仿真人指尖的多模态触觉传感器，可实时感知压力、振动和温度。
HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor
- 模仿人指尖结构，集成压力与振动传感电路。
- 支持实时力反馈、高频振动检测及过温报警。
- 低成本可批量制造，适合五指灵巧手应用。
触觉传感器在机器人执行日常任务时实现有效且安全的物体交互中至关重要。特别是视觉-触觉传感器因提供高质量反馈，在双指和三指夹持器中得到广泛应用。然而，面向人形机器人、尤其是五指灵巧手的传感器仍存在显著空白，主要受限于小型化设计与制造难度。本文提出HumanFT，一种仿真人指尖形态与功能的多模态视觉-触觉传感器。为弥合人与机器人触觉感知差距，该传感器具备实时力测量、高频振动检测及过温报警能力。通过开发新型弹性体材料与配套制造工艺，优化了力传导与温度感知性能，并集成了压力与振动传感电路。实验验证了其有效性。所提设计简洁且成本可控，有望提升人形机器人对多模态触觉信息的感知与理解能力。
原文摘要 · Abstract (English)
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their high-quality feedback. However, a significant gap remains in the development of sensors suitable for humanoid robots, especially five-fingered dexterous hands. One reason is because of the challenges in designing and manufacturing sensors that are compact in size. In this paper, we propose HumanFT, a multimodal visuotactile sensor that replicates the shape and functionality of a human fingertip. To bridge the gap between human and robotic tactile sensing, our sensor features real-time force measurements, high-frequency vibration detection, and overtemperature alerts. To achieve this, we developed a suite of fabrication techniques for a new type of elastomer optimized for force propagation and temperature sensing. Besides, our sensor integrates circuits capable of sensing pressure and vibration. These capabilities have been validated through experiments. The proposed design is simple and cost-effective to fabricate. We believe HumanFT can enhance humanoid robots' perception by capturing and interpreting multimodal tactile information.
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