Abstract:This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of diffuse surface materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.
From: Gabriel Arslan Waltersson [view email]
[v1]
Wed, 10 Jun 2026 11:28:00 UTC (15,470 KB)
[v2]
Wed, 12 Aug 2026 09:51:25 UTC (6,475 KB)
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