Author

J. Wachs

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Jul 2026

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

A tactile-reactive gripper that integrates a Visuo-Tactile Active Palm and compliant, reconfigurable fingers equipped with tactile array sensors that offers a practical reference architecture for dexterous gripper design, manipulation, and contact-rich data collection in support of learning-based approaches.

Yu-Hao Zhou, Sheeraz Athar, Zhi-Xian Hu et al. · arXiv.org · 0 citations