Feeling by seeing! Camera-based tactile sensors providing the sense of touch.

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Camera-based tactile sensor

sensor principle visetac

Tactile sensors provide a pressure or contact profile, similar to touch we feel on our skin. They offer rich feedback about the grasping process and are thus essential for adaptive and sensitive grasping processes. Our camera-based solution requires only a passive and deformable material, which deforms on pressure. Our image processing software derives a tactile signal from the observed deformation.

Camera-based sensing technology is patented and was developed at Technical University of Munich (TUM).

sensor principle visetac

Interactive demo

Drag the objects to the finger to see the tactile profile

Pressure [MPa]

Tactile Pressure Profile


How does camera-based tactile sensing improve your application?

Tactile Profile
The sensor provides a pressure profile along the sensor, from which contact forces, grasp quality, object position/orientation/shape and softness are extracted. The resolution is up to 0.2N / 1mm.
Passive Element
The sensitive element is a simple and low-cost foam bar: Quick assembly and replacement, no wiring required!
Remote Sensing
An external camera is placed nearby or “eye-in-hand” and observes the foam bar. It can be co-used for other tasks, such as object recognition and bin picking.
Virtual sensor
The tactile profile is calculated by our computer vision software. Electonic components and cabling required by other sensors are replaced by vision!

Development kit

Our development kit gets you started with camera-based tactile sensing right away!

Just boot your computer from the included USB stick with our ROS-based sensor software, connect the camera and point it to the sensitive element (rubber foam bar). Our web-based interface will show you the measured force and pressure profile. You can choose between a stand-alone sensitive element or a pair of 3D-printed fingers for various grippers. A calibrated camera is optionally included, gripper and PC are not included.

You need a modern standard PC to run the software: i7 CPU recommended, 8GB of RAM, compatible with booting from USB and Ubuntu Linux.

Kit contents

Fingers with rubber foam layer (sensitive element) for various grippers, or stand-alone sensor

Pre-calibrated USB3 camera with ROS driver (optional)

Sensor software with ROS integration and a web-based interface for sensor data. The software is provided on a bootable, ready-to-use USB stick.


Get in contact for more information or a free analysis of your use-case.

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Technical data

Application Gripper finger, eye-in-hand camera High-end camera
Deformable element EPDM (Rubber foam)
Sensor length * 20  to 150 mm typ.
Data points 1x20 to 1x150 (1 point/mm length)
Maximum pressure * 100 kPa – 1 MPa
Trigger level 5% typ.
Noise level 2% typ.
Sampling rate 60-120 Hz (camera framerate)
Software Sensor software running on ROS/Linux
Camera USB3 Vison, Standard USB UVC, etc.

*: Adjustable values
Values are given for a typical camera setup: Full HD camera, 30 cm distance.


Visevi Robotics GmbH
in WERK1, Atelierstr. 29
81671 Munich, Germany