3 accepted papers
This work presents a novel hybrid rigid-soft continuum manipulator, which integrates high-resolution tactile sensing in a form factor that is forceful, compliant, inherently safe, and easily controllable. We utilize a hybrid approach motivated by scale-invariant principles to fuse the rigid and soft…
This work presents a new version of tactile-sensing finger, GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a more compact form factor than previous implementations, designed for cluttered bin-picking scenarios. The novel design integrates real-time model…
We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-ba…