arxivcs.RO2026-07-17
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi, Nima Fazeli, Xiaonan Huang
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3D-printed thermoplastic polyurethane (TPU) interface, and a…