Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations

TL;DR

Vib2Move introduces a micro-vibration-based method for precise in-hand reconfiguration of planar objects, leveraging friction modulation, a sliding motion model, and coordinated motion planning to achieve high accuracy.

Contribution

The paper presents a novel vibration-based actuator, a sliding motion model, and a coordinated motion planner for in-hand object reconfiguration using fingertip micro-vibrations.

Findings

Final positioning errors below 6 mm in real-world tests

Reliable high-precision manipulation demonstrated across various objects

Effective friction modulation via fingertip vibrations

Abstract

We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a vibration-based actuator that dynamically modulates the effective finger-object friction coefficient, effectively emulating changes in gripping force. Second, we derive a sliding motion model for objects clamped in a parallel gripper with two symmetric, variable-friction contact patches. Third, we propose a motion planner that coordinates end-effector finger trajectories and fingertip vibrations to achieve the desired object pose. In real-world trials, Vib2Move consistently yields final positioning errors below 6 mm, demonstrating reliable, high-precision manipulation across a variety of planar objects. For more results and information, please visit https://vib2move.github.io.