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  "abstract": "A tactile sensor includes a gripper unit that includes i) a gripping portion capable of contacting an object to be gripped and capable of observing the object to be gripped from a surface opposite to a contact surface, and ii) a reflective portion capable of reflecting an image of the object to be gripped observed from the opposite surface, and a base unit that includes an imaging unit capable of imaging at least one of i) at least a portion of the opposite surface or ii) at least a portion of the reflective portion, wherein the gripper unit is configured to be detachable from the base unit.",
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    "FINGERVISION INC"
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    "YAMAGUCHI AKIHIKO"
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  "title": "Tactile sensor, tactile sensor system, and gripper unit",
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