Research Work Details

This note summarizes a structured sensing-system design for dexterous hands: what to sense, how to synchronize and calibrate multimodal streams, and how to build learning-ready data schemas. It emphasizes a three-loop view (fast reflex / mid tactile coordination / slow semantics) to make grasp stability and recovery robust in contact-rich manipulation.

Also see: Thinking Board (a lightweight local message board for future notes).

This research develops a dual-mode visuotactile sensor based on moiré pattern amplification, enabling multidimensional perception. The sensor supports multi-DoF force/pose estimation and pre-grasp cues, providing continuous tactile field perception through vision-through-contact fusion technology.

This research proposes an integrated ultrasound-augmented visuotactile sensor for enhanced robotic perception. The sensor combines vision, tactile, and ultrasound technologies to provide more accurate perception information in complex environments.

This research develops a bio-inspired event-driven mechanoluminescent visuotactile sensor for intelligent interactions. The sensor features low power consumption and strong ambient-light immunity, validated for human-robot interaction applications on a quadruped platform.

This research proposes a snake-inspired variable-stiffness flexible robotic arm, combining shape memory alloy (SMA) and particle jamming technologies for stiffness modulation. The design is suitable for safe human-robot interaction and high-load manipulation scenarios.