机器人触觉传感器可分离力与温度信号，提升感知精度。
F3T: A soft tactile unit with 3D force and temperature mathematical decoupling ability for robots
- 用多层磁性电容结构实现法向与切向力物理分离。
- 集成离子凝胶温感层，消除温度对电容测量干扰。
- 适合需要精细触觉反馈的智能机器人操作场景。
人类皮肤能精准感知接触力和环境温度，为精细操作提供关键信息。尽管软体触觉传感器取得进展，但力与方向、温度信号难以准确解耦，制约机器人高级应用。本文提出一种多层柔性传感器（F3T），可实现法向压力、全向切向力及温度的独立测量与数学解耦。设计了一种圆形同轴磁性薄膜，采用浮山式多层电容器，实现各方向切向力与法向力的物理解耦。同时在传感器上方集成离子凝胶温感层，具备抗压抗形变能力，可准确测温，并有效消除环境温度变化引起的电容误差。该设计实现了多信号解耦测量，为机器人高阶运动控制、自主决策与任务规划提供支持。
原文摘要 · Abstract (English)
The human skin exhibits remarkable capability to perceive contact forces and environmental temperatures, providing intricate information essential for nuanced manipulation. Despite recent advancements in soft tactile sensors, a significant challenge remains in accurately decoupling signals - specifically, separating force from directional orientation and temperature - resulting in fail to meet the advanced application requirements of robots. This research proposes a multi-layered soft sensor unit (F3T) designed to achieve isolated measurements and mathematical decoupling of normal pressure, omnidirectional tangential forces, and temperature. We developed a circular coaxial magnetic film featuring a floating-mountain multi-layer capacitor, facilitating the physical decoupling of normal and tangential forces in all directions. Additionally, we incorporated an ion gel-based temperature sensing film atop the tactile sensor. This sensor is resilient to external pressure and deformation, enabling it to measure temperature and, crucially, eliminate capacitor errors induced by environmental temperature changes. This innovative design allows for the decoupled measurement of multiple signals, paving the way for advancements in higher-level robot motion control, autonomous decision-making, and task planning.
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