Robotics: Science and Systems XXI

Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations

Xili Yi, Nima Fazeli

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.

Download:

Bibtex:

  
@INPROCEEDINGS{YiX-RSS-25, 
    AUTHOR    = {Xili Yi AND Nima Fazeli}, 
    TITLE     = {{Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2025}, 
    ADDRESS   = {LosAngeles, CA, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2025.XXI.108} 
}