Vision-Based Tactile Sensor Using Light-Conductive Plate for Enhanced Force Sensing Capability

Abstract

In recent years, tactile sensors have become essential for robotic systems, particularly in tasks requiring high-precision interaction and manipulation. The Vision-Based Tactile Sensor (VBTS) represents a significant advancement in tactile sensing, utilizing cameras to monitor the deformation of soft materials at the sensor tip. Pressure applied to the sensor alters the light propagation path, thereby changing the image captured by the camera. By combining image processing and deep learning, VBTS provides highly accurate estimates of contact position and force, achieving micrometer-level resolution. This paper presents a novel VBTS design that leverages a light-conductive plate and a silicone membrane to enhance the sensor’s sensitivity to force perception. The soft, thin nature of the silicone membrane allows for precise detection of minimal forces, making it suitable for tasks involving highly deformable objects. Experimental results demonstrate the sensor’s capability in detecting contact areas and force distributions, which can be applied in diverse domains such as soft object assembly, medical assistance, and food processing. Moreover, the proposed VBTS outperforms traditional sensors by utilizing computationally efficient algorithms that maintain real-time performance without compromising resolution.