FasTac

“FasTac: A Curved Multispectral Vision-Based Tactile Sensor for High-Speed High-Precision 3D Shape and Force Perception”

“the FPGA completes the pipeline in 1.09 ms with an energy cost of 8.41 mJ/frame, compared with 6.82 ms and 238.05 mJ/frame on the CPU and 3.26 ms and 33.60 mJ/frame on the GPU”

“RGB-NIR with the depth prior achieves 0.0415 mm MAE, compared with 0.0618 mm for RGB-only, corresponding to a 32.8% reduction”

“The elastomer uses a specific weight ratio of 1:1:3 for Solaris A, Solaris B, and Slacker softener, cured against optical-grade acrylic (PMMA) to eliminate 3D-printing artifacts”