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

Preprint, 2026

This paper introduces a novel tactile sensor forin-hand manipulation with slip-aware control that integratesvelocity, force/torque, and pressure map sensing into a singledevice with a deformable contact pad. To the best of ourknowledge, this is the first sensor to combine these sensingmodalities within a single compliant structure. The sensorfeatures a deformable contact surface and can robustly trackboth flat and curved surfaces across a wide range of materials.Its performance is evaluated through a comprehensive set ofexperiments that highlight both its capabilities and limitations.The sensor is designed for rapid and low-cost fabrication usinga combination of standard PCB manufacturing and rapidprototyping techniques.