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Therefore, robotic manipulators need high\u2010resolution touch sensors that are compact, robust, inexpensive, and efficient. The soft vision\u2010based haptic sensor presented herein is a miniaturized and optimized version of the previously published sensor Insight. Minsight has the size and shape of a human fingertip and uses machine learning methods to output high\u2010resolution maps of 3D contact force vectors at 60\u2009Hz. Experiments confirm its excellent sensing performance, with a mean absolute force error of 0.07\u2009N and contact location error of 0.6\u2009mm across its surface area. Minsight's utility is shown in two robotic tasks on a 3\u2010DoF manipulator. First, closed\u2010loop force control enables the robot to track the movements of a human finger based only on tactile data. Second, the informative value of the sensor output is shown by detecting whether a hard lump is embedded within a soft elastomer with an accuracy of 98%. These findings indicate that Minsight can give robots the detailed fingertip touch sensing needed for dexterous manipulation and physical human\u2013robot interaction.<\/jats:p>","DOI":"10.1002\/aisy.202300042","type":"journal-article","created":{"date-parts":[[2023,4,25]],"date-time":"2023-04-25T23:25:49Z","timestamp":1682465149000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Minsight: A Fingertip\u2010Sized Vision\u2010Based Tactile Sensor for Robotic Manipulation"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6343-2925","authenticated-orcid":false,"given":"Iris","family":"Andrussow","sequence":"first","affiliation":[{"name":"Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany"},{"name":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2363-5776","authenticated-orcid":false,"given":"Huanbo","family":"Sun","sequence":"additional","affiliation":[{"name":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5004-0313","authenticated-orcid":false,"given":"Katherine J.","family":"Kuchenbecker","sequence":"additional","affiliation":[{"name":"Haptic Intelligence Department Max Planck Institute for Intelligent Systems  Heisenbergstr. 3 70569 Stuttgart Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8963-7627","authenticated-orcid":false,"given":"Georg","family":"Martius","sequence":"additional","affiliation":[{"name":"Autonomous Learning Group Max Planck Institute for Intelligent Systems  Max-Planck-Ring 4 72076 T\u00fcbingen Germany"}]}],"member":"311","published-online":{"date-parts":[[2023,4,25]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"e_1_2_11_3_1","unstructured":"A.Nagabandi K.Konoglie S.Levine V.Kumar inProc. 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