Minsight: A Fingertip‐Sized Vision‐Based Tactile Sensor for Robotic Manipulation

Abstract

Tactile Sensing In article number 2300042, Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker, and Georg Martius introduce a miniaturized soft sensor that can give autonomous robots vibrant tactile sensing for safe interactions in the real world. Minsight delivers high-resolution spatially distributed 3D force information using a single camera, colored internal lighting, and end-to-end learning. Its design is robust, efficient, and compact, making it suitable for real-time control loops on robotic end-effectors.