Zhenyu Lu 0001 Jialong Yang Haoran Li 0013 Yifan Li Weiyong Si Nathan F. Lepora Chenguang Yang 0001 TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. 17153-17159 2024 ICRA https://doi.org/10.1109/ICRA57147.2024.10610508 conf/icra/2024 db/conf/icra/icra2024.html#0001YLLSL024