SimTac: A Physics-Based Simulator for Vision-Based Tactile Sensing with Biomorphic Structures.

ABSTRACT: Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures. 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

SUBMITTER: Zhang X 

PROVIDER: S-EPMC12929814 | biostudies-literature | 2026

REPOSITORIES: biostudies-literature