Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

arXiv:2607.15633v1 Announce Type: new Abstract: 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 rigid base housing an embedded camera and LED illumination ring. A novel gyroid-infill bonding technique is introduced to form a durable elastomer-TPU interface without adh...