Patrick Grady

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About

Patrick Grady is a roboticist whose research centers on advancing soft robotic manipulation through vision-based sensing. His core contributions lie in developing methods that use external cameras to estimate forces, torques, and contact pressures that would traditionally require expensive, fragile, or difficult-to-integrate physical sensors. Grady’s most impactful work, "Force/Torque Sensing for Soft Grippers using an External Camera" (2023, 10 citations), introduces Visual Force/Torque Sensing (VFTS), a technique that estimates six-axis force/torque measurements from visual data, enabling robust manipulation without wrist-mounted sensors. His earlier paper, "Visual Pressure Estimation and Control for Soft Robotic Grippers" (2022, 7 citations), presents VPEC, a method that uses visual deformation to estimate and control contact pressure, addressing the precision challenges posed by soft grippers’ compliance. In "Visual Contact Pressure Estimation for Grippers in the Wild" (2023, 4 citations), Grady extends this approach to real-world, unstructured environments. By replacing physical tactile sensors with visual estimation, Grady’s work lowers costs, simplifies installation, and improves robustness—making soft robotic manipulation more accessible and practical for both autonomous and teleoperated tasks.