用电容传感+物理仿真实现软机器人抗变形触觉交互
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
- 电容传感器结合SOFA物理引擎，实现任意形状下的接触检测
- 对人触碰敏感，不受气动驱动引起的形变干扰，支持多点触控
- 适合艺术装置等需要柔韧触觉反馈的场景
本文提出一种用于软体机器人的人机交互触觉技术。通过将电容式触觉传感器与SOFA框架提供的在线固体力学仿真相结合，实现了对任意形状物体的接触检测。该技术对人类触碰（导电物体）具有选择性敏感性，且基本不受软体机器人气动驱动造成的形变影响。支持多点触控交互。我们以一位视觉艺术家创作的有机软体机器人雕塑为实例进行了评估，结果表明触觉定位在设备形变下仍保持鲁棒性。论文讨论了该方法在艺术、娱乐及其他领域的应用潜力。
原文摘要 · Abstract (English)
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furthermore, the implementation of the capacitive touch technology presented here is selectively sensitive to human touch (conductive objects), while it is largely unaffected by the deformations created by the pneumatic actuation of our soft robot. Multi-touch interactions are also possible. We evaluated our approach with an organic soft robotics sculpture that was created by a visual artist. In particular, we evaluate that the touch localization capabilities are robust under the deformation of the device. We discuss the potential this approach has for the arts and entertainment as well as other domains.
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