Author

Zi-Yi Zheng

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Open access Jul 2026

Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning

Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of soft polymers leads to stress relaxation and a continuous decay of grasping force during holding. Inspired by human grasping, which combines ph...

Yanzhe Wang, Hao Wu, Zi-Yi Zheng et al. · Robotics · 1 citation

Open access Jul 2026

Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects

Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel...

Zi-Yi Zheng, Keqi Zhu, Hao Wu et al. · Robotics · 0 citations