Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing

Gabriel Arslan Waltersson; Yiannis Karayiannidis

arxiv: 2606.11952 · v1 · pith:URBB6SDLnew · submitted 2026-06-10 · 💻 cs.RO

Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing

Gabriel Arslan Waltersson , Yiannis Karayiannidis This is my paper

Pith reviewed 2026-06-27 09:37 UTC · model grok-4.3

classification 💻 cs.RO

keywords tactile sensorin-hand manipulationslip detectionforce/torque sensingpressure mappingvelocity sensingdeformable sensormulti-modal sensing

0 comments

The pith

A single deformable tactile sensor integrates velocity, force/torque, and pressure map sensing for slip-aware in-hand manipulation.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

This paper develops a tactile sensor for robotic in-hand manipulation that packs velocity sensing, force and torque measurement, and pressure mapping into one deformable unit. The authors claim this is the first such integration in a compliant structure, allowing the sensor to handle both flat and curved surfaces made from different materials. If successful, this approach could simplify the hardware needed for robots to detect and respond to slipping objects during grasping and manipulation tasks. The design emphasizes easy and inexpensive manufacturing through standard printed circuit boards and quick prototyping methods. Experiments are used to demonstrate what the sensor can and cannot do reliably.

Core claim

The central claim is that a novel tactile sensor with a deformable contact pad can combine velocity, force/torque, and pressure map sensing inside one compliant structure. This enables slip-aware control during in-hand manipulation. The sensor robustly tracks flat and curved surfaces across a wide range of materials. Its performance is assessed in a set of experiments that reveal both capabilities and limitations. The device is fabricated rapidly and at low cost using standard PCB manufacturing and rapid prototyping techniques.

What carries the argument

The deformable contact surface that houses the integrated velocity, force/torque, and pressure map sensing modalities in a single compliant structure.

If this is right

The sensor supports slip-aware control in robotic in-hand manipulation by delivering combined sensory data.
It can track both flat and curved surfaces across a wide range of materials.
Performance across modalities is demonstrated through a comprehensive set of experiments that also identify limitations.
The design allows rapid low-cost fabrication using PCB manufacturing and rapid prototyping.

Where Pith is reading between the lines

These are editorial extensions of the paper, not claims the author makes directly.

A unified sensor of this type could lower the hardware complexity of robotic grippers that currently require separate devices for each modality.
The approach may extend to other contact-rich tasks where simultaneous multi-modal feedback is needed without rigid sensor stacks.
Scaling the deformable structure could support applications in variable-friction environments not tested in the reported experiments.

Load-bearing premise

The integrated design maintains accurate performance across all three sensing modalities simultaneously while remaining robust on flat and curved surfaces of varying materials.

What would settle it

An experiment showing loss of accuracy in velocity or force/torque readings when pressure mapping is active on a curved surface of soft material.

Figures

Figures reproduced from arXiv: 2606.11952 by Gabriel Arslan Waltersson, Yiannis Karayiannidis.

**Figure 3.** Figure 3: Manufacturing and the assembled sensor. (a) Magnets placed inside [PITH_FULL_IMAGE:figures/full_fig_p002_3.png] view at source ↗

**Figure 4.** Figure 4: Construction and assembly of the computer mouse sensor units. (a) [PITH_FULL_IMAGE:figures/full_fig_p003_4.png] view at source ↗

**Figure 6.** Figure 6: Tactile exploration and data collection for learned sensor mapping. [PITH_FULL_IMAGE:figures/full_fig_p004_6.png] view at source ↗

**Figure 7.** Figure 7: Hysteresis test with 50 cycles. −12 −10 −8 −6 −4 −2 0 fz [N] Estimated force drift vs Time F/T sensor Tactile sensor 0 100 200 300 400 Time [s] 0.5 1.0 z [m] 1e−2 [PITH_FULL_IMAGE:figures/full_fig_p005_7.png] view at source ↗

**Figure 8.** Figure 8: Sensor kept at 10 N normal force for 240 seconds. [PITH_FULL_IMAGE:figures/full_fig_p005_8.png] view at source ↗

