FasTac: A Curved Multispectral Vision-Based Tactile Sensor for High-Speed High-Precision 3D Shape and Force Perception

arXiv:2607.28416v1 Announce Type: new Abstract: Curved tactile fingertips for dexterous manipulation must resolve fine contact geometry, distinguish normal and tangential loads, and capture transient signals. Existing curved vision-based tactile sensors struggle to combine accurate 3D reconstruction, three-axis force estimation, and high-speed processing in a compact form. This article presents FasTac, a curved vision-based tactile sensor integrating multispectral photometric stereo, dynamic-con...