Grasping and pose estimation of test strips using a Gelsight finger to automate the development of a Lateral Flow Assay (LFA) test for diseases:

1. A Robotiq 2-Fingered Gripper attached to a Universal Robot UR5 robot is used to grasp test strips from a shelf.

2. The pose of the grasped test strip is estimated using the image we get from the Gelsight finger attached to the Gripper.

3. Using information about the estimated pose, the test strip is inserted in a test tube containing active reagents.

4. Evaluate the test results after running the assay

Automate Packaging using Robots:

1. Universal Robot UR5 robot and Robotiq E-pick Suction Gripper to grasp the masks and the mask cases.

2. Force feedback at the end-effector is used to make sure that they are placed at the appropriate location.

Autonomous In-hand Manipulation control using Visual Servoing:

Automatic manipulation planning and control schemes are investigated for a robotic hand with variable friction finger surfaces. Three strategies, 1) an offline motion planner that is utilized in a feedforward manner, 2) an online vision-based control algorithm using Visual Servoing, 3) a hybrid approach that combines the offline and online algorithms, are proposed to re-position and reorient an object within the workspace of the hand.