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.

翻译：本文介绍一种新型触觉传感器，用于实现手内操作中的滑移感知控制。该传感器将速度、力/力矩与压力图传感功能集成于单一可形变接触垫装置中。据我们所知，这是首款在单一柔性结构内融合上述传感模态的传感器。其接触表面具备可形变特性，能对不同材质的光滑与曲面表面进行稳健追踪。我们通过一系列综合实验评估其性能，系统展示了该传感器的能力边界与局限性。该传感器采用标准PCB制造工艺与快速原型技术结合，可实现快速低成本制造。