**Figure 10.** Figure 10: Comparison of predicted and true pressure map from the validation [PITH_FULL_IMAGE:figures/full_fig_p006_10.png] view at source ↗

**Figure 12.** Figure 12: Internal sensor position in relation to object curvature [PITH_FULL_IMAGE:figures/full_fig_p007_12.png] view at source ↗

**Figure 13.** Figure 13: In-hand sliding experiments (rotational and linear) on objects with [PITH_FULL_IMAGE:figures/full_fig_p007_13.png] view at source ↗

read the original abstract

This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Desk Editor's Note private letter to a colleague

The paper builds a single deformable tactile sensor that combines velocity, force/torque, and pressure mapping for in-hand slip detection, with experiments on flat and curved surfaces.

read the letter

The core of this work is a hardware design that packs three sensing modes into one compliant pad for robotic in-hand manipulation. The authors position it as the first such integrated compliant sensor, and the fabrication route using standard PCBs plus rapid prototyping looks practical for keeping costs and build time down.

The experiments are presented as covering both performance and limitations across materials and surface shapes, which gives a realistic picture rather than just best-case results. That approach is useful for readers who might want to adapt the sensor.

The main soft spot is that the abstract gives no quantitative details on cross-talk between the modalities or on accuracy under simultaneous use, so the claim of robust multi-modal operation rests on the full results section. If those data show acceptable interference levels, the integration holds; otherwise the practical value drops. The novelty claim also depends on the literature review in the paper actually ruling out close prior work.

This is aimed at robotics researchers focused on tactile hardware and manipulation control. Someone building or comparing sensors would find the design choices and test protocols worth looking at, even if they end up modifying the approach.

It is worth sending to peer review. The hardware is concrete, the application is clear, and the authors flag limitations themselves, so referees can evaluate the data directly.

Referee Report

0 major / 2 minor

Summary. The paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. It claims to be the first such sensor, fabricated via standard PCB manufacturing and rapid prototyping, and evaluates performance through a comprehensive experimental suite on flat and curved surfaces of varying materials while noting limitations.

Significance. If the experiments confirm simultaneous multi-modal sensing without unacceptable cross-talk or accuracy loss, the work advances tactile sensing for robotics by enabling compact, compliant multi-modal feedback in a single structure. The low-cost fabrication approach supports reproducibility.

minor comments (2)

[Abstract] Abstract: the claim of 'comprehensive set of experiments' would be strengthened by briefly noting key quantitative metrics (e.g., velocity error, force RMSE, or cross-talk levels) rather than leaving them implicit.
[Introduction] The literature review should explicitly compare the sensor's simultaneous three-modality performance against prior multi-modal tactile designs to substantiate the 'first' claim beyond the abstract statement.

Simulated Author's Rebuttal

0 responses · 0 unresolved

We thank the referee for their positive summary of our manuscript and the recommendation of minor revision. The referee's assessment correctly identifies the sensor's integrated multi-modal capabilities and low-cost fabrication approach. No specific major comments were provided in the report.

Circularity Check

0 steps flagged

No significant circularity detected

full rationale

The paper is a hardware design and experimental evaluation of a tactile sensor. No mathematical derivations, equations, fitted parameters, or load-bearing self-citations are present in the provided text. The central claim (first integration of velocity/force-torque/pressure-map sensing in one compliant structure) is presented as an engineering contribution validated by experiments, not derived from prior results or definitions within the paper itself. This is the expected outcome for a non-theoretical sensor paper with no derivation chain to inspect.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

Abstract-only input supplies no free parameters, axioms, or invented entities; the central claim rests on the unverified assertion of being first and on the existence of supporting experiments not shown.

pith-pipeline@v0.9.1-grok · 5642 in / 1056 out tokens · 18144 ms · 2026-06-27T09:37:56.886698+00:00 · methodology

discussion (0)

Reference graph

Works this paper leans on

28 extracted references · 2 canonical work pages · 1 internal anchor

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Planar friction modeling with lugre dynamics and limit surfaces,

