# AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing

arXiv: https://arxiv.org/abs/2504.18064 · HTML: https://mlsanity.com/paper/2504.18064/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Apr 2025.

## Built on by (most cited first, 1 of 1)

- [YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale](https://mlsanity.com/paper/2606.10244/) (2026)

## Abstract (arXiv)

Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with omni-directional and local tactile sensing capabilities. The finger body is unibody-casted using transparent elastic silicone, and a camera positioned at the base of the finger captures the deformation of the whole body and the contact face. Due to the global deformation of the adaptive structure, existing vision-based tactile sensing approaches that assume constant illumination are no longer applicable. To address this, we propose a novel sensing method where the global deformation is first reconstructed from the image using edge features and spatial constraints. Then, detailed contact geometry is computed from the brightness difference against a dynamically retrieved reference image. Extensive experiments validate the effectiveness of our proposed gripper design and sensing method in contact detection, force estimation, object grasping, and precise manipulation.