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arXiv · 2506.10923

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

Xili Yi·Nima Fazeli
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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.

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Xili Yi, Nima Fazeli. 2025-06-12. Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations. https://arxiv.org/abs/2506.10923

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