# TIRgel: A Visuo-Tactile Sensor With Total Internal Reflection Mechanism for External Observation and Contact Detection

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 38× · AI/ML

**Wikidata**: [openalex:W4385975773](https://www.wikidata.org/wiki/openalex:W4385975773)  
**Source**: https://4ort.xyz/entity/tirgel-a-visuo-tactile-sensor-with-total-internal-reflection-mechanism-for-external-observation-and-contact-detection