Charles DiMarzio — accepted AI-conference papers

2025

SCANS: A Soft Gripper With Curvature and Spectroscopy Sensors for In-Hand Material Differentiation

Nathaniel Hanson, Austin Allison, Charles DiMarzio, Taskin Padir, Kristen L. Dorsey

RA-L 2025

We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This platform offers a wider spectral sensing capability than prev

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2024

PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool

Nathaniel Hanson, Gary Lvov, Vedant Rautela, Samuel Hibbard, Ethan Holand, Charles DiMarzio +1

IROS 2024poster

Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy to capture spectral signatures from objects and register them with a 3D point clou…

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