In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the fabrication of the gel layer of the GelSight sensor (as the most well-known VTS), we can substantially improve its sensitivity and durability. Our experimental results clearly demonstrate the outperformance of the HySenSe compared with a similar GelSight sensor in detecting textural details of various objects under identical experimental conditions and low interaction forces (<= 1.5 N).
@article{arxiv.2211.04571,
title = {HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor},
author = {Ozdemir Can Kara and Naruhiko Ikoma and Farshid Alambeigi},
journal= {arXiv preprint arXiv:2211.04571},
year = {2022}
}