G. A. Waltersson and Y . Karayiannidis, “Planar friction modeling with lugre dynamics and limit surfaces,”IEEE Transactions on Robotics, vol. 40, pp. 3166–3180, 2024

2024

[2] [2]

Polymer-based flexible capacitive sen- sor for three-axial force measurements,

J. A. Dobrzynska and M. Gijs, “Polymer-based flexible capacitive sen- sor for three-axial force measurements,”Journal of Micromechanics and Microengineering, vol. 23, no. 1, p. 015009, 2012

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Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation,

M. Lambeta, P.-W. Chou, S. Tian, B. Yang, B. Maloon, V . R. Most, D. Stroud, R. Santos, A. Byagowi, G. Kammerer,et al., “Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation,”IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 3838–3845, 2020

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Recent progress in technologies for tactile sensors,

C. Chi, X. Sun, N. Xue, T. Li, and C. Liu, “Recent progress in technologies for tactile sensors,”Sensors, vol. 18, no. 4, 2018. [Online]. Available: https://www.mdpi.com/1424-8220/18/4/948

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C. Lyu, P. Li, J. Zhang, and Y . Du, “Fiber optic sensors in tactile sensing: A review,”IEEE Transactions on Instrumentation and Mea- surement, vol. 74, pp. 1–16, 2025

2025

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Tactile sensors for friction estimation and incipient slip detection—toward dexterous robotic manipulation: A review,

W. Chen, H. Khamis, I. Birznieks, N. F. Lepora, and S. J. Red- mond, “Tactile sensors for friction estimation and incipient slip detection—toward dexterous robotic manipulation: A review,”IEEE Sensors Journal, vol. 18, no. 22, pp. 9049–9064, 2018

2018

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Tactile sens- ing—from humans to humanoids,

R. S. Dahiya, G. Metta, M. Valle, and G. Sandini, “Tactile sens- ing—from humans to humanoids,”IEEE Transactions on Robotics, vol. 26, no. 1, pp. 1–20, 2010

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H. Yousef, M. Boukallel, and K. Althoefer, “Tactile sensing for dexterous in-hand manipulation in robotics—a review,”Sensors and Actuators A: Physical, vol. 167, no. 2, pp. 171–187, 2011, solid-State Sensors, Actuators and Microsystems Workshop

2011

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Z. Kappassov, J.-A. Corrales, and V . Perdereau, “Tactile sensing in dexterous robot hands — review,”Robotics and Autonomous Systems, vol. 74, pp. 195–220, 2015

2015

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eflesh: Highly customizable magnetic touch sensing using cut-cell microstructures,

V . Pattabiraman, Z. Huang, D. Panozzo, D. Zorin, L. Pinto, and R. Bhirangi, “eflesh: Highly customizable magnetic touch sensing using cut-cell microstructures,” 2025. [Online]. Available: https://arxiv.org/abs/2506.09994

work page arXiv 2025

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Tactile sensor elements based on commercial components: An experimental comparison,

S. Groß, L. Chen, E. Pozo Fortuni ´c, M. Krummschmidt, J. Ringwald, A. Ganguly, and S. Haddadin, “Tactile sensor elements based on commercial components: An experimental comparison,”IEEE Sensors Journal, vol. 25, no. 20, pp. 37 802–37 809, 2025

2025

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Detecting and controlling slip through estimation and control of the sliding velocity,

M. Costanzo, G. De Maria, and C. Natale, “Detecting and controlling slip through estimation and control of the sliding velocity,”Applied Sciences, vol. 13, no. 2, 2023

2023

[13] [13]

Fast in-hand slip control on unfeatured objects with programmable tactile sensing,

Y . Gloumakov, T. M. Huh, and H. S. Stuart, “Fast in-hand slip control on unfeatured objects with programmable tactile sensing,” IEEE Robotics and Automation Letters, vol. 9, no. 7, pp. 6059–6066, 2024

2024

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Tactile velocity estima- tion for controlled in-grasp sliding,

