Optical tactile sensor and sensor system

Abstract

An optical tactile sensor includes: an elastic member including a contact surface to be brought into contact with an object; a holding member including a window portion and contacting and holding the elastic member, the window portion being transparent; a light source; and a camera that photographs a shape of the contact surface through the window portion, wherein the elastic member includes: a first portion including the contact surface; and a second portion formed integrally with the first portion and disposed between the first portion and the window portion, the second portion being transparent, and the second portion has a hardness higher than a hardness of the first portion.

Dependencies are inferred from the claim text.