HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor

Abstract

In this paper, to address the sensitivity and dura-bility trade-off of Vision based Tactile Sensor (VTSs), we in-troduce 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 $(< 1.5\mathbf{N})$.