通过检测剪切应变实现鲁棒的光学触觉感知。
NUSense: Robust Soft Optical Tactile Sensor
- 用染色硅胶层捕捉剪切形变，通过相机观测泊松效应引起的拉伸。
- 经机器人多次加载循环测试，染料层性能稳定，感知结果一致。
- 适合需要高精度力觉与接触定位的机器人操作任务。
多数触觉传感器依赖压力测量，但连续介质力学表明剪切应变能提供关键信息。本文提出一种基于剪切应变检测的光学触觉传感原理：在染色硅胶层上，通过宽视角相机捕捉软垫受力时的拉伸现象（源于泊松效应），从而量化剪切程度。该原理通过NUSense相机式触觉传感器验证。染色层的物理与光学特性需长期稳定。我们使用机械臂对最外层进行多轮负载循环测试，验证了传感器的鲁棒性。此外，讨论了该传感器在力感知与接触定位中的潜在应用。
原文摘要 · Abstract (English)
While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle based on shear strain detection. A silicone rubber layer, dyed with color inks, is used to quantify the shear magnitude of the sensing layer. This principle was validated using the NUSense camera-based tactile sensor. The wide-angle camera captures the elongation of the soft pad under mechanical load, a phenomenon attributed to the Poisson effect. The physical and optical properties of the inked pad are essential and should ideally remain stable over time. We tested the robustness of the sensor by subjecting the outermost layer to multiple load cycles using a robot arm. Additionally, we discussed potential applications of this sensor in force sensing and contact localization.
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