用LED实现机器人手指微位移感知，低成本高灵敏度。
Compact LED-Based Displacement Sensing for Robot Fingers
- 利用发光二极管作为收发器，通过弹性体形变检测位移。
- 在三方向力作用下，预测误差均低于0.07N。
- 适合集成于指端，耐过载，适用于完整操作任务。
本文提出一种可集成于机器人手指的传感器，通过透明弹性体连接的两板间位移变化，利用LED作为光发射与接收装置来感知外部接触引起的形变。当手指受力时，弹性体发生位移，导致LED信号变化。实验表明，该方案具有高灵敏度，能检测微小位移。通过监督学习模型从原始信号中预测完整的力和力矩数据，三方向施力下的平均误差介于0.05至0.07 N之间。该方法支持指端级封装，无需放大电路，制造成本低，易于集成到完整手部结构中，且具备高抗过载剪切力与弯曲扭矩，适用于未来全范围操作任务。
原文摘要 · Abstract (English)
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses LEDs to sense the displacement between two plates connected by a transparent elastomer; when a force is applied to the finger, the elastomer displaces and the LED signals change. We show that using LEDs as both light emitters an receivers in this context provides high sensitivity, allowing such an emitter and receiver pairs to detect very small displacements. We characterize the standalone performance of the sensor by testing the ability of a supervised learning model to predict complete force and torque data from its raw signals, and obtain a mean error between 0.05 and 0.07 N across the three directions of force applied to the finger. Our method allows for finger-size packaging with no amplification electronics, low cost manufacturing, easy integration into a complete hand, and high overload shear forces and bending torques, suggesting future applicability to complete manipulation tasks.
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