Projects

This project enhances the TacFR gripper by improving FSR accuracy, developing custom high-resolution sensors, and integrating a cable-driven bending mechanism for greater dexterity. To address the lack of shear force sensing, we propose a dual-layer FSR design, enabling more precise force detection and enhancing grasp stability.

Taceva is an integrated VBTS data collection and evaluation workflow. It combines a low-cost tactile sensor calibration setup with a structured performance benchmarking pipeline, enabling consistent quantitative analysis across different VBTS designs.

In this project, we developed a robotic hand with a Digit tactile sensor and a custom flexible skin for enhanced sensing. Our proprietary innovations in marker tracking and contour analysis enabled precision force control and grasp angle regression, ensuring safe and intuitive human-machine interaction. These advancements lay the foundation for secure robotic manipulation and intelligent grasping systems.

TacFR-Gripper is a prototype of a reconfigurable Fin ray-based soft and compliant robotic gripper equipped with tactile skin, which is designed for dexterous in-hand manipulation tasks.