Oluwatimilehin Tijani

Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin

Vision-based tactile sensors (VBTS) face an inherent trade-off in tactile skin design. Opaque ink markers enable accurate force and tangential displacement estimation but occlude geometric features essential for object and texture classification. Conversely, markerless skins preserve surface details…