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Table of Contents

Sensors
Robotics Applications
Software
Review
Thesis
Products
Open Source
Laboratory
Citation

Sensors

Vision-Based

Planar and finger-shaped optical tactile sensors for robotic applications, Begej et al., IEEE Journal on Robotics and Automation 1988
A finger-shaped tactile sensor using an optical waveguide, Maekawa et al., SMC 1993
Vision-based sensor for real-time measuring of surface traction fields, Kamiyama et al., CG&A 2005
Measurement of force vector field of robotic finger using vision-based haptic sensor, Sato et al., IROS 2008
Retrographic sensing for the measurement of surface texture and shape, Johnson et al., CVPR 2009
Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand, Sato et al., TOH 2010
Microgeometry Capture using an Elastomeric Sensor, Johnson et al., TOG 2011
Localization and Manipulation of Small Parts Using GelSight Tactile Sensing, Li et al., IROS 2014
Measurement of Shear and Slip with a GelSight Tactile Sensor, Yuan et al., ICRA 2015
Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables, Yamaguchi et al., Humanoids 2016
Improved GelSight Tactile Sensor for Measuring Geometry and Slip, Dong et al., IROS 2017
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force, Yuan et al., MDPI Sensors 2017
FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network, Zhang et al., arxiv 2018
The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies, Ward-Cherrier et al., SoRo 2018
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger, Donlon et al., IROS 2018
Robotic bolt insertion and tightening based on in-hand object localization and force sensing, Nozu et al., AIM 2018
Sensing the Frictional State of a Robotic Skin via Subtractive Color Mixing, Lin et al., RAL 2019
Development of a Vision-Based Soft Tactile Muscularis, Duong et al., RoboSoft 2019
Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor, Sferrazza et al., MDPI Sensors 2019
Transfer learning for vision-based tactile sensing, Sferrazza et al., IROS 2019
An Elastomer-based Flexible Optical Force and Tactile Sensor, Li et al., RoboSoft 2019
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation, Alspach et al., RoboSoft 2019
Event-based Tactile Image Sensor for Detecting Spatio-Temporal Fast Phenomena in Contacts, Kumagai et al., WHC 2019
Soft-Bubble grippers for robust and perceptive manipulation, Kuppuswamy et al., IROS 2020
GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation, Gomes et al., IROS 2020
A Novel Dynamic-Vision-Based Approach for Tactile Sensing Applications, Naeini et al., Trans. Instrum. Meas. 2020
Low-Cost Fiducial-based 6-Axis Force-Torque Sensor, Ouyang et al., ICRA 2020
OmniTact: A Multi-Directional High-Resolution Touch Sensor, Padmanabha1 et al., ICRA 2020
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation, Lambeta et al., RAL 2020
VTacArm: A Vision-based Tactile Sensing Augmented Robotic Arm with Application to Human-robot Interaction, Zhang et al., CASE 2020
Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation, Romero et al., ICRA 2020
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor, Trueeb et al., RoboSoft 2020
Exoskeleton-covered soft finger with vision-based proprioception and tactile sensing, She et al., ICRA 2020
F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation, Li et al., IEEE SENSORS 2020
Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors, Wilson et al., arxiv 2020
A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand, Ward-Cherrier et al., IROS 2020
TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces, Cao et al., arxiv 2021
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control, Joonhigh et al., RoboSoft 2021
Monocular Depth Estimation for Soft Visuotactile Sensors, Ambrus et al., RoboSoft 2021
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use, Suh et al., arxiv 2021
Viko: An Adaptive Gecko Gripper with Vision-based Tactile Sensor, Pang et al., ICRA 2021
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger, Wang et al., ICRA 2021
A Tactile Sensing Foot for Single Robot Leg Stabilization, Zhang et al., ICRA 2021
High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor With Dense Random Color Pattern, Du et al., RAL 2021
StRETcH: a Soft to Resistive Elastic Tactile Hand, Matl et al., ICRA 2021
FingerVision with Whiskers: Light Touch Detection with Vision-based Tactile Sensors, Yamaguchi et al., IRC 2021
Visiflex: A Low-Cost Compliant Tactile Fingertip for Force, Torque, and Contact Sensing, Fernandez et al., RAL 2021
Vision-Based Tactile Sensor Mechanism for the Estimation of Contact Position and Force Distribution Using Deep Learning, Kakani et al., MDPI Sensors 2021
Incipient Slip Detection Method With Vision-Based Tactile Sensor Based on Distribution Force and Deformation, Sui et al., IEEE Sensors 2021
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation, Duong et al., TRO 2021
GelSlim 3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger, Taylor et al., ICRA 2022
In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor, Cui et al., Trans. Ind. Electron. 2022
DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern, Zhang et al., RAL 2022
A soft thumb-sized vision-based sensor with accurate all-round force perception, Sun et al., Nature Machine Intelligence 2022
Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts, Sakuma et al., ICRA 2022
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch, Lepora et al., RAL 2022
Model-Based 3D Contact Geometry Perception for Visual Tactile Sensor, Ji et al., MDPI Sensors 2022
TaTa: A Universal Jamming Gripper with High-Quality Tactile Perception and Its Application to Underwater Manipulation, Li et al., ICRA 2022
HaptiTemp: A Next-Generation Thermosensitive GelSight-Like Visuotactile Sensor, Abad et al., IEEE Sensors 2022
DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction, Do et al., ICRA 2022
Implementing Monocular Visual-Tactile Sensors for Robust Manipulation, Li et al., CBS 2022
Design of a Biomimetic Tactile Sensor for Material Classification, Dai et al., ICRA 2022
GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper, Liu et al., RoboSoft 2022
Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensing, Luu et al., arxiv 2022
HiVTac: A High-Speed Vision-Based Tactile Sensor for Precise and Real-Time Force Reconstruction with Fewer Markers, Quan et al., MDPI Sensors 2022
Multidimensional Tactile Sensor with a Thin Compound Eye-Inspired Imaging System, Zhang et al., Soft Robotics 2022
3D Contact Point Cloud Reconstruction From Vision-Based Tactile Flow, Du et al., RAL 2022
Elastomer-Based Visuotactile Sensor for Normality of Robotic Manufacturing Systems, Zaid et al., Polymers 2022
TacRot: A Parallel-Jaw Gripper with Rotatable Tactile Sensors for In-Hand Manipulation, Zhang et al., SMC 2022
Real-Time Marker Localization Learning for GelStereo Tactile Sensing, Liu et al., ROBIO 2022
Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution, Zhang et al., arxiv 2022
Continuous Marker Patterns for Representing Contact Information in Vision-Based Tactile Sensor: Principle, Algorithm, and Verification, Li et al., Trans. Instrum. Meas. 2022
Improving the Force Reconstruction Performance of Vision-Based Tactile Sensors by Optimizing the Elastic Body, Zhang et al., RAL 2023
Improving the Representation and Extraction of Contact Information in Vision-based Tactile Sensors Using Continuous Marker Pattern, Li et al., TechRxiv 2023
DotView: A Low-Cost Compact Tactile Sensor for Pressure, Shear, and Torsion Estimation, Zheng et al., RAL 2023
A Novel Vision-Based Tactile Sensor Using Lamination and Gilding Process for Improvement of Outdoor Detection and Maintainability, Zhang et al., IEEE SENSORS 2023
GelStereo Palm: a Novel Curved Visuotactile Sensor for 3D Geometry Sensing, Hu et al., TII 2023
DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction, Do et al., ICRA 2023
DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness, Lin et al., ICRA 2023
