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In contrast, vision-based tactile sensors in robotics have been limited to simple planar geometries, with biomorphic designs remaining underexplored. To address this gap, we present SimTac, a physics-based simulation framework for the design and validation of biomorphic tactile sensors. SimTac consists of particle-based deformation modeling, light-field rendering for photorealistic tactile image generation, and a neural network for predicting mechanical responses, enabling accurate and efficient simulation across a wide range of geometries and materials. We demonstrate the versatility of SimTac by designing and validating physical sensor prototypes inspired by biological tactile structures and further demonstrate its effectiveness across multiple Sim2Real tactile tasks, including object classification, slip detection, and contact safety assessment. Our framework bridges the gap between bioinspired design and practical realization, expanding the design space of tactile sensors and paving the way for tactile sensing systems that integrate morphology and sensing to enable robust interaction in unstructured environments.<\/jats:p>","DOI":"10.34133\/cbsystems.0510","type":"journal-article","created":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T08:00:57Z","timestamp":1771920057000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":2,"title":["SimTac: A Physics-Based Simulator for Vision-Based Tactile Sensing with Biomorphic Structures"],"prefix":"10.34133","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-7096-6858","authenticated-orcid":false,"given":"Xuyang","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Engineering, \rKing\u2019s College London, London WC2R 2LS, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8366-5750","authenticated-orcid":false,"given":"Jiaqi","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Engineering, \rKing\u2019s College London, London WC2R 2LS, UK."},{"name":"School of Aerospace Engineering, \rBeijing Institute of Technology, Beijing 100081, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhuo","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Engineering, \rKing\u2019s College London, London WC2R 2LS, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongqiang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Engineering, \rKing\u2019s College London, London WC2R 2LS, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianqi","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, \rUniversity College London, London WC1V 6LJ, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel Fernandes","family":"Gomes","sequence":"additional","affiliation":[{"name":"Institute for Systems and Computer Engineering, Technology and Science","place":["Portugal"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Aerospace Engineering, \rBeijing Institute of Technology, Beijing 100081, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4760-0372","authenticated-orcid":true,"given":"Shan","family":"Luo","sequence":"additional","affiliation":[{"name":"Department of Engineering, \rKing\u2019s College London, London WC2R 2LS, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","published-online":{"date-parts":[[2026,2,24]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.3390\/mi14091772"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics9030144"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.3390\/s130201435"},{"issue":"1","key":"e_1_3_4_5_2","doi-asserted-by":"crossref","first-page":"4024","DOI":"10.1038\/s41467-019-12030-x","article-title":"An ultrahigh resolution pressure sensor based on percolative metal nanoparticle arrays","volume":"10","author":"Chen M","year":"2019","unstructured":"Chen M, Luo W, Xu Z, Zhang X, Xie B, Wang G, Han M. 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