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

Abstract

We introduce Vib2Move, a novel approach for in-hand object reconfiguration that harnesses 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 trajectories and fingertip vibrations to achieve the desired object pose. In real-world trials, Vib2Move consistently yields final positioning errors below 5 mm, demonstrating reliable, high-precision manipulation across a variety of planar objects.