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We present an actuated handheld puppet system for controlling the posture of a virtual character. Physical puppet devices have been used in the past to intuitively control character posture. In our research, an actuator is added to each joint of such an input device to provide physical feedback to the user. This enhancement offers many benefits. First, the(More)
We propose a cooking system that operates in an open environment. The system cooks a meal by pouring various ingredients into a boiling pot on an induction heating cooker and adjusts the heating strength according to the user's instructions. We then describe how the system incorporates robotic- and human-specific elements in a shared workspace so as to(More)
We present a sensing technology and input method that uses skin deformation estimated through a thin band-type device attached to the human body, the appearance of which seems socially acceptable in daily life. An input interface usually requires feedback. SenSkin provides tactile feedback that enables users to know which part of the skin they are touching(More)
We present the FuwaFuwa sensor module, a round, hand-size, wireless device for measuring the shape deformations of soft objects such as cushions and plush toys. It can be embedded in typical soft objects in the household without complex installation procedures and without spoiling the softness of the object because it requires no physical connection. Six(More)
We present the iRing, an intelligent input ring device developed for measuring finger gestures and external input. iRing recognizes rotation, finger bending, and external force via an infrared (IR) reflection sensor that leverages skin characteristics such as reflectance and softness. Furthermore, iRing allows using a push and stroke input method, which is(More)
PINOKY is a wireless ring-like device that can be externally attached to any plush toy as an accessory that animates the toy by moving its limbs. A user is thus able to instantly convert any plush toy into a soft robot. The user can control the toy remotely or input the movement desired by moving the plush toy and having the data recorded and played back.(More)
This project proposes to use interactive graphical editing interface for an end user to give instructions to intelligent robots to complete a real world object manipulation task. Natural language is often considered as an ideal communication method for robots, but it not intuitive at specifying tasks that require visual (geometry) information. Learning from(More)
Tele-existence applications for robotic systems are becoming popular and widespread. Tey enable users to control a remote machine while experiencing a sense of being in the remote location. Initially, tele-existence was used for remote de-mining and mission-critical tasks in space, to avoid risking human life. Recently it has been applied in many(More)
We have developed a simple skin-like user interface that can be easily attached to curved as well as flat surfaces and used to measure tangential force generated by pinching and dragging interactions. The interface consists of several photoreflectors that consist of an IR LED and a phototransistor and elastic fabric such as stocking and rubber membrane. The(More)
In this paper, we propose a sensing system that can detect one dimensional tangential force on a forearm. There are some previous tactile sensors that can detect touch conditions when a user touches a human skin surface. Those sensors are usually attached on a fingernail, so therefore a user cannot touch the skin with two fingers or with their palm. In the(More)