9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation, Lin et al., RAL 2023
A Miniaturised Camera-based Multi-Modal Tactile Sensor, Althoefer et al., arxiv 2023
Simulation, Learning, and Application of Vision-Based Tactile Sensing at Large Scale, Khanh Luu et al., TRO 2023
High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors, Zhang et al., MDPI Sensors 2023
GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing, Liu et al., arxiv 2023
GelSight EndoFlex: A Soft Endoskeleton Hand with Continuous High-Resolution Tactile Sensing, Liu et al., arxiv 2023
GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation, Tippur et al., arxiv 2023
TactiGraph: An Asynchronous Graph Neural Network for Contact Angle Prediction Using Neuromorphic Vision-Based Tactile Sensing, Sajwani et al., preprints 2023
A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing, Leslie et al., preprints 2023
Minsight: a fingertip-sized vision-based tactile sensor for robotic manipulation, Andrussow et al., arxiv 2023
Real-time and Robust Feature Detection of Continuous Marker Pattern for Dense 3-D Deformation Measurement, Mingxuan et al., arxiv 2023
Tactile-Reactive Roller Grasper, Yuan et al., arxiv 2023
LensLeech: On-Lens Interaction for Arbitrary Camera Devices, Getschmann et al., arxiv 2023
L3F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing, Li et al., RAL 2023
AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability, Azulay et al., arxiv 2023
GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching, Lin et al., RAL 2023
OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes, Yu et al., TMech 2023
Proprioceptive Learning with Soft Polyhedral Networks, Liu et al., arxiv 2023
A platypus-inspired electro-mechanosensory finger for remote control and tactile sensing, Mu et al., Nano Energy 2023
GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching, Lin et al., RAL 2023
High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors, Zhang et al., MDPI Sensors 2023
HSVTac: A High-speed Vision-based Tactile Sensor for Exploring Fingertip Tactile Sensitivity, Wang et al., IEEE Sensors 2023
3D Dense Reconstruction of Vision-based Tactile Sensor with Coded Markers, Xue et al., TIM 2023
WSTac: Interactive Surface Perception based on Whisker-Inspired and Self-Illuminated Vision-Based Tactile Sensor, Lei et al., arxiv 2023
DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces, Do et al., arxiv 2023
GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing, Zhao et al., arxiv 2023
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation, Zhao et al., arxiv 2023
A Vision-Based Tactile Sensing System for Multimodal Contact Information Perception via Neural Network, Xu et al., arxiv 2023
Towards Design and Development of an ArUco Markers-Based Quantitative Surface Tactile Sensor, Kara et al., arxiv 2023
Dynamic Focusing (DF) Cone-Based Omnidirectional Fingertip Pressure Sensor with High Sensitivity in a Wide Pressure Range, Seo et al., MDPI Sensors 2023
MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper, Ren et al., ICIRA 2023
Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation, Funk et al., TRO 2023
GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation, Cui et al., TMech 2023
A Soft and Inflatable Vision-Based Tactile Sensor for Inspection of Constrained and Confined Spaces, Kim et al., IEEE Sensors 2023
AELTac: A vision-based electroluminescent tactile sensing skin for force localization and magnitude estimation, Fu et al., IEEE Sensors 2024
TSATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear, Song et al., arxiv 2024
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor, Fan et al., arxiv 2024
MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor, Fan et al., arxiv 2024
Scalable, Simulation-Guided Compliant Tactile Finger Design, Ma et al., arxiv 2024
GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception, Ma et al., arxiv 2024
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors, Di et al., TRO 2024
BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation, Li et al., RAL 2024
A Passively Bendable, Compliant Tactile Palm with RObotic Modular Endoskeleton Optical (ROMEO) Fingers, Liu et al., arxiv 2024
Design and Evaluation of a Rapid Monolithic Manufacturing Technique for a Novel Vision-Based Tactile Sensor: C-Sight, Fan et al., MDPI Sensors 2024
CrystalTac: 3D-Printed Vision-Based Tactile Sensor Family through Rapid Monolithic Manufacturing Technique, Fan et al., arxiv 2024
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers, Wang et al., arxiv 2024
EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation, Romero et al., arxiv 2024
RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction, Tippur et al., ICRA 2024
TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping, Zhang et al., arxiv 2024
GelSlim 4.0: Focusing on Touch and Reproducibility, Sipos et al., arxiv 2024
DTactive: A Vision-Based Tactile Sensor with Active Surface, Xu et al., arxiv 2024
HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor, Wu et al., arxiv 2024
MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery, Li et al., RAL 2024
Digitizing Touch with an Artificial Multimodal Fingertip, Lambeta et al., Meta 2024
NUSense: Robust Soft Optical Tactile Sensor, Yergibay et al., arxiv 2024
Behavioral biometric optical tactile sensor for instantaneous decoupling of dynamic touch signals in real time, Son et al., Nature Communications 2024
Virtual prototyping of vision-based tactile sensors design for robotic-assisted precision machining, Zaid et al., Sensors and Actuators: A. Physical 2024
GelSight FlexiRay: Breaking Planar Limits by Harnessing Large Deformations for Flexible, Full-Coverage Multimodal Sensing, Wang et al., arxiv 2024
GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces, Mirzaee et al., RAL 2025
ThinTact:Thin Vision-Based Tactile Sensor by Lensless Imaging, Xu et al., TRO 2025
GelPoLight: A Novel Visual Tactile Sensor Based on Photometric Stereo with Point Lighting, Lu et al., IEEE Sensors 2025
VET: A Visual-Electronic Tactile System for Immersive Human-Machine Interaction, Zhang et al., arxiv 2025
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation, Athar et al., ToH 2025
A Modularized Design Approach for Gelsight Family of Vision-based Tactile Sensors, Arpit et al., IJRR 2025
PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands, Lin et al., RSS 2025
AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing, Liang et al., arxiv 2025
Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping, Burgess et al., arxiv 2025
3D Vision-tactile Reconstruction from Infrared and Visible Images for Robotic Fine-grained Tactile Perception, Lin et al., arxiv 2025
StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements, Lu et al., arxiv 2025
UTact: Underwater Vision-Based Tactile Sensor with Geometry Reconstruction and Contact Force Estimation, Zhang et al., Advanced Robotics Research 2025
UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception, Gong et al., arxiv 2025
TacScope: A Miniaturized Vision-Based Tactile Sensor for Surgical Applications, Prince et al., Advanced Robotics Research 2025
MagicSkin: Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin, Tijani et al., arxiv 2025
TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping, Nam et al., arxiv 2025
High-Precision RGB-NIR Vision-Tactile Sensor via Neural Inverse Rendering for Robotic Perception, Lin et al., Transactions on Mechatronics 2026
SpikingTac: A Miniaturized Neuromorphic Visuotactile Sensor for High-Precision Dynamic Tactile Imprint Tracking, Jiang et al., arxiv 2026
NLiPsCalib: An Efficient Calibration Framework for High-Fidelity 3D Reconstruction of Curved Visuotactile Sensors, Qin et al., arxiv 2026
FlickerTac: Flickering LED Driven Photometric Stereo for Event Vision-Based Tactile Sensors, Halwani et al., RAL 2026
OcTac: An Octopus Sucker-Inspired Vision-Based Tactile Sensor with Self-Adaptive Adhesion, xiong et al., ICRA 2026

