TacForce: From Images to Tactile Force Distribution

This paper introduces TacForce, a camera-based tactile sensor for robotic skin. TacForce utilizes affordable high-resolution cameras and robust image-processing techniques to provide real-time information on the three-dimensional surface shape and force distribution applied to its soft skin surface. The sensor's skin, composed of soft, elastic materials, features an array of markers tracked by a simple stereo camera. The movement of these markers in three dimensions is mapped to external forces using the finite element method (FEM). The silicone skin is cost-effective, easy to fabricate, and adaptable to various applications through adjustments to its shape and size. TacForce offers a simple, scalable structure suitable for a wide range of robot parts and tactile devices.