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

We introduce Vib2Move, a novel approach for inhand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects.Our framework comprises three key innovations.First, we design a vibrationbased 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, variablefriction 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.