Visual-Tactile

Combining Finger Vision and Optical Tactile Sensing: Reducing and Handling Errors While Cutting Vegetables, Yamaguchi et al., Humanoids 2016
Robotic grasp control with high-resolution combined tactile and proximity sensing, Shimonomura et al., ICRA 2016
Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor, Hogan et al., WACV 2021
UVtac: Switchable UV Marker-Based Tactile Sensing Finger for Effective Force Estimation and Object Localization, Kim et al., RAL 2022
Finger-STS: Combined Proximity and Tactile Sensing for Robotic Manipulation, Hogan et al., RAL 2022
SpecTac: A Visual-Tactile Dual-Modality Sensor Using UV Illumination, Wang et al., ICRA 2022
StereoTac: a Novel Visuotactile Sensor that Combines Tactile Sensing with 3D Vision, Roberge et al., arxiv 2023
TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection, Zhang et al., RAL 2023
VisTac Toward a Unified Multimodal Sensing Finger for Robotic Manipulation, Athar et al., IEEE Sensors 2023
CompdVision: Combining Near-Field 3D Visual and Tactile Sensing Using a Compact Compound-Eye Imaging System, Luo et al., arxiv 2023
Vision-based Proximity and Tactile Sensing for Robot Arms: Design, Perception, and Control, Luu et al., TRO 2025
Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation, Li et al., arxiv 2025
LightTact: A Visual–Tactile Fingertip Sensor for Deformation-Independent Contact Sensing, Lin et al., RSS 2026
Biomimetic multimodal tactile sensing enables human-like robotic perception, Li et al., nature sensors 2026
Design and application of multimodal visual-tactile sensor for object information perception, Wang et al., Sensors and Actuators 2026
A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation, Liu et al., arxiv 2026
FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting, Zhang et al., arxiv 2026
FingerEye: Continuous and Unified Vision-Tactile Sensing for Dexterous Manipulation, Xu et al., arxiv 2026
TransTac: Visuo-Tactile Modality Transition via Ultraviolet-Encoded Transparent Elastomers, Yang et al., arxiv 2026

Non-Vision-Based

Magnetic Resonance-Compatible Tactile Force Sensor Using Fiber Optics and Vision Sensor, Xie et al., IEEE Sensors 2014
Flexible Capacitive Tactile Sensor Array With Truncated Pyramids as Dielectric Layer for Three-Axis Force Measurement, Liang et al., JMEMS 2015
A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics, Boutry et al., Science Robotics 2018
Data-Driven Super-Resolution on a Tactile Dome, Piacenza et al., RAL 2018
A High-Sensitivity Tactile Sensor Array Based on Fiber Bragg Grating Sensing for Tissue Palpation in Minimally Invasive Surgery, Li et al., Transactions on Mechatronics 2018
Touch Sensors with Overlapping Signals: Concept Investigation on Planar Sensors with Resistive or Optical Transduction, Piacenza et al., arxiv 2018
Learning the Signatures of the Human Grasp Using a Scalable Tactile Glove, Sundaram et al., Nature 2019
A Sensorized Multicurved Robot Finger With Data-Driven Touch Sensing via Overlapping Light Signals, Piacenza et al., Transactions on Mechatronics 2020
Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition, Li et al., Science Robotics 2020
Event-Driven Visual-Tactile Sensing and Learning for Robots, Taunyazov et al., arxiv 2020
Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects, Taunyazov et al., IROS 2021
Haptic-feedback smart glove as a creative human-machine interface (HMI) for virtual/augmented reality applications, Zhu et al., Science Advances 2020
Soft magnetic skin for super-resolution tactile sensing with force self-decoupling, Yan et al., Science Robotics 2021
ReSkin: versatile, replaceable, lasting tactile skins, Bhirangi et al., arxiv 2021
IntelligentCarpet: Inferring 3D Human Pose from Tactile Signals, Yiyue Luo et al., CVPR 2021
Learning Human-environment Interactions using Conformal Tactile Textiles, Luo et al., Nature Electronics 2021
Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing, Shorthose et al., RAL 2022
A Biomimetic Tactile Palm for Robotic Object Manipulation, Lei et al., RAL 2022
Contact Shape and Pose Recognition: Utilizing a Multipole Magnetic Tactile Sensor with a Metalearning Model, Xia et al., MRA 2022
Guiding the design of superresolution tactile skins with taxel value isolines theory, Sun et al., Science Robotics 2022
Reflective Optical Tactile Sensor Based on Fiber Specklegram Analysis With the Capability of Contact Position Identification, Liu et al., Journal of Lightwave Technology 2023
A Multimodal Sensing Ring for Quantification of Scratch Intensity, Padmanabha et al., arxiv 2023
A novel tactile palm for robotic object manipulation, Zhao et al., arxiv 2023
Highly Interpretable Representation for Multi-Dimensional Tactile Perception, Gui et al., IEEE Transactions on Medical Robotics and Bionics 2024
AnySkin: Plug-and-play Skin Sensing for Robotic Touch, Bhirangi et al., arxiv 2024
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation, Zhang et al., TRO 2025
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation, Wistreich et al., CoRL 2025

