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We present a robust, soft, low-cost, vision-based, thumb-sized three-dimensional haptic sensor named Insight, which continually provides a directional force-distribution map over its entire conical sensing surface. Constructed around an internal monocular camera, the sensor has only a single layer of elastomer over-moulded on a stiff frame to guarantee sensitivity, robustness and soft contact. Furthermore, Insight uniquely combines photometric stereo and structured light using a collimator to detect the three-dimensional deformation of its easily replaceable flexible outer shell. The force information is inferred by a deep neural network that maps images to the spatial distribution of three-dimensional contact force (normal and shear). Insight has an overall spatial resolution of 0.4\u2009mm, a force magnitude accuracy of around 0.03\u2009N and a force direction accuracy of around five degrees over a range of 0.03\u20132\u2009N for numerous distinct contacts with varying contact area. The presented hardware and software design concepts can be transferred to a wide variety of robot parts.<\/jats:p>","DOI":"10.1038\/s42256-021-00439-3","type":"journal-article","created":{"date-parts":[[2022,2,23]],"date-time":"2022-02-23T17:04:19Z","timestamp":1645635859000},"page":"135-145","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":226,"title":["A soft thumb-sized vision-based sensor with accurate all-round force perception"],"prefix":"10.1038","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2363-5776","authenticated-orcid":false,"given":"Huanbo","family":"Sun","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5004-0313","authenticated-orcid":false,"given":"Katherine J.","family":"Kuchenbecker","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8963-7627","authenticated-orcid":false,"given":"Georg","family":"Martius","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,2,23]]},"reference":[{"key":"439_CR1","doi-asserted-by":"crossref","unstructured":"Shah, K., Ballard, G., Schmidt, A. & Schwager, M. 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