HiVTac: A High-Speed Vision-Based Tactile Sensor for Precise and Real-Time Force Reconstruction with Fewer Markers.

Although they have been under development for years and are attracting a lot of attention, vision-based tactile sensors still have common defects-the use of such devices to infer the direction of external forces is poorly investigated, and the operating frequency is too low for them to be applied in practical scenarios. Moreover, discussion of the deformation of elastomers used in vision-based tactile sensors remains insufficient. This research focuses on analyzing the deformation of a thin elastic layer on a vision-based tactile sensor by establishing a simplified deformation model, which is cross-validated using the finite element method.