可旋转的指尖触觉传感器，让机械手更灵活抓取薄柔物体。
RoTip: A Finger-Shaped Tactile Sensor with Active Rotation Capability
- 设计可独立控制旋转的指尖触觉传感器，实现动态接触感知。
- 实验验证能稳定操控刚性和柔性物体，全指触觉反馈提升精度。
- 适合需要精细操作的机器人抓取场景，如医疗或精密装配。
近年来，光学触觉传感器技术的发展主要集中在提升感知精度和扩展感知模态。为满足更灵巧操作的需求，触觉传感器应向更动态的方向演进。本文提出RoTip，一种基于视觉的新型触觉传感器，其独特设计包含独立控制的关节和全覆盖表面的接触感知能力。传感器的旋转能力对操纵日常物体尤其重要，特别是薄而柔性的物体，使其能在接触表面时自主移动。操控实验表明，所提出的RoTip能够有效操纵刚性与柔性物体，全指触觉反馈与主动旋转能力具有探索更复杂、高精度操作任务的潜力。
原文摘要 · Abstract (English)
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be a movement towards making tactile sensors more dynamic. In this paper, we introduce RoTip, a novel vision-based tactile sensor that is uniquely designed with an independently controlled joint and the capability to sense contact over its entire surface. The rotational capability of the sensor is particularly crucial for manipulating everyday objects, especially thin and flexible ones, as it enables the sensor to mobilize while in contact with the object's surface. The manipulation experiments demonstrate the ability of our proposed RoTip to manipulate rigid and flexible objects, and the full-finger tactile feedback and active rotation capabilities have the potential to explore more complex and precise manipulation tasks.
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