Performance Evaluation of an Optical Tactile Force Sensor Using Transparent Flexible Resin

This study aims to enhance tactile sensing for practical robotic applications by enabling the acquisition of dynamic contact information in optical tactile sensors. Conventional optical tactile sensors measure displacement and torque with high precision by detecting the deformation of transparent flexible resin using photoreflectors; however, they do not fully exploit information from minute vibrations or dynamic contact events. In this work, we propose a lightweight, low-cost, and robust optical tactile sensor capable of texture recognition and slippage detection without relying on acceleration sensors or piezoelectric elements, offering a simpler and more durable alternative to conventional high-definition camera-based approaches.