6 papers
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…
Final Report for the Workshop on Robotics & AI in Medicine
Juan P Wachs
The CARE Workshop on Robotics and AI in Medicine, held on December 1, 2025 in Indianapolis, convened leading researchers, clinicians, industry innovators, and federal stakeholders…
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…
Coaching a Robotic Sonographer: Learning Robotic Ultrasound with Sparse Expert's Feedback
Deepak Raina, Mythra V. Balakuntala, Byung Wook Kim +2
Ultrasound is widely employed for clinical intervention and diagnosis, due to its advantages of offering non-invasive, radiation-free, and real-time imaging. However, the accessibi…
UltraGelBot: Autonomous Gel Dispenser for Robotic Ultrasound
Deepak Raina, Ziming Zhao, Richard Voyles +3
Telerobotic and Autonomous Robotic Ultrasound Systems (RUS) help alleviate the need for operator-dependability in free-hand ultrasound examinations. However, the state-of-the-art R…