1 citations · 1 across the 7 of their papers we have counts for
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SoftHand Model-W: A 3D-Printed, Anthropomorphic, Underactuated Robot Hand with Integrated Wrist and Carpal Tunnel
Dhillon B. Merritt, Christopher J. Ford, Haoran Li +4
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism a…
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
Yuhang Zheng, Songen Gu, Yupeng Zheng +11
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferre…
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…