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

2026-06-10

AI Summary

This work addresses the lack of compact, multimodal tactile sensors for dexterous manipulation by proposing a flexible tactile sensor that integrates sensing of slip velocity, six-axis force/torque, and pressure distribution within a single deformable structure. For the first time, these three sensing modalities are unified in one design, enabling simultaneous acquisition of slip state and rich multidimensional tactile information. Fabricated using standard PCB processes and rapid prototyping techniques, the sensor offers low cost and ease of manufacturing. Experimental results demonstrate its robust performance across diverse materials and both planar and curved contact scenarios, significantly enhancing the perceptual capability and adaptability of dexterous manipulation systems.

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.

Problem

• tactile sensor
• slip detection
• in-hand manipulation
• force/torque sensing
• pressure mapping

Innovation

• deformable tactile sensor
• slip-aware control
• multimodal sensing
• in-hand manipulation
• pressure map