Robotics Applications

Data Collection

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation, Yu et al., CoRL 2024
Learning Visuotactile Skills with Two Multifingered Hands, Lin et al., arxiv 2024
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data, Liu et al., CoRL 2024
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing, Huang et al., CoRL 2024
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, Ding et al., arxiv 2024
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins, Pattabiraman et al., arxiv 2024
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation, Xue et al., RSS 2025
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove, Zhang et al., RSS 2025
FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning, Liu et al., RSS 2025
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer, Xing et al., arxiv 2025
ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface, Liu et al., arxiv 2025
TactileAloha: Learning Bimanual Manipulation With Tactile Sensing, Gu et al., RAL 2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies, Zhao et al., ICRA 2025
GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion, Jiang et al., arxiv 2025
FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation, Wu et al., arxiv 2025
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation, Fang et al., arxiv 2025
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation, Heng et al., arxiv 2025
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation, Xu et al., CoRL 2025
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation, Fang et al., arxiv 2025
exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation, Xu et al., CoRL 2025
ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface, Li et al., arxiv 2025
Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation, Li et al., arxiv 2025
TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks, Cheng et al., arxiv 2026
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance, Zhang et al., arxiv 2026
TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks, Wu et al., arxiv 2026
TouchAnything: A Dataset and Framework for Bimanual Tactile Estimation from Egocentric Video, Zhou et al., arxiv 2026
ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture, Lin et al., arxiv 2026

VLA/WM/LLM/VLM

A Touch, Vision, and Language Dataset for Multimodal Alignment, Fu et al., arxiv 2024
Binding Touch to Everything: Learning Unified Multimodal Tactile Representations, Yang et al., CVPR 2024
Octopi: Object Property Reasoning with Large Tactile-Language Models, Yu et al., RSS 2024
Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation, Cheng et al., arxiv 2024
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding, Ma et al., arxiv 2025
Demonstrating the Octopi-1.5 Visual-Tactile-Language Model, Yu et al., RSS 2025
Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization, Huange et al., arxiv 2025
Universal Visuo-Tactile Video Understanding for Embodied Interaction, Xie et al., arxiv 2025
OmniVTLA: Vision-Tactile-Language-Action Model with Semantic-Aligned Tactile Sensing, Cheng et al., arxiv 2025
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions, Field et al., arxiv 2025
Visuo-Tactile World Models, Higuera et al., arxiv 2026
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing, Gubernatorov et al., arxiv 2026
ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation, Li et al., arxiv 2026
Tactile Modality Fusion for Vision-Language-Action Models, Morissette et al., arxiv 2026
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation, Ye et al., arxiv 2026
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation, Zheng et al., arxiv 2026
VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs, Yuan et al., arxiv 2026
VitaTouch: Property-Aware Vision–Tactile–Language Model for Robotic Quality Inspection in Manufacturing, Zong et al., arxiv 2026
HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning, Alian et al., arxiv 2026
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation, Yuan et al., arxiv 2026
T-Rex: Tactile-Reactive Dexterous Manipulation, Niu et al., arxiv 2026

Dexterous Manipulation

All the Feels: A dexterous hand with large-area tactile sensing, Bhirangi et al., arxiv 2022
Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand, Sievers et al., ICRA 2022
Sampling-based Exploration for Reinment Learning of Dexterous Manipulation, Khandate et al., arxiv 2023
Rotating without Seeing: Towards In-hand Dexterity through Touch, Yin et al., arxiv 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, Guzey et al., arxiv 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives, Guzey et al., arxiv 2023
TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot using Hierarchical Graph Neural Network, Yang et al., arxiv 2023
General In-Hand Object Rotation with Vision and Touch, Qi et al., arxiv 2023
Dextrous Tactile In-Hand Manipulation Using a Modular Reinment Learning Architecture, Pitz et al., ICRA 2023
Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation, Röstel et al., Humanoids 2023
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism, Li et al., arxiv 2024
Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects, Pitz et al., IROS 2024
Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation, Pitz et al., Humanoids 2024
Visuotactile-Based Learning for Insertion with Compliant Hands, Azulay et al., arxiv 2024
PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands, Lin et al., RSS 2025
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding, Xu et al., arxiv 2026

Representation Learning

Touch and Go: Learning from Human-Collected Vision and Touch, Yang et al., NeurIPS 2022
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play, Guzey et al., arxiv 2023
Investigating Vision Foundational Models for Tactile Representation Learning, Zandonati et al., arxiv 2023
Binding Touch to Everything: Learning Unified Multimodal Tactile Representations, Yang et al., CVPR 2024
Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training, Dave et al., arxiv 2024
Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation, Cheng et al., arxiv 2024
Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks, Ou et al., arxiv 2024
Tactile Functasets: Neural Implicit Representations of Tactile Datasets, Li et al., arxiv 2024
Contrastive Touch-to-Touch Pretraining, Rodriguez et al., arxiv 2024
T3: Transferable Tactile Transformers, Zhao et al., arxiv 2024
UniT: Unified Tactile Representation for Robot Learning, Xu et al., arxiv 2024
Sparsh: Self-supervised touch representations for vision-based tactile sensing, Higuera et al., arxiv 2024
Touch-to-Touch Translation - Learning the Mapping Between Heterogeneous Tactile Sensing Technologies, Grella et al., arxiv 2024
Reducing Cross-Sensor Domain Gaps in Tactile Sensing via Few-Sample-Driven Style-to-Content Unsupervised Domain Adaptation, Jing et al., MDPI Sensors 2025
Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning, Wu et al., arxiv 2024
AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors, Feng et al., ICLR 2025
UniTac-NV: A Unified Tactile Representation For Non-Vision-Based Tactile Sensors, Hou et al., arxiv 2025
ConViTac: Aligning Visual-Tactile Fusion with Contrastive Representations, Wu et al., arxiv 2025
AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception, Feng et al., arxiv 2026

