An alternative geometrical setup for the image-based tactile sensor

The authors present an alternative image-based sensor setup. This setup uses an optically sealed chamber, an array of light sensors, an array of light sources, and a reflective elastic surface serving as the touching surface. Mainly, this approach, as compared to other image-based tactile sensors, ensures a reduction in the size of the needed array of light sensors, and produces an enhanced digitized image representing the reflective elastic touch surface. The feasibility of operation of this approach is shown.<>