3 papers
cs.RO2025
SCANS: A Soft Gripper with Curvature and Spectroscopy Sensors for In-Hand Material Differentiation
Nathaniel Hanson, Austin Allison, Charles DiMarzio +2
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties o…
cs.RO2025
Field Calibration of Hyperspectral Cameras for Terrain Inference
Nathaniel Hanson, Benjamin Pyatski, Samuel Hibbard +5
Intra-class terrain differences such as water content directly influence a vehicle's ability to traverse terrain, yet RGB vision systems may fail to distinguish these properties. E…
cs.RO2024
Hold 'em and Fold 'em: Towards Human-scale, Feedback-Controlled Soft Origami Robots
Immanuel Ampomah Mensah, Jessica Healey, Celina Wu +3
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Addition…