Manipulation/Grasping

Localization and manipulation of small parts using GelSight tactile sensing, Li et al., IROS 2014
Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand, Eguíluz et al., ICRA 2017
Reliable robotic handovers through tactile sensing, Eguíluz et al., Autonomous Robots 2019
Tactile-Based Insertion for Dense Box-Packing, Dong et al., IROS 2019
Maintaining Grasps within Slipping Bounds by Monitoring Incipient Slip, Dong et al., ICRA 2019
Manipulation by feel: Touch-based control with deep predictive models, Tian et al., ICRA 2019
Building a Library of Tactile Skills Based on FingerVision, Belousov et al., Humanoids 2019
Self-Attention Based Visual-Tactile Fusion Learning for Predicting Grasp Outcomes, Cui et al., RAL 2020
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard, Church et al., RAL 2020
Swingbot: Learning physical features from in-hand tac?tile exploration for dynamic swing-up manipulation, Wang et al., IROS 2020
Tactile Dexterity: Manipulation Primitives with Tactile Feedback, Hogan et al., ICRA 2020
Cable manipulation with a tactile-reactive gripper, She et al., IJRR 2021
A Robust Controller for Stable 3D Pinching Using Tactile Sensing, Psomopoulou et al., RAL 2021
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry, Dong et al., ICRA 2021
Improving Grasp Stability with Rotation Measurement from Tactile Sensing, Kolamuri et al., IROS 2021
Dynamic Modeling of Hand-Object Interactions via Tactile Sensing, Zhang et al., IROS 2021
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use, Suh et al., arxiv 2021
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer, Han et al., arxiv 2021
Meta-Residual Policy Learning: Zero-Trial Robot Skill Adaptation via Knowledge Fusion, Hao et al., RAL 2022
Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter, Murali et al., RAL 2022
Autonomous Learning of Page Flipping Movements via Tactile Feedback, Zheng et al., TRO 2022
Where Shall I Touch? Vision-Guided Tactile Poking for Transparent Object Grasping, Jiang et al., Transactions on Mechatronics 2022
Efficient Tactile Simulation with Differentiability for Robotic Manipulation, Xu et al., CoRL 2022
Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation, Kelestemur et al., arxiv 2022
Visuo-Tactile Transformers for Manipulation, Chen et al., arxiv 2022
Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing, Si et al., arxiv 2022
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion, Fu et al., arxiv 2022
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control, Oller et al., arxiv 2022
Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces, Kerr et al., arxiv 2022
Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion, Kim et al., ICRA 2022
Task-Driven In-Hand Manipulation of Unknown Objects with Tactile Sensing, Pan et al., arxiv 2022
Visual-tactile Fusion for Transparent Object Grasping in Complex Backgrounds, Li et al., arxiv 2022
Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction, Chumbley et al., CRV 2022
Heuristic grasping of convex objects using 3D imaging and tactile sensing in uncalibrated grasping scenarios, Eguíluz et al., Expert Systems with Applications 2022
Skill generalization of tubular object manipulation with tactile sensing and Sim2Real learning, Zhao et al., Robotics and Autonomous Systems 2023
Learning height for top-down grasps with the DIGIT sensor, Bernardi et al., ICRA 2023
Deep Functional Predictive Control for Strawberry Cluster Manipulation using Tactile Prediction, Nazari et al., arxiv 2023
Cable Routing and Assembly using Tactile-driven Motion Primitives, Wilson et al., ICRA 2023
Tactile-Filter: Interactive Tactile Perception for Part Mating, Ota et al., arxiv 2023
Learning to Detect Slip through Tactile Measures of the Contact Force Field and its Entropy, Hu et al., arxiv 2023
Visuo-Tactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling, Li et al., arxiv 2023
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback, Merwe et al., arxiv 2023
Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing, Cui et al., TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023
Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors, Welle et al., arxiv 2023
TacMMs: Tactile Mobile Manipulators for Warehouse Automation, He et al., RAL 2023
Visual-Tactile Learning of Garment Unfolding for Robot-Assisted Dressing, Zhang et al., RAL 2023
Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning, Zhang et al., arxiv 2023
TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control, Oller et al., CoRL 2023
Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning, Yu et al., CoRL 2023
General In-hand Object Rotation with Vision and Touch, Qi et al., CoRL 2023
Inter-finger Small Object Manipulation with DenseTact Optical Tactile Sensor, Do et al., arxiv 2023
Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing, Solano-Castellanos et al., arxiv 2023
VisTac Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation, Athar et al., IEEE Sensors 2023
Laboratory Automation: Precision Insertion with Adaptive Fingers utilizing Contact through Sliding with Tactile-based Pose Estimation, Pai et al., arxiv 2023
AcTExplore: Active Tactile Exploration on Unknown Objects, Shahidzadeh et al., arxiv 2023
MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedbacks, Yu et al., arxiv 2023
Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition, Liu et al., arxiv 2023
Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation, Funk et al., TRO 2023
Pose and shear-based tactile servoing, Lloyd et al., IJRR 2023
GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation, Cui et al., TMech 2023
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies, Higuera et al., arxiv 2023
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation, Suresh et al., arxiv 2023
The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning, Sferrazza et al., arxiv 2023
TEXterity: Tactile Extrinsic deXterity, Bronars et al., arxiv 2024
Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects, Zhao et al., arxiv 2024
LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping, Xu et al., arxiv 2024
Visuo-Tactile Pretraining for Cable Plugging, George et al., arxiv 2024
Stable Object Placing using Curl and Diff Features of Vision-based Tactile Sensors, Takahashi et al., arxiv 2024
DexiTac: Soft Dexterous Tactile Gripping, Lu et al., Transactions on Mechatronics 2024
Learning Tactile Insertion in the Real World, Palenicek et al., arxiv 2024
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly, Lin et al., ICRA 2024
SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects, Bauza et al., Science Robotics 2024
RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors, Jiang et al., arxiv 2024
RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing, Ai et al., RSS 2024
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing, Yin et al., arxiv 2024
Jointly Understand Visual and Tactile Signals, Li et al., ICLR 2024
In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper, Zhou et al., arxiv 2024
T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior, Zhou et al., T-ASE 2024
Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation, Chen et al., arxiv 2024
Bimanual In-hand Manipulation using Dual Limit Surfaces, Dang et al., arxiv 2024
Extremum Seeking Controlled Wiggling for Tactile Insertion, Burner et al., arxiv 2024
T-TD3: A Reinforcement Learning Framework for Stable Grasping of Deformable Objects Using Tactile Prior, Zhou et al., TASE 2024
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing, Huang et al., CoRL 2024
Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks, Lenz et al., arxiv 2024
TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation, Wu et al., RAL 2024
Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning, Fu et al., Applied Sciences 2025
Multimodal and Force-Matched Imitation Learning With a See-Through Visuotactile Sensor, Ablett et al., TRO 2024
DIH-Tele: Dexterous In-Hand Teleoperation Framework for Learning Multiobjects Manipulation With Tactile Sensing, Huang et al., TRANSACTIONS ON MECHATRONICS 2025
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation, Xue et al., arxiv 2025
GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion, Jiang et al., arxiv 2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies, Zhao et al., ICRA 2025
FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation, Wu et al., arxiv 2025
TactileAloha: Learning Bimanual Manipulation with Tactile Sensing, Gu et al., RAL 2025
SimShear: Sim-to-Real Shear-based Tactile Servoing, Freud et al., arxiv 2025
Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance, Sunil et al., CoRL 2025
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions, Field et al., arxiv 2025
exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation, Xu et al., CoRL 2025
Touch begins where vision ends: Generalizable policies for contact-rich manipulation, Zhao et al., arxiv 2025
Learning Force-Regulated Manipulation with a Low-Cost Tactile-Force-Controlled Gripper, Kang et al., arxiv 2026
ViTac-Tracing: Visual-Tactile Imitation Learning of Deformable Object Tracing, Zhao et al., arxiv 2026

