# DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces

arXiv: https://arxiv.org/abs/2309.08860 · HTML: https://mlsanity.com/paper/2309.08860/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Sep 2023.

## Built on by (most cited first, 5 of 5)

- [DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation](https://mlsanity.com/paper/2509.04441/) (2025)
- [DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation](https://mlsanity.com/paper/2509.18830/) (2025)
- [From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands](https://mlsanity.com/paper/2511.13710/) (2025)
- [Learning Dual-Arm Coordination for Grasping Large Flat Objects](https://mlsanity.com/paper/2504.03500/) (2025)
- [A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensors](https://mlsanity.com/paper/2504.14739/) (2025)

## Abstract (arXiv)

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design equipped with a synthetic fingernail. We propose three distinct grasping strategies: tap grasping using adhesion forces such as electrostatic and van der Waals, fingernail grasping leveraging rolling/sliding contact between the object and fingernail, and fingertip grasping with two soft fingertips. Through comprehensive evaluations, the DenseTact-Mini demonstrates a lifting success rate exceeding 90.2% when grasping various objects, spanning items from 1mm basil seeds and small paperclips to items nearly 15mm. This work demonstrates the potential of soft optical tactile sensors for dexterous manipulation and grasping.