Fig. 2

The new tactile sensor design (left) first reported in [6]. The main body is 3D printed in ABS. The tip is a 1 mm thick silicone rubber hemisphere. At the base (not visible) there is a USB eSecure web-cam with 8 LEDs illuminating the inside of the silicone hemisphere. As the tip makes contact with an object, it deforms resulting in a specific shading pattern (right). Schematics and part details openly available at: https://github.com/Exhor/bathtip