5 papers · 1 filter
MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery
Md Rakibul Islam Prince, Jaeeun Kim, Yuhao Zhou +9
Robot-assisted minimally invasive surgery (RMIS) offers major benefits over open and conventional laparoscopic procedures, yet it still lacks tactile feedback for palpation while o…
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…
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4
Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physical interaction with grasped objects under uncertain external forces.…
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Kaidi Zhang, Heng Zhang, Zhengtong Xu +7
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal perfo…
In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper
Yuhao Zhou, Pokuang Zhou, Shaoxiong Wang +1
Manipulation tasks often require a high degree of dexterity, typically necessitating grippers with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fi…