VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation

• URL: http://arxiv.org/abs/2607.15448v1
• Date: Thu, 16 Jul 2026 20:41:00 GMT
• Title: VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
• Abstract summary: This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with array sensors.<n>The design exploits structured finger-palm synergy and multi-modal tactile perception to achieve both robust grasping and fine manipulation.
• Score: 22.38178317703772
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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/.

Related papers

• AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion [60.79507611737292]
  Humans achieve stable and adaptive grasps by seamlessly integrating visual perception and tactile feedback.<n>Existing robotic grasping approaches rely on visual inputs and lack mechanisms for tactile-guided adaptation after contact.<n>We propose a unified visuo-tactile-fusion grasping framework that integrates grasp generation, feasibility prediction, and adaptive refinement.
  arXiv  Detail & Related papers  (2026-08-06T16:29:11Z)
• The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation [11.79647885994712]
  Humans rely on directional fingertip forces to probe and regulate contact during manipulation.<n>Most wearable haptic gloves render only vibration or single-axis force, leaving force direction ambiguous.<n>We present the N2D Haptic Glove, a multi-finger wearable device that renders planar flexion-extension fingertip forces using capstan-drive transmissions for high-transparency force feedback.
  arXiv  Detail & Related papers  (2026-06-12T03:59:33Z)
• AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning [56.20593626288444]
  AetheRock is an arm-worn device featuring a modular and easily manufactured visuo-tactile sensor, GelSlim-MiniFab, at the fingertip.<n>We propose ForceVT, a representation learning framework that uses force and vision to guide fidelity-agnostic tactile learning.
  arXiv  Detail & Related papers  (2026-06-08T17:38:57Z)
• Feel Robot Feels: Tactile Feedback Array Glove for Dexterous Manipulation [29.061513339025026]
  We present TAG, a low-cost glove system that integrates precise hand motion capture with high-resolution tactile feedback.<n>For motion capture, TAG employs a non-contact magnetic sensing design that provides drift-free, electromagnetically robust 21-DoF joint tracking.<n>We show that TAG enables reliable real-time perception of contact geometry and dynamic force, improves success rates in contact-rich teleoperation tasks, and increases the reliability of demonstration data collection for learning-based manipulation.
  arXiv  Detail & Related papers  (2026-03-30T15:04:13Z)
• Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm [5.190090354079479]
  Touch G.O.G. is a vision-based tactile gripper and perception/control framework for single-arm bimanual cloth manipulation.<n>Experiments show 96% accuracy in distinguishing edges, corners, interior regions, and grasp failures.<n>Results highlight Touch G.O.G. as a compact and cost-effective solution for deformable object manipulation.
  arXiv  Detail & Related papers  (2026-03-11T10:15:42Z)
• TEGA: A Tactile-Enhanced Grasping Assistant for Assistive Robotics via Sensor Fusion and Closed-Loop Haptic Feedback [1.3861223044153617]
  We present the tactile enhanced grasping assistant (TEGA)<n>A closed loop assistive teleoperation framework fuses EMG based intent2force inference with visuotactile sensing mapped into real time vibrotactile feedback.<n>A wearable haptic vest delivers real time tactile feedback, allowing users to dynamically refine grasp force during manipulation.
  arXiv  Detail & Related papers  (2026-03-05T04:12:55Z)
• WHED: A Wearable Hand Exoskeleton for Natural, High-Quality Demonstration Collection [7.615440875928701]
  We present WHED, a wearable hand-exoskeleton system designed for in-the-wild demonstration capture.<n>We show feasibility on representative grasping and manipulation sequences spanning precision pinch and full-hand enclosure grasps.
  arXiv  Detail & Related papers  (2026-02-20T00:12:45Z)
• TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance [53.35296919674763]
  TouchGuide is a novel cross-policy visuo-tactile fusion paradigm that fuses modalities within a low-dimensional action space.<n>touchGuide operates in two stages to guide a pre-trained diffusion or flow-matching visuomotor policy.<n>To facilitate TouchGuide training with high-quality and cost-effective data, we introduce TacUMI, a data collection system.
  arXiv  Detail & Related papers  (2026-01-28T04:22:47Z)
• Learning Visuotactile Skills with Two Multifingered Hands [80.99370364907278]
  We explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Our results mark a promising step forward in bimanual multifingered manipulation from visuotactile data.
  arXiv  Detail & Related papers  (2024-04-25T17:59:41Z)
• Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps [100.72245315180433]
  We present a reconfigurable data glove design to capture different modes of human hand-object interactions. The glove operates in three modes for various downstream tasks with distinct features. We evaluate the system's three modes by (i) recording hand gestures and associated forces, (ii) improving manipulation fluency in VR, and (iii) producing realistic simulation effects of various tool uses.
  arXiv  Detail & Related papers  (2023-01-14T05:35:50Z)
• Elastic Tactile Simulation Towards Tactile-Visual Perception [58.44106915440858]
  We propose Elastic Interaction of Particles (EIP) for tactile simulation. EIP models the tactile sensor as a group of coordinated particles, and the elastic property is applied to regulate the deformation of particles during contact. We further propose a tactile-visual perception network that enables information fusion between tactile data and visual images.
  arXiv  Detail & Related papers  (2021-08-11T03:49:59Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.