Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing

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 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.

Robotics (cs.RO)

arXiv:2606.11952 [cs.RO]

(or arXiv:2606.11952v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.11952 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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