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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…
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…