GelSight is a high-resolution tactile sensor that measures geometry and force for robots. It uses a soft elastomer surface and high-resolution sensing to estimate object shape and contact force. The sensor captures deformation of the elastomer, both vertically and laterally, which corresponds to the object's shape and contact force. It can also infer slip from deformation. The sensor uses an embedded camera to capture deformation and an optical system to reconstruct 3D geometry. The sensor has a reflective coating with markers that provide information about normal and shear forces. The sensor is compact, has high spatial resolution, and can be used for robotic tasks like material perception and in-hand localization. The sensor has been commercialized and is used in various applications. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor uses a deformable elastomer and an embedded camera to capture deformation and reconstruct 3D geometry. The sensor's algorithm measures shape, force, and slip using photometric stereo and marker motion analysis. The sensor's hardware and software are designed for robot hands, and the sensor has been tested for geometry and force measurement. The sensor can be used for multiple robotic tasks, including object recognition and manipulation. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor's fabrication involves creating the elastomer base, printing markers, and applying a reflective coating. The sensor's performance has been evaluated in experiments, showing its effectiveness in measuring geometry and force. The sensor's design allows for high-resolution measurement of shape and contact force, enabling robots to better understand their environment. The sensor's hardware is accessible, and the software is easier to develop using computer vision algorithms. The sensor's design has been improved to be more compact and easier to fabricate, allowing it to be used on robot grippers. The sensor's performance has been tested in various applications, showing its effectiveness in measuring geometry and force. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor's fabrication involves creating the elastomer base, printing markers, and applying a reflective coating. The sensor's performance has been evaluated in experiments, showing its effectiveness in measuring geometry and force. The sensor's design allows for high-resolution measurement of shape and contact force, enabling robots to better understand their environment. The sensor's hardware is accessible, and the software is easier to develop using computer vision algorithms. The sensor's design has been improved to be more compact and easier to fabricate, allowing it to be used on robot grippers. The sensor's performance has been tested in various applications, showing its effectiveness in measuring geometry and force.GelSight is a high-resolution tactile sensor that measures geometry and force for robots. It uses a soft elastomer surface and high-resolution sensing to estimate object shape and contact force. The sensor captures deformation of the elastomer, both vertically and laterally, which corresponds to the object's shape and contact force. It can also infer slip from deformation. The sensor uses an embedded camera to capture deformation and an optical system to reconstruct 3D geometry. The sensor has a reflective coating with markers that provide information about normal and shear forces. The sensor is compact, has high spatial resolution, and can be used for robotic tasks like material perception and in-hand localization. The sensor has been commercialized and is used in various applications. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor uses a deformable elastomer and an embedded camera to capture deformation and reconstruct 3D geometry. The sensor's algorithm measures shape, force, and slip using photometric stereo and marker motion analysis. The sensor's hardware and software are designed for robot hands, and the sensor has been tested for geometry and force measurement. The sensor can be used for multiple robotic tasks, including object recognition and manipulation. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor's fabrication involves creating the elastomer base, printing markers, and applying a reflective coating. The sensor's performance has been evaluated in experiments, showing its effectiveness in measuring geometry and force. The sensor's design allows for high-resolution measurement of shape and contact force, enabling robots to better understand their environment. The sensor's hardware is accessible, and the software is easier to develop using computer vision algorithms. The sensor's design has been improved to be more compact and easier to fabricate, allowing it to be used on robot grippers. The sensor's performance has been tested in various applications, showing its effectiveness in measuring geometry and force. The sensor's design includes different versions with varying resolutions and illumination systems. The sensor's fabrication involves creating the elastomer base, printing markers, and applying a reflective coating. The sensor's performance has been evaluated in experiments, showing its effectiveness in measuring geometry and force. The sensor's design allows for high-resolution measurement of shape and contact force, enabling robots to better understand their environment. The sensor's hardware is accessible, and the software is easier to develop using computer vision algorithms. The sensor's design has been improved to be more compact and easier to fabricate, allowing it to be used on robot grippers. The sensor's performance has been tested in various applications, showing its effectiveness in measuring geometry and force.