---
publication_id: "OT-2026-000002199"
title: "Tactile sensor, tactile sensor system, and gripper unit"
published_at: "2026-09-15T19:11:25.183600Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002199"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/084"
  - "b25j13/084"
  - "b25j15/0408"
  - "b25j15/08"
  - "b25j13/08"
  - "b25j13/08"
---

# Tactile sensor, tactile sensor system, and gripper unit

## 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.