Yiyong Yang

TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection

This letter proposes a vision-based tactile sensor named TIRgel, leveraging visual integration to simplify the sensing system. First, the sensor achieves conversion of visual and tactile modality via focus adjustment. Under far-focus imaging, the camera can observe external environments; Under near-