TacEva

Taceva provides an end-to-end workflow for vision-based tactile sensors (VBTS), from data collection to quantitative evaluation. For data collection, we developed a low-cost and compact force-displacement measuring platform by modifying an Easythreed X2 3D printer, enabling repeatable calibration experiments across different tactile sensor designs.

On top of this platform, Taceva defines performance metrics tailored to practical robotic manipulation scenarios and implements a structured benchmarking pipeline for each metric. By applying this workflow to multiple VBTSs with different sensing mechanisms and structures, we obtain consistent quantitative indicators of multifunctional performance. This supports both sensor pre-selection and performance-guided optimization for task-specific applications.