1 citations · 3 across the 16 of their papers we have counts for
18 papers
Order-Consistent Latent Geometry for Reliable Short-Horizon Planning in World Models
Junlin Wu, Wen Fan, Dandan Zhang
Latent planners often rank candidate action sequences by terminal Euclidean distance to a goal latent. Exact agreement with transition distance would make this score ideal, but is…
Edge-Native Temporal--Graph Dual-Expert Inference for Dexterous Grasp Classification
Jiajian Zheng, Bin Zhang, Wen Fan +1
Multi-finger hands contact objects at different times, so a global close command can overload early-contact fingers while others are still moving. Dense tactile arrays address this…
Layered e-skin for Shear Sensing
Qingzheng Cong, Alexis W. M. Devillard, Abu Bakar Dawood +7
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimatio…
Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin
Piotr Blaszyk, Wen Fan, Kaizhong Deng +2
Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vessel-aware manipulation, but collecting diverse tactile data on physica…
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…
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation
Dandan Zhang, Wen Fan, Jialin Lin +5
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feat…
CrystalTac: 3D-Printed Vision-Based Tactile Sensor Family through Rapid Monolithic Manufacturing Technique
Wen Fan, Haoran Li, Dandan Zhang
Recently, vision-based tactile sensors (VBTSs) have gained popularity in robotics systems. The sensing mechanisms of most VBTSs can be categorised based on the type of tactile feat…
MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor
Wen Fan, Haoran Li, Dandan Zhang
Accurate robotic control over interactions with the environment is fundamentally grounded in understanding tactile contacts. In this paper, we introduce MagicTac, a novel high-reso…
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor
Wen Fan, Haoran Li, Weiyong Si +3
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framewo…
TacFR-Gripper: A Reconfigurable Fin Ray-Based Compliant Robotic Gripper with Tactile Skin for In-Hand Manipulation
Qingzheng Cong, Wen Fan, Dandan Zhang
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manip…
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing
Wen Fan, Max Yang, Yifan Xing +2
Tactile pose estimation and tactile servoing are fundamental capabilities of robot touch. Reliable and precise pose estimation can be provided by applying deep learning models to h…
TIMS: A Tactile Internet-Based Micromanipulation System with Haptic Guidance for Surgical Training
Jialin Lin, Xiaoqing Guo, Wen Fan +6
Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation o…
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning
Dandan Zhang, Wen Fan, John Lloyd +2
Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to ad…