When a real or virtual object is picked up using a robotic arm, the strain, e.g., the pattern of deformation, on the object is unclear. Tactile sensing is key to autonomous robotic interaction with the world. This disclosure describes techniques to determine a contour map of the strain on an object being picked up by a robotic arm or other prehensile device. Per the techniques, cameras sensitive to light polarization are used to detect the polarization angle of the light being reflected off the picked-up object. The polarization angle of light reflecting off a given point on the surface is used to infer various object reactions to the gripping pressure, e.g., the contour map of the deformation of the object, etc.
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Anonymous, "Vision-based Tactile Sensor", Technical Disclosure Commons, (June 16, 2020)