Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the development of robotics from environment exploration to dexterous operation. Over the years, several reviews on visuotactile sensors for robots have been presented, but few of them discussed the significance of signal processing methods to visuotactile sensors. Apart from ingenious hardware design, the full potential of the sensory system toward designated tasks can only be released with the appropriate signal processing methods. Therefore, this paper provides a comprehensive review of visuotactile sensors from the perspective of signal processing methods and outlooks possible future research directions for visuotactile sensors.

翻译：触觉传感器为机器人系统提供物体物理属性信息，是其关键组成部分。兼具高分辨率与低成本优势的视觉触觉传感技术，推动了机器人技术从环境探索到灵巧操作的发展。多年来，已有数篇针对机器人视觉触觉传感器的综述发表，但鲜有探讨信号处理方法对视觉触觉传感器的重要意义。除了精巧的硬件设计，传感系统面向特定任务的全部潜力只有通过合适的信号处理方法才能得以释放。因此，本文从信号处理方法的视角，对视觉触觉传感器进行了全面综述，并展望了其未来可能的研究方向。