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SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active red--green--blue (RGB) illumination with spatially distributed color sensing. Contact deforms a compliant transparent elastomer and modulates its internal light field, producing spatially differentiated changes in color and intensity. Three distributed color sensors capture thes

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