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VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
Yuhao Zhou, Sheeraz Athar, Zhixian Hu +4
This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with tactile array sensors. The des…
Caterpillar-Inspired Spring-Based Compressive Continuum Robot for Bristle-based Exploration
Zhixian Hu, Yu She, Juan Wachs
Exploration of confined spaces, such as pipelines and ducts, remains challenging for conventional rigid robots due to limited space, irregular geometry, and restricted access. Insp…
MuxGel: Simultaneous Dual-Modal Visuo-Tactile Sensing via Spatially Multiplexing and Deep Reconstruction
Zhixian Hu, Zhengtong Xu, Sheeraz Athar +2
High-fidelity visuo-tactile sensing is important for precise robotic manipulation, yet most vision-based tactile sensors rely on opaque coatings that enable tactile sensing but blo…
A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping
Zhixian Hu, Juan Wachs, Yu She
Tactile sensing and the manipulation of delicate objects are critical challenges in robotics. This study presents a vision-based magnetic-actuated whisker array sensor that integra…