OmniSense: A Visuotactile Sensor for Force, Texture, and Temperature

Abstract

OmniSense is a novel visuotactile sensor integrating texture imaging, force classification, temperature detection, 3D reconstruction, size estimation, lump detection, and object recognition within a single elastomer-based system. Unlike traditional sensors like GelSight, OmniTact, or HaptiTemp, which require multiple elastomers or compromise functionality, OmniSense combines multimodal sensing capabilities without sacrificing precision. Its design enables high-resolution imaging, force and temperature sensing, and photometric stereo-based 3D reconstruction, offering versatility for medical and industrial applications. With size estimation achieving sub-millimeter accuracy and capable of lump detection identifying anomalies beneath a synthetic skin, OmniSense addresses critical challenges in spatial analysis and medical diagnostics. Furthermore, it delivers superior object recognition, achieving a mean average precision of 95%. These advancements establish OmniSense as a novel approach on visuotactile sensor design for tasks requiring real-time, multimodal feedback.