# Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM

arXiv: https://arxiv.org/abs/2405.02914 · HTML: https://mlsanity.com/paper/2405.02914/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 May 2024.

## Built on by (most cited first, 2 of 2)

- [AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception](https://mlsanity.com/paper/2602.09617/) (2026)
- [Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors](https://mlsanity.com/paper/2503.09100/) (2025)

## Abstract (arXiv)

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation.