Published in N/A (Under Review), 2026
The paper is currently Unde Double-blinded Review. The pdf is available upon request.
Recommended citation: K. Zuo*, S. Yang and Z. Chua, "A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers with Generalization to Unseen Objects," in TBD, Jan. 2026.
Published in IEEE Robotics and Automation Letters(RA-L), 2025
Force sensing on the end effector is crucial for mobile, legged robots to adapt to varying terrain and manipulate objects in complex environments. In this paper, we demonstrate a low-cost solution to this problem that integrates four sets of strain gauges, analog-to-digital conversion, and data processing into a single leg of a crab-scale robot.
Recommended citation:
J. Zhou, J. Su, K. Zuo, M. Pan, Z. Chua and K. A. Daltorio*, "A High Load Density Miniature Force Sensor for Probing With Robot Feet," in IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 450-457, Jan. 2026.
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Published in IEEE Conference on Telepresence, 2024
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. In this paper, we present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model.
Recommended citation:
J. Su*, K. Zuo and Z. Chua, "Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger," 2024 IEEE Conference on Telepresence, Pasadena, CA, USA, 2024, pp. 79-86.
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