Sheeraz Athar — Papers on Cortexa

arxivcs.RO2026-07-21

MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery

Md Rakibul Islam Prince, Jaeeun Kim, Yuhao Zhou, Mason Vrshek, Shivani Reddy Sama, Adyaa Khera, et al.

Robot-assisted minimally invasive surgery (RMIS) offers major benefits over open and conventional laparoscopic procedures, yet it still lacks tactile feedback for palpation while operating under strict requirements to preserve reliable vision for navigation and safety. In practic…

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arxivcs.RO2026-07-16

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

Yuhao Zhou, Sheeraz Athar, Zhixian Hu, Binghao Huang, Yunzhu Li, Juan Wachs, et al.

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 graspi…

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