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arXiv · 2509.19037

TacEva: A Performance Evaluation Framework For Vision-Based Tactile Sensors

Qingzheng Cong·Steven Oh·Wen Fan·Shan Luo·Kaspar Althoefer·Dandan Zhang
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Abstract

Vision-Based Tactile Sensors (VBTSs) are widely used in robotic tasks because of the high spatial resolution they offer and their relatively low manufacturing costs. However, variations in their sensing mechanisms, structural dimension, and other parameters lead to significant performance disparities between existing VBTSs. This makes it challenging to optimize them for specific tasks, as both the initial choice and subsequent fine-tuning are hindered by the lack of standardized metrics. To address this issue, TacEva is introduced as a comprehensive evaluation framework for the quantitative analysis of VBTS performance. The framework defines a set of performance metrics that capture key characteristics in typical application scenarios. For each metric, a structured experimental pipeline is designed to ensure consistent and repeatable quantification. The framework is applied to multiple VBTSs with distinct sensing mechanisms, and the results demonstrate its ability to provide a thorough evaluation of each design and quantitative indicators for each performance dimension. This enables researchers to pre-select the most appropriate VBTS on a task by task basis, while also offering performance-guided insights into the optimization of VBTS design. A list of existing VBTS evaluation methods and additional evaluations can be found on our website: https://stevenoh2003.github.io/TacEva/

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Qingzheng Cong, Steven Oh, Wen Fan, Shan Luo, Kaspar Althoefer, Dandan Zhang. 2025-09-23. TacEva: A Performance Evaluation Framework For Vision-Based Tactile Sensors. https://arxiv.org/abs/2509.19037

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