AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability

Osher Azulay*, Nimrod Curtis, Rotem Sokolovsky, Guy Levitski, Daniel Slomovik, Guy Lilling, Avishai Sintov

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually not easy to fabricate and require individual calibration in order to acquire sufficient accuracy. In this letter, we propose AllSight, an optical tactile sensor with a round 3D structure designed for robotic in-hand manipulation tasks. AllSight is mostly 3D printed including a novel and simplified fabrication processes. This makes it low-cost, modular, durable and in the size of a human thumb while with a large contact surface. We show the ability of AllSight to learn and estimate a full contact state, i.e., contact position, forces and torsion. With that, an experimental benchmark between various configurations of illumination and contact elastomers are provided. Furthermore, the robust design of AllSight provides it with a unique zero-shot capability such that a practitioner can fabricate the open-source design and have a ready-to-use state estimation model. A set of experiments demonstrates the accurate state estimation performance of AllSight.

Original languageEnglish
Pages (from-to)483-490
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number1
StatePublished - 1 Jan 2024


  • Force and tactile sensing
  • transfer learning


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