  The development of tactile sensing and its fusion with computer vision is
expected to enhance robotic systems in handling complex tasks like deformable
object manipulation. However, readily available industrial grippers typically
lack tactile feedback, which has led researchers to develop and integrate their
own tactile sensors. This has resulted in a wide range of sensor hardware,
making it difficult to compare performance between different systems. We
highlight the value of accessible open-source sensors and present a set of
fingertips specifically designed for fine object manipulation, with readily
interpretable data outputs. The fingertips are validated through two difficult
tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as
well as design files and readout code can be found at
https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips.
