  In this paper, to address the sensitivity and durability trade-off of
Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and
high-fidelity VTS called HySenSe. We demonstrate that by solely changing one
step during the fabrication of the gel layer of the GelSight sensor (as the
most well-known VTS), we can substantially improve its sensitivity and
durability. Our experimental results clearly demonstrate the outperformance of
the HySenSe compared with a similar GelSight sensor in detecting textural
details of various objects under identical experimental conditions and low
interaction forces (<= 1.5 N).
