Martinez-Missir; Marc Teyssier
The Rise of Organic Soft Robotics : Strategies for Fabrication Conference
ACM CHI 2022 Conference on Human Factors in Computing Systems, New Orleans, LA, USA, 2022.
@conference{nicolae_1812,
title = {The Rise of Organic Soft Robotics : Strategies for Fabrication},
author = {Madalena Nicolae and Valentin Martinez-Missir and Marc Teyssier},
editor = {ACM},
url = {https://programs.sigchi.org/chi/2022},
year = {2022},
date = {2022-05-01},
booktitle = {ACM CHI 2022 Conference on Human Factors in Computing Systems},
address = {New Orleans, LA, USA},
edition = {2022},
abstract = {Soft Robotics rapidly emerged as an area of interest in Human-Computer Interaction (HCI). Simple DIY fabrication processes and platforms were re-adapted from traditional digital fabrication tools, resulting in making soft materials-based prototyping accessible to the design and maker community.
There is a growing interest in the use of bio-based and bio-degradable materials in design and prototyping, creating discussions around sustainable design practices as new motor of interdisciplinary exchange. These materials are abundant in Nature, have properties extensively explored in bio-engineering, and are potent in driving sustainability.
However, soft robotics and shape-changing interfaces are not yet developed using these new materials alternatives.
In this context, we highlight potential materials and advocate for their democratized use in soft robotics and HCI. More precisely, we propose an empiric overview of the main challenges in prototyping with bio-based and/or bio-degradable materials, pointing therefore how fabrication processes and tools need to be adjusted once again.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Marc Teyssier; Brice Parilusyan; Anne Roudaut; Jürgen Steimle
Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction Conference
2021 IEEE International Conference on Robotics and Automation, Xi'an, China, 2021.
@conference{teyssier_1386,
title = {Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction},
author = {Marc Teyssier and Brice Parilusyan and Anne Roudaut and Jürgen Steimle},
url = {http://www.icra2021.org/index.aspx},
year = {2021},
date = {2021-05-01},
booktitle = {2021 IEEE International Conference on Robotics and Automation},
pages = {8},
address = {Xi'an, China},
abstract = {Physical Human-Robot-Interaction (pHRI) is beneficial for communication in social interaction or to perform collaborative tasks but is also crucial for safety. While robotic devices embed sensors for this sole purpose, their design often is the results of a trade-off between technical capabilities and rarely considers human factors. We propose a novel approach
to design and fabricate compliant Human-like artificial skin sensors for robots, with similar mechanical properties as human skin and capable of precisely detecting touch. Our artificial skin relies on the use of different silicone elastomers to replicate the human skin layers and comprises an embedded electrode
matrix to perform mutual capacitance sensing. We present the sensor and describe its fabrication process which is scalable, low-cost and ensures flexibility, compliance and robustness. We introduce Muca, an open-source sensing development board and then evaluate the performance of the sensor.},
note = {conférence du 30/05/21 au 05/06/2021},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Brice Parilusyan; Marc Teyssier; Zacharie Guillaume; Thibault Charlet; Clément Duhart; Marcos Serrano
Local Layer Splitting: An Additive Manufacturing Method to Define the Mechanical Properties of Soft Pneumatic Actuators During Fabrication Proceedings Article
In: IEEE International Conference on Robotics and Automation, London, UK, 2023.
