6 papers
MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery
Md Rakibul Islam Prince, Jaeeun Kim, Yuhao Zhou +9
Robot-assisted minimally invasive surgery (RMIS) offers major benefits over open and conventional laparoscopic procedures, yet it still lacks tactile feedback for palpation while o…
VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
Yuhao Zhou, Sheeraz Athar, Zhixian Hu +4
This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with tactile array sensors. The des…
MuxGel: Simultaneous Dual-Modal Visuo-Tactile Sensing via Spatially Multiplexing and Deep Reconstruction
Zhixian Hu, Zhengtong Xu, Sheeraz Athar +2
High-fidelity visuo-tactile sensing is important for precise robotic manipulation, yet most vision-based tactile sensors rely on opaque coatings that enable tactile sensing but blo…
Caterpillar-Inspired Spring-Based Compressive Continuum Robot for Bristle-based Exploration
Zhixian Hu, Yu She, Juan Wachs
Exploration of confined spaces, such as pipelines and ducts, remains challenging for conventional rigid robots due to limited space, irregular geometry, and restricted access. Insp…
Soft Surfaced Vision-Based Tactile Sensing for Bipedal Robot Applications
Jaeeun Kim, Junhee Lim, Yu She
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tact…
A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping
Zhixian Hu, Juan Wachs, Yu She
Tactile sensing and the manipulation of delicate objects are critical challenges in robotics. This study presents a vision-based magnetic-actuated whisker array sensor that integra…