In the pursuit of deeper immersion in human-machine interaction, achieving higher-dimensional tactile input and output on a single interface has become a key research focus. This study introduces the Visual-Electronic Tactile (VET) System, which builds upon vision-based tactile sensors (VBTS) and integrates electrical stimulation feedback to enable bidirectional tactile communication. We propose and implement a system framework that seamlessly integrates an electrical stimulation film with VBTS using a screen-printing preparation process, eliminating interference from traditional methods. While VBTS captures multi-dimensional input through visuotactile signals, electrical stimulation feedback directly stimulates neural pathways, preventing interference with visuotactile information. The potential of the VET system is demonstrated through experiments on finger electrical stimulation sensitivity zones, as well as applications in interactive gaming and robotic arm teleoperation. This system paves the way for new advancements in bidirectional tactile interaction and its broader applications.

Humanoid robots with dexterous hands have gained significant attention due to their manipulation capabilities. Recent advancements are driven by large-scale real robot data and teleoperation technology, enabling precise operation demonstrations and smooth trajectories. Common methods like virtual reality devices, cameras, wearable gloves, and custom hardware face the inability to capture real information about human-object contact, such as tactile information. In this study, we present HandySense, a multimodal system integrating visual, tactile, motion, and spatial perception for robust and comprehensive two-handed manipulation tracking. HandySense includes RGB-D cameras, visual-inertial tracking cameras, and a motion capture glove with fingertip tactile sensors. Our framework achieved 99.45% accuracy in classifying 12 task stages, exhibiting the potential for large-scale human demonstration data collection and representing a pivotal step towards empowering humanoid robots to execute complex manipulations.