@inproceedings{parilusyan_2251,
title = {Local Layer Splitting: An Additive Manufacturing Method to Define the Mechanical Properties of Soft Pneumatic Actuators During Fabrication},
author = {Brice Parilusyan and Marc Teyssier and Zacharie Guillaume and Thibault Charlet and Clément Duhart and Marcos Serrano},
url = {icra2023.org},
year = {2023},
date = {2023-05-01},
booktitle = {IEEE International Conference on Robotics and Automation},
address = {London, UK},
abstract = {Additive manufacturing of silicone is increasingly being explored to complement the traditional molding fabrication technique for Soft Pneumatic Actuators (SPAs). However, the mechanical behavior of SPAs is defined by their 3D form, which leads to prioritizing the SPAs mechanical properties over their aspect. In this paper, we propose a novel SPA fabrication method where the mechanical properties of a silicone part are defined during the fabrication phase rather than the 3D modeling phase, leading to the object's mechanical properties being independent of the object's aspect. This novel SPA fabrication method, named Local Layer Splitting (LLS), consists of local modifications of the printing layer height to integrate stiffness variation, thus generating controlled mechanical deformation when pressured. We discovered that silicone printing layer height impacts the final stiffness of the material, and it could be used to program bending deformation to actuators during printing. We first characterize the effect of the layer height parameters on 3D-printed silicone stiffness with tensile tests. Then, we present a custom slicer we developed to generate G-codes with local layer height variations depending on the x and y positions. We then characterize the bending and force achievable by SPAs made with the LLS process and find that they match those of state-of-the-art SPAs. Finally, we present and discuss how the LLS method impacts the SPAs design by shifting the bending behavior integration from the SPAs 3D conception to their fabrication phase.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Rhett Dobinson; Marc Teyssier; Jürgen Steimle; Bruno Fruchard
MicroPress: Detecting Pressure and Hover Distance in Thumb-to-Finger Interactions Proceedings Article
In: SIGGRAPH, (Ed.): Spatial User Interaction, pp. 1-10, SIGGRAPH, online, 2022, ISBN: 978-1-4503-9948-7.
@inproceedings{dobinson_2052,
title = {MicroPress: Detecting Pressure and Hover Distance in Thumb-to-Finger Interactions},
author = {Rhett Dobinson and Marc Teyssier and Jürgen Steimle and Bruno Fruchard},
editor = {SIGGRAPH},
url = {https://dl.acm.org/doi/10.1145/3565970.3567698},
issn = {978-1-4503-9948-7},
year = {2022},
date = {2022-12-01},
booktitle = {Spatial User Interaction},
volume = {4},
pages = {1-10},
publisher = {SIGGRAPH},
address = {online},
abstract = {Thumb-to-finger interactions leverage the thumb for precise, eyes-free input with high sensory bandwidth. While previous research explored gestures based on touch contact and finger movement on the skin, interactions leveraging depth such as pressure and hovering input are still underinvestigated. We present MicroPress, a proof-of-concept device that can detect both, precise thumb pressure applied on the skin and hover distance between the thumb and the index finger. We rely on a wearable IMU sensor array and a bi-directional RNN deep learning approach to enable fine-grained control while preserving the natural tactile feedback and touch of the skin. We demonstrate MicroPress' efficacy with two interactive scenarios that pose challenges for real-time input and we validate its design with a study involving eight participants. With short per user calibration steps, MicroPress is capable of predicting hover distance with 0.57mm accuracy, and on-skin pressure with 6.71% normalized pressure error at 6 locations on the index finger.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Madalena Nicolae; Marion Koelle; Aditya Shekhar Nittala; Marc Teyssier; Jürgen Steimle
Prototyping Soft Devices with Interactive Bioplastics Proceedings Article
In: ACM, (Ed.): Proceedings of the 335th Annual ACM Symposium on User Interface Software and Technology, Bend OR USA, 2022, ISBN: 978-1-4503-9320-1.
