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VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing

arXiv · AI, language, vision and robotics · article · Oct 22, 2026 · UTC

Tactile sensing provides robots with contact information difficult to obtain from vision alone. Shear force is particularly important for understanding tangential contact, guiding corrective motions, and maintaining grasp stability, yet flexible and low-cost tactile arrays often measure only normal force. We introduce VecTile, a low-cost, 6 mm thin, flexible tactile array capable of three-axis force sensing. VecTile combines a piezoresistive layer with passive silicone nubs that convert normal and shear forces into distinguishable pressure patterns. The sensor can be fabricated in-house withou

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