This video shows the response of the GelSight tactile sensor to silicone samples with different hardnesses. The markers are tracked in realtime and provide a measure of the shear forces on the membrane which is related to the hardness of the material being touched.
From left to right, the hardness values of the silicone pads being poked by the fork are 70, 50 and 30 on the Shore 00 scale. The harder durometer pads cause more displacement of the tactile sensor membrane.
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