Y . Chen, C. Prepscius, D. Lee, and D. D. Lee, “Tactile velocity estima- tion for controlled in-grasp sliding,”IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1614–1621, 2021

2021

[15] [15]

Dynamically reconfigurable tactile sensor for robotic manipulation,

T. M. Huh, H. Choi, S. Willcox, S. Moon, and M. R. Cutkosky, “Dynamically reconfigurable tactile sensor for robotic manipulation,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2562–2569, 2020

2020

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Adaptive control for pivoting with visual and tactile feedback,

F. E. Vi ˜na B., Y . Karayiannidis, C. Smith, and D. Kragic, “Adaptive control for pivoting with visual and tactile feedback,” in2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 399–406

2016

[17] [17]

Towards robust grasping: An analysis of in-hand object motion with fbg optical fibers as force sensing technology,

P. Tripicchio, S. D’Avella, C. A. Avizzano, and P. Velha, “Towards robust grasping: An analysis of in-hand object motion with fbg optical fibers as force sensing technology,”Mechatronics, vol. 93, p. 102990, 2023

2023

[18] [18]

Sliding sensor using fiber bragg grating for mechanical fingers,

M. Qian, Y . Yu, N. Ren, J. Wang, and X. Jin, “Sliding sensor using fiber bragg grating for mechanical fingers,”Opt. Express, vol. 26, no. 1, pp. 254–264, Jan 2018

2018

[19] [19]

Design and experimental research of robot finger sliding tactile sensor based on fbg,

G. Lu, S. Fu, and Y . Xu, “Design and experimental research of robot finger sliding tactile sensor based on fbg,”Sensors, vol. 22, no. 21, 2022

2022

[20] [20]

Artificial tactile sensing of position and slip speed by exploiting geometrical features,

D. D. Damian, T. H. Newton, R. Pfeifer, and A. M. Okamura, “Artificial tactile sensing of position and slip speed by exploiting geometrical features,”IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 263–274, 2015

2015

[21] [21]

Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers,

G. A. Waltersson and Y . Karayiannidis, “Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers,”The International Journal of Robotics Research, vol. 0, no. 0, p. 02783649251397549, 0

[22] [22]

Improving robot manipu- lation through fingertip perception,

A. Maldonado, H. Alvarez, and M. Beetz, “Improving robot manipu- lation through fingertip perception,” in2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 2947–2954

2012

[23] [23]

Measuring and incorporating slip in data- driven haptic rendering,

R. H ¨over and M. Harders, “Measuring and incorporating slip in data- driven haptic rendering,” in2010 IEEE Haptics Symposium, 2010, pp. 175–182

2010

[24] [24]

Characterizing the performance of an optical slip sensor for grip control in a prosthesis,

H. N. Sani and S. G. Meek, “Characterizing the performance of an optical slip sensor for grip control in a prosthesis,” in2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 1927–1932

2011

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An Overview of Multi-Task Learning in Deep Neural Networks

S. Ruder, “An overview of multi-task learning in deep neural net- works,”arXiv preprint arXiv:1706.05098, 2017

work page internal anchor Pith review Pith/arXiv arXiv 2017

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Design and evaluation of magnetic hall effect tactile sensors for use in sensorized splints,

D. Jones, L. Wang, A. Ghanbari, V . Vardakastani, A. E. Kedgley, M. D. Gardiner, T. L. Vincent, P. R. Culmer, and A. Alazmani, “Design and evaluation of magnetic hall effect tactile sensors for use in sensorized splints,”Sensors, vol. 20, no. 4, 2020

2020

[27] [27]

A wearable three-axis tactile sensor for human fingertips,

H. Kristanto, P. Sathe, A. Schmitz, T. P. Tomo, S. Somlor, and S. Sugano, “A wearable three-axis tactile sensor for human fingertips,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4313–4320, 2018

2018

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Gelsight: High-resolution robot tactile sensors for estimating geometry and force,

W. Yuan, S. Dong, and E. H. Adelson, “Gelsight: High-resolution robot tactile sensors for estimating geometry and force,”Sensors, vol. 17, no. 12, p. 2762, 2017

2017