ResearchBenchmarksNormal Force Estimation on Vision Based Tactile Sensors BenchmarkNormal Force Estimation on Vision Based Tactile Sensors BenchmarkFollow500Sampling Rate (Hz)E-BTS11.2138.1265391.9May 18, 2026Evaluation resultsMethodMethodLinksSampling Rate (Hz)Normal Force Error (N)Normal Force Range (N)E-BTSInput Signal=EventsInput Signal=Events2026.055000.498MixtacInput Signal=Frames+Ev...Input Signal=Frames+Events2026.055000.041GeleventInput Signal=EventsInput Signal=Events2026.051800.816InsightInput Signal=FramesInput Signal=Frames2026.05400.032ViTacTipInput Signal=FramesInput Signal=Frames2026.05300.041