7 papers
Function-based Parametric Co-Design Optimization of Dexterous Hands
Mohammad Amin Mirzaee, Harsh Gupta, Wenzhen Yuan
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing…
GelSphere: An Omnidirectional Rolling Vision-Based Tactile Sensor for Online 3D Reconstruction and Normal Force Estimation
Seoyeon Lee, Mohammad Amin Mirzaee, Wenzhen Yuan
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sens…
Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings
Harsh Gupta, Mohammad Amin Mirzaee, Wenzhen Yuan
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situat…
FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting
Ruohan Zhang, Mohammad Amin Mirzaee, Wenzhen Yuan
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be…
GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System
Hung-Jui Huang, Mohammad Amin Mirzaee, Michael Kaess +1
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in p…
A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensors
Arpit Agarwal, Mohammad Amin Mirzaee, Xiping Sun +1
GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical syst…