@inproceedings{nicolae_2050,
title = {Prototyping Soft Devices with Interactive Bioplastics},
author = {Madalena Nicolae and Marion Koelle and Aditya Shekhar Nittala and Marc Teyssier and Jürgen Steimle},
editor = {ACM},
url = {https://dl.acm.org/doi/abs/10.1145/3526113.3545623},
issn = {978-1-4503-9320-1},
year = {2022},
date = {2022-10-01},
booktitle = {Proceedings of the 335th Annual ACM Symposium on User Interface Software and Technology},
address = {Bend OR USA},
abstract = {Designers and makers are increasingly interested in leveraging bio-based and bio-degradable ?do-it-yourself' (DIY) materials for sustainable prototyping. Their self-produced bioplastics possess compelling properties such as self-adhesion but have so far not been functionalized to create soft interactive devices, due to a lack of DIY techniques for the fabrication of functional electronic circuits and sensors. In this paper, we contribute a DIY approach for creating Interactive Bioplastics that is accessible to a wide audience, making use of easy-to-obtain bio-based raw materials and familiar tools. We present three types of conductive bioplastic materials and their formulation: sheets, pastes and foams. Our materials enable additive and subtractive fabrication of soft circuits and sensors. Furthermore, we demonstrate how these materials can substitute conventional prototyping materials, be combined with off-the-shelf materials.},
note = {Best Paper and Best Demo},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Marion Koelle; Madalena Nicolae; Aditya Shekhar Nittala; Marc Teyssier; Jürgen Steimle
Prototyping Soft Devices with Interactive Bioplastics Proceedings Article
In: ACM, (Ed.): 35th Annual ACM Symposium on User Interface Software and Technology, Bend OR, USA, 2022, ISBN: 978-1-4503-9320-1.
@inproceedings{koelle_2050,
title = {Prototyping Soft Devices with Interactive Bioplastics},
author = {Marion Koelle and Madalena Nicolae and Aditya Shekhar Nittala and Marc Teyssier and Jürgen Steimle},
editor = {ACM},
url = {https://dl.acm.org/doi/abs/10.1145/3526113.3545623},
issn = {978-1-4503-9320-1},
year = {2022},
date = {2022-10-01},
booktitle = {35th Annual ACM Symposium on User Interface Software and Technology},
address = {Bend OR, USA},
abstract = {Designers and makers are increasingly interested in leveraging bio-based and bio-degradable ?do-it-yourself' (DIY) materials for sustainable prototyping. Their self-produced bioplastics possess compelling properties such as self-adhesion but have so far not been functionalized to create soft interactive devices, due to a lack of DIY techniques for the fabrication of functional electronic circuits and sensors. In this paper, we contribute a DIY approach for creating Interactive Bioplastics that is accessible to a wide audience, making use of easy-to-obtain bio-based raw materials and familiar tools. We present three types of conductive bioplastic materials and their formulation: sheets, pastes and foams. Our materials enable additive and subtractive fabrication of soft circuits and sensors. Furthermore, we demonstrate how these materials can substitute conventional prototyping materials, be combined with off-the-shelf materials.},
note = {Best Paper and Best Demo},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Marc Teyssier; Brice Parilusyan; Anne Roudaut; Jürgen Steimle
Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction Proceedings Article
In: IEEE, (Ed.): IEEE International Conference on Robotics and Automation (ICRA), pp. 3626-3633, Institute of Electrical and Electronics Engineers (IEEE), Xi'an, China, 2021, ISBN: 9781728190785.
@inproceedings{teyssier_1813,
title = {Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction},
author = {Marc Teyssier and Brice Parilusyan and Anne Roudaut and Jürgen Steimle},
editor = {IEEE},
url = {https://ieeexplore.ieee.org/document/9561152},
issn = {9781728190785},
year = {2021},
date = {2021-04-01},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3626-3633},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {Xi'an, China},
edition = {2021},
abstract = {Physical Human-Robot-Interaction (pHRI) is beneficial for communication in social interaction or to perform collaborative tasks but is also crucial for safety. While robotic devices embed sensors for this sole purpose, their design often is the results of a trade-off between technical capabilities and rarely considers human factors. We propose a novel approach to design and fabricate compliant Human-like artificial skin sensors for robots, with similar mechanical properties as human skin and capable of precisely detecting touch. Our artificial skin relies on the use of different silicone elastomers to replicate the human skin layers and comprises an embedded electrode matrix to perform mutual capacitance sensing. We present the sensor and describe its fabrication process which is scalable, low-cost and ensures flexibility, compliance and robustness. We introduce Muca, an open-source sensing development board and then evaluate the performance of the sensor.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
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