3 papers
cs.RO2026
An Event-Based Opto-Tactile Skin
Mohammadreza Koolani, Simeon Bamford, Petr Trunin +5
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone opt…
cs.RO2025
Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design
Trevor Exley, Anderson Brazil Nardin, Petr Trunin +2
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and…
cs.RO2025
MELEGROS: Monolithic Elephant-inspired Gripper with Optical Sensors
Petr Trunin, Diana Cafiso, Anderson Brazil Nardin +2
The elephant trunk exemplifies a natural gripper where structure, actuation, and sensing are seamlessly integrated. Inspired by the distal morphology of the African elephant trunk,…