Maheera Bawa

A Tactile-enabled Hybrid Rigid-Soft Continuum Manipulator for Forceful Enveloping Grasps via Scale Invariant Design

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…