Graphene infused piezoresistive vision based tactile sensor

A multifunctional sensor comprising:

• a piezoresistive textile configured to physically contact a surface;
• a vision system positioned in a space above the piezoresistive textile and configured to read a back side of the piezoresistive textile, wherein the multifunctional sensor simultaneously detects both a pressure and a position a robotics device;
• and
• a data acquisition system electrically coupled to the piezoresistive textile and electrically coupled to the vision system, the data sensor system being configured to detect a first output signal from the piezoresistive textile and a second output signal from the vision system, the first output signal corresponds to a force difference, the second output signal corresponds to a position change of the force being applied to the multifunctional sensor.