8 papers
A Compact 3D-Printed Soft Finger with Cyclic Hydraulic Actuation
Zefang Mao, Yunjia Li, Victoria Bamgboye +5
Hydraulic soft fingers offer compliant and gentle manipulation, but their practical deployment is limited by bulky fluidic hardware, fabrication complexity, and insufficient design…
i-Tac: Inverse Design of 3D-Printed Tactile Elastomers with Scalable and Tunable Optical and Mechanical Properties
Wen Fan, Dandan Zhang
Elastomers are central to vision-based tactile sensors (VBTSs), where they transduce external contact into observable deformation. Different VBTS architectures, however, require di…
ADM-DP: Adaptive Dynamic Modality Diffusion Policy through Vision-Tactile-Graph Fusion for Multi-Agent Manipulation
Enyi Wang, Wen Fan, Dandan Zhang
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these ch…
TactEx: An Explainable Multimodal Robotic Interaction Framework for Human-Like Touch and Hardness Estimation
Felix Verstraete, Lan Wei, Wen Fan +1
Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction…
TacEva: A Performance Evaluation Framework For Vision-Based Tactile Sensors
Qingzheng Cong, Steven Oh, Wen Fan +3
Vision-Based Tactile Sensors (VBTSs) are widely used in robotic tasks because of the high spatial resolution they offer and their relatively low manufacturing costs. However, varia…
MagicGripper: A Multimodal Sensor-Integrated Gripper for Contact-Rich Robotic Manipulation
Wen Fan, Haoran Li, Dandan Zhang
Contact-rich manipulation in unstructured environments demands precise, multimodal perception to enable robust and adaptive control. Vision-based tactile sensors (VBTSs) have emerg…