VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing

VecTile is a 6 mm-thin, flexible tactile array that uses a piezoresistive layer and silicone nubs to distinguish normal from shear forces. A 4×4 array costs less than $35; in single-taxel tests, normal- and shear-force errors were 0.39 N and 0.16 N RMS. The authors demonstrate balloon-safe scalpel contact and improved Diffusion Policy-guided power-plug insertion.