提出可变密度柔性电容触觉传感器阵列的定位方法，实现毫米级精准定位。
A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
- 设计非均匀密度电容阵列，通过互电容原理实现多分辨率触觉感知。
- 在两块隐式布局的人工皮肤上实现±2mm的定位精度。
- 适用于高精度操作与碰撞检测等多样化机器人触觉场景。
触觉传感在机器人物理交互中用于实时反馈。精细物体操作需高密度传感器以精确估计物体姿态，而碰撞检测仅需低分辨率传感。将可变传感分辨率引入单一触觉阵列能拓展应用范围，但带来内部传感器位置定位难题。本文提出一种具有可变传感器密度的互电容传感器阵列VARSkin，以及相应的非均匀阵列中传感器位置的定位方法。在两个具有隐蔽传感器布局的人工皮肤样本上测试，该方法定位精度达到±2mm。同时提供全面误差分析，为提升精度提供优化策略。
原文摘要 · Abstract (English)
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low sensing resolution is sufficient for collision detection. Introducing variable sensing resolution into a single tactile sensing array can increase the range of tactile use cases, but also invokes challenges in localizing internal sensor positions. In this work, we present a mutual capacitance sensor array with variable sensor density, VARSkin, along with a localization method that determines the position of each sensor in the non-uniform array. When tested on two distinct artificial skin patches with concealed sensor layouts, our method achieves a localization accuracy within $\pm 2mm$. We also provide a comprehensive error analysis, offering strategies for further precision improvement.
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