Classification/Recognition

Majority Voting: Material Classification by Tactile Sensing Using Surface Texture, Jamali et al., TRO 2011
Sensing and recognizing surface textures using a gelsight sensor, Li et al., CVPR 2013
Continuous material identification through tactile sensing, Eguíluz et al., IJCNN 2016
A multi-modal approach to continuous material identification through tactile sensing, Eguíluz et al., IROS 2016
Multimodal Material identification through recursive tactile sensing, Eguíluz et al., RAS 2018
Connecting Look and Feel: Associating the visual and tactile properties of physical materials, Yuan et al., CVPR 2017
Shape-independent hardness estimation using deep learning and a GelSight tactile sensor, Yuan et al., ICRA 2017
Vitac: Feature sharing between vision and tactile sensing for cloth texture recognition, Yuan et al., ICRA 2018
Active clothing material perception using tactile sensing and deep learning, Yuan et al., ICRA 2018
Understanding Dynamic Tactile Sensing for Liquid Property Estimation, Huang et al., arxiv 2022
Visuotactile Affordances for Cloth Manipulation with Local Control, Sunil et al., arxiv 2022
See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation, Li et al., arxiv 2022
TANDEM: Learning Joint Exploration and Decision Making With Tactile Sensors, Xu et al., RAL 2022
TANDEM3D: Active Tactile Exploration for 3D Object Recognition, Xu et al., ICRA 2023
Multimodal Zero-Shot Learning for Tactile Texture Recognition, Cao et al., arxiv 2023
Controllable Visual-Tactile Synthesis, Gao et al., arxiv 2023
Estimating Properties of Solid Particles Inside Container Using Touch Sensing, Guo et al., arxiv 2023
Aerial Interaction with Tactile Sensing, Guo et al., arxiv 2023
Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors, Caddeo et al., arxiv 2023
Dynamic Layer Detection of a Thin Silk Cloth using DenseTact Optical Tactile Sensors, Chungyoun et al., arxiv 2024
Sim2Surf: a Sim2Real Surface Classifier for Vision-Based Tactile Sensors with a Bilevel Adaptation Pipeline, Caddeo et al., IEEE Sensors 2025
RA-Touch: Retrieval-Augmented Touch Understanding with Enriched Visual Data, Cho et al., ACM MM 2025

Mapping/Localization

Global Localization of Objects via Touch, Petrovskaya et al., TRO 2011
Tracking objects with point clouds from vision and touch, Izatt et al., ICRA 2017
3D Shape Perception from Monocular Vision, Touch, and Shape Priors, Wang et al., IROS 2018
End-to-end pixelwise surface normal estimation with convolutional neural networks and shape reconstruction using GelSight sensor, Li et al., ROBIO 2018
From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor, Lepora et al., RAL 2019
Convolutional Autoencoder for Feature Extraction in Tactile Sensing, Polic et al., RAL 2019
Tactile Mapping and Localization from High-Resolution Tactile Imprints, Bauza et al., ICRA 2019
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors, Kuppuswamy et al., RAL 2020
Deep Gated Multi-modal Learning: In-hand Object Pose Changes Estimation using Tactile and Image Data, Anzai et al., IROS 2020
3D Shape Reconstruction from Vision and Touch, Smith et al., NeurIPS 2020
Tactile SLAM: Real-time inference of shape and pose from planar pushing, Suresh et al., ICRA 2021
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering, Bauza et al., CoRL 2021
Active 3D Shape Reconstruction from Vision and Touch, Smith et al., NeurIPS 2021
Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace, Murali et al., arxiv 2021
Learning Tactile Models for Factor Graph-based Estimation, Sodhi et al., ICRA 2021
Tac2Pose: Tactile Object Pose Estimation from the First Touch, Bauza et al., arxiv 2022
ShapeMap 3-D: Efficient shape mapping through dense touch and vision, Suresh et al., ICRA 2022
PatchGraph: In-hand tactile tracking with learned surface normals, Sodhi et al., ICRA 2022
MidasTouch: Monte-Carlo inference over distributions across sliding touch, Suresh et al., CoRL 2022
Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing, Xu et al., arxiv 2022
Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization, Chaudhury et al., arxiv 2022
Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback, Sipos et al., arxiv 2022
VisuoTactile 6D Pose Estimation of an In-Hand Object Using Vision and Tactile Sensor Data, Dikhale et al., RAL 2022
In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors, Gao et al., IEEE 2023
Tac2Structure: Object Surface Reconstruction Only Through Multi Times Touch, Lu et al., RAL 2023
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing, Fan et al., arxiv 2023
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback, Zhao et al., arxiv 2023
TactoFind: A Tactile Only System for Object Retrieval, Pai et al., arxiv 2023
Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction, Murali et al., arxiv 2023
ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion, Li et al., RAL 2023
Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands, Chen et al., IROS 2023
Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors, Caddeo et al., ICRA 2023
Tactile-Filter: Interactive Tactile Perception for Part Mating, Ota et al., RSS 2023
Enhanced Information Extraction from Cylindrical Visual-Tactile Sensors via Image Fusion, Li et al., arxiv 2023
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing, Comi et al., arxiv 2023
Grasping, Part Identification, and Pose Refinement in One Shot with a Tactile Gripper, Lim et al., arxiv 2023
Measuring Object Rotation via Visuo-Tactile Segmentation of Grasping Region, Castano-Amoros et al., RAL 2023
TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches, Bian et al., IROS 2023
Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces, Comi et al., arxiv 2024
Tactile-Augmented Radiance Fields, Dou et al., CVPR 2024
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting, Swann et al., arxiv 2024
HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning, Li et al., arxiv 2024
NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors, Huang et al., RAL 2024
GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System, Huang et al., arxiv 2025
UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation, Wu et al., CoRL 2025
Estimating High-Resolution Neural Stiffness Fields using Visuotactile Sensors, Han et al., ICRA 2025
TacLoc: Global Tactile Localization on Objects from a Registration Perspective, Zhang et al., arxiv 2026

