发表机构
Edwardson School of Industrial Engineering, Purdue University; Department of Computer Science, Columbia University（普渡大学爱德华森工业工程学院; 哥伦比亚大学计算机科学系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究提出集成 VTAP 和触觉阵列传感器手指的夹爪，利用指掌协同与多模态感知实现操作。通过双模态手掌扩展能力，提出重定向框架。经多任务实验验证，该夹爪及框架为灵巧夹爪设计等提供实用参考架构。
AI 中文摘要
本文提出了一种触觉反应式夹爪，它集成了视觉触觉主动手掌（VTAP）和配备触觉阵列传感器的柔顺、可重构手指。该设计利用结构化的指掌协同和多模态感知来实现稳健抓握和精细操作。驱动的双模态手掌将远程视觉定位与丰富的触觉反馈无缝结合，大大扩展了系统的操作能力。为弥合人类手部动作与异质三指结构之间的实施差距，还提出了一种用于灵巧遥操作的分阶段、基于手势条件的重定向框架。通过一系列具有挑战性的任务进行了广泛实验验证该系统，结果表明通过指掌协调交互和多模态传感可实现高操作性能。VTAP 夹爪及其重定向框架为灵巧夹爪设计、操作和丰富接触数据收集提供了实用参考架构。
英文摘要
This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with tactile array sensors. The design exploits structured finger-palm synergy and multi-modal perception to achieve both robust grasping and fine manipulation. The actuated bi-modal palm seamlessly combines long-range visual localization with contact-rich tactile feedback, substantially extending the system's manipulation capability. To bridge the embodiment gap between human hand motion and the heterogeneous three-finger structure, we further propose a staged, gesture-conditioned retargeting framework for dexterous teleoperation. Extensive experiments validate the system across a range of challenging tasks: reactive grasping of YCB and fragile objects, in-hand syringe reorientation and plunger actuation, singulation of clustered objects down to 3 mm in diameter, and vision-tactile peg-in-hole insertion. Results demonstrate that high manipulation performance can be achieved through coordinated finger-palm interaction and multi-modal sensing, without resorting to high degrees of freedom anthropomorphic designs. The VTAP gripper and its retargeting framework offer a practical reference architecture for dexterous gripper design, manipulation, and contact-rich data collection in support of learning-based approaches. Project webpage: https://yuhochau.github.io/vtap/.
Comments8 pages, 10 figures, accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). Project webpage: https://yuhochau.github.io/vtap/
