54 citations · 89 across the 8 of their papers we have counts for
9 papers
Tactile-Guided Robot Learning: From Representation Learning to Foundation Models
Kiyanoush Nazari, Luchen Li, Haoshu Fang +4
Tactile sensing is becoming central to robust, adaptive, and dexterous robotic manipulation. Beyond its traditional role in contact detection and reactive control, touch is increas…
Learning User Interaction Forces using Vision for a Soft Finger Exosuit
Mohamed Irfan Refai, Abdulaziz Y. Alkayas, Anup Teejo Mathew +2
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their…
A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
Zixi Chen, Di Wu, Qinghua Guan +8
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing…
Towards Interpretable Visuo-Tactile Predictive Models for Soft Robot Interactions
Enrico Donato, Thomas George Thuruthel, Egidio Falotico
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into re…
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Abdulaziz Y. Alkayas, Anup Teejo Mathew, Daniel Feliu-Talegon +3
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have rece…
Multi-modal perception for soft robotic interactions using generative models
Enrico Donato, Egidio Falotico, Thomas George Thuruthel
Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhan…
Towards Generalist Robot Learning from Internet Video: A Survey
Robert McCarthy, Daniel C. H. Tan, Dominik Schmidt +5
Scaling deep learning to massive and diverse internet data has driven remarkable breakthroughs in domains such as video generation and natural language processing. Robot learning,…
Multimodel Sensor Fusion for Learning Rich Models for Interacting Soft Robots
Thomas George Thuruthel, Fumiya Iida
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to pre…
A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop grasping
Thomas George Thuruthel, Syed Haider Abidi, Matteo Cianchetti +2
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, s…