We develop advanced technologies in robotics, mechatronics, and sensing to create interactive, dynamic physical 3D displays and haptic interfaces that allow 3D information to be touched as well as seen. We are specifically interested in using these novel interfaces to support richer remote collaboration, computer aided design, education, and interfaces for people with visual impairments. In pursuit of these goals, we use a design process grounded in iterative prototyping and human centered design and look to create new understanding about human perception and interaction through controlled studies.

Our research in Human Computer Interaction and Human Robot Interaction currently directed in six areas:

  • Modeling and Applying Visuo-Haptic Illusions and Multimodal Haptics
  • Dissipative Haptic Devices
  • Accessible STEM Education Through Haptic and Multimodal Interaction
  • Interaction and Display with Swarm User Interfaces
  • Shape Changing Robots and Displays
  • Design Tools

Realism in Phenomenal Causality

The role of realism across multisensory cues within causal perception

MPC for Reach Redirection

Real-time VR spatial remapping using human sensorimotor models

Beyond Being Real

A Sensorimotor Control Perspective on Interactions in Virtual Reality

Slide-tone and Tilt-tone

1-DOF Haptic Techniques for Conveying Shape Characteristics of Graphs to Blind Users

Automated Accessory Rigs

for Layered 2D Character Illustrations

A Causal Feeling

How Kinesthetic Haptics Affects Causal Perception

Auto Haptics

Creating spatial tactile effects automatically by analyzing cross-modality features of a video


A Haptic and Audio Guidance System To Support Tactile Graphics Exploration


Extending the Limits of Haptic Mobile Robots with Redirection in VR

Swarm Control

User-defined Swarm Robot Control

Transient Vibration + Visuo Haptic Illusions

Augmenting Perceived Softness of Haptic Proxy Objects

An untethered isoperimetric soft robot

Shape changing truss robots that crawl and engulf.

Electrostatic Adhesive Brakes

Towards High Spatial Resolution Refreshable 2.5D Tactile Shape Displays


An Accessible 3D Modelling Workflow for the Blind and Visually-Impaired Via 2.5D Shape Displays

Tactile Code Skimmer

A Tool to Help Blind Programmers Feel the Structure of Code

Understanding Redirected Touch In Virtual Reality

Augmenting haptic interaction in VR through perceptual illusions.

Visual and Haptic Perception of Expressive 1 DoF Motion

Understanding user perception of expressive robotic motion through different sensory modalities

Hover Haptics

Using Quadcopters to Appropriate Objects and the Environment for Haptics in Virtual Reality


Haptic Display with Swarm Robots


Automated Instrumentation for In-Circuit PCB Debugging with Dynamic Component Isolation

Editing Spatial Layouts through Tactile Templates

Editing Spatial Layouts through Tactile Templates for People with Visual Impairments

Dynamic Composite Data Physicalization

Physical visualizations that use collections of self-propelled objects to represent data

Visuo-Haptic Illusions

Visuo-Haptic Illusions for Improving the Perceived Performance of Shape Displays

3D Retargeted Touch in Haptics VR

A Functional Optimization Based Approach for Continuous 3D Retargeted Touch of Arbitrary, Complex Boundaries in Haptic Virtual Reality


A Mobile Tabletop Shape Display for Tangible and Haptic Interaction

Robotic Assembly

Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality


A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality


Interactive Design and Debugging of Analog Circuits with Programmable Hardware


Ubiquitous Robotic Interfaces and Investigation of Abstract motion as a Display.

Pneumatic Reel Actuator

High extension pneumatic actuator.


Reconfigurable Tactile Elements for dynamic physical controls.


Building block for swarm user interface


A wearable haptic interface for grasping in virtual reality.


Miniature on-body robots as mobile wearables

Switchable Permanent Magnetic Actuators

Applications in shape change and tactile display

Haptic Edge Display

Display for mobile tactile interaction.