Nonprehensile Manipulation

Pushing and pivoting a box around an edge.

In-Hand Rolling

In-Hand manipulation for better tactile object detection and shape reconstruction.


Grasping in vision denied environments using Tactile Sensing.

Background segmentation

Background Segmentation for Fingervision Tactile Sensor


Affordable, Quasi-Direct Drive Robot Manipulator

Gelsight Gripper

Fully Actuated Robotic hand with Multiple GelSight Tactile Sensors

Gelsight for Sim2Real

Simulating Gelsight Sensors for sim2 real


Speed reduction using the principle of pulleys.

Round Tactile Sensing Finger

Cylindrical finger with tactile sensing around the surface.

Gelsight Simulation 1

Simulating Gelsight Sensor by generating pointcloud