用磁驱动视觉追踪触须阵列，实现高精度触觉感知与抓取。
A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping
- 通过电磁与永磁组合驱动触须，相机实时捕捉形变实现触觉反馈。
- 在五类物体识别中准确率达99.17%，八根触须抓取成功率最高达87%。
- 适合精密操作场景，如柔性抓取、微小物体检测等机器人应用。
触觉感知与精细物体操控是机器人领域的关键挑战。本文提出一种基于视觉的磁驱动触须阵列传感器，集成触觉感知与抓取功能。该传感器包含8根环形排列的触须，由弹性膜支撑，通过电磁铁与永磁体协同驱动。摄像头实时追踪触须运动，实现高分辨率触觉反馈。实验评估包括物体分类与抓取任务：在分类实验中，传感器从四个方向接近物体，使用多层感知机模型对五类物体进行识别，准确率达到99.17%；在抓取实验中，测试了8、4、2根触须的配置，以8根触须时达到最高87%的成功率。结果表明该传感器在精确触觉感知与可靠操控方面具有显著潜力。
原文摘要 · Abstract (English)
Tactile sensing and the manipulation of delicate objects are critical challenges in robotics. This study presents a vision-based magnetic-actuated whisker array sensor that integrates these functions. The sensor features eight whiskers arranged circularly, supported by an elastomer membrane and actuated by electromagnets and permanent magnets. A camera tracks whisker movements, enabling high-resolution tactile feedback. The sensor's performance was evaluated through object classification and grasping experiments. In the classification experiment, the sensor approached objects from four directions and accurately identified five distinct objects with a classification accuracy of 99.17% using a Multi-Layer Perceptron model. In the grasping experiment, the sensor tested configurations of eight, four, and two whiskers, achieving the highest success rate of 87% with eight whiskers. These results highlight the sensor's potential for precise tactile sensing and reliable manipulation.
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