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This research aims to develop an advanced tactile sensing method for robotic manipulation using a speckle skin-based sensor.

Speckle Skin‐Based Multimodal Tactile Perception for Fine Robotic Manipulation

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This research aims to develop an advanced tactile sensing method for robotic manipulation using a speckle skin-based sensor.
Developed a miniature vision-based tactile sensor named SpeckleTac.
Utilized dense optical flow with adaptive Kalman filtering for high-resolution displacement fields.
Integrated ResNet-based architecture for contact classification and pose estimation.
Successfully located centroid of unknown objects with high accuracy.
Enabled stable grasping and safe handling of blood samples in glass tubes.
Achieved effective contact pressure distribution and force/torque measurements.

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Randomized trial explores tactile sensing technology for robotic hands, suggesting improved grasping safety.

Zhang et al. (2026) studied this question.

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