arXiv subjects

Ningbin Zhang

Publications and source records attributed to Ningbin Zhang.

5 recordsLinked to original sources

arXiv2026

MagPillar: A Soft Magnetopillar Array Tactile Sensor for Robotic Surface Perception

Robotic surface exploration benefits from tactile interfaces that accommodate contact and capture variations in surface characteristics. Herein, we report MagPillar, a tactile sensor inspired by spider tactile hairs that combines a magnetic pillar array with three-axis Hall sensing. A full-array mechanical and magnetic-field model characterizes how pillar deformation affects the superposed fields measured across the array, providing a physical basis for interpreting its contact responses. The compliant pillar architecture translates contact with surface textures and geometric features into distinct magnetic response patterns. Then, in robotic surface perception experiments, spectral features and logistic regression distinguish six material surfaces with an offline accuracy of 99.34% under within-session temporally blocked cross-validation. Continuous scans over periodic protrusions produce amplitude and peak-spacing variations consistent with changes in surface geometry. These findings connect compliant contact mechanics with distributed magnetic sensing, paving a new path for material recognition and qualitative surface-profile perception.

cs.RO↗

arXiv2026

MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation

Dexterous robotic hands perform complex, contact-rich manipulation. Imitation learning provides a route to such skills, but collecting human demonstrations with accurate hand actions and rich tactile information remains a key bottleneck. We present MILE, a teleoperation-based data-collection system comprising the wearable MILE exoskeleton and the mechanically corresponding MILE-Tac robotic hand. Because human-hand anatomy and wearability place tighter constraints on the high-DoF wearable, our human-first design begins with the MILE exoskeleton, equipped with custom modular joint encoders for accurate joint-angle acquisition. We then design the MILE-Tac robotic hand to share the exoskeleton's selected kinematic topology and joint-axis arrangement while satisfying robot-side implementation constraints, and equip its fingertips with compact visuotactile sensor modules. This correspondence enables direct exoskeleton-to-robot joint-space command transfer without online task-space inverse-kinematics retargeting. During teleoperation, the system synchronously records task-specific visual observations, four fingertip visuotactile streams, robot-hand proprioception, and exoskeleton-derived action commands. In a four-task teleoperation benchmark, MILE achieved a mean success rate of 76%, compared with 28% and 8% for glove-based and vision-based baselines, respectively. For downstream imitation learning, we trained paired ACT and DP policies with and without tactile input on MILE-collected demonstrations. The tactile-input variants achieved higher success rates in all paired evaluations.

cs.RO↗

arXiv2025

Look-to-Touch: A Vision-Enhanced Proximity and Tactile Sensor for Distance and Geometry Perception in Robotic Manipulation

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with additional sensors, which makes the system bulky and limits its adaptability to unstructured environments. In this work, we present a vision-enhanced camera-based dual-modality sensor, which realizes full-scale distance sensing from 50 cm to -3 mm while simultaneously keeping ultra-high-resolution texture sensing and reconstruction capabilities. Unlike conventional designs with fixed opaque gel layers, our sensor features a partially transparent sliding window, enabling mechanical switching between tactile and visual modes. For each sensing mode, a dynamic distance sensing model and a contact geometry reconstruction model are proposed. Through integration with soft robotic fingers, we systematically evaluate the performance of each mode, as well as in their synergistic operation. Experimental results show robust distance tracking across various speeds, nanometer-scale roughness detection, and sub-millimeter 3D texture reconstruction. The combination of both modalities improves the robot's efficiency in executing grasping tasks. Furthermore, the embedded mechanical transmission in the sensor allows for fine-grained intra-hand adjustments and precise manipulation, unlocking new capabilities for soft robotic hands.

cs.RO↗

arXiv2024

SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors

Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency, impeding the applications in robots. To address these problems, we propose an efficient two-shot photometric stereo method based on symmetric color LED distribution. Specifically, based on the sensing response curve of CMOS channels, we design orthogonal red and blue LEDs as illumination to acquire four observation maps using channel-splitting in a two-shot manner. Subsequently, we develop a two-shot photometric stereo theory, which can estimate accurate surface normal and greatly reduce the computing overhead in magnitude. Finally, leveraging the characteristics of the camera-based tactile sensor, we optimize the algorithm to be a highly efficient, pure addition operation. Simulation and real-world experiments demonstrate the advantages of our approach. Further details are available on: https://github.com/Tacxels/SymmeTac.

cs.RO↗

arXiv2022

Epitaxial growth of high quality $Mn_3Sn$ thin films by pulsed laser deposition

Non-collinear antiferromagnet Weyl semimetal $Mn_3Sn$ have attracted great research interest recently. Although large anomalous Hall effect, anomalous Nernst effect and magneto-optical effect have been observed in $Mn_3Sn$, most studies are based on single crystals. So far, it is still challenging to grow high quality epitaxial $Mn_3Sn$ thin films with transport and optical properties comparable to their single crystal counterparts. Here, we report the structure, magneto-optical and transport properties of epitaxial $Mn_3Sn$ thin films fabricated by pulsed laser deposition (PLD). Highly oriented $Mn_{3+x}Sn_{1-x}$ (0001) and (11$\bar2$0) epitaxial films are successfully growth on single crystalline $Al_2O_3$ and MgO substrates. Large anomalous Hall effect (AHE) up to $\left| ΔR_H\right|$=3.02 $μΩ\cdot cm$, and longitudinal magneto-optical Kerr effect (LMOKE) with $θ_K$ = 38.1 mdeg at 633 nm wavelength are measured at 300 K temperature, which are comparable to $Mn_3Sn$ single crystals. Our work demonstrates that high quality $Mn_3Sn$ epitaxial thin films can be fabricated by PLD, paving the way for future device applications.

cond-mat.mtrl-sci↗