Extrinsic Contact Sensing

Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements, Ma et al., ICRA 2021
Simultaneous Tactile Estimation and Control of Extrinsic Contact, Kim et al., ICRA 2023
Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing, Higuera et al., ICRA 2023
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies, Higuera et al., arxiv 2023
Simultaneous Tactile Estimation and Control for Extrinsic Dexterity, Bronars et al., arxiv 2023
TEXterity: Tactile Extrinsic deXterity, Bronars et al., arxiv 2024
Visual-auditory Extrinsic Contact Estimation, Yi et al., arxiv 2024
ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation, Lee et al., RSS 2025

Image Generation

Deep Tactile Experience: Estimating Tactile Sensor Output from Depth Sensor Data, Patel et al., IROS 2020
Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation, Zhong et al., CoRL 2022
Vis2Hap: Vision-based Haptic Rendering by Cross-modal Generation, Cao et al., ICRA 2023
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models, Higuera et al., ICRA 2023
Marker-Embedded Tactile Image Generation via Generative Adversarial Networks, Kim et al., RAL 2023
Generating Visual Scenes from Touch, Yang et al., ICCV 2023
Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation, Rodriguez et al., arxiv 2024
Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation, Gao et al., NeurIPS 2024
TactGen: Tactile Sensory Data Generation via Zero-Shot Sim-to-Real Transfer, Zhong et al., TRO 2024
CONTROLTAC: Force- and Position-Controlled Tactile Data Augmentation with a Single Reference Image, Luo et al., arxiv 2025
Cross-Sensor Touch Generation, Rodriguez et al., CoRL 2025

Force Estimation

Dense Tactile Force Estimation using GelSlim and inverse FEM, Ma et al., ICRA 2019
Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity, Song et al., ICRA 2019
3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM, Peng et al., arxiv 2023
A Predictive Model for Tactile Force Estimation using Audio-Tactile Data, Niederhauser et al., RAL 2023
Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors, Chen et al., arxiv 2024
FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors, Shahidzadeh et al., arxiv 2024
TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation, Chen et al., arxiv 2024
Grasping Force Estimation for Markerless Visuotactile Sensors, Amoros et al., arxiv 2024
Interaction force estimation for tactile sensor arrays: Toward tactile-based interaction control for robotic fingers, Chelly et al., arxiv 2024
iFEM2.0: Dense 3D Contact Force Field Reconstruction and Assessment for Vision-Based Tactile Sensors, Zhao et al., TRO 2024
TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation, Do et al., arxiv 2025

Tactile Policies for Legged Robots

LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing, Lin et al., CoRL 2025
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies, Zhou et al., arxiv 2026

Others

Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles, Albini et al., RAL 2021
Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects, Taunyazov et al., IROS 2021
MidasTouch: Monte-Carlo inference over distributions across sliding touch, Suresh et al., CoRL 2022
SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing, Hanson et al., arxiv 2022
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints, Zhu et al., arxiv 2022
Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter, Thomasson et al., arxiv 2022
Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering, Heravi et al., arxiv 2022
In-situ Mechanical Calibration for Vision-based Tactile Sensors, Zhao et al., ICRA 2023
Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation, Lippi et al., arxiv 2024
Real-Time Reconstruction of 3-D Tactile Motion Field via Multitask Learning, Liu et al., Transactions on Instrumentation and Measurement 2024
Tactile Elastography, Xiang et al., TRO 2025
Active Perception for Tactile Sensing: A Task-Agnostic Attention-Based Approach, Schneider et al., arxiv 2025
Tactile MNIST: Benchmarking Active Tactile Perception, Schneider et al., arxiv 2025
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors, Hou et al., arxiv 2025
Benchmarking Resilience and Sensitivity of Polyurethane-Based Vision-Based Tactile Sensors, Davis et al., arxiv 2025

