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Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we propose a new design of a vision-based tactile sensor, DelTact. The sensor uses a modular hardware architecture for compactness whilst maintaining a contact measurement of full resolution (<inline-formula><tex-math notation="LaTeX">$798\times 586$</tex-math></inline-formula>) and large area (675 mm<inline-formula><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula>). Moreover, it adopts an improved dense random color pattern based on the previous version to achieve high accuracy of contact deformation tracking. In particular, we optimize the color pattern generation process and select the appropriate pattern for coordinating with a dense optical flow algorithm under a real-world experimental sensory setting. The optical flow obtained from the raw image is processed to determine shape and force distribution on the contact surface. We also demonstrate the method to extract contact shape and force distribution from the raw images. Experimental results demonstrate that the sensor is capable of providing tactile measurements with low error and high frequency (40 Hz).

DelTact: A Vision-Based Tactile Sensor Using a Dense Color Pattern