Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation
This research developed a novel tactile sensor that combines velocity, force/torque (F/T), and pressure map sensing into one compliant device using a deformable contact pad. The sensor uses optical sensors for velocity, Hall-effect sensors for F/T and pressure estimation, enabling robust slip-aware control during in-hand manipulation.