Software

Simulator

Generation of GelSight Tactile Images for Sim2Real Learning, Gomes et al., RAL 2021
Simulation of Vision-based Tactile Sensors using Physics based Rendering, Agarwal et al., ICRA 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections, Narang et al., ICRA 2021
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation, Church et al., CoRL 2021
Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch, Lin et al., RAL 2022
TACTO: A Fast, Flexible, and Open-Source Simulator for High-Resolution Vision-Based Tactile Sensors, Wang et al., RAL 2022
Taxim: An Example-Based Simulation Model for GelSight Tactile Sensors, Si et al., RAL 2022
Bidirectional Sim-to-Real Transfer for GelSight Tactile Sensors With CycleGAN, Chen et al., RAL 2022
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing, Merwe et al., arxiv 2022
Efficient Tactile Simulation with Differentiability for Robotic Manipulation, Xu et al., CoRL 2022
Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors, Chen et al., RAL 2023
Unsupervised Adversarial Domain Adaptation for Sim-to-Real Transfer of Tactile Images, Jing et al., Transactions on Instrumentation and Measurement 2023
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning, Gomes et al., RSS 2023
Marker-Embedded Tactile Image Generation via Generative Adversarial Networks, Kim et al., RAL 2023
Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities, Azulay et al., RAL 2023
Tactile Imprint Simulation of GelStereo Visuotactile Sensors, Cui et al., ICMA 2023
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors, Du et al., arxiv 2023
General-Purpose Sim2Real Protocol for Learning Contact-Rich Manipulation With Marker-Based Visuotactile Sensors, Chen et al., TRO 2024
FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of Tactile-motor Robot Manipulation Skills, Zhao et al., arxiv 2024
Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM, Shen et al., arxiv 2024
Optimizing BioTac Simulation for Realistic Tactile Perception, Zai El Amri and Navarro-Guerrero, IJCNN 2024
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation, Si et al., ICLR 2024
TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators, Nguyen et al., CoRL 2024
Zero-Shot Sim2Real Measurement for Neuromorphic Vision-Based Tactile Sensors, Salah et al., Transactions on Instrumentation and Measurement 2024
Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning, Fu et al., Apply Sciences 2025
TacFlex: Multi-Mode Tactile Imprints Simulation for Visuotactile Sensors with Coating Patterns, Zhang et al., TRO 2025
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation, Li et al., NeurIPS 2025
ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception, Zai El Amri et al., ICRA 2025
UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking, Chen et al., arxiv 2026
Tacmap: Bridging the Tactile Sim-to-Real Gap via Geometry-Consistent Penetration Depth Map, Su et al., arxiv 2026
SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors, Zai El Amri et al., Elsevier Robotics and Autonomous Systems Journal 2026
TaCauchy: An Extensible FEM Framework for Vision-Based Tactile Simulation, Zhao et al., arxiv 2026

Library

PyTouch: A Machine Learning Library for Touch Processing, Lambeta et al., ICRA 2021
TacSL: A Library for Visuotactile Sensor Simulation and Learning, Akinola et al., arxiv 2024
PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing, Zhang et al., arxiv 2025
3D Cal: An Open-Source Software Library for Depth Reconstruction on Vision-Based Tactile Sensors, Kota et al., RAL 2026
TLabel: Sensor-Agnostic Tactile Data Labeling Toolkit

Review

Artificial Sense of Slip—A Review, Francomano et al., IEEE Sensors 2013
Tactile sensing in dexterous robot hands — Review, Kappassov et al., Robotics and Autonomous Systems 2015
Tactile Image Sensors Employing Camera: A Review, Shimonomura et al., MDPI Sensors 2019
Tactile Sensors for Advanced Intelligent Systems, Wang et al., Advanced Intelligent Systems 2019
Visuotactile Sensors With Emphasis on GelSight Sensor: A Review, C. Abad et al., IEEE Sensors 2020
On the Design and Development of Vision-based Tactile Sensors, Shah et al., JINT 2021
A survey of visuotactile sensing technologies for robotic manipulation, Cui et al., Chinese Journal of Intelligent Science and Technology 2022
Hardware Technology of Vision-Based Tactile Sensor: A Review, Zhang et al., IEEE Sensors 2022
Marker Displacement MethodUsedinVision-Based Tactile Sensors—From 2D to 3D: A Review, LI et al., IEEE Sensors 2023
When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective, Li et al., arxiv 2024
Artificial Skin Based on Visuo-Tactile Sensing for 3D Shape Reconstruction: Material, Method, and Evaluation, Zhang et al., Advanced Functional Materials 2024
Tactile Data Generation and Applications Based on Visuo-tactile Sensors: A Review, Sun et al., Information Fusion 2025
Tactile Robotics: An Outlook, Luo et al., TRO 2025
Classification of Vision-Based Tactile Sensors: A Review, Li et al., IEEE Sensors 2025
A Survey of Vision-Based Tactile Sensors: Hardware, Algorithm, Application and Future Direction, He et al., IEEE Transactions on Instrumentation and Measurement 2025
Co-evolution of Vision-Based Tactile Sensors: From structure-dominated design to task-based system integration—A Review, Wang et al., IEEE Sensors 2026
Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms, Cao et al., arxiv 2026

Thesis

Master

Tactile Measurement with a GelSight Sensor, Wenzhen Yuan, Master, 2014
Robust object pose estimation with point clouds from vision and touch, Gregory Russell, Master, 2017
3D shape perception from vision and touch, Shaoxiong Wang, Master, 2019
Vision-based proprioception of a soft robotic finger with tactile sensing, Sandra Q. Liu, Master, 2020
Discovering the patterns of human-environment interactions using scalable functional textiles, Yiyue Luo, Master, 2020
Deformable Object Manipulation with a Tactile Reactive Gripper, Neha Sunil, Master, 2021

PhD

Touching is believing : sensing and analyzing touch information with GelSight, Rui Li, Ph.D., 2015
High-resolution tactile sensing for robotic perception, Wenzhen Yuan, Ph.D., 2018
Continuous tactile sensing for enhanced human-robot collaboration, Augusto Gomez Eguiluz, Ph.D., 2018
Reactive manipulation with contact models and tactile feedback, Francois R. Hogan, Ph.D., 2020
Data-driven Tactile Sensing using Spatially Overlapping Signals, Pedro Piacenza, Ph.D., 2020
High-resolution Tactile Sensing for Reactive Robotic Manipulation, Siyuan Dong, Ph.D., 2021
A general framework for high-resolution robotic tactile sensing: design, simulation, and learning, Carmelo Sferrazza, Ph.D., 2022
Interactive Touch for Manipulation, Shaoxiong Wang, Ph.D., 2022

Products

Open-Source

Sensor

Dexterous Hand with Tactile Sensing

Sensor Support

Simulator/Library

Dataset

Algorithms

Laboratory

Citation

If you find this repository useful, please cite:

@misc{Awesome_Touch_2022,
  title  = {Awesome-Touch},
  author = {Changyi Lin},
  year   = {2022},
  url    = {https://github.com/linchangyi1/Awesome-Touch},
  note   = {GitHub repository}
}