Tactile sensing is essential to the human perception system, so as to robot. In this paper, we
develop a novel optical-based tactile sensor" FingerVision" with effective signal processing
algorithms. This sensor is composed of soft skin with embedded marker array bonded to
rigid frame, and a web camera with a fisheye lens. While being excited with contact force,
the camera tracks the movements of markers and deformation field is obtained. Compared to
existing tactile sensors, our sensor features compact footprint, high resolution, and ease of …