7 papers · 1 filter
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
Hao Wu, Haotian Guo, Yu Feng +3
Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low c…
Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects
Ziyi Zheng, Keqi Zhu, Hao Wu +2
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robus…
Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning
Yanzhe Wang, Hao Wu, Ziyi Zheng +1
Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of sof…
DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity
Hao Wu, Yanzhe Wang, Yu Feng +4
Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuati…
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity
Hao Wu, Yanzhe Wang, Yu Feng +4
Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper p…
TacMamba: A Tactile History Compression Adapter Bridging Fast Reflexes and Slow VLA Reasoning
Zhenan Wang, Yanzhe Wang, Meixuan Ren +8
In visually ambiguous manipulation such as detecting button click tactile feedback is often the sole source of ground truth. However, fusing tactile data poses a significant challe…
GelSight FlexiRay: Breaking Planar Limits by Harnessing Large Deformations for Flexible,Full-Coverage Multimodal Sensing
Yanzhe Wang, Hao Wu, Haotian Guo +1
The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tact…