1 citations · 1 across the 11 of their papers we have counts for
12 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…
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…
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…
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…