柔性机械手带全方位触觉感知，靠视觉解构形变来识物
AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing
- 用透明硅胶一体成型手指，基底摄像头捕捉整体形变
- 通过边缘特征重建全局形变，再用亮度差计算局部接触
- 可精准检测接触、估算力度，适合精密抓取任务
触觉感知在机器人抓取与操作中至关重要，提供机器人与环境间的接触信息。本文提出 AllTact Fin Ray，一种具有全向局部触觉感知能力的新型柔性夹持器。手指主体采用透明弹性硅胶一体铸造成型，基底摄像头捕获整个手指及接触面的形变。由于自适应结构导致全局形变，传统假设光照恒定的基于视觉的触觉感知方法不再适用。为此，我们提出新传感方法：先利用边缘特征和空间约束从图像中重建全局形变；再通过亮度差异与动态获取的参考图像对比，计算详细接触几何。大量实验验证了该夹持器设计与感知方法在接触检测、力估计、物体抓取与精确操作中的有效性。
原文摘要 · Abstract (English)
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with omni-directional and local tactile sensing capabilities. The finger body is unibody-casted using transparent elastic silicone, and a camera positioned at the base of the finger captures the deformation of the whole body and the contact face. Due to the global deformation of the adaptive structure, existing vision-based tactile sensing approaches that assume constant illumination are no longer applicable. To address this, we propose a novel sensing method where the global deformation is first reconstructed from the image using edge features and spatial constraints. Then, detailed contact geometry is computed from the brightness difference against a dynamically retrieved reference image. Extensive experiments validate the effectiveness of our proposed gripper design and sensing method in contact detection, force estimation, object grasping, and precise manipulation.
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