用形变信息迁移触觉数据，让旧传感器数据还能用
Transferring Tactile Data Across Sensors
- 通过形变网格而非原始信号实现跨传感器数据转换
- 成功将BioTac数据转化为DIGIT传感器可用格式
- 适合需要复用历史触觉数据的研究者
触觉感知对人机交互至关重要，也日益成为机器人领域关键能力。像BioTac这样的触觉传感器能提供详细的交互数据，广泛用于滑移检测和物体识别，但该传感器已停产，导致大量现有数据集失效。本文提出一种新方法，利用传感器形变信息而非输出信号实现跨传感器数据迁移。以将BioTac信号转换为DIGIT传感器可用形式为例，框架包含三步：首先将信号数据转为三维形变网格；其次在不同传感器间转换这些网格；最后基于转换后的网格生成输出图像。该方法使已有宝贵触觉数据得以继续使用。
原文摘要 · Abstract (English)
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility in applications like slip detection and object identification, this sensor is now deprecated, making many existing datasets obsolete. This article introduces a novel method for translating data between tactile sensors by exploiting sensor deformation information rather than output signals. We demonstrate the approach by translating BioTac signals into the DIGIT sensor. Our framework consists of three steps: first, converting signal data into corresponding 3D deformation meshes; second, translating these 3D deformation meshes from one sensor to another; and third, generating output images using the converted meshes. Our approach enables the continued use of valuable datasets.
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