Shaoyu Cai

I am a researcher in Human-computer Interaction(HCI)


Shaoyu Cai 蔡紹禹

Shaoyu Cai is a Ph.D candidate under the supervision of Prof. Kening Zhu from School of Creative Media, City University of Hong Kong. He received B.Eng degree from College of Engineering, Huazhong Agricultural University (2018). He was a visiting researcher at Graduate of Information Science and Technology, The University of Tokyo (2020) and working closely with Prof. Takuji Narumi and Prof. Yuki Ban. His research interest lies in the field of Human-Computer Interaction (HCI), with emphasis on cross-modal generation (e.g., from vision to touch), data-driven texture modeling and rendering, and haptic interface for virtual and augmented reality (VR & AR).

[CV] [Google Scholar] [dblp][ResearchGate]

Latest News

[2021.09] The invited submission of FrictGAN was accepted by Computers & Graphics!

[2021.09] WeightedWalking was accepted by ACM SIGGRAPH Asia Emerging Technologies!

[2021.07] One paper was accepted by IEEE Robotics and Automation Letters with IROS 2021!



GAN-based image-to-friction generation for tactile simulation of fabric material

Shaoyu Cai, Lu Zhao, Yuki Ban, Takuji Narumi, Yue Liu and Kening Zhu

In Computers & Graphics, vol. 102, pp. 460-473, Feb. 2022.

[Paper] [Code]

WeightedWalking: Propeller-based On-leg Force Simulation of Walking in Fluid Materials in VR

Pingchuan Ke, Shaoyu Cai, Lantian Xu and Kening Zhu

In SIGGRAPH Asia 2021 Emerging Technologies, ACM, New York, USA, Article 19, 1–2. 2021.

[Paper] [Video]

Visual-Tactile Cross-Modal Data Generation using Residue-Fusion GAN with Feature-Matching and Perceptual Losses

Shaoyu Cai, Kening Zhu, Yuki Ban, and Takuji Narumi

In IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7525-7532, Oct. 2021 & IROS 2021.

[Paper] [Code]

FrictGAN: Frictional Signal Generation from Fabric Texture Images using Generative Adversarial Network
Best Paper Audience Choice Award (Top-3)

Shaoyu Cai, Yuki Ban, Takuji Narumi, and Kening Zhu

In 2020 International Conference on Artificial Reality and Telexistence & Eurographics Symposium on Virtual Environments (ICAT-EGVE 2020).

[Paper] [Code]

ThermAirGlove: A pneumatic glove for thermal perception and material identification in virtual reality

Shaoyu Cai, Pingchuan Ke, Takuji Narumi, and Kening Zhu

In 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR), pp. 248-257. (Acceptance Rate = 21.4%)

[Paper] [Video]

Demonstration of thermairglove: A pneumatic glove for material perception in virtual reality through thermal and force feedback

Shaoyu Cai, Pingchuan Ke, Shanshan Jiang, Takuji Narumi, and Kening Zhu

In SIGGRAPH Asia 2019 Emerging Technologies, pp. 11-12. 2019. (Acceptance Rate = 20%)

[Paper] [Video]

A sense of ice and fire: Exploring thermal feedback with multiple thermoelectric-cooling elements on a smart ring

Kening Zhu, Simon Perrault, Taizhou Chen, Shaoyu Cai, and Roshan Lalintha Peiris

International Journal of Human-Computer Studies, vol. 130, pp. 234-247, Oct. 2019.

[Paper] [Video]

Embodied Weather: Promoting Public Understanding of Extreme Weather Through Immersive Multi-Sensory Virtual Reality

Pingchuan Ke, Kai-Ning Keng, Shanshan Jiang, Shaoyu Cai, Zhiyi Rong, and Kening Zhu

In The 17th International Conference on Virtual-Reality Continuum and its Applications in Industry, pp. 1-2. 2019.

[Paper] [Video]

HapTwist: creating interactive haptic proxies in virtual reality using low-cost twistable artefacts

Kening Zhu, Taizhou Chen, Shaoyu Cai, Feng Han, and Yi-Shiun Wu

In SIGGRAPH Asia 2018 Virtual & Augmented Reality, pp. 1-2. 2018.

[Paper] [Video]



PhD in Creative Media

2019.9 - present

School of Creative Media, City University of Hong Kong, Hong Kong SAR, China

Supervisor: Prof. Kening Zhu

Reseach topics: Cross-modal learning, haptic rendering, multi-modal interface, virtual and augmentated reality

Bachelor of Engineering

2014.9 - 2018.6

College of Engineering and Technology, Huazhong Agricultural University, Wuhan, China

Bachelor in Engineering


Visiting researcher

2020.1 - 2020.3

Graduate of Information Science and Technology, The University of Tokyo, Tokyo, Japan

Supervisors: Prof. Takuji Narumi and Prof. Yuki Ban

Research assistant

2018.8 - 2019.8

School of Creative Media, City University of Hong Kong, Hong Kong SAR, China

Supervisor: Prof. Kening Zhu

Exchanging undergraduate

2016.9 - 2017.2

Department of Electrical Engineering, National Taipei University, Taiwan, China

Supervisor: Prof. Hooman Samani


  • ALL
  • VR/AR
  • Cross-modal
  • Haptic Interface


Computers & Graphics 2021






IEEE VR 2020 & Siggraph Asia 2019

Thermal Ring

INT J of Human-Computer Studies 2019

Embodied Weather

VRCAI 2019


Siggraph Asia 2018

More News

[2020.12] FrictGAN received Best Paper Audience Choice Award!

[2020.10] One paper was accepted by ICAT-EGVE 2020!

[2020.03] One paper was accepted by IEEE VR 2020!

[2019.11] Demonstration of ThermAirGlove was accepted by SIGGRAPH Asia Emerging Technologies 2019!



Run Run Shaw Creative Media Centre, 18 Tat Hong Avenue, Kowloon Tong, Hong Kong

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