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cs.RO2026
GelSlim 5.0: Unifying Vision and Touch with a Single Fingertip Camera
Xiangdong Wang, I-Hsuan Huang, Xiaohao Xu +3
Vision and touch provide complementary cues for object pose and local contact geometry, but external cameras are often occluded at the contact site. We present GelSlim 5.0, a finge…
cs.RO2026
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi +2
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sen…
cs.RO2026
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
Xili Yi, Ying Xing, Zachary Manchester +1
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage…