Author

Zi-Yi Zheng

2 papers indexed here

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Open access Jul 2026

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

A temperature-coupled viscoelastic force representation is proposed, together with a physics-informed learning model, to reconstruct the force trend and provide explicit compensation during holding, together enabling stable, sustained grasping with soft robotic hands.

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, Ke-Qi Zhu, Hao Wu et al. · Robotics · 0 citations