HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor
Özdemir Can Kara, Naruhiko Ikoma, Farshid Alambeigi
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 <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$(< 1.5\mathbf{N})$</tex> .