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

arXiv:2607.15448v1 Announce Type: new Abstract: 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 grasping and fine manipulation. The actuated bi-modal palm seamlessly combines long-range visual localization with contact-rich tactile feedback, substantially extending the sys