Please refer to the following for related previous research. Feel free to contact us at contact@AncoraSpring.com and share your thoughts or feedback. We intend to bring this robot system to the research community in the upcoming months.

Latest Research

  1. Fang Wan, Zheng Wang, Wei Zhang, Chaoyang Song, SeeThruFinger: See and Grasp Anything via a Multi-Modal Soft Touch, (10.48550/arXiv.2312.09822).

Robotic Systems

  1. Tianyu Wu, Xudong Han, Haoran Sun, Zishang Zhang, Bangchao Huang, Chaoyang Song, Fang Wan, MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap, 2025, (Short Paper accepted to CoRL 2025 Data Workshop on Making Sense of Data in Robotics: Composition, Curation, and Interpretability at Scale & Demo Presentation at CoRL 2025).
  2. Chengxiao Dong, Xuanyi Dai, Yu Pan, Wanghongjie Qiu, Sen Li, Tianyu Wu, Yijie Jin, He Wang, Chaoyang Song, Fang Wan, Teaching Oral Care via Vision-based Deformable Perception, In: Soft Science, vol. 5, no. 3, pp. 36, 2025.
  3. Xudong Han, Ning Guo, Ronghan Xu, Fang Wan, Chaoyang Song, Anchoring Morphological Representations Unlocks Latent Proprioception in Soft Robots, In: Advanced Intelligent Systems, vol. 0, no. 0, pp. 0, 2025, (Accepted).
  4. Sen Li, Chengxiao Dong, Chaoyang Song, Fang Wan, ActiveSPN: Active Soft Polyhedral Networks with Pose Estimation for In-Finger Object Manipulation, In: IEEE Robotics and Automation Letters, vol. 0, no. 0, pp. 0, 2025, (Accepted).
  5. Xudong Han, Ning Guo, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Chaoyang Song, Fang Wan, Proprioceptive State Estimation for Amphibious Tactile Sensing, IEEE International Conference on Robotics and Automation (ICRA2025), Atlanta, USA, 2025, (Dual-track Submission with TRO: https://doi.org/10.1109/TRO.2024.3463509).
  6. Xiaobo Liu, Xudong Han, Wei Hong, Fang Wan, Chaoyang Song, Proprioceptive Learning with Soft Polyhedral Networks, In: The International Journal of Robotics Research, vol. 43, no. 12, pp. 1916-1935, 2024.
  7. Xudong Han, Ning Guo, Yu Jie, He Wang, Fang Wan, Chaoyang Song, On Flange-Based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding, In: Measurement, vol. 238, iss. October, pp. 115376, 2024.
  8. Ning Guo, Xudong Han, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Fang Wan, Chaoyang Song, Reconstructing Soft Robotic Touch via In-Finger Vision, In: Advanced Intelligent Systems, vol. 6, iss. October, no. 10, pp. 2400022, 2024.
  9. Ning Guo, Xudong Han, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan, Chaoyang Song, Proprioceptive State Estimation for Amphibious Tactile Sensing, In: IEEE Transactions on Robotics, vol. 40, iss. September, pp. 4684-4698, 2024.
  10. Tianyu Wu, Yujian Dong, Xiaobo Liu, Xudong Han, Yang Xiao, Jinqi Wei, Fang Wan, Chaoyang Song, Vision-based Tactile Intelligence with Soft Robotic Metamaterial, In: Materials & Design, vol. 238, iss. February, pp. 112629, 2024.
  11. Ning Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan, Chaoyang Song, Autoencoding a Soft Touch to Learn Grasping from On-land to Underwater, In: Advanced Intelligent Systems, vol. 6, iss. January, no. 1, pp. 2300382, 2024.
  12. Tianyu Wu, Sheng Ge, Yujian Dong, Ronghan Xu, Fang Wan, Chaoyang Song, From DeepClaw to MagiClaw: Towards Universal Action Embodiment, 2024, (Extended Abstract accepted to IROS 2024 Workshop on Environment Dynamics Matters: Embodied Navigation to Movable Objects).
  13. Tianyu Wu, Yujian Dong, Yang Xiao, Jinqi Wei, Fang Wan, Chaoyang Song, Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning, IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024), Tokyo, Japan, 2024.
  14. Sen Li, Fang Wan, Chaoyang Song, Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation, IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024), Chicago, USA, 2024.
