GlowTact: Simple and Compact Vision-Based Tactile Sensing with High Sensitivity and Spatial Resolution

Abstract

Vision-based tactile sensors (VBTS) provide rich contact information for robotic manipulation, but existing designs can be hard to simplify and adapt to the size and constraints of humanoid fingertips. We introduce \textbf{GlowTact}, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes contact pressure. \textbf{GlowTact} requires only single-color, non-directional illumination, and the raw tactile image directly represents the pressure distribution without explicit geometry reconstruction. This simple sensing principle enables compact, customizable tactile sensors while preserving high sensitivity and rich spatial detail. We demonstrate gram-scale contact detection, accurate normal-force estimation, and reconstruction of fine contact geometry, including M1 screw threads. These results establish \textbf{GlowTact} as a practical new sensing technology for compact humanoid fingertips, combining a durable nitrile membrane and simple optical design with sensitive and information-rich tactile perception.