Ruohan Zhang

Ruohan Zhang

Tactile sensing and perception for stable, generalizable robotic manipulation.

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publications

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PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing

Published in The International Journal of Robotics Research (IJRR), 2025

We introduce PneuGelSight, a pneumatic manipulator with integrated vision-based tactile sensing and proprioception. Our pipeline enables accurate optical and dynamic simulation, supporting zero-shot sim-to-real transfer for robust manipulation.

Recommended citation: Ruohan Zhang, Uksang Yoo, Yichen Li, Arpit Agarwal, Wenzhen Yuan. (2025). "PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing." The International Journal of Robotics Research (IJRR).
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PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing

Published in The International Journal of Robotics Research (IJRR), 2025

我们提出 PneuGelSight：一款集成视觉触觉传感与本体感知的气动操作臂。我们的流程可精确模拟其光学与动力学特性，支持零样本 sim-to-real 迁移，实现稳健的操作。

Recommended citation: Ruohan Zhang, Uksang Yoo, Yichen Li, Arpit Agarwal, Wenzhen Yuan. (2025). "PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing." The International Journal of Robotics Research (IJRR).
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FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting

Published in IEEE Robotics and Automation Letters (RA-L), 2026

我们提出 FruitTouch：一款集成高分辨率视觉触觉传感的紧凑夹爪，通过实时的力、滑动与软硬度估计，实现温和且可规模化的水果采摘。

Recommended citation: Ruohan Zhang, Mohammad Amin Mirzaee, Wenzhen Yuan. (2026). "FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting." IEEE Robotics and Automation Letters (RA-L).

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FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting

Published in IEEE Robotics and Automation Letters (RA-L), 2026

We propose FruitTouch, a compact gripper that integrates high-resolution, vision-based tactile sensing to enable gentle, scalable fruit harvesting with real-time force, slip, and softness estimation.

Recommended citation: Ruohan Zhang, Mohammad Amin Mirzaee, Wenzhen Yuan. (2026). "FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting." IEEE Robotics and Automation Letters (RA-L).

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Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction

Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

我们提出一种需求驱动的框架，直接从 VR 采集的人机交互数据中推导全身触觉传感需求——空间分辨率与布置位置，并发布了包含 5,520 次社交触摸试验的开源数据集。

Recommended citation: Dakarai Crowder, Ruohan Zhang, Alexis E. Block, Wenzhen Yuan. (2026). "Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction

Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

We propose a requirement-driven framework that derives whole-body tactile sensing requirements—spatial resolution and placement—directly from VR-collected human-robot interaction data, and release an open-source dataset of 5,520 social touch trials.

Recommended citation: Dakarai Crowder, Ruohan Zhang, Alexis E. Block, Wenzhen Yuan. (2026). "Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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