  15. Xiaobo Liu, Proprioceptive Sensing of Soft Polyhedral Networks and Robot Manipulation Learning Based on Visual Methods, Southern University of Science and Technology, 2024.
  16. Ning Guo, Soft Robotic Perception Mechanism via Vision-Based Tactile Reconstruction and its Amphibious Applications in Dexterous Manipulation, Southern University of Science and Technology, 2024.
  17. Linhan Yang, Rigid-Soft Interactive Learning for Robotic Manipulation, Southern University of Science and Technology & The University of Hong Kong, 2024.
  18. Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan, Chaoyang Song, Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception, In: Biomimetics, vol. 8, no. 6, pp. 501, 2023.
  19. Xudong Han, Sheng Liu, Fang Wan, Chaoyang Song, Vision-based Tactile Sensing for an Omni-adaptive Soft Finger, IEEE International Conference on Development and Learning (ICDL2023), Macau SAR, 2023.
  20. Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan, Chaoyang Song, Rigid-Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater, In: Frontiers in Robotics and AI, vol. 8, pp. 787187, 2021.
  21. Baiyue Wang, Weijie Guo, Shihao Feng, Hongdong Yi, Fang Wan, Chaoyang Song, Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing, In: IEEE Robotics and Automation Letters, vol. 6, iss. July, no. 3, pp. 5284-5291, 2021.
  22. Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, Chaoyang Song, Learning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping, In: IEEE Robotics and Automation Letters, vol. 6, iss. April, no. 2, pp. 3817 – 3824, 2021.
  23. Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, Chaoyang Song, Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness, Conference on Robot Learning (CoRL2021), London & Virtual, 2021.
  24. Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, Chaoyang Song, Learning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping, IEEE International Conference on Robotics and Automation (ICRA2021), Xi’an, China, 2021, (Dual-track Submission with RAL: https://doi.org/10.1109/LRA.2021.3065186).
  25. Weijie Guo, Baiyue Wang, Shihao Feng, Hongdong Yi, Fang Wan, Chaoyang Song, Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing, IEEE International Conference on Soft Robotics (RoboSoft2021), New Haven, CT, USA, 2021, (Dual-track Submission with RAL: https://doi.org/10.1109/LRA.2021.3072859).
  26. Haiyang Jiang, Yonglin Jing, Ning Guo, Weijie Guo, Fang Wan, Chaoyang Song, Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness, IEEE International Conference on Soft Robotics (RoboSoft2021), New Haven, CT, USA, 2021.
  27. Fang Wan, Haokun Wang, Jiyuan Wu, Yujia Liu, Sheng Ge, Chaoyang Song, A Reconfigurable Design for Omni-adaptive Grasp Learning, In: IEEE Robotics and Automation Letters, vol. 5, iss. July, no. 3, pp. 4210-4217, 2020.
  28. Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, Chaoyang Song, Rigid-Soft Interactive Learning for Robust Grasping, In: IEEE Robotics and Automation Letters, vol. 5, iss. April, no. 2, pp. 1720 – 1727, 2020.
  29. Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, Chaoyang Song, Rigid-Soft Interactive Learning for Robust Grasping, IEEE International Conference on Robotics and Automation (ICRA2020), Paris, France, 2020, (Dual-track Submission with RAL: https://doi.org/10.1109/lra.2020.2969932).
  30. Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, Chaoyang Song, Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger, IEEE International Conference on Soft Robotics (RoboSoft2020), New Haven, CT, USA, 2020.
  31. Fang Wan, Haokun Wang, Jiyuan Wu, Yujia Liu, Sheng Ge, Chaoyang Song, A Reconfigurable Design for Omni-Adaptive Grasp Learning, IEEE International Conference on Soft Robotics (RoboSoft2020), New Haven, CT, USA, 2020, (Dual-track Submission with RAL: https://doi.org/10.1109/lra.2020.2982059).