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

Journal article, 2026

This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity and force/torque sensing with pressure map estimation 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 diffuse surface 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.