Published in Under Review (2025), 2025
We propose FruitTouch, a compact gripper that integrates high-resolution, vision-based tactile sensing to enable gentle, scalable fruit harvesting with real-time force, slip, and softness estimation.
Recommended citation: Ruohan Zhang, Amin Mirzaee, Wenzhen Yuan. (2025). FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting.
Published in International Journal of Robotics Research (IJRR), 2025
We introduce PneuGelSight, a pneumatic manipulator with integrated vision-based tactile sensing and proprioception. Our pipeline enables accurate optical and dynamic simulation, supporting zero-shot sim-to-real transfer for robust manipulation.
Recommended citation: Ruohan Zhang, Uksang Yoo, Yichen Li, Arpit Argawal, Wenzhen Yuan. (2025). PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing. International Journal of Robotics Research (IJRR).
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