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Amirhossein H. Memar

5 accepted papers

2026

Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding

Zhengtong Xu, Yeping Wang, Ben Abbatematteo, Jom Preechayasomboon, Sonny Chan, Nicholas Colonnese +1
RSS 2026poster

Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and are highly sensitive to object geometry, frictional transitions, and slip. Recently, tactile-informed manipulation polic…

Cited by 0Source ↗Scholar ↗
2026

Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies

Uksang Yoo, Mengjia Zhu, Evan Pezent, Jom Preechayasomboon, Jean Oh, Jeffrey Ichnowski +5
RSS 2026poster

We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual reality, our system captures rich human demonstrations, including hand kinematics, object motion, dense contact patches…

Cited by 0Source ↗Scholar ↗
2023

Soft, Modular, Shape-Changing Displays with Hyperelastic Bubble Arrays

Matthew R. Devlin, Tianshu Liu, Mengjia Zhu, Nathan S. Usevitch, Nicholas Colonnese, Amirhossein H. Memar
IROS 2023poster

Incorporating compliance into shape-changing displays can improve their wearability and actuation modalities. While recent advances in soft actuators highlight promising paths for soft shape-changing displays, these displays currently face some practical challenges of device failure and limited actu…

Cited by 4Source ↗Scholar ↗
2020

Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures

Audrey Sedal, Amirhossein H. Memar, Tianshu Liu, Yigit Mengüç, Nick Corson
RA-L 2020

Kirigami-patterned mechanisms are an emergent class of deployable structure that are easy to fabricate and offer the potential to be integrated into deployable robots. In this letter, we propose a design methodology for robotic kirigami structures that takes into consideration the deformation, loadi

Cited by 34Source ↗Scholar ↗
2017

Design of a novel variable stiffness gripper using permanent magnets

Amirhossein H. Memar, Nicholas Mastronarde, Ehsan T. Esfahani
ICRA 2017poster

This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneou…

Cited by 36Source ↗Scholar ↗