Brief Description: A visuotactile sensor, comprising: a deformable membrane; and an imaging train, the deformable membrane allowing at least partial transmission of light therethrough and onto the imaging train such that the imaging train collects light reflected through the membrane by an object on the opposite side of the membrane or contacting the membrane, and the imaging train further configured to collect light indicative of a deformation of the membrane by the object. A method, comprising: with an imaging train, collecting (a) a first light reflected through a deformable membrane by an object proximate to or contacting the deformable membrane and (b) a second light indicative of a deformation of the deformable membrane; and relating the at least one of the first light and the second light to an estimated position of the object, an estimated motion of the object, and an estimated deformation experienced by the membrane. Intellectual Property Title: Intellectual Property: Intellectual Property: US2023-0408251A1 Docket Number: Docket#: 22-10033 Reference Media Title: Reference Media: