This thesis presents a modular visuotactile framework for real-time, reactive manipulation of deformable objects. Using GelSight tactile sensing plus vision, it enables tactile-only cable sliding and plug insertion, cloth edge tracing, and robust towel and garment folding/hanging via learned grasp affordances, dense correspondence, and confidence-aware planning.

This defense argues prostheses must exchange information, not just energy, with the nervous system. It combines soft-tissue AMI revision, osseointegration with implanted electrodes (OMP), and impedance control to enable continuous powered-knee modulation. Pilot studies show improved neuromechanics, cortical activation, cleaner EMG, better task performance, and greater embodiment versus socket-based approaches.