3 papers
cs.RO2026
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
Tingcong Liu, Tongshun Chen, Siyi Ma +6
For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel for diverse whole-body expression, but grounding open-vocabulary respo…
cs.HC2026
PuppetAI: A Customizable Platform for Designing Tactile-Rich Affective Robot Interaction
Jiaye Li, Tongshun Chen, Siyi Ma +2
We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture fr…
cs.RO2025
A Hybrid Hinge-Beam Continuum Robot with Passive Safety Capping for Real-Time Fatigue Awareness
Tongshun Chen, Zezhou Sun, Yanhan Sun +3
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use…