1 citations · 3 across the 16 of their papers we have counts for
